Types of Feedback Controllers

Proportional Controller (P)

Proportional-Integral Controller (PI)

Proportional-Integral-Derivative Controller (PID)

Proportional-Derivative Controller (PD)

The difference, or error, is

Proportional Controller (P)

La figura muestra que entre ms grande es la ganancia del controlador, mayor es el cambio en la salida del controlador
para determinado error, por lo tanto este parmetro define la sensibilidad del controlador.

La ventaja del control proporcional es es que solo tienen que sintonizar un solo parmetro Kc, sin embargo sufren de
una gran desventaja; la variable controlada opera con offset, una desviacin con respecto al set point o un error en
estado estable.

Looking back at Eq. 5-3.5, we note that the only way

for the controller output to be 60% is for the second term of the right-hand side to have
a value of + 10% and for this to be so, the error term cannot be zero at steady state.
This required steady-state error is the offset!

Two points need to be stressed in this example. First, the magnitude of the offset
depends on the value of the controller gain. Because the total term must have a value
of + 10 %CO,

This figure shows that the larger the value of Kc the smaller the offset.

the larger Kc reduces the offset, the process becomes more oscillatory. For most processes,
there is a maximum value of Kc beyond which the process goes unstable. Thus there is
a limit to the value at which we can set Kc while at the same time maintaining stability.
Consequently, the offset cannot be completely eliminated. The calculation of this maximum
value of the controller gain, referred to as the ultimate gain, Kc,,
examples:

In some processes, such as the level in a surge tank, the cruise control in a car, or a thermostat
in a house, this offset may not be of any major consequence. In cases in which the
process can be controlled within a band from set point, proportional controllers are
sufficient. However, when the process variable must be controlled at the set point, notnear it, proportional controllers do not provide
the required control.

Proportional-Integral Controller (PI)

where r, = integral (or reset) time.

Thus, in an amount of time equal to r,, the integral mode repeats the immediate action
taken by the proportional mode. The smaller the value of rl, the faster the controller
integrates. Realize that the smaller the value of rl, the larger the term in front of the
integral, Kc/~,, and consequently, the more weight given to the integral term.

Under PI control, as long as the error is present, the controller keeps changing its output (integrating the error).
The equation shows that even with a zero error, the integral term is not zero but rather lo%, which provides the required output of
60%.

Integration is the mode that removes the offset!

Proportional-Integral-Derivative Controller (PID)

where r. = derivative (or rate) time

Its purpose is to anticipate where the process is heading by looking at the time rate of change of
the error, its derivative.
Assume that the inlet process temperature decreases by some
amount and the outlet temperature starts to decrease correspondingly, as shown in Fig.
5-3.10. At time t,, the amount of the error is positive and small. Consequently, the
amount of control correction provided by the proportional and integral modes is small.
However, the derivative of this error, the slope of the error curve, is large and positive,
making the control correction provided by the derivative mode huge. By looking at the
derivative of the error, the controller knows that the controlled variable is heading away
from set point rather fast, and it uses this fact to help in controlling.

This algorithm results in reduced overshoot and decreases oscillations around set point.

PID controllers are recommended for use in slow processes (processes with multiple
time constants or dead time) such as temperature loops, which are usually free of noise.
Fast processes (processes with short time constants) are easily susceptible to process
noise. Typical of these fast processes are flow loops and liquid pressure loops.
 Proportional-Derivative Controller (PD)

This controller is used in processes where a proportional controller can be used, where steady-state offset is acceptable but where
some amount of anticipation is desired and no noise is present.