Regulation and Control

Introduction to PID Control

Tewedage Sileshi
 Lecture Outline

 Introduction to PID
 Modes of Control
 On-Off Control
 Proportional Control
 Proportional + Integral Control
 Proportional + Derivative Control
 Proportional + Integral + Derivative Control

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 Introduction
• PID Stands for
– P  Proportional
– I  Integral
– D  Derivative

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 Introduction
• The usefulness of PID controls lies in their general
applicability to most control systems.

• In particular, when the mathematical model of the plant

is not known and therefore analytical design methods
cannot be used, PID controls prove to be most useful.

• In the field of process control systems, it is well known

that the basic and modified PID control schemes have
proved their usefulness in providing satisfactory control,
although in many

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 Introduction
• It is interesting to note that more than half of the
industrial controllers in use today are PID controllers or
modified PID controllers.

• Because most PID controllers are adjusted on-site, many

different types of tuning rules have been proposed in the
literature.

• Using these tuning rules, delicate and fine tuning of

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 Four Modes of Controllers

• Each mode of control has specific advantages and

limitations.

• On-Off (Bang Bang) Control

• Proportional (P)
• Proportional plus Integral (PI)
• Proportional plus Derivative (PD)
• Proportional plus Integral plus Derivative (PID)

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 On-Off Control
• This is the simplest form of control.

Set point

Error
Output

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 Proportional Control (P)
• In proportional mode, there is a continuous linear relation
between value of the controlled variable and position of the
final control element.
𝑟 (𝑡) 𝑒 (𝑡 ) 𝑐𝑝 ( 𝑡 )=𝐾 𝑝 𝑒 ( 𝑡 ) 𝑐 (𝑡 )
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏 (𝑡 ) -
 

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘
 

• Output of proportional controller is

 

•
 

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 Proportional Controllers (P)
• As the gain is increased the system responds faster to
changes in set-point but becomes progressively
underdamped and eventually unstable.

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 Proportional Plus Integral Controllers (PI)
• Integral control describes a controller in which the output
rate of change is dependent on the magnitude of the
input.

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 Proportional Plus Integral Controllers (PI)
• The major advantage of integral controllers is that they have
the unique ability to return the controlled variable back to
the exact set point following a disturbance.

• Disadvantages of the integral control mode are that it

responds relatively slowly to an error signal and that it can
initially allow a large deviation at the instant the error is
produced.

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 Proportional Plus Integral Control (PI)
❑
  𝐾 𝑖∫ 𝑒 ( 𝑡 ) 𝑑𝑡
❑

𝑟 (𝑡) 𝑒 (𝑡 )
𝐾 𝑝 𝑒 (𝑡 ) +
+ 𝑐𝑝𝑖 ( 𝑡 ) 𝑐 (𝑡 )
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏 (𝑡 ) -

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘
 

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 Proportional Plus Integral Control (PI)

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Proportional Plus derivative Control (PD)
𝑑𝑒 (𝑡 )
𝑑 𝐾𝑑
𝑑𝑡
𝐾𝑑
𝑑𝑡
𝑟 (𝑡) 𝑒 (𝑡 )
𝐾 𝑝 𝑒 (𝑡 ) +
+ 𝑐𝑝𝑑 ( 𝑡 ) 𝑐 (𝑡 )
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏 (𝑡 ) -

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘

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 Proportional Plus derivative Control (PD)

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 Proportional Plus derivative Control (PD)
• The stability and overshoot problems that arise when a
proportional controller is used at high gain can be mitigated by
adding a term proportional to the time-derivative of the error signal.
The value of the damping can be adjusted to achieve a critically
damped response.

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 Proportional Plus derivative Control (PD)
• The higher the error signal rate of change, the sooner the final
control element is positioned to the desired value.

• The added derivative action reduces initial overshoot of the

measured variable, and therefore aids in stabilizing the process
sooner.

• This control mode is called proportional plus derivative

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Proportional Plus Integral Plus Derivative Control (PID)
𝑑𝑒 (𝑡 )
𝑑 𝐾𝑑
𝑑𝑡
𝐾𝑑
𝑑𝑡
𝑟 (𝑡) 𝑒 (𝑡 )
𝐾 𝑝 𝑒 (𝑡 ) +
+ 𝑐𝑝𝑖𝑑 ( 𝑡 ) 𝑐 (𝑡 )
𝐾𝑝 𝑃𝑙𝑎𝑛𝑡
𝑏 (𝑡 ) - ❑
+
  𝐾 𝑖∫ 𝑒 ( 𝑡 ) 𝑑𝑡
❑

𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘
 

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Proportional Plus Integral Plus Derivative Control (PID)

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Proportional Plus Integral Plus Derivative Control (PID)
• Although PD control deals neatly with the overshoot and ringing
problems associated with proportional control it does not cure the
problem with the steady-state error. Fortunately it is possible to
eliminate this while using relatively low gain by adding an integral
term to the control function which becomes

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 The Characteristics of P, I, and D controllers

CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR

Kp Decrease Increase Small Change Decrease

Ki Decrease Increase Increase Eliminate

Small Small
Kd Decrease Decrease
Change Change

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 Tips for Designing a PID Controller

1. Obtain an open-loop response and determine what needs to be improved

2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overall response.

• Lastly, please keep in mind that you do not need to implement all three
controllers (proportional, derivative, and integral) into a single system, if
not necessary. For example, if a PI controller gives a good enough response
(like the above example), then you don't need to implement derivative
controller to the system. Keep the controller as simple as possible.

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End of course

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