Lecture 2

PID controller
Dr. Sadeq Al-Majidi

Dept. Of Electrical Engineering/ College

of engineering/ Misan University
Control Engineering
Fourth Year
OUTLINE

• Overview
• P controller
• PI controller
• PD controller
• PID controller
• Tuning of PID

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Overview
• Proportional-Integral-Derivative (PID) control is the most
common control algorithm used in industry.
• 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.
• It does not require accurate model of the plant or process
being controlled and can be understood by most
engineers without being a control expert.
• It is closed loop system.

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General diagram of PID system

• The control action u(t) will be such that the

controlled output c(t) will be equal to the
reference input r1(t) for all values of time,
irrespective of the value of the disturbance
input r2(t)'.

Figure 1. The block diagram of PID controller

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P controller
• In this case, the control action or signal U(S) is
proportional to error E(S), as given in following Equation:

• where Kp is the proportional gain constant.

• Simple
• High steady state error.
• low response

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P controller response

• In general, increasing
the proportional gain Kp
will increase the speed
of the control system
response. However, if
the proportional gain is
too large, the process
variable will begin to
oscillate.
• application : Adjust the
liquid level in tanks.

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PI controller

• To improve the stability of system, an integrator term is

added:

• High overshoot

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PI response

• The integral response

will continually increase
over time unless the
error is zero, so the
effect is to drive the
Steady-State error to
zero.
• High overshoot .
• Application : DC
motors.

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PD controller

• To eliminate the overshoot, the derivative term is added:

• High damping

9
PD response

• The derivative response

is proportional to the rate
of change of the process
variable.
• Increasing the derivative
time (Td) parameter will
cause the control system
to react more strongly to
changes in the error
term.
• applications: the speed
of ship .

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PID controller

• Finally, three previous term are added:

• Remove the steady state error.

• Reduce the overshoot.
• Improve transient response.

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Block diagram of PID controller

• In practical implementations, we can compute the three

terms separately and then add them together as shown in
the block diagram here:

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Tuning of PID controller
• The process of setting the optimal gains for P, I and D to get
an ideal response from a control system is called tuning.
• There are different methods of tuning of which the “guess
and check” method and the Ziegler Nichols method will be
discussed.
• In guess and check method, the KI and KD are set to zero
first and the proportional gain is increased until the output of
the loop oscillates.
• As one increases the Kp, the system becomes faster.
• Once Kp has been set to obtain a desired fast response, the
integral term is increased to stop the oscillations.
• Increasing KD decreases overshoot and yields higher gain
with stability.
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Ziegler Nichols method

• It is a popular method of tuning a PID controller. It is very

similar to the trial-and-error method wherein KI and KD are
set to zero and KP is increased until the loop starts to
oscillate.
• Once oscillation starts, the critical gain Kc and the period of
oscillations Tc are noted. The KP, KI and KD are then
adjusted as per the tabular column shown below.

Control P Ti Td

P 0.5Kc - -

PI 0.45Kc Tc/1.2 -

PID 0.60Kc 0.5Tc Tc/8

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