Lecture #21 Agenda

• Quiz #3 on Friday
– Details
• Homework posted
• Exams back soon
• Routh stability
• PI and PID control

1
 In-Class Exercise

Determine the stability of the

system represented by the
following transfer function:
s 8
G p (s)  3
3s  4 s 2  6 s  7

2
 Properties of Integral Action
Kc t
c(t )  c0 
I 
0
e(t ) dt
• Based on applying an I-
Y (s) 1 only controller to a first
 order process
Ysp ( s )  I p 2 I
s  s  1
Kc K p Kc K p • Properties of I control
– Offset is eliminated
 I p
 p  – Increases the order by 1
Kc K p – As integral action is
1 I increased, the process
  becomes faster, but at
2  p Kc K p the expense of more
sustained oscillations

3
Integral Action for the Response
of a PI Controller
ysp

ys

cint

Time

4
 Integral Action

• The primary benefit of integral action is that

it removes offset from setpoint.
• In addition, for a PI controller all the
steady-state change in the controller output
results from integral action.

Effect of Variations in Kc

Time Time Time

Effect of Variations in I

Time Time Time

5
 Doubling/halving Kc and τI

Properties of Derivative Action

de(t )
c(t )  c0  K c D
dt
Y ( s) K c K p D s

Ysp ( s )  2p s 2  2 p  K c K p D s  1

• Closed loop transfer function for derivative-only

control applied to a second order process.
• Properties of derivative control:
– Does not change the order of the process
– Does not eliminate offset
– Reduces the oscillatory nature of the
feedback response

6
 Derivative Action

• The primary benefit of derivative action is

that it reduces the oscillatory nature of the
closed-loop response.

Digital Equivalent of PID

Controller--Error
Sampling rate: t should be < 0.05( P  θ P )

 n • The trapezoidal
0
e(t ) dt   e(i t ) t
i 1
approximation of the
integral.

d e(t ) e(t )  e(t  t )

 • Backward difference
dt t approximation of the
first derivative

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 Digital Version of PID Control
Algorithm

 t n e(t )  e(t  t ) 
c(t )  c0  K c e(t )   e(i t )   D 
  I i 1 t 

t
n
t

PID Controller Design Issues

• Over 90% of control loops use PI controller.
• P-only: used for fast responding processes
that do not require offset free operation
(e.g., certain level and pressure controllers)
• PI: used for fast responding processes that
require offset free operation (e.g., certain
flow, level, pressure, temperature, and
composition controllers)

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 PID Controller Design Issues
• PID: use for sluggish processes (i.e., a process
with large deadtime to time constant ratios) or
processes that exhibit severe ringing for PI
controllers. PID controllers are applied to
certain temperature and composition control
loops. Use derivative action when:

p
1
p

Comparison between PI and PID

for a Low p/p Ratio

PI

PID
Time

9
Comparison between PI and PID
for a High p/p Ratio

PI

PID

Time

Deadtimes and Pade Approximation

1
1  s
e  P s  2
1
1  s
2

K P e  P s
So, GP ( s ) 
 Ps 1

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