PID Control

WHAT IS IT?
PROPORTIONAL – INTEGRAL – DERIVATIVE Controller
At the end of this lesson:
• You should be able to describe the working principle of a PID
controller.
• List the different types of control modes used by the controller
section.
• Describe the operation of each type of mode control function.
• List practical application of a PID control system.
RECAP
• Why Control/Feedback is important?
• What is the objective of Control?
• OPEN LOOP CONTROL SYSTEM
• CLOSE LOOP CONTROL SYSTEM
Imagine driving a car with your eyes closed!
• Why FEEDBACK is important?

INPUT OUTPUT
PLANT
 RECAP…

• OPEN LOOP CONTROL SYSTEM

• CLOSE LOOP CONTROL SYSTEM

Automatic Control Systems
7.3

• Examples of automatic control systems:

– temperature control using a room heater
• Examples of automatic control systems:
– Cruise control in a car
• Examples of automatic control systems:
– Position control in a human limb
• Examples of automatic control systems:
– Level control in a dam
CRUISE CONTROL
THE classic block diagram of a
process under PID Control.
Under The Hood Of The PID
Controller
 Controller objective is to provide inputs to the plant such that
the output y(t) follows the input r(t) as closely as possible, in
value and over time.

Fig. The basic structure of a system with PID control

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Basic structure of a system with PID Control

Equation for the output of PID control:

What is PID in automation and control system?

 PID stands for Proportional-Integral-Derivative.

 PID is an algorithm used in a control feedback loop to regulate a process such as the motion
of a motor or the flow through a valve.

 Using PID control will make any robot design more stable, robust, and has the potential to
improve response characteristics.
 PID control is the most common control algorithm used in industry and has been universally
accepted in industrial control.

 The popularity of PID controllers can be attributed partly to their robust performance in a
wide range of operating conditions and partly to their functional simplicity, which allows
engineers to operate them in a simple, straightforward manner.

As the name suggests, a PID algorithm consists of three basic coefficients: proportional, integral
and derivative. These gains are varied to achieve an optimal system response.

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 How a PID controller works?

The basic structure of a system with PID control is shown in the figure…….

 The system output (also called the process variable) is measured with a sensor and compare
the reading to a reference value (also called the setpoint).

 The comparison of the reference and the measured output results in an error value which is
used in calculating proportional, integral, and derivative responses.

 These three responses are then summed to obtain the output of the controller.

 The output of the controller is used as an input to the system we wish to control, changing
some aspect of the system.

PID

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 Example of system and what a PID controller does?

The output of the controller is used as an input to the system we wish to control, changing some
aspect of the system.

Examples,
 if we are controlling a motor, the controller would provide more or less current.

 If we are controlling the flow of a fluid, the controller would cause a valve to open or close.

The system output is then measured again and the whole process repeats. One completion of
this process is called an iteration through the control loop.

PID

2019-05-11
 PID control scalable/tunable?

 A PID controller works by continuously measuring the output of the system and providing
corrective input calculated from the PID control algorithm.

 The PID controller is scalable and tunable.

 It is scalable in the sense that we can implement a simpler controller by just using the
proportional gain, or a combination of the proportional gain and either the integral or
derivative gain (P, PI, PD, or PID controllers).

 The system is tunable because we can also adjust the P, I, and D gains to tune the controller
for any specific system.

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P is for Proportional
I is for Integral
D is for Derivative
PID Controller Response
Curve

Controlled
variable
Overshoot
%
Steady state error
Reference

Transient State Steady State

Time
Settling time
PID Response Curve (cont.)

• Rise Time (Tr) – The time for the plant output y to rise beyond 90% of the desired level for the first
time
• Overshoot – How much the peak level is higher than the steady state, normalized against the steady
state
– The time required for the output to reach its maximum level is called the Peak Time (Tp)
• Settling Time (Ts) – The time it takes for the system to converge to its steady state
• Transient State – The period from the detection of error until its approximate correction, resulting in
the steady state
• Steady-state Error – The difference between the steady-state output and the desired output.
 PID Controller (Conti… )

The Characteristics of P, I, and D controllers

A proportional controller (Kp) will have the effect of reducing the

rise time and will reduce, but never eliminate, the steady-state
error.

An integral control (Ki) will have the effect of eliminating the

steady-state error, but it may make the transient response worse.

A derivative control (Kd) will have the effect of increasing the

stability of the system, reducing the overshoot, and improving the
transient response.
PID Controller (Conti… )

Proportional Control
By only employing proportional control, a steady state
error occurs.

Proportional and Integral Control

The response becomes more oscillatory and needs longer
to settle, the error disappears.

Proportional, Integral and Derivative Control

All design specifications can be reached.
Characteristics of P, I, D
Controllers
Applications
• Position Control
• Temperature Control
• Speed Control
Where accurate and optimised automatic control is required.
 PID Controller (Conti… )
Tips for Designing a PID Controller

1. Obtain an open-loop response and determine what needs to be improved

2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overall
response.

Lastly, please keep in mind that you do not need to implement all three controllers
(proportional, derivative, and integral) into a single system, if not necessary. For
example, if a PI controller gives a good enough response (like the above
example), then you don't need to implement derivative controller to the system.
Keep the controller as simple as possible.
 Tutorial Questions

1. Applications of PID
2. Limitations of PID
3. Explain the working principle of a PID controller with the help of a block diagram and write
the equation for the output of the controller.
4. An automobile driver uses a control system to maintain the speed of the car at a prescribed
level. Sketch a block diagram to illustrate this feedback system and describe clearly the
operation of a cruise control system.
5. Explain why derivative controllers are not used alone and normally is included with a
proportional controller.