CLOSED LOOP

CONTROLLERS
 With the derivative mode of control the change in
controller output from the set point value is
proportional to the rate of change with time of error
signal. This can be represented by equation
Iout – Io = Kd de/dt
Io is the set point output value, Iout the output value that
occur when the error e is changing at a rate de/dt.
The transfer function is obtained by taking Laplace
transform thus
(Iout – Io) = Kd sE(s)

Derivative Control
 With derivative control as soon as error begins to
change there can be quite a large controller
output since it is proportional to the rate of
change of error signal.
 Rapid initial responses to error signals occur
 Derivative controller do not affect the steady-
state response

Derivative Control
 Derivative controller will not use alone because it is not
capable of giving an output when there is a steady state error
signal.
 Proportional part gives response to all error signals while
derivative part responds to rate of change.
Change in output from set point = Kpe+Kdde/dt
Hence de
I out  K p e  K D  Io
dt
The system has a transfer function given by
( I out  I o )( s )  K p E ( s )  K D sE ( s )

Hence the transfer function is Kp+ KDs

 1 
transferfu nction  K D  s  
 TD 
TD is the derivative time constant
Proportional plus Derivative Control
 There is an initial quick change in
controller output because of derivative
action followed by gradual change due to
proportional action.
error
time

Controller Proportional
output element
Derivative
element
time

Proportional plus Derivative Control

 The integral mode of control is one where
the rate of change of control output I is
proportional to the error signal e.
dI
 KIe KI is constant of proportionality
dt
Iout t
 dI   K I edt
Io 0
t
I out  I o   K I edt
0

 The transfer function is obtained by taking Laplace transform

1
( I out  I o )( s )  K I E ( s )
s
1
transferfu nction  K I
s

Integral Controller
 When the controller output is constant the error
is zero; when the controller output varies at
constant rate the error has a constant value.
 Integral of error with a constant gain eliminate
steady-state error for a unit step input
error
time

Controller
output

time

Integral Controller
 The integral control mode is not usually used
alone but frequently used in conjunction with
proportional control.
I out  K p e  K I  edt  I o
KI K p  1 
transferfu nction  K p    s  
s s  TI 
 Suppose there is change in increase in the
controller set point say from 50% to 60%. With
just proportional control this can only done by
having an offset error.
 With combination of integral and proportional
control, the integral part of control can provide
change in controller output with out any offset
error.
Proportional plus integral control
 Combining all three modes of control (proportional,
derivative, integral) enables a controller to be produced which
has no offset error and reduce the tendency for oscillations.
 One way of considering a PID controller is as a proportional
controller which has integral control to eliminate offset
control and derivative control to reduce the time lags.
 The equation can be written as
de
I out  K p e  K I  edt  K D  Io
dt
 Taking Laplace transform 1
( I out  I o )( s )  K p E ( s ) 
K I E ( s )  sK D E ( s )
s
1 1
transferfu nction  K p e  K I  sK D  K p (1   TD s )
s TI s

PID controller
Overshoot is the amount the
response exceeds the steady-state
final value.