Module 13: Control Systems - Controllers
Introduction
The various types of controllers are used to improve the
performance of control systems.
1. Proportional (P),
2. the Derivative (D)
3. and the Integral controllers (I).
Proportional Controller (P)
The proportional controller produces an output, which is proportional
to error signal.
The block diagram of the unity negative feedback
closed loop control system along with the
proportional controller is shown in the following
figure.
Apply Laplace transform on both the sides -
Therefore, the transfer function of the proportional
controller is KP
The proportional controller is used to
Where, change the transient response as per
U(s) is the Laplace transform of the actuating signal u(t) the requirement.
E(s) is the Laplace transform of the error signal e(t)
KP is the proportionality constant
Derivative Controller
The derivative controller produces an output, which is derivative of
the error signal.
The block diagram of the unity negative feedback
closed loop control system along with the
derivative controller is shown in the following
Apply Laplace transform on both sides. figure.
Therefore, the transfer function of the The derivative controller is used to make the
derivative controller is KDs. unstable control system into a stable one.
Where, KD is the derivative constant.
Integral Controller (I)
The integral controller produces an output, which is integral of the
error signal.
The block diagram of the unity negative feedback closed
loop control system along with the integral controller is
Apply Laplace transform on both the sides - shown in the following figure.
Therefore, the transfer function of the integral
K The integral controller is used to decrease the
controller is I. steady state error.
s
Where, KI is the integral constant.
Proportional Derivative (PD) Controller
The proportional derivative controller produces an output, which is the
combination of the outputs of proportional and derivative controllers.
The block diagram of the unity negative feedback closed
loop control system along with the proportional derivative
controller is shown in the following figure.
Apply Laplace transform on both sides -
The proportional derivative controller is used to improve
Therefore, the transfer function of the the stability of control system without affecting the steady
proportional derivative controller is KP+KDs. state error.
Proportional Integral (PI) Controller
The proportional integral controller produces an output, which is the
combination of outputs of the proportional and integral controllers.
The block diagram of the unity negative feedback closed
loop control system along with the proportional integral
controller is shown in the following figure.
Apply Laplace transform on both sides -
The proportional integral controller is used to decrease
Therefore, the transfer function of proportional the steady state error without affecting the stability of the
integral controller is KP+KIs. control system.
Proportional Integral Derivative (PID) Controller
The proportional integral derivative controller produces an output,
which is the combination of the outputs of proportional, integral and
derivative controllers.
The block diagram of the unity negative feedback
closed loop control system along with the proportional
integral derivative controller is shown in the following
figure.
Apply Laplace transform on both sides -
Therefore, the transfer function of the
proportional integral derivative controller is The proportional integral derivative controller is used
to improve the stability of the control system and to
decrease steady state error.
PID Controller Design
➢ A proportional–integral–derivative controller (PID controller or three term controller)
is a control loop feedback mechanism widely used in industrial control systems and a
variety of other applications requiring continuously modulated control.
➢ PID or three-term control was first developed using theoretical analysis, by Russian
American engineer Nicolas Minorsky.
➢ Proportional-Integral-Derivative (PID) controller is a simple, yet versatile,
feedback compensator structure.
e(t)= y(t)-r(t)
Example Problem Transfer function:
𝑋(𝑠)
=
1
𝐹(𝑠) 𝑚𝑠 2 +𝑏𝑠+𝑘
Let: m = 1 kg
b =10 N s/m
k = 20 N/m
F=1N
A simple mass-spring-damper system.
′′ ′ 𝑋(𝑠) 1
Governing equation: 𝑚 𝑥 + 𝑏𝑥 + 𝑘𝑥 = 𝐹 = 2
𝐹(𝑠) 𝑠 + 10𝑠 + 20
Laplace transform of the governing equation:
M s2 X(s) + bs X(s)+k X(s)= F(s)
Example Problem 𝐺𝑐 =
𝑠 2 𝑘𝑑 + 𝑠𝑘𝑝 + 𝑘𝑖
𝑠
𝑠 2 𝑘𝑑+𝑠𝑘𝑝+𝑘𝑖 1
GT=
𝑠 𝑠 2 +10𝑠+20
1
Input F(s) Output X(s) 𝑠 2 𝑘𝑑+𝑠𝑘𝑝+𝑘𝑖
𝑠 2 + 10𝑠 + 20 GT=
𝑠(𝑠 2 +10𝑠+20)
Unity Gain Close Loop Transfer Function (Gf)
E(s) N(s) X(s)
𝐾𝑖 1
F(s) ∑ Kp+Kds+ 𝑠 2 + 10𝑠 + 20 𝑠2 𝑘𝑑+𝑠𝑘𝑝+𝑘𝑖 𝑠2 𝑘𝑑+𝑠𝑘𝑝+𝑘𝑖
𝑠
𝑠(𝑠2 +10𝑠+20) 𝑠(𝑠2 +10𝑠+20)
System Bock Diagram with PID Controller
Gf = 𝑠2 𝑘𝑑+𝑠𝑘𝑝+𝑘𝑖
= 𝑠(𝑠2 +10𝑠+20)+𝑠2 𝑘𝑑+𝑠𝑘𝑝+𝑘𝑖
1+ 2
𝑠(𝑠 +10𝑠+20) 𝑠(𝑠2 +10𝑠+20)
𝐾𝑑𝑠 2 +𝐾𝑝𝑠+𝐾𝑖
System Closed Loop Transfer Function (Gf)=
𝑠 3 + 10+𝐾𝑑 𝑠 2 + 20+𝐾𝑝 𝑠+𝐾𝑖
Open-Loop Step Response
Transfer function
𝑋(𝑠) 1
= 2
𝐹(𝑠) 𝑠 + 10𝑠 + 20
Proportional Control: Kp
𝑋(𝑠) 1
= 2
𝐹(𝑠) 𝑠 + 10𝑠 + 20 + 𝐾𝑝
Kp = 300;
Increasing the proportional gain (Kp)
has the effect of proportionally
increasing the control signal for the
same level of error. The fact that the
controller will "push" harder for a
given level of error tends to cause
the closed-loop system to react
more quickly, but also to overshoot
more. Another effect of increasing
Kp is that it tends to reduce, but not
eliminate, the steady-state error
Proportional-Integral Control: Kp, Ki
𝑋(𝑠) 1
=
𝐹(𝑠) 𝑠 3 + 10𝑠 2 + 20 + 𝐾𝑝 𝑠 + 𝐾𝑖)
Kp = 30
Ki = 70
The integral controller
reduces the rise time,
increases the overshoot,
and eliminated the
steady-state error
Proportional-Integral-Derivative Control: Kp, Ki, Kd
𝑋(𝑠) 1
=
𝐹(𝑠) 𝑠 3 + (10 + 𝐾𝑑)𝑠 2 + 20 + +𝐾𝑝 𝑠 + 𝐾𝑖)
Kp = 350;
Ki = 300;
Kd = 50;
Now, we have designed a closed-
loop system with no overshoot, fast
rise time, and no steady-state error.
How are the PID parameters (Kp, Ki, Kd) tuned
Manual tuning
1. Set Ki and Kd values to zero. Increase the Kp to approximately half of that value for a "quarter amplitude decay"
type response.
How are the PID parameters (Kp, Ki, Kd) tuned
Manual tuning
2. increase Ki until any offset is corrected in sufficient time for the process. Make the steady-state error to be zero.
How are the PID parameters (Kp, Ki, Kd) tuned
Manual tuning
3. Finally, increase Kd, if required, until the loop is acceptably quick to reach its reference after a load disturbance.
References
1. Nasser M. Abbasi. Determination of PID controller parameters from
step response specifications.
2. http://www.12000.org/my_notes/PID_ode/index.pdf
3. Introduction: PID Controller Design
4. http://ctms.engin.umich.edu/CTMS/index.php?example=Introducti
on §ion=ControlPID
5. https://en.wikipedia.org/wiki/PID_controller
End of Presentation
