THE PID CONTROLLER

PID (Proportional, Integral and Differential) controller is the most common form of feedback. It became the standard tool when process control emerged in 1940s. In PID controller the basic idea is the examination of signals from sensors placed in the system, called feedback signals. Lets consider the following unity feedback system

Plant: A system is to be controlled. Controller: Designed to control the overall system behavior as per requirement.

Transfer function of the PID controller is like,

Kp= Proportional gain KI = Integral gain KD= Differential gain

The error signal is sent to the PID controller, and the controller computes both the Derivative and integral of the error signal. The signal (u) just past the controller is now equal to the proportional gain (kP) times the magnitude of the error plus the integral gain (KI ) times the integral of the error plus the derivative gain (KD) times the derivative of the error

The controller takes the new error signal and computes it derivative and integral again. This process goes on and on The characteristics of P, I, and D controllers A proportional controller (Kp ) will have effect of reducing the rise time, but never eliminates the steady-state error. An integral controller (KI ) will reduce the steady-state error but may make the transient response worse. A derivative controller (KD ) will have an effect on stability of the system, it reduces the overshoot, and improving the transient response. Effects of these three controllers can be summarized as shown in the table

General tips for designing a PID controller When you are designing a PID controller for a given system, follow the steps shown below to obtain a desired response. 1. 2. 3. 4. 5. Obtain an open-loop response and determine what needs to be improved Add a proportional control to improve the rise time Add a derivative control to improve the overshoot Add an integral control to eliminate the steady-state error Adjust each of Kp, Ki, and Kd until you obtain a desired overall response.

By using the table shown in above, can find out which controller controls what characteristics. It is important that 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, then dont need to implement derivative controller to the system. It is necessary Keep the controller as simple as possible.