PID Control System

Analysis and Design

Presented by
Binu Mammen
Noah Berhanu
Souvik Bhattacharya
Vishal Raj Karunala
 Introduction

 Proportional-integral-derivative (PID) control provides a

generic and efficient solution to real world control
problems

 Presents remedies for problems involving the integral

and derivative terms. PID design objectives,methods,
and future directions are discussed.
 What is PID
 PID stands for Proportional, Integral, Derivative.
Controllers are designed to eliminate the need for
continuous operator attention.

 Cruise control in a car and a house thermostat are

common examples

 Error is defined as the difference between set-point and

measurement. (error) = (set-point) - (measurement)

 The output of PID controller will change in response to

the error
 What IS PID
Proportional

 With proportional band, the controller output is

proportional to the error or a change in measurement.

 (controller output) = (error)*100/(proportional band)

 Drawbacks -With a proportional controller offset is

present.

 Increasing the controller gain will make the loop go

unstable.

 Integral action was included in controllers to eliminate

this offset
 What IS PID
Integral

 With integral action, the controller output is proportional

to the amount of time the error is present. Integral action
eliminates offset.

 Controller Output = (1/INTEGRAL) (Integral of)e(t)d(t)

 Integral action gives the controller a large gain at low

frequencies
 What IS PID
Derivative

 The controller output is proportional to the rate of

change of the measurement or error

 CONTROLLER OUTPUT = DERIVATIVE - dm/dt

 STANDARD STRUCTURES OF PID
CONTROLLERS
Parallel Structure and Three-Term Functionality

 T.F-: GPID(s) =U(s)/E(s) = KP(1 +1/T1s + TDs)…..(1)

U(s) is the control signal
E(s)=Error signal. constant,
TD =Derivative time constant
TI =Integral time constant
S =Argument of the Laplace transform.
 Control Signal can be expressed in three terms as
 U(s) = KPE(s) + KI1/sE(s) + KDsE(s)
 U(s) = UP(s) + UI(s) + UD(s),
STANDARD STRUCTURES OF
PID CONTROLLERS
Parallel Structure and Three-Term Functionality
 Where KI = KP/TI is the integral gain and KD = KPTD is the
derivative gain.
The three-term functionalities include:

 The proportional term provides an overall control action

proportional to the error signal through the all pass gain
factor.

 The integral term reduces steady-state errors through

low-frequency compensation.

 The derivative term improves transient response through

High-frequency compensation.
STANDARD STRUCTURES
OF PID CONTROLLERS
 A PID controller is a phase lead-lag compensator
with one pole at the origin and the other at
infinity.

 PI-Phase lag.

 PD-Phase-lead compensators.

 Optimum perfomance can be achieved Kp KI Kd

are tuned together
Effect of Independent P,I and D
closed response
STANDARD STRUCTURES OF
PID CONTROLLERS
Series Structure
 GPID(s) = (α + TDs) KP (1 +1/αT1s)…………..(3)

 GPID(s)=GPD(s)GPI(s)

 GPD(s)GPI(s) are the factored PD and PI parts

 Integral Term
Destabilizing Effect of the Integral Term
 Adding an integral term to a
pure proportional term
increases the gain by a factor.

 Increases the phase-lag

 Gain margin (GM) and phase

margin (PM) are
reduced, and the closed-loop
system becomes more
oscillatory and potentially
unstable
 Integrator Windup
 If the actuator realizes the control action has saturated
range limits, and the saturations are neglected in a linear
control design, the integrator may suffer from windup;
this causes low-frequency oscillations and leads to
instability

 Windup is due to the controller states becoming

inconsistent with the saturated control signal, and future
correction is ignored until the actuator desaturates
 Integrator Windup Remedies
 Antiwindup can be achieved implicitly through automatic
reset.

 Explicit Antiwindup implemented explicitly through

internal negative feedback.

 Another Solution to antiwindup is to reduce the

possibilities for saturation by reducing the control signal,
as in linear quadratic optimal control schemes that
minimize the tracking error and control signal through a
weighted objective function.
 Integral Term
Destabilizing Effect of the Integral Term

 UI(s) =1/TIs (KPE(s) −U(s) −Ucap(s)/ r(gamma),

Derivative Term
 Contents

 General form and uses

 Drawbacks

 Remedies
 General form
 PD = ( 1 + Tds )
 Frequency response = ( 1 + jwTd)
 Gain = | 1 + jwTd|
 Uses

 Improved damping ratio

 Fast recovery from disturbance

 Strong signal for error signal

 Drawbacks an example

 G = (Ke-Ls) / ( 1 + T s )

 | G (jw)Gpd(jw) | > 1 for all w if Kp > 1/K and Td > T / K Kp

 tan -1 ( wTd) tan-1 (Tw) – Lw

phase angle < -180

 Unstable system
 Remedies
 Involves use of filters

 Linear low pass filter

 Velocity Feedback

 SetPoint Filter

 Nonlinear median filter

 Linear low pass filter

 Second order Butterworth filter

Gd (s) = KpTd s / ( 1 + Td/ bs )

 Value of b [ 8,16 ]

 Cascaded to the PD only or to the whole PID controller ( slow

transient response)
 Velocity feedback
 Known as PI-D or Type B controller
 PD placed in the feedback

e
+ + Y
Kp (.) + Ki ∫ (. ) G(s)
- -

Kd d( . )
dt
 Set point filter
 Known also as P-ID or Type C controller
 Similar to Type B
 Gives good overshot performance for a good choice of b

b Kp
+

+ e + y
r
Ki ∫ ( . ) + G(s)
- -

Kd d ( . )
dt
 Median filter
 Often used in DIP

 Setting
the current value to the median
values of nearby data points

 Removes spikes

drawback
 Excessive smoothness for under damped
system
DESIGN OBJECTIVES
AND METHODS
 DESIGN OBJECTIVES AND
EXISTING METHODS

 Matters concerning commission and

maintenance(such as pre- and post-processing as
well as fault tolerance) also need to be
considered in a complete PID design.
 Controller parameters are tuned so that so that
the closed loop system meets the following five
objectives:
1. stability and stability robustness, usually
measured in the frequency domain.
2. transient response, including rise time,
 ……..CONTD
4. disturbance attenuation and robustness against
environmental uncertainty, often at steady state
5. robustness against plant modeling uncertainty,
usually measured in the frequency domain.

 Most methods target one objective or a

weighted composite of the objectives listed
above.
 Heuristic Methods
 Heuristic methods evolve from empirical
tuning (such as the ZN tuning rule), often
with a tradeoff among design objectives.
Heuristic search involves expert systems,
fuzzy logic, neural networks, and evolutionary
computation
 Frequency Response Methods
 Frequency-domain constraints, such as GM, PM, and
sensitivities, are used to synthesize PID controllers
offline.
 For real-time applications, frequency-domain
measurements require time-frequency, localization-
based methods such as wavelets.
 Analytical Methods
 Because of the simplicity of PID control,
parameters can be derived analytically using
algebraic relations between a plant model and a
targeted closed-loop transfer function with an
indirect performance objective, such as pole
placement, IMC, or lambda tuning
Numerical Optimization Methods
 Optimization-based methods can be regarded
as a special type of optimal control.
 PID parameters are obtained by numerical
optimization for a weighted objective in the
time domain.
 a self-learning evolutionary algorithm (EA)
can also be used to search for both the
parameters and their associated structure or
to meet multiple design objectives in both the
time and frequency domains
 These designs are suitable for adaptive tuning
as some of the designs can be computerized
,so that are automatically performed online
 Computerized Simulation
Approach
 By using a computerized approach, multiple
design methods can be combined within a single
software or firmware package to support various
plant types and PID structures.
 PIDeasy is a software package that uses automatic
simulations to search globally for controllers that
meet all five design objectives in both the time
and frequency domains.
 First-Order Delayed Plants
 Whilerequirements of fast transient response, no
overshoot,and zero steady-state error are
accommodated by timedomain criteria, PIDeasy’s
multiobjective goals provide frequency-domain
margins in the range of 9–11 dB and 65–66
degrees.

 Toassess the robustness of design using PIDeasy,

GMs and PMs resulting from designs for plants
with various L/T ratios are shown in the figure.
 SETPOINT-SCHEDULED PID
NETWORK
 Consider the constant-temperature reaction process

where
y(t) = concentration in the outlet stream (mol/l),
u(t) = flow rate of the feed stream (l/h),
K = rate of reaction (l/mol-h),
V = reactor volume (l),
d = concentration in the inlet stream (mol/l).
 Theset point, equilibrium, or steady-state
operating trajectory of the plant is
governed by

 Placement at y=0.49 using the maximum

distance from the nonlinear trajectory to
the linear projection linking the starting
and ending points of the operating
 Obtaining the individual PID controllers by using
PIDeasy or other PID software or jointly by an
evolutionary algorithm, without linearization.
 Addition of two more controllers at nodes or setpoints 1 and 3.
 Formation of a pseudo-linear controller network comprised of three
PIDs to be interweighted by scheduling functions S1(y), S2(y), and
S3(y).
 Due to nonlinearity, these functions are often asymmetric.
 Similar to gain scheduling, linear interpolation meets the
requirements for setpoint scheduling.
 The resulting PID network is given by

where p denotes the derivative operator.

 Performance of the pseudo-linear PID network applied to the
nonlinear process example.
 Tovalidate tracking performance, another
setpoint r = 0.53 mol/l is used to test the
control system.

 Thecontroller network tracks this setpoint

change accurately without oscillation.

A 10% load disturbance occurring during

[3, 3.5] h,is rejected confirming load
disturbance rejection at steady state.
 SUMMARY
 What is PID?
PID Controller stands for Proportional-Integral-Derivative
Controller. It is a type of feedback controller. It can also be
referred to as the “Tuner”.

 Why should we use the PID controller?

1. The Controller provides the excitation for the plant.
2. Designed to control the overall system behavior.

 What is Tuning?
Tuning is nothing but the individual adjustment of the
proportional, integral and derivative terms.

 What exactly does it do?

It helps to achieve the output (velocity, temperature, position)
desired, in a short time, with minimal overshoot, and with little
error.
 PID equation

Kp – Proportional Gain
Ki – Integral Gain
Kd- Derivative Gain

EXAMPLES:

 A motor driving a gear train

 A thermal system - A Heater
 Mechanical Devices.
 DRAWBACKS:

 PID control can be costly to implement and support.

 It requires frequent valve- and damper-position

readjustment and this nearly continuous repositioning
shortens actuator life, adds to maintenance costs, and
makes control stability a question.
 ENHANCEMENT:

 NEWPORT MICRO-INFINITY®: Most sophisticated form

of discrete control available today.

 The NEWPORT MICRO-INFINITY® is a full function

“Auto tune” (or self-tuning) PID controller which
combines proportional control with two additional
adjustments, which help the unit automatically
compensate to changes in the system.

 These adjustments, integral and derivative, are

expressed in time-based units.
 CONCLUSIONS:

 Cost effectiveness: Division of self-contained stand-

alone instructional units around standard PID structures.

 Automation by including system identification techniques

and modular code blocks can be made available for
timely application and adaptation in real-time.