w load disturbance
Controller Plant
r + e u + + y
Gc(s) Gp(s)
sensed
reference - control output
input, or error
set-point
+
+n
sensor
noise
Process Control and
Applications (Lect.2)
Dr. Nader A. Mansour
[email protected] Mechanical Engineering Department
PID Controller
PID Controller is the most widely used control
technique.
PID Controller is also called the Three Term
Controller.
PID = Proportional + Integral + Derivative
Each of these terms is a function in the error
signal e(t)
PID Controller
PID Controlled system (Block Diagram)
Proportional Controller
𝑈 𝑡 = 𝐾𝑝 𝑒 𝑡
is a function of the present value of the error.
The larger the error, the larger the control
action.
Simple to be implemented.
Proportional Controller
Disadvantages
It can’t eliminate the steady state error.
High values of proportional gain reduces the
stability of the system
Proportional Controller
Simulink Model
Proportional Controller
Increasing the controller gain
Fast process response
Steady state error reduced but not eliminated
Too large controller gain
Undesirable degree of oscillation or even
Unstable response
An intermediate value
Best control result
Integral Controller
𝑡
𝑈 𝑡 = 𝐾𝑖 න 𝑒 𝑡 𝑑𝑡
0
Accumulates the past values of the error signal.
If e(t) is non-zero for any length of time, the
control signal gets larger as time goes on.
control action will continue correcting the error
until it vanishes.
Eliminates steady state error.
Integral Controller
Simulink Model
Integral Controller
Disadvantages
More oscillatory response &
overshoot
For a very slow system the error
signal will accumulate fast and a
large integrator action will be
introduced
this can cause serious overshoots
the system response becomes
more oscillatory
Integral Controller
Disadvantages
Integral windup
refers to the situation where the integral action
continues to integrate (ramp) indefinitely
This usually occurs when the controller's output can
no longer affect the controlled variable, which in
turn can be caused by controller saturation
Integral Windup
Due to limits of max. input accepted by process
Or max. output that can be created by the actuator.
uin , if , uin u0
1 1
uout = + u0 , if , uin u0
u_In u_Out
- u , if , u -u
Saturation 0 in 0
Integral Windup
Effect of Saturation
Damage to the actuator due to the excessive input signals.
Slow down the system behavior.
Nonlinear behavior of the control signal.
Integral Windup
Simulink Model
Anti-Windup Mechanisms
Integrator clamping (conditional integrator)
Stops the integrator term during saturation
Back calculation
Generates feedback signal to modify the integrator value.
Integrator Clamping
Integrator is switched off upon saturation
Integrator Clamping
Simulink Model
Back Calculation
Feedback signal is generated only when the actuator is
saturated
Back Calculation
Simulink Model
Derivative Controller
𝑑𝑒(𝑡)
𝑈 𝑡 = 𝐾𝑑
𝑑𝑡
It uses the present and past values to predict the
future error signal.
the control action is based on the rate of change of
the error.
Derivative Controller
Avoiding overshoot
if the error is decreasing too fast that means that the
current control action is very high so it needs to be
decreased substantially to avoid overshoots in the
system.
Braking system
derivative action is against other actions like the
proportional or the integral actions, so the derivative
action acts as a braking system for the response.
Derivative Controller
Advantages
Reduces the system oscillations which reduces the
settling time accordingly.
Quick response for abrupt changes
Derivative Controller
Disadvantages
Amplifies the high frequency noise
(d/dt(a sin(ωt)) = (a ω cos(ω t)))
thus needs filtering the error signal.
Derivative Controller
Disadvantages
Derivative kick problem
ideal derivative with the transfer function = ‘s’ is
not practical so a system of the following form is
adopted
Ds
D s + 1
of where is very small (still has a derivative like behaviour)
Derivative Controller
Simulink Model
