‫بسم هللا الرحمن الرحيم‬

Advanced Control
Lecture three

PID Controllers
1- Action and types (Smith & Corripio: Chapter 5)
2- Reset windup (Smith & Corripio: Chapter 5)
3- Modifications (Smith & Corripio: Chapter 5 and Astrom & Hagglund: Chapter 3)

Lecturer: M. A. Fanaei 1
Ferdowsi University of Mashhad
PID Control

1. Action of Controller: If the action is not correctly selected, the

controller will not control

• Reverse action (increase/decrease)

In feedback control loop, the

multiplication of Process gain
(Kp), Control valve gain (Kv),
Sensor gain (Km) and Controller
gain (Kc) must be positive.

Reverse action : If Kp Kv Km > 0 → Kc > 0

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• Direct action (increase/increase)

Direct action : If Kp Kv Km < 0 → Kc < 0

To determine the action of a controller, the engineer must know:

1. The process characteristics
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2. The fail-safe action of the control valve
PID Control

2. Type of PID Controller

Kc de(t )
• Classic PID: m(t )  m  K c e(t ) 
I  e(t )dt  K c D dt

M ( s)  1 
Gc ( s)  
 K c 1    D s 
E ( s)  Is  Range :
0.05 to 0.2
(0.1)
• Parallel PID:
M ( s)  1  Ds 
Gc ( s)   K c 1   
E ( s)   I s  D s  1 

• Series PID:
M ( s)  1    D s  1 
Gc ( s)   K c 1    
E ( s)   I s    D s  1  4
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3. Reset Windup

Kc de(t )
m(t )  m  K c e(t ) 
I  e(t )dt  K c D dt
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PID Control

4. Reset Feedback (RFB)

M min  m
Mmax M  mm  
M max  100  m

Mmin
M ( s) Kc  s 1
  K c  I 
E ( s) 1  1 
 I 
s
 I s 1
Mmax

Mmin

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Internal Reset Feedback
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4. Reset Feedback (RFB)

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4. Reset Feedback (RFB)

External Reset Feedback 9

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5. Back Calculation  K e es  1
  
 Ti Tt  s

Tracking Time Constant

Td < Tt < Ti

Back-Calculation with internal tracking

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5. Back Calculation

External tracking signal

Back-Calculation with external tracking

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5. Proportional and Derivative Kick

Kc de(t )
m(t )  m  K c e(t ) 
I  e(t )dt  K c D dt

Proportional Kick Derivative Kick

Two Degrees of Freedom or ISA - PID

Kc ded (t )
m(t )  m  K c e p (t ) 
I  e(t )dt  Kc D
dt
Where e p  bysp  y, ed  cysp  y, e  ysp  y

Range: 0-1 Range: 0-1, Commonly zero

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