AUTOMATION & ROBOTICS

LECTURE#10
PID CONTROLLER

By: Engr. Irfan Ahmed Halepoto

Assistant Professor
 PID Controller Theme---Background
• 80% of industrial control applications are installed by
feedback control loop and devices.
– The controller compares a measured value from a
process with a reference setpoint value.
– Error signal is then processed to calculate a new value
for a manipulated process input, which is responsible to
bring the process measured value to its desired setpoint.
• Unlike simpler control algorithms, PID controller can adjust
process inputs based on the history and rate of change of
the error signal, which gives more accurate and stable
control.
• It can be shown mathematically that a PID loop will produce
accurate stable control in cases where other control
algorithms would either have a steady-state error or would
cause the process to oscillate.
 PID controller
• A Proportional-Integral-Derivative controller (PID controller) is a
generic controller widely used in industrial control systems.
• PID controllers can be used to regulate flow, temperature, pressure,
level, and many other industrial process variables.
• PID controller describes the mathematic calculations that are
applied to calculate the error between the current result and the
desired set-point.
• PID control equation involves three separate parameters; the
Proportional, Integral and Derivative terms.
– Proportional term responds instaneously to the current error
(providing instaneous response).
– Integral term (past errors) responds to the accumulation of
errors in the form of average (providing a slow response that
drives the steady-state error towards Zero).
– Derivative term (future errors) responds to the rate at which the
error is changing (providing some anticipatory response).
 Life before PID controller –Manual Control
• With manual, all regulation tasks
will have to be done manually.
For example: To keep constant the
temperature of water discharged
from an industrial gas-fired heater,
an operator will have to watch a
temperature gauge and adjust a fuel
gas valve accordingly
• If the water temperature becomes
too high for some reason, the
operator has to close the gas valve a
bit–just enough to bring the
temperature back to the desired
value.
• If the water becomes too cold, he
has to open the gas valve.
 Life with PID Controller
• Through PID controller Set Point
feature, operator can set the
desired temperature ranges.
• The Controller’s Output (CO) sets
the position of the control valve.
• When everything is functional, PID
controller compares the PV to its
SP and calculates the difference
b/w the two signals as an Error (E).
• Based on the Error and PID
controller’s tuning constants,
controller takes an appropriate
action that opens the control
valve to the right position for
keeping the temperature at the set
point.
• If the temperature rise above its
set point, controller will reduce the
valve position and vice versa.
 PID CONTROLLER BASICS
• Not “optimal”, based on good properties of Three modes.
• In a PID loop, the correction that's added is calculated from the
error in three ways
1. To cancel out the present error (proportional mode)
2. Average out past errors (Integral mode)
3. Anticipate the future a bit from the slope of the error(s)
over time (Derivative mode).
 PID Equation
• In PID control algorithm equation each of the three parts of the
equation are given a K constant.
• However, PID controllers having the Integral and Derivative constants
are represented as

• Ti and Td constants are referred to as the time value.

• Ti is defined as the time required by the integral term to generate an
output equivalent to the proportional term.
• Td is defined as the time required by the proportional term to repeat the
output provided by the derivative term.
•With these substitutions, our equation now becomes:

In this equation, you can see that the proportional term (Kp), has an
amplifying effect on the entire algorithm.
 PID Control----Terms
• Proportional: To handle the present, the error is multiplied by a
negative constant P and added to the controlled quantity.
– Note: When error is zero, proportional controller's output is zero.
• Integral: To handle the past, error is integrated (added up) over a time
period, multiplied by a negative constant I and added to the controlled
quantity. I finds the process output's average error from the setpoint.
– A simple proportional system oscillates around the setpoint,
because there's nothing to remove the error.
– By adding a negative proportion of the average error from the
process input, average difference between the process output and
the setpoint is reduced and the process output will settle at the
setpoint.
• Derivative: To handle the future, the first derivative (slope) of the error
is calculated, multiplied by negative constant D, and added to the
controlled quantity.
– The larger this derivative term, more rapidly the controller responds
to changes in the process output.
– The D term dampens a controller's response to short term changes.
PID PROCESS CONTROLLER
PID CONTROLLER: CLOSED-LOOP MODEL
 PID Control Algorithms
• Controller manufacturers arrange the Proportional, Integral
and Derivative modes into three different controller
algorithms or controller structures.
• These are called Series, Ideal and Parallel algorithms.
• Some controller manufacturers allow you to choose
between different controller algorithms as a configuration
option in the controller software.
 Interactive Algorithm
• This very popular controller algorithm is called as Series, Classical, Real
or Interactive algorithm.
• The pneumatic and electronic controllers had this algorithm and it is
still found it in many controllers today.
• The Ziegler-Nichols tuning rules are based on this controller algorithm.
 Noninteractive Algorithm
• Noninteractive algorithm is also called the Ideal, Standard algorithm.
• In this standard form, inner summation produces a new single error value which is
compensated for future and past errors.
• Addition of proportional and derivative terms predicts the error value at Td seconds in
future.
• Integral component adjusts the error value to compensate for the sum of all past errors
in Ti seconds .
• The resulting compensated single error value is scaled by the single gain Kc.
• The Cohen-Coon PID tuning rules were designed for this algorithm.
 Parallel Algorithm
• This parallel form, parameters are treated as simple gains,
• This algorithm is simple to understand, but not perceptive to tune.
• Reason is that it has no controller gain (affecting all three control modes), it
has a proportional gain instead (affecting only the proportional mode).
• Adjusting the proportional gain should be supplemented by adjusting the
integral and derivative settings at the same time.
 PID algorithm Pseudocode
• A software loop that implements the PID algorithm in its 'ideal, parallel'
form:
previous_error = setpoint - actual_position
integral = 0
start:
error = setpoint - actual_position
integral = integral + (error*dt)
derivative = (error - previous_error)/dt
output = (Kp*error) + (Ki*integral) + (Kd*derivative)
previous_error = error
wait(dt)
goto start
 PID Control Modes
Mode Combination Function Application
Proportional (P) To provide GAIN For small set points or
small load changes

Proportional–plus- To eliminate OFFSETs For large and slow set

Integral (PI) points or load changes
Proportional –plus- To speed up the For sudden set points
Derivative (PD) response and minimize or quick load changes
the OVERSHOOT in a slow response
system
Proportional – To speed up the For large and sudden
Integral-Derivative response, minimize the set points or load
(PID) OVERSHOOT and changes in a slow
eliminate OFFSETs response system
 General rules of Design PID Controller
• Use P, if system has small time constant, small
disturbance and allow steady state error (off sets).
• Use PI, if system has small time constant, small
disturbance and requires no steady state error.
• Use PD function, if system has large time constant and
time delay (speed up process response).
• Using PD if the system allows steady state error, then use
PID
• Use more advanced control scheme, if system has large
time constant, large time delay and disturbance.
 Proportional Control Mode

“correction proportional to error”

 Proportional-only Controller
• Proportional controllers are simple to understand and easy to tune.
• The controller output is simply the output of the proportional
control mode, plus a bias.
• The bias is needed so that the controller can maintain an output
(say at 50%) while there is no error (set point = process variable).

A proportional-only controller algorithm

 Proportional Bias

The controller output u is proportional to error signal e:

1  is proportional band
u  Kce  e

P control has steady state error
 Proportional Action
• In Proportional mode, controller simply multiplies the Error by the
Proportional Gain (Kp) to get the controller output.
• Small proportional gain (Kp) is the safest way to get to setpoint, but your
controller performance will be slow.
• If the Kp is increased, Overshoot in the signal will be present.
• Proportional action is useful for improving the response of a stable
system but cannot control an unstable system by itself.
• Additionally, the gain is the same for all frequencies leaving the system
with a non-zero steady-state error.
 Proportional Action Only
• Proportional control mode is the
main driving force of controller.
• It changes the controller output
in proportion to the error.
• If the error gets bigger, the
control action gets bigger, more
control action is needed to
correct large errors.
• Adjustable setting for
proportional control is called
Controller Gain (Kc).
• If the controller gain is set too
high the control loop will begin
oscillating and become unstable.
• If the controller gain is set too
low, it will not respond
adequately to disturbances or
set point changes.
 Role of proportional Controller
• The main purpose of the proportional
control is minimize the fluctuations that
occur within the system.
• A proportional constant or value as
entered into the controller will
determine how large the "proportional
band" is.
• When process parameter is inside the
proportional band, controller output will
vary the amount of change required to
reduce overshoot of the SP.
• Proportional controller will also
experience "droop".
– when the process and set point
values are equal, the process will
generally stabilize somewhere below
the set point.
• The amount of droop increases with
larger proportional bands.
 Proportional Band and Gain
• Proportional Band: the input change required to change
the output 100%
 Proportional Band
• While most controllers use
controller gain (Kc) as the Controller Proportional
proportional setting, some Gain (Kc) Band (PB) %
controllers use Proportional
0.1 1000
Band (PB), which is expressed in
percent. 0.2 500
• Table 1 shows the relationship 0.5 200
between Kc and PB.
1 100
2 50
5 20
10 10

Table 1. Relationship between Kc and PB

Response Versus PB, Proportional Control Only
 Proportional Gains
• Consider an example of a
Proportional controller with
different Proportional Gains.
• As the gain is increased the
system time response is faster ,
but system starts to oscillates.
Comments: Clearly, it is not possible
to achieve low steady state error
and good transient response using
only proportional control.
• As the gain is increased, the
response becomes faster, but it
has a lower phase margin.
• To remove the steady-state error
and have better response,
integral and/or derivative terms
must be included in the
controller.
 Proportional Control- Limitations
• The P-controller usually has steady-state errors unless the control gain is
large.
• As the control gain becomes larger, issues arise with the stability of the
feedback loop.
• For instance, reducing the rise time implies a high proportional gain, and
reducing overshoot and oscillations implies a small proportional gain.
This is not possible to achieve in all systems.

process output of proportional

control
 Proportional control------Solution
• The way to eliminate these
steady-state errors is by adding
an integral action.
• The integral term in the equation
drives the error to zero.
• Higher Integral constant (1 / Tt)
drives the error to zero sooner
but also invites oscillations and
Response shows the reduction of
instability. overshoots and oscillations compared to
• Watch out a sample process the picture before adding the integral
action.
output diagram when integral
control is added.
 Proportional-only Controller Dilemma
• The use of proportional control alone has
a large drawback of offset.
• Offset is a sustained error that cannot be
eliminated by proportional control alone.
For example: let’s consider controlling the
water level in the tank with a
proportional-only controller.
• As long as the flow out of the tank
remains constant, the level will remain at
its set point.
• But, if the operator should increase the
flow out of the tank, the tank level will
begin to decrease due to the imbalance
between inflow and outflow.
• While the tank level decreases, the error
increases and our proportional controller
increases the controller output
proportional to this error. Level control, with operator causing a disturbance
 Proportional-only Controller Dilemma
• Consequently, the valve controlling the flow into the tank
opens wider and more water flows into the tank.
• As the level continues to decrease, the valve continues to
open until it gets to a point where the inflow again matches
the outflow.
• At this point the tank level (and error) will remain constant.
Because the error remains constant our P-controller will
keep its output constant and the control valve will hold its
position.
• The system now remains at balance, but the tank level
remains below its set point. This residual sustained error is
called Offset.