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 Classification of Industrial Automatic
Controllers
1.Proportional controller
(P controller)
Gc(S) = Kp

2.Proportional plus integral

controller
(PI controller)
Gc ( S) = Kp (1 + ) 1
TS

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 If G c (S) = Kp (1 + Td only
S)
-E ( S ) 0 .5 S  1
N( S  (0 .1S  1)( 0 .5 S 1)  10 K p (1  T d S )
)

1
= 0
1  10 p
K

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