PROPORTIONAL

INTEGRAL
DERIVATIVE
(PID)

Control System
A control system is an interconnection of
components forming a system configuration
that will provide a desired system response.
The basis for analysis of a system is the
foundation provided by linear system theory,
which assumes a causeeffect relationship
for the components of a system.

Two Types of Control

System

Open-Loop control system utilizes an

actuating device to control the process
directly without using feedback.
Closed-Loop control system uses a
measurement of the output and
feedback of this signal to compare it with
the desired output (reference or
command).

Open Loop

Close Loop

The measure of the output is called the feedback signal.

A feedback control system is a control system that tends
to maintain a prescribed relationship of one system
variable to another by comparing functions of these
variables and using the difference as a means of control.
The introduction of feedback enables us to control a
desired output and can improve accuracy, but it requires
attention to the issue of stability of response.

Example of Modern Control System

Another Example

The PID controller is by far the most

common
control
algorithm.
Most
practical feedback loops are based on
PID control or some minor variations of
it. Many controllers do not even use
derivative action. The PID controllers
appear in many different forms, as a
stand-alone controllers, they can also
be part of a DDC (Direct Digital Control)
package or a hierarchical distributed
process control system or they are built
into embedded systems.

The Proportional Term

the proportional term makes the current

error signal multiplied with a gain (Kp).
The result will be the output signal.
therefore output_signal = Kp x Error_signal
error signal is written as e(T)

The Integral Term

the integral term makes the current error

signal value and duration multiplied with
a Gain (Ki). the result will be the output
signal
therefore output_signal =
where ki is the integral gain
t is the instantaneus time.
e( ) is the error signal

The integral of a signal is the sum of all the

instantaneous values that the signal has been,
from whenever you started counting until you stop
counting.
The integral term (when added to the proportional
term) accelerates the movement of the process
toward set point and estimates the residual
steady- state error that occurs with a proportional
only controller.

The Derivative Term

The Derivative term makes the rate of a

change of the error signal multiplied with a
gain(KD). The result will be the output signal
value.
Therefore Output_Signal =
Where KD is the Derivative Gain
e() is the error signal

Control System

The set point is the value that we want the process

to be.
The output must be equal to the set point, else the
error signal will not be zero
The error signal will be the (set point measured)
The 3 gain (P, I & D) will be summed together to
output 1 signal that will get the output equal to the
set point.
The process is the plant/model of the system. Ex.
Room or DC motor
A disturbance is added to the system. Ex. A window
in a room, or friction to the shaft of the motor.

Sample of Control System

Heres a sample control system. Using previous block diagram, with the labels
changes to represent the car-on-windy-freeway control loop.

This system represent a Driver changing

lanes on a freeway on a windy day. We are
the driver, and therefore the controller of the
process of changing the cars position.
Notice how important closing the loop is. If
we remove the feedback loop we would be in
open loop control, and would have to
control the cars position with our eyes closed!
Thankfully we are under closed loop control
using our eyes for position feedback.

PID Controller Block

Diagram
Subtract
Set point from
Measured

Simplified
block
diagram of
what PID
controller
does

Sum up
all three
output

Set point is subtracted from the measured to

create the error
The error is simply multiplied by one, two or all of
the calculated P, I & D actions (Depending which
ones are turned on).
Then the resulting error x control action are
added together and sent to the controller output.
These 3 modes are used in different
combinations:
P Sometimes used
PI Most often used
PID Sometimes used
PD rare, can be useful for controlling servo motors.

P Controller

Enable only P control

In Proportional Only mode, the controller

simply multiplies the Error by the
Proportional Gain (Kp) to get the controller
output.
Small proportional gain (Kp) is the safest
way to set point, but your controller
performance will be slow. If the Kp is
increased, Overshoot in the signal will be
present.

PI Controller

Enable Only PI Control

In Proportional Integral mode, the

controller make the following:

Multiplies the error by the Proportional Gain (Kp) and added to

the Integral error multiplied by Ki, to get the controller output.
The integral term(when added to the proportional term)
accelerates the movement of the process towards set point and
eliminates the residual steady-state error that occurs with a
proportional only controller.
However, since the integral term is responding to accumulated
errors from the past, it can cause the present value to
overshoot the set point value (cross over the set point and then
create a deviation in the other direction).

PD Controller

Enable Only PD Control

In Proportional Differential mode,

the controller make the following:

Multiplies the Error by the proportional Gain (Kp) and added to

the derivative error multiplied by Kd, to get the controller output.
The derivative term slows the rate of change of the controller
output and this effect is most noticeable close to the controller
set point. Hence, derivative control is used to reduce the
magnitude of the overshoot produced by the integral component
and improve the stability.
However, differentiation of an signal amplifies noise and thus this
is highly sensitive to noise in the error term, and cause a process
to become unstable.

PID Controller

Enable PID Control

In Proportional Integral Differential mode,

the controller make the following:

Multiplies the Error by the Proportional

Gain (Kp), added to the Derivative error
multiplied by (Kd) and added to the
Integral error multiplied by (Ki), to get the
controller output.

PI, PD, PID Summary

Characteristics
PD

Compensator is anticipatory; it response to the error and its derivative.

Phase lead is provided starting one decade below the zero.
Generally, increases damping and reduces %OS.
Generally, reduces rise and setting times.
Increases bandwidth.
Increases phase and gain margins.
May render a system susceptible to high frequency noise.
Acts as a high-pass filter.

PI

Compensator increases the system type by one, which helps with error control.
Increases phase-lag at low frequencies.
Generally, increases damping, rise times, and setting times and reduces overshoot.
Decreases bandwidth.
Not sensitive to high frequency noise.
Acts as a low-pass filter.

PID

Combined effects of PI and PD compensation.

Cascade of a PI and PD compensator.