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Control Engineering (ME55)

Session III

SYSTEM COMPENSATION
Control Action:

The function of a controller is to produce a control signal (manufactured

signal) based on the error signal (deviation from required value) which
will minimize or eliminate the deviation.
Different types of controller are available with each one having its
own characteristic the designer has to choose the type of controller to
suit the specification of the control system. Root locus technique helps
in the selection of the controller.
Classification:
1. Proportional Controller
2. Integral Controller
3. Derivative Controller
4. Proportional plus integral controller (PI Controller)
5. Proportional plus Derivative controller (PD Controller)
6. Proportional plus Integral plus Derivative Controller (PID)
7. ON/OFF Controller
1. Proportional Controller
In this type of controller the manipulated signal is simply related
to the error signal by a constant.
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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session III: 21/11/2006

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Control Engineering (ME55)

E(S)

R(S)

M(S)

kp
B(S)

m(t)= Kp e (t)
M(s)= Kp E(s)
Kp = Gain of Proportional Controller

Characteristics of Proportional Controller (High Gain)

1.
2.
3.
4.

Improves Closed Loop Response

Provides fast response
Improves steady state error and Rise time.
But, high gain may lead to instability due to high oscillation
Disadvantages (Low gain)
1. Provides heavily damped response
2. Provides large steady state error
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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session III: 21/11/2006

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Control Engineering (ME55)

Example: Non-inverting operational Amplifiers

R1

R2

m(t)

e(t)

e(t) =

[R1 / (R1+R2)] m(t)

m(t) = [(R1+R2) /R1] e(t)

m(t) = Kp e(t) where Kp = [(R1+R2) / R1]
M(s)= kp E(S)
2. Integral Controller
If the manipulated signal of the controller is proportional to time
integral of error signal then, it is called Integral Control Action.
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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session III: 21/11/2006

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Control Engineering (ME55)

E(S)

R(S)

M(S)

k1/S
B(S)

dm(t) / dt = k1 e(t)

m(t) = K1 e(t) dt
M(s) = K1 [ E(S) / S ]

The integral controller gives a output which is ramp the integral

control action is also called reset control Integral control action is
used whenever the steady state error is too large.
Characteristics
1. Slows down system Response.
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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session III: 21/11/2006

VTU e-learning Courseware

Control Engineering (ME55)

2. Increases setting and Rise time.

Ex: Integrator using operational Amplifier followed by sign inverter

3 Derivative Controller
The control action of derivative controller is given by the
following equation
m(t) = kd [dc(t) / dt] , Where kd is the gain of derivative controller
M(s) = Kd [S E (S)]

E(S)

R(S)

M(S)

Kd S
B(S)

Characteristics of Derivative Controller

1 Produces significant correction before magnitude of actuating error
becomes too large
2 Tends to increase stability of the system
3 Adds damping to the system hence large values of gain which will
improve accuracy can be used.
5
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session III: 21/11/2006

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Control Engineering (ME55)

However Derivative control action can never be used alone as it

takes corrective action on the rate of change of actual error rather
than actuating error itself. Any noise in the error signal amplifies
and gives an erratic behaviour.
4. Proportional plus Integral Control action (P-I Contoller)
It is given by the following equation
m(t) = kp e(t) + (kp/Ti) e(t) dt
M (S) = kp E(S) + ( kp/Ti ) [E(S)/S]
M(S) = E(S) [ kp = (kp/Ti S)
[M (S)/E(S)] =kp[1 + (1/Ti S)]
where, kp= Proportional gain & Ti= Integral Time
Inverse of integral time is called Reset Time
E(S)

R(S)

M(S)

Kp[1+(1/Ti S)]
B(S)

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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session III: 21/11/2006

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Control Engineering (ME55)

Both Kp &Ti are adjustable change in t=Ti affects only internal control
action where as change in kp effects both proportional and integral
control action.
Ex: PI Controller using operation amplifies

5. Proportional- Plus Derivitive Control action (P-D Controller)

The PD Controller is defined by the equation.
M(t)= Kpe(t) + Kp Td de(t)/dt
M(s) = Kp E(s) + Kp Td SE (S)
= E(S) (Kp+KpTdS)
M(S) = [Kp(1+Tds)] E(S)

E(S)

R(S)

M(S)

Kp(1+Td S)
B(S)

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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session III: 21/11/2006

VTU e-learning Courseware

Control Engineering (ME55)

Then control action is considered as anticipatory i.e applying corrective

action ahead of the error. Determinative control action does not effect
on steady state error; however it speeds up response during transient
phase. Derivative action is effective only during transient phase.
6. Proportional Plus- Integral Plus Derivative Controller (PID)
The PID Controller is given by
m (t)= Kp e (t) (+) + (Kp/Ti) e (t) dt+ Kp Td [de(t)/dt]

Using Lapalce Transformation

M (s)= Kp E (s) +[ Kp/ Tij S] E (s) + [Kp Td] S E (s)

[M(s)/E (s)] = Kp [1+ (1/Tis) +Tds]

E(S)

R(S)

M(S)

Kp[1+(1/Ti S)+ Td S]
B(S)

Where Kp - Proportional gain

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Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session III: 21/11/2006

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VTU e-learning Courseware

Control Engineering (ME55)

Ti
Integral Time
Td Derivative Time.
Since there are three gains Kp, Ti, and Td (each of which is adjustable),
this gives a significant range.
These controllers are used extensively in industrial processes.
Setting of PID gain is called as tuning however tuning should be done
carefully as there are three gains.

7. ON OFF Controller
On OFF Controller are required to switch ON or OFF the
Component at appropriate time. Switches relays times unit are used for
the purposes. The main disadvantage with these ON/OFF Controller are
they consume significant voltage and current during their operation hard
wised electronic logic controller are also used they are cheap however
they are complicated. Fluid logic systems are also available to install
and maintain.

9
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session III: 21/11/2006