Proportional- Integral-Derivative Control

OBJECTIVES
 To identify Examples of Control Systems
 To learn what is PID Control
 To know how does PID work

INTODUCTION
A proportional–integral–derivative controller (PID controller) is a control loop feedback
mechanism.
PID control is by far the most common way of using feedback in natural
and man-made systems. PID controllers are commonly used in industry
and a large factory may have thousands of them, in instruments and laboratory
equipment. In engineering applications the controllers appear in
many different forms: as a stand alone controller, as part of hierarchical,
distributed control systems, or built into embedded components. Most controllers
do not use derivative action. In this chapter we discuss the basic
ideas of PID control and the methods for choosing the parameters of the
controllers. Many aspects of control can be understood based on linear
analysis. However, there is one nonlinear effect, that has to be considered in
most control systems namely that actuators saturate.
This mode of control is a combination of the previous modes and is given by the

expression:
Where:
p - output signal from controller, psig or mA
Kc - proportional gain
e - error (set point) (measured variable)
tD - derivative time, min
tI - integral time, min
ps - a constant, the steady-state output from the controller
 The transfer function for this controller can be obtained from the Laplace transform of
Eq. (9.11); thus

Derivative action is based on how rapidly the error is changing, not the magnitude
of the error or how long the error has persisted. It is based on the slope of the error
versus time curve at any instant in time. Therefore, a rapidly changing error signal will
induce a large derivative response. “Noisy” error signals cause significant problems for
derivative action because of the rapidly changing slope of the error caused by noise.
Derivative control should be avoided

PID is an acronym, and it stands for Proportional, Integral and Derivative Each of this term
describes how the error is treated prior to being summed and sent into the plant.
In one of its block diagram from PID can be written like this:
 The three K terms (KP, KI,KD) are called gains and they can be adjusted or turned to a
particular plant with a defined set of requirements and by changing this values you’re
adjusting how sensitive the system is to each of these different paths.

Tuning a PID Controller

Tuning a control loop is the adjustment of its control parameters (gain/proportional band,
integral gain/reset, derivative gain/rate) to optimum values for a target response.
● Bump Test and Modelling (Manual Control)
● Tuning
● Simulation
Too High KP will lead to oscillation in values and will tend to generate an offset
KI will counteract the offset. Higher Value of KI implies that the Set point will reach the PV too fast
If this action is very fast, the process variable is prone to be unsteady.
KD, keeps this under control.

Controller Comparison
Table 1: Comparison Of Gain Response Of P, PI And PID Controllers.
Parameter Speed of Response Stability Accuracy
Increasing K Increase Deteriorates Improves
Increasing KI Decrease Deteriorates Improves
Increasing KD Increase Improves No impact

Table : 2 Effects On Various O/P Parameter Of P, PI And PID Controller W.R.T To Variation In
Rise Time.

Parameter P Controller PI Controller PID Controller

Rise time Decrease Decrease Minor Decrease
Overshoot Increase Increase Minor Decrease
Settling time Small change Increase Minor Decrease
Steady state error Decrease Significant No change
change
Stability Worse Worse If Kd Small Better
 It is to be noted that, when gain is increasing speed of response is increasing in case of P
and PID controller but in PI controller gain of response is decreasing. In PID controller there
is a minor decrease or no changes are shown in various parameters which can see from
table 1 and table 2.Hence there is no change in steady state error so PID controller is better
than P and PD controller.

P controller can stabilize only 1st order unstable process. PI controller can be used to
avoid large disturbances and noise present during operation process. Whereas PID
controller can be used when dealing with higher order capacitive processes.

References

Donald R. Coughanowr,Steven E. LeBlanc, “Process Systems Analysis and Control Donald

Third Edition”

Guillermo J. Silva, Aniruddha Datta, and S. P. Bhattacharyya, “New Results on the Synthesis
of PID Controllers,” IEEE Transaction on Automatic Control, vol. 47, no. 2 February 2002.

http://www.cds.caltech.edu/~murray/books/AM08/pdf/am06-pid16Sep06.pdf
 WRITTEN REPORT
ChE 534
Process Dynamics and Control
(01097)

Submitted to:
Engr. Ramiro Emerson C. Amon
Faculty of College of Engineering Education

Submitted by:
Quenne A. Belocura

Room/Time
BE 231
9:00-10:00 AM

Date
July 10, 2018