Open loop and closed loop

control
Refer to Svreck et al. A real time approach to process control for more
information.
Open loop control
• In open loop control there is no feedback to the controller.
• The manipulated variable is set based on off line calculations or
experience
• The value of the control variable does not affect the manipulated
variable
• Most basic type of control
Diagram of open loop control
Feedforward control
• A type of open loop control, terms sometimes used interchangeably
but this is wrong
• Feedforward control sets the manipulated variable based on the
measured disturbances
• This is an advanced type of control that will be discussed in more
detail later
Diagram of feedforward control
Closed loop/Feedback control
• Feedback control uses a measured value for the control variable to
set the manipulated variable
• Difference between the wanted value (set point) and actual value
(measured value) is known as the error
• The error is used to calculate the value of the manipulated variable
• Only negative feedback results in a stable control system
Diagram of closed loop control
PID control
• Proportional Integral Derivative control

1 𝑑𝑒(𝑡)
•𝑢 𝑡 =𝐾× 𝑒 𝑡 + ‫׬‬ 𝑒 𝑡 . 𝑑𝑡 + 𝑇𝐷 .
𝑇𝐼 𝑑𝑡
Proportional only control
• Output of controller is proportional to the error

• Kc is the controller gain

• Problem is that this incurs a controller offset as the error tends to
zero so does the output of the controller
Reducing offset using P only control
• Can increase value of Kc, but if Kc value is too high the system
becomes unstable
• Another approach is to include a bias term in the output calculation

• B is the bias term and is defined as the output at steady state when
the error is zero
Integral only control
• The controller integrates the error, hence the longer the error persists
the larger the controller output
• Disadvantage is that it can take a long time to react to changes
• Advantage is that error will be reduced to zero
• Ti is defined as the time it takes the controller output to change by an
amount equal to the error
Proportional integral control
• Uses both proportional and integral terms
• Faster than integral only control but slower than proportional only
• Integral terms provides the bias term preventing offset
Derivative action
• Derivative action is based on how fast the error is changing
• Not useful by itself, must be used with other modes of control
• Can be sensitive to noise from transmitter
• Useful when used in conjunction with P and I modes to reduce lag
response
PID control
• Can provide tight control
• Acts like a proportional only controller but without the offset,
derivative action increases the speed of the controller compared to PI
Choosing the
correct
controller