Closed loop control system
with controllers
Feed forward and feedback controllers
Feed forward control
• It brings about a compensatory response in
anticipation of a change in a regulated variable.
• It prevents problems rather than correcting then
when the damage has occurred.
• In this mechanism, our body gives response prior to
signals sent by brain.
Examples of feed forward
mechanism
• Digestive tract stretch:
• Production of saliva in the mouth when we see food.
• Secretion of HCl in stomach when we engulf the food.
• Intestine and related organs triggers secretion of gastric
juices before food reaches.
• Insulin secretion before glucose absorption raises blood
sugar
• Drawback of our hand instantly we touch a hot pot.
• Skin temperature receptors alter the body’s heat
production and heat loss mechanisms before there is
a change in core body temperature.
Classification of Control Actions
ON-OFF Controller / Two position Controller
• Manipulated variable is quickly
changed to either a maximum or
minimum value
• Transmit only two output signals:
ON (100%) or OFF (0%)
• Only responds when it’s above or
below the setpoint.
• Disadvantage : hysteresis can
occur; slow response and hence
not used in complex system.
Proportional Controller (P)
The proportional controller is used to change
the transient response as per the requirement.
• In a proportional control mode, a smooth linear
relationship exists between the controller output and
the error.
• The range of error to cover the 0% to 100%
controller output is called the proportional band,
because the one-to-one correspondence exists only
for errors in this range.
• If error is zero, the output is a constant equal to p0.
If there is an error, for every 1% of error, a
correction of Kp percent is added to or subtracted
from p0 depending the sign of the error.
Disadvantage:
• It produces a permanent residual error in the
operating point of the controlled variable, when a
change in load occurs. This error is referred to as
offset.
• It can be minimized by a larger constant Kp which
will also reduce the proportion band
Derivative Controller (D)
The derivative controller is used to make the
unstable control system into a stable one.
• minimizes the overshoot and oscillations in the output of the system
• Differential control is insensitive to slow changes. If the variable is
parallel to the setpoint, no change is made (slope = 0).
• Differential control is very useful when combined with P and I control.
• If error is zero or the error is constant
in time, the mode provides no output. If
there is an error, for every 1% -per-
second rate of change of error, the
mode contributes an output of KD
percent. For direct action, a positive
rate of change of error produces a
positive derivative mode output
Disadvantage:
• It cannot be used alone, since it cannot give any
output for zero or constant error.
• It is ineffective for slowly changing error and hence
causes the drift.
• It amplifies the noise signal and causes a saturation
effect on the system.
• It does not eliminate the steady state error.
Integral Controller (I)
The integral controller is used to decrease the
steady state error.
• If error is zero, the output is a constant equal to p0.
• If there is an error, for every 1% of error, a correction
of KI percent is added to or subtracted from p0
depending the sign of the error.
• reduces the time-invariant error and lags the output
phase.
Disadvantage:
• A pure I controller is unsuitable for most controlled
systems, as it either causes oscillation of the closed
loop or it responds too slowly to system deviation in
systems with a long time response.
• In practice there are hardly any pure I controllers.
Proportional Derivative Controller (PD)
The proportional derivative controller is used to
improve the stability of control system without
affecting the steady state error.
Proportional Integral Controller (PI)
The proportional integral controller is used to
decrease the steady state error without affecting
the stability of the control system.
Proportional Integral Derivative Controller (PID)
The proportional integral derivative controller
is used to improve the stability of the control
system and to decrease steady state error.
PID Parameters Summary
Controller tuning
