Integral Control System

Integral Control System

LORA
BSCHE-5A
Often control systems are
designed usingIntegral Control. In
tis control metod! te control
system acts in a "ay tat
tecontrol e#ort is $ro$ortional to
te integral of te error.

Often control systems are

designed usingIntegral Control. In
tis control metod! te control
system acts in a "ay tat
tecontrol e#ort is $ro$ortional to
te integral of te error.

%e $ro$ortional controller am$li&es

te error and a$$lies a control e#ort to
te system tat is $ro$ortional to te
error. In integral control! te control
e#ort is $ro$ortional to te integral so
te controller no" needs to 'e an
integrator! and it "ill a(e a transfer
function of )i*s - not +ust a gain! )$.

%e $ro$ortional controller am$li&es

te error and a$$lies a control e#ort to
te system tat is $ro$ortional to te
error. In integral control! te control
e#ort is $ro$ortional to te integral so
te controller no" needs to 'e an
integrator! and it "ill a(e a transfer
function of )i*s - not +ust a gain! )$.

Integral control is "at you a(e "en

te signal dri(ing te controlled
system is deri(ed 'y integrating te
error in te system.

Integral control is "at you a(e "en

te signal dri(ing te controlled
system is deri(ed 'y integrating te
error in te system.

An integral is te area under a cur(e.

Assuming tat te inde$endent
(aria'le is time! t. %en as time goes
on te area accumulates. Integration
is te limit of a $rocess of ta,ing small
incremental areas and letting te
inter(al! %! srin, to -ero.

An integral is te area under a cur(e.

Assuming tat te inde$endent
(aria'le is time! t. %en as time goes
on te area accumulates. Integration
is te limit of a $rocess of ta,ing small
incremental areas and letting te
inter(al! %! srin, to -ero.
If te integral starts at -ero! ten te
integral is +ust te area under te cur(e.
Implications:

If the input goes to zero, then the integral

stops changing and just has whatever value
it had just before the input became zero.

The integral can change in either direction as

the signal goes positive and negative.
Negative area can subtract from positive
area, lowering the value of an integral.
If te integral starts at -ero! ten te
integral is +ust te area under te cur(e.
Implications:

If the input goes to zero, then the integral

stops changing and just has whatever value
it had just before the input became zero.

The integral can change in either direction as

the signal goes positive and negative.
Negative area can subtract from positive
area, lowering the value of an integral.
.sing Integral Control
te out$ut le(el is te desired le(el! tis is a
desira'le steady state.
Re(ie" on te situation/
If output level matches the desired level, the error is
zero.
Because the error is zero, the integrator output does
not change.
Because the integrator output doesnt change, if the
rest of the s!stem is at stead! state nothing else
changes.
The s!stem has to reach stead! state. "oull need to
learn something about s!stem d!namics to ensure
stabilit!. If the s!stem starts to oscillate wildl!,
then it ma! not reach a stead! state, so the zero
state state behavior is never reall! seen.
#lthough the error goes to zero, no guarantees
about speed of response are given.
te out$ut le(el is te desired le(el! tis is a
desira'le steady state.
Re(ie" on te situation/
If output level matches the desired level, the error is
zero.
Because the error is zero, the integrator output does
not change.
Because the integrator output doesnt change, if the
rest of the s!stem is at stead! state nothing else
changes.
The s!stem has to reach stead! state. "oull need to
learn something about s!stem d!namics to ensure
stabilit!. If the s!stem starts to oscillate wildl!,
then it ma! not reach a stead! state, so the zero
state state behavior is never reall! seen.
#lthough the error goes to zero, no guarantees
about speed of response are given.
0isad(antages of Integral
Control
0isad(antages of Integral
Control

#n integral controller is not particularl! di$cult to

implement.

In an analog s!stem, an integral control s!stem

integrates the error signal to generate the
control signal. If the error signal is a voltage, and
the control signal is also a voltage, then a
proportional controller is just an analog
integrator.

In a digital control s!stem, an integral control

s!stem computes the error from measured
output and user input to a program, and
integrates the error using some standard
integration algorithm, then generates an
output%control signal from that integration.

#n integral controller is not particularl! di$cult to

implement.

In an analog s!stem, an integral control s!stem

integrates the error signal to generate the
control signal. If the error signal is a voltage, and
the control signal is also a voltage, then a
proportional controller is just an analog
integrator.

In a digital control s!stem, an integral control

s!stem computes the error from measured
output and user input to a program, and
integrates the error using some standard
integration algorithm, then generates an
output%control signal from that integration.

Integral Controller
Integral Controller
1i(ena system in "ic you "ant
to use integral control!
#& Be able to predict the e'ect of
integral control on (().
B& Be able to predict the e'ect of
integral control on stabilit!.
*& Be able to predict the e'ect of
integral control on speed of response.

1i(ena system in "ic you "ant

to use integral control!
#& Be able to predict the e'ect of
integral control on (().
B& Be able to predict the e'ect of
integral control on stabilit!.
*& Be able to predict the e'ect of
integral control on speed of response.

2ro$erties Of Integral
Controllers
2ro$erties Of Integral
Controllers

%e controller integrates te error as

so"n in te 'loc, diagram of an
e3am$le system 'elo".

%e integral controller as a transfer

function of)
i
*s

So! te actuating signal 4te in$ut to te

system 'eing controlled5 is $ro$ortional
to te integral of te error.

%e controller integrates te error as

so"n in te 'loc, diagram of an
e3am$le system 'elo".

%e integral controller as a transfer

function of)
i
*s

So! te actuating signal 4te in$ut to te

system 'eing controlled5 is $ro$ortional
to te integral of te error.

In an integral controller! steady state

error sould 'e -ero.

The s!stem would have to have a zero

at the origin to ma+e this claim false.

,f course, the closed loop s!stem has to

be stable.

Integral control as a tendency to ma,e

a system slo"er.

In an integral controller! steady state

error sould 'e -ero.

The s!stem would have to have a zero

at the origin to ma+e this claim false.

,f course, the closed loop s!stem has to

be stable.

Integral control as a tendency to ma,e

a system slo"er.

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