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A ssiqnme-6 HARIDAS C
EC7A-24
Rallno 28
Explan
P PD P10 eentrdl e he

blerk diogr-

Contrallens

The qenerak
bloek aqreA aCont rd cten ishoo
A centrollen s a devia shichs wsd ta ndy he

Rror Siyna pro ouca Contrs me ays

actvatiy
inpu
error
Cntol\a cuPl

k d}fenen pe cenrollens av
PI controllea
PD Contrleny
centrolle

I cntrollens

1 is Cmbnatien roporhanl 4 eotrsler

P Cacfuatine 51)
Infegr ntgral Conroll
Sonco Portere esn k Snd

DowYets anayn prop ortiona intera Con rolley

mhemaic ,
ACE) elt)
AL elt)t
he sign

ropert.n consle.t rretiey

AC) k e Ct dt 4 kpel
 T kiayra PT cana\ler

rC elt),

Applecon
Cunro
USec OS icprielles
Os d eonv.l.
) as sta pesun

Usd a hat xchomyt pCentvd,

PI Controller prov ous duad advenegs rprane

slate rro
P actis ane
Osteody
te cton
Error rens w
eCs) t SC1+ Ts)
rCs) k p (1+tis)
sCH ts)
rCs)
eCs)

hSome n tegad eontrol, e

an c oncluel

h h steody s t eontr shaudd bs gero or P1

aton BAs,e closeed 1op arecteristie sq

p -ofcon
T k k p ) L ¢ S * kkp O
 obtan Can tlonnl od

a) bsmple
r intritegrd eont ro he dnpny
Contt s
3
bsev hat by
n Com asil
h Fern kp, ho domp ny Constant com b
vo
So Cen onolo
Co hetby
the steady sFte error
Cun b orovn
p1 coatrel,
Fransien rsspone
own to O mutonro ualy he

mreved T responc
ove Fo p
Con

he on Cn o comprd
P - 1 colrol or Om

om e sketch

P1 Cet 1onsr

Stocl

PD Convolle Props-ond cerver)

Trensenfvnct en PD Canlen is ive b
(s) p (t,)
PD or te prottss rengy e PC)

Ppaecny isnof

Sa
Sm at a gnne rdua strady ae or o O. Bu
 preceeeo ccm be show h stab
o hi orden Hsta
Ocm b pravo in Pp
ceoseel loop
Cstoer for t: et teke h prouws n s
onsp
aD
unto

PCs)
eCs)
rCS) JsKe

Cana Hh
f eqy s J s + k, Taakp
stabl e closed loq ryone

e ()
Cont vSler

Tho S h P 4 Po orlles
StepstrP rpanu pe
cam pertd a
conol
c

P
cpntrolle

provimi remsient vepono i t Po Atroll)

PID Con ller

IDcontrler stonds a pro/ortine dov. vati

enlvd PTD envol is a b k mecnani3. whih S
eontrol syoten
 Cnld
2erm Contrek 13
The
S paroun e A S - in

.dJJoot Cntro acon ber

d r i vat i e Ccm e

Conrol, Cretivatin n n sity Projor hion

PID
M added w tHh d'v vokiu ond inrqrd
C r o r

e r v o r

Acfiveing Sig n or P ap i

elt el) TAel1) Kie () ct

Then aN Same otcel atis hich o acheiusd

Cnrsller avommea

ony he poremat for PID

Cn
werk whi lk Veepint
Por I
tentral bcme 36me t.mes P I ,P P or

nalCR mass numt

ropnsibe b
r

Toeiundia Fern i
me am
achiny thu texrsyefrA
le inte ro m
le cyste
Pke e(0H

>Pracs

ndvon 9 &disavantag PI, Ppa

ID ontro|ln
contrallen
Advotam
provid bettn stabli Fo h 3yslen
prov 9mpti recion
direchn
 elminat steody al ere
Ithaqo ronSie
J stabilise he eontrollevp gai

Disadvemte P conlvellen.

IF takey long m t t sYab:li contrllen m

actton
han propoton contslbr
han

n osillatian .induced b hh n

Overso

r t q u i ) Rxc PSSive staol soiion shen Phi prar

element or olead .

Advent o PD contrallors
1r a ouos tht vis narroun prapohnn bavo
csth i lsse oset
1 ncrtaJes the cantrslle
doring ror
chon
C m Compinsate
rop idly ehnn r r o r
1t C hondl th
6s proce -Yoad& enmg
Com oomp enSoM
Sont lo oc m

Disadvcten PO controllen
comne
eonnut eliminate h et proparh onef
Conr .

Aduenla P 10 ontrel los

Teduc he o ven ohoor hih
inre conlrol
ten.occ us
.cC s hen

oacton is dded bo
ConTro action proporFisne
 acs heecfeust co (rdwod
thinteqr Cont r o acXs
b
I aPprocha tenodencies owards scillens

S@nSesS th vate rom

covrectbe actio c
SelPnl ve
w P
ony
T lin'ntes theeffset seoody star erro

atrduced by proportiond eontra acton

h -conrellen.
stebilist Hhe gain
cenlroln.
Disadyotagts a PID

C hiyh commpley tunnydesign

Compler

Xead h
) Explain Nag tompon 3ators nessasary

write aatvre lso.

irom
m lar to pD /P1 on
Leed les Compensah.on
PD confrol
Th
Th ecd compinSaloan ply he Som rele a h

PD Lontrellen eshopny ha vo o to ir

tron sice Yeponc

P 1 empeN Satio ar stm1lan

myraa H sTtad sate cc

h elos oop syafen

comp ensadton Con be
Sucto Combi nc A
 cCs)
Cn roller Plo

c(s)ks)(7 >o, P>o)

S

ad Comonsafors cmnsako

sith Sink kod cnpenSation abis

designsptciicbn For an Uns table ompnsad sl

oempensei ran p*avidk s rponde.buk desnl

provid
provid enoveh phese mario herias CompnSal

stbliz sypfon but doont provid

noyyh Eu

So e tpl omp ensoMes n Cocad . o hen

asinge co loy ompenselor Cannot m.ae Veq mev

a ad tmpsnsehos
Y e d t is syst th mproved pne gleb

stec 3tate ro r

Timpeentn lad lo ompeunsalor) hrs desg

ead conpinsator to acbem .deire .tronse r*

chb y tn ad o a
mpro 8teady rpo-
A COtno) .ed pensale iS in
by
(s) TS
) TS T s
hon
Crn
D T AT
tre r p

h nq atod

phatt

letried copbnsator

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