VERTEX Institute of Academics, Guntur Best Coaching for GATE & IES 77

Response with P, PI, and PID Controllers

Derivative Control
The actuating error signal for derivative control action consists of proportional error signal
added with derivative of the error signal. Thus the actuating signal is given as,

( )
( ) ( )
a d
de t
e t e t T
dt
= +
In Laplace domain, ( ) ( ) ( )
a d
E s E s T sE s = +

The overall transfer function of the system becomes,

2
2 2 2
(1 )
( )
(2 )
d n
n n d n
sT
T s
s T s
e
,e e e
+
=
+ + +

If the damping ratio is , ', then,
2
n
, e '
=
2
2
n n d
T ,e e +

Or,
2
n d
T e
, , ' = +
.
Thus, the effective damping is increased using the derivative control, resulting in decreasing
overshoot. The natural frequency is not changed.
Now, the steady state error due to unit ramp input is,

2
0
(1 ) 1
lim ; ( )
( ) ( 2 )
d n
ss
s
n
sT
e G s
sG s s s
e
,e

+
= =
+


2
ss
n
e
,
e
= ,
Thus the steady state error is not affected by derivative control action. It is also seen that a
zero has been added at 1/
d
s T = which will result in a small reduction in rise time,
r
t .
Integral Control:
The actuating error signal consists of proportional error signal added with integral of control
action. The actuating signal for integral control action is given by,

( ) ( ) ( )
a i
e t e t K e t dt = +
}


VERTEX Institute of Academics, Guntur Best Coaching for GATE & IES 78
In Laplace domain,
( ) ( ) ( )
i
a
K
E s E s E s
s
= +


The overall transfer function of the system becomes,

2
3 2 2 2
( )
( )
2
i n
n n i n
s K
T s
s s s K
e
,e e e
+
=
+ + +

It is seen that the system becomes a third order system due to inclusion of the integral
control.
Here,
2
2
( )
( )
( 2 )
i n
n
s K
G s
s s
e
,e
+
=
+

Now, the steady state error due to unit ramp input is,

0
1
lim 0
( )
ss
s
e
sG s

= =
;
Thus steady state error is zero for unit ramp input.
Proportional plus Integral plus Derivative Control
The actuating signal for PID control is given by,

( )
( ) ( ) ( )
a d i
de t
e t e t T K e t dt
dt
= + +
}

In Laplace domain,
( ) ( ) ( ) ( ) (1 ) ( )
i i
a d d
K K
E s E s T sE s E s sT E s
s s
= + + = + +

The block diagram of a second order system incorporating PID control is shown in figure
below.

It has been estimated that 90% of the industrial controllers are of the PI type. PI and the PID
controllers will remain exist for some time and digital controllers will be widely used in future
due to their great flexibility.