Transfer Function of PID Controller

The primary objective of control system design is to operate a system at a certain setpoint or, in
other words, the output of the system should closely follow the input. PID controller
automatically adjusts the process variable at setpoint and eliminates the continuous operator
action. It takes error, measured by the difference of setpoint and sensed output, as an input
and output is generated by manipulating this value using proportional, derivative and integral
components.

We are already familiar with the continuous time differential equation.i.e.,

u(t) = K P e(t) + K I

e( )d + K D

d
e(t)
dt

Now, taking the Laplace transform of this equation and re-arranging we get;

U (s)
K
= KP + I + KD s
E(s)
s


K 1 K
= KP 1 + I + D s
KP s
KP


1
= KP 1 +
+ TD s
TI s
U (s)
T T s2 + TI s + 1
= KP I D
E(s)
TI s
In the above equation, TI =
time constant.

KP
KI

is called integral time constant and TD =

KD
KP

is called derivatie