Controller action

Controller action
There are many type of control action
used in industrial controller.
The understanding of each controller is
very important for every control
engineer.
Each controller has its own
characteristic.
The basic controllers well be discussing
in this course are P, I, D and their
interactive.
Proportional Controller (P)
Output, m, of controller, G
C
(t) is
proportional with error signal, E:

) ( K ) ( ) ( K ) (
) ( ) (
p p
s e s m t e t m
t e t m
laplace
= =

G(t)
R(t)

E

-

Y(t)

H(t)
G
C
(t)
m
Transfer function for this Controller is


K
p
is a gain known as Proportional Gain
We have seen and prove from previous class that for a
class / type 0 system, if input is a step input, there will
exist a steady state error.
We have also proved that by having a big value of
proportional gain, the s.s. error will be reduced. However it
will never become zero.
In order to get zero s.s. error for this system, integral gain
controller is introduced.
p
K
) (
) (
) ( = =
s e
s m
s G
C
Integral Controller (I)
Output, m, of controller , G
C
(t) is proportional
with the integral input signal, E:

) (
K
) (
) ( ) (
i
s e
s
s m
dt t e t m
=

}
G(t)
R(t)

E

-

Y(t)

H(t)
G
C
(t)
m
Transfer function for this Controller is


K
i
is a gain known as Integral Gain
We have seen and prove from previous class that
for a class / type 0 system, if input is a step input,
there will exist a steady state error.
Integral gain controller is introduced in order to
get zero s.s. error for this system.

s
K

) (
) (
) (
i
= =
s e
s m
s G
C
Derivative Controller (D)
Output, m, of controller, G
C
(t) is proportional
with derivative of input signal, E:

) ( K ) ( ) (
dt
d
K ) (
) (
dt
d
) (
D D
s e s s m t e t m
t e t m
laplace
= =

G(t)
R(t)

E

-

Y(t)

H(t)
G
C
(t)
m
Transfer function for this Controller is


K
D
is a gain known as Derivative Gain

In normal practice the Proportional, Integral and
Derivative controllers will not be use by its own.
Control engineer will design these controllers interactive.
i.e. Proportional+Integral (PI), Proportional+Derivatives
(PD) and Proportional +Integral +Derivatives (PID).
s
s e
s m
s G
C D
K
) (
) (
) ( = =
Proportional Integral (PI)
Control action with input to the controller e and
output, m:
I
P
i
i
P
K
K
T
s T
K
s e
s m
s
s e
s
s e s m
dt t e t e t m
=
|
|
.
|

\
|
+ = =
+ =
+ =
}
where
1
1
) (
) (
) ( G
: function transfer controller
) (
K
) ( K ) (
: laplace taking , ) ( K ) ( K ) (
C
I
P
I P
Proportional Derivative (PD)
Control action with input to the controller e and
output, m:
( )
P
D
D D P
K
K
T s T K
s e
s m
s
s e s s e s m
t e
dt
d
t e t m
= + = =
+ =
+ =
where 1
) (
) (
) ( G
: function transfer controller
) ( K ) ( K ) (
: laplace taking ), ( K ) ( K ) (
C
D P
D P
Proportional, Integral and
Derivative (PID)
P
D
D
I
P
I
D
I
P
K
K
T
K
K
T
s T
s T
K
s e
s m
s
s e s s e s m
t e
dt
d
dt t e t e t m
= =
|
|
.
|

\
|
+ + = =
+ + =
+ + =
}
and where

1
1
) (
) (
) ( G
: function transfer controller
) ( K
s
K
) ( K ) (
), ( K ) ( K ) ( K ) (
C
D
I
P
D I P
POP KUIZ
A first order control system is as shown in
the diagram. Obtain and sketch the time
response if a unity step input is applied to it
with the controller action as below:
a) Proportional Controller : Gc(s) = 2
b) Proportional Controller : Gc(s) = 9
c) Proportional + Integral : Gc(s) = 2 + 2/s