Starting Chapter 7: PID Control:

Characteristics, Forms and Modes

Reading Assignment:
Begin your reading of Chapter 7: 7.1, 7.2, 7.3

Diagram for a Feedback Control Loop

Disturbance

Setpoint

+-

Controller

u
Actuator

Sensor

Process

CV

or alternatively

Immediate Questions:
What is the controller doing?
How is it described mathematically?
How can we combine the dynamics of the
individual components, to describe the
entire feedback control loop?

The usual choice of controller:

the PID Controller
Most common industrial controller in the
Chemical Process Industries.
Came into use in 1930s with the
introduction of pneumatic controllers.
Extremely flexible and powerful control
algorithm when applied properly.

PID Controller
(3-mode controller):

1
de(t )
c(t ) c K c e(t ) e(t )dt D

I 0
dt

where e(t ) ysp ys (t )

t

is the value of the controller output when the

controller was turned on (t=0)

Definition of Terms
e(t) is the error from setpoint: e(t)=ysp - ys.
Kc- the controller gain is a tuning parameter
and determines the controller aggressiveness.
I- the integral time or reset time is a tuning
parameter and determines the amount of
integral action.
D- the derivative time is a tuning parameter
and determines the amount of derivative action.
- the controller bias

Controller with
1 or 2 modes:

P-only:

c(t ) c Kc e(t )

1
c(t ) c K c e(t ) e(t )dt
I 0

* PI:
PD:

de(t )

c(t ) c K c e(t ) D

dt

Transfer Function for a PID

Controller

C ( s)
1
Gc ( s)
K c 1
D s
E ( s)
Is

PID Controller:

C (s)
1
Gc ( s)
K c 1
D s
E (s)
I s

This is called parallel form:

Ds

E(s)

Kc

1/Is

+
+
+

C(s)

PID Controller:
There is also a serial form
(also called interactive form):
C ( s)
1
Gc ( s)
Kc (1 D s)(1
)
E ( s)
I s

Next Time we will see the

General Feedback Control Loop
D(s)

Gd(s)

Ysp(s)

E(s)

+-

C(s)

Gc(s)

Ys(s)

Ga(s)

Gs(s)

U(s)

Gp(s)

+
+

Y(s)

and we will derive the overall

Closed Loop Transfer Functions
Y (s)

G p ( s ) Ga ( s ) Gc ( s)
G p ( s ) Ga ( s ) Gc ( s) Gs ( s) 1

Ysp ( s )

Gd ( s )

D( s )
G p ( s) Ga ( s) Gc ( s) Gs ( s) 1