PD CONTROLLER

Introduction
A controller in forward path ,which changes the controller output corresponding to proportional
plus derivative of error signal is called PD controller.

𝑑𝑒(𝑡)
Output of controller = 𝐾𝑝 𝑒(𝑡) + 𝐾𝑑 𝑑𝑡

C(s) = Kp E(s) + s Kd E(s)

A proportional plus derivative (PD) controller has the transfer function:

𝐂(𝐒)
𝐓(𝐒) = = [𝐊𝐩 + 𝐬𝐊𝐝]
𝐄(𝐒)

This can be realized as shown in figure

R(s) 𝐾𝑝 𝜔2 C(s)
𝑠(𝑠 + 2𝜉𝜔)
- +

Plant
𝑆𝐾𝑑

Assuming Kp=1; we can write, +

(1 + sKd)ω2
G(s) =
s(s + 2ξω)

C(s) (1+sKd)ω2
=
R(s) s2 +s[2ξ ω+ω2 Kd]+ω2

Comparing denominator with standard form,𝜔𝑛 is same as in the previous P type controller.
And 2𝜉 ′ 𝜔𝑛 = 2𝜉𝜔𝑛 + 𝜔𝑛 2 𝐾𝑑

𝜔𝑛 𝐾𝑑
𝜉′ = 𝜉 + 2

𝜔𝑛 𝐾𝑑
Because of this controller, damping ratio increases by factor
2

𝐾𝑝 = lim 𝐺(𝑠)𝐻(𝑠) = ∞;
𝑆→0

𝜔𝑛
𝐾𝑣 = lim 𝑠 𝐺(𝑠)𝐻(𝑠) =
𝑆→0 2𝜉

2𝜉
Steady state error 𝑒𝑠𝑠 = which is constant
𝜔𝑛

Key point : Hence PD controller has following effect on system

1. It increases damping ratio and hence reduces the peak overshoot (Mp).
2. 𝜔𝑛 of the system remains unchanged.
3. ‘TYPE’ of the system does not change.
4. It reduces settling time.
5. Steady state error remains unchanged.
6. It increases dynamic stability of the system because it adds a zero on the left side of s-
plane .

In general, PD controller improves transient part without affecting steady state. PD

controller is recommended to use for improving speed and stability of the system having
good accuracy i.e. PD controller is recommended to improve transient response
characteristics of a system having good steady state response characteristics.