METHODS OF

CONTROLLING
PROCESSES

Week 4
PRE REQUISITES
• OPEN LOOP SYSTEM AND CLOSED LOOP SYSTEM
• BASIC UNDERSTANDING OF VARIOUS RESPONSES OF
SERVO CONTROLLED SYSTEM
• TRANSFER FUNCTIONS
• TIME PLOTS
• SYSTEM STABILITY

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ON/OFF CONTROLLER
SP
+ ERR • A on/off controller is described as a control
- system that is either fully open or closed
PV • Basic examples of a control system could be a
valve controlling level of water in a
tank ,comparator controlling a heater or a motor
• Basic issue that we face with these type of
controllers is that they tend to overshoot that
means that their effect tends to last longer than
required and would quickly turn on and off.
• ERR = SP-PV
• IF ERR > 0 ; Output approaches +ve max
• If ERR < 0 ; Output approaches –ve max.
• But it never reaches the Vref or SP Value

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DIFFERENTIAL CONTROLLER
• As an alternative to on/off controller we could use a
differential gap controller as it provides a deadband
around the setpoint.
• A differential gap also called deadband is the
difference between the upper and lower error values
• There is no output in the differential gap
No output or deadband zone
• Output approaches positive maximum when Err> +gap
• Output approaches negative maximum when
Err < -gap
• The issue with this type of controller is that there are
only two full scale outputs in addition to a no output
• It does not cover all the error levels especially those
that are in the deadband region for better accuracy
system should be able to get the mean of multiple
outputs.

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PROPTIONAL CONTROLLER
• Has a large steady state
error
• Robot arm will go quickly
but won’t even reach the
position

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INTEGRAL CONTROLLER
• Responds very slowly

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PROPTIONAL INTEGRAL CONTROLLER

•Overshoots
and settles
down to the
normal
position.
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DERIVATIVE CONTROLLER
•Faster response
but is
underdamped
response

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PROPTIONAL DERIVATIVE CONTROLLER

•Faster response
but does not
reach the final
position
•No transients
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PID CONTROLLER
• Faster response i.e fast rise time

• No transients

• Reaches the final position with little to zero steady state

error

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