Sudan University of Sciences and

Technology
College of Engineering and Technology of
Industries
Department of Chemical Engineering

Process measurement
& Control II
Lecture 5

Lecturer: Arafa Ali 1

Integral Action (I- Action):
The integral action is defined as:

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Taking L.T of equation

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Dynamic response of I-action:
Step change in deviation variable

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It is observed that:

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 Example:
Determine the offset for an integral control
action used as in the following figure upon a
step change in the load variable

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Solution:

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 =

The overall T.F:

The characteristic equation:

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The standard characteristic equation of
a second-order system is:

Then the equation will be:

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Offset investigation
Integral time has the capability of completely
eliminating the offset or the residual error.

Consider a step change introduce to the

system

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Offset is completely eliminated, on
the expense of stability
Integral action increases the order
of the system by one degree as seen
from the above equation

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Derivative Action (D- Action):

Taking L.T of equation

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 Derivative Action Response:
Take a step change in the input:

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This means the D- action gives
the same output m(t), whether
e(t) = 0.0 or a constant
D-action alone is incapable for
excreting control and a
combined PD, PID must be
used.
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Commercial Controller:
These are a combination of two or
three modes together. They are
usually in form of:
- P – Only
- PI
- PD
- PID
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The method of combination is to combine the
relevant mode in a simple controller such as:
Proportional (P)

Proportional Integral (PI)

Proportional- Derivative (PD)

Proportional – Integral – Derivative (PID)

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Example:
Discuss the effect of derivative time by
considering the following block diagram upon
a step change in the load variable.

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Solution:

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The characteristic equation is:

The standard Characteristic equation is

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 Addition of D-action increases the damping
coefficient, ξ and therefore provides greater
stability. This allows higher values of Kc to be
used within an optimum value of ξ of 0.2 to 0.3,
this reduces the offset and peak deviation.
 The main advantage of adding D-action is that
it will permit increase in the gain to reduce the
offset to a value that integral control which
eliminates the offset is not required.

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Selection of Type of Controller (P/PI/PID)
 The proportional controllers accelerate the
closed loop response, however it produces
offset for all processes
 Integral control eliminates offset but the
transient of closed loop response shows higher
maximum deviation from its setpoint. High
gain value ensures faster response
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