Republic of Iraq

Ministry of Higher Education & scientific Research

University Of Baghdad

AL-Khwarizmi College of Engineering

Biochemical Engineering Department

Type of controller

Report submitted by
Hajir saleh jabar

4 th stage

Supervise by
Dr. Alaa Kareem

2020/6/26
Introduction
In everyday speech, the term control and its many variations is frequently used. We can
control a situation, such as a policeman controlling the traffic, or a fireman bringing the fire
under control. Or an argument may get out of control, or something might happen to us because
of circumstances beyond our control. The term ‘control’ obviously implies the restoration of a
desirable state which has been disturbed by external or internal influences.

Control processes exist in the most diverse areas. In nature, for instance, control processes serve
to protect plants and animals against varying environmental conditions. In economics, supply
and demand control the price and delivery time of a product. In any of these cases, disturbances
may occur that would change the originally established state. It is the function of the control
system to recognize the disturbed state and correct it by the appropriate means.

In a similar way as in nature and economics, many variables must be controlled in technology so
that equipment and systems serve their intended purpose. With heating systems, for example, the
room temperature must be kept constant while external influences have a disturbing effect, such
as fluctuating outside temperatures or the habits of the residents as to ventilation, etc.

In technology, the term control is not only applied to the control process, but also to the
controlled system.

A control system is a system of devices or set of devices, that manages, commands, directs or
regulates the behavior of other devices or systems to achieve desired results. In other words, the
definition of a control system can be simplified as a system, which controls other systems.

The main feature of a control system is that there should be a clear mathematical relationship
between input and output of the system.

Hence, there are two main types of control system. They are as follow

1. Open loop control system

2. Closed loop control system

What is a Controller?
A controller is a mechanism that seeks to minimize the difference between the actual value of a
system (i.e. the process variable) and the desired value of the system (i.e. the set point).
Controllers are a fundamental part of control engineering and used in all complex control
systems.

The figure represents the block diagram of an industrial controller

The important uses of the controllers include:

1. Controllers improve the steady-state accuracy by decreasing the steady state

2. As the steady-state accuracy improves, the stability also improves.

3. Controllers also help in reducing the unwanted offsets produced by the system.

4. Controllers can control the maximum overshoot of the system.

5. Controllers can help in reducing the noise signals produced by the system.

6. Controllers can help to speed up the slow response of an over damped system.

Types of Controller
There are two main types of controllers: continuous controllers, and discontinuous controllers.
Continuous and discontinuous controllers
In continuous controllers, the manipulated variable can assume any value within the controller
output range. The characteristic of continuous controllers usually exhibits proportional (P),
integral (I) or differential (D) action, or is a sum of these individual elements.

The main feature of continuous controllers is that the controlled variable (also known as the
manipulated variable) can have any value within the controller’s output range.

Now in the continuous controller theory, there are three basic modes on which the whole control
action takes place, which are:

1. Proportional controllers.

2. Integral controllers.

3. Derivative controllers.

We use the combination of these modes to control our system such that the process variable is
equal to the set point (or as close as we can get it). These three types of controllers can be
combined into new controllers:

1. Proportional and integral controllers (PI Controller)

2. Proportional and derivative controllers (PD Controller)

3. Proportional integral derivative control (PID Controller)

In discontinuous controllers, the manipulated variable y changes between discrete values.

Depending on how many different states the manipulated variable can assume, a distinction is
made between two-position, three position and multi position controllers.

Compared to continuous controllers, discontinuous controllers operate on very simple, switching

final controlling elements. If the system contains energy storing components, the controlled
variable responds continuously, despite the step changes in the manipulated variable. If the
corresponding time constants are large enough, good control results at small errors can even be
reached with discontinuous controllers and simple control elements.

According to this mode of operation, controllers are of two types:

1. On-Off / Two-position controllers 2. Multi position controllers

Continuous Controllers
Proportional Controller (P controller)
As the name suggests in a proportional controller the output (also called the actuating signal) is directly
proportional to the error signal. We cannot just insert any type of controller at any system and expect a
good result – there are certain conditions that must be fulfilled. For a proportional controller, there are
two conditions

1. The deviation should not be large; i.e. there should not be a large deviation between the input and
output.

2. The deviation should not be sudden.

writing this mathematically we have,

Removing the sign of proportionality we have ,

Where Kp is proportional constant also known as controller gain.

It is recommended that Kp should be kept greater than unity. If the value of Kp is greater than
unity (>1), then it will amplify the error signal and thus the amplified error signal can be detected
easily.

P controllers advantages

 The proportional controller helps in reducing the steady-state error, thus makes the
system more stable.
 The slow response of the over damped system can be made faster with the help of these
controllers.
P controllers disadvantages

 Due to the presence of these controllers, we get some offsets in the system.
 Proportional controllers also increase the maximum overshoot of the system
Example: Consider the following closed system:
5/5s+1
+
0.3 4 1/5s+1
-

a.For a unit step change in XL ,find the constant Ʈ of the closed loop, the final value of response and the
offset

Solution :

G(s)= = = = = Ʈ=0.7

Y(t)= . G(S) = = 0.7(1- y(∞)=0.7 Offset= =0.7

For kc=1 G(s) = = = = Ʈ=0.238

Y(t)= . G(S) = = 0.238(1- )

Y(∞)=0.238 offset= 0.238

Integral controller(I controller)

As the name suggests in integral controllers the output (also called the actuating signal) is
directly proportional to the integral of the error signal. writing this mathematically we have,
writing this mathematically we have,

Removing the sign of proportionality we have

Where Ki is an integral constant also known as controller gain. The integral controller is also
known as reset controller.
Advantages of Integral Controller
Due to their unique ability, Integral Controllers can return the controlled variable back to the
exact set point following a disturbance that’s why these are known as reset controllers.

Disadvantages of Integral Controller

It tends to make the system unstable because it responds slowly towards the produced error.

Derivative Controllers

This type is directly proportional to the derivative of the error signal .We never use derivative
controllers alone. It should be used in combinations with other modes of controllers.
writing this mathematically we have,

Removing the sign of proportionality we have,

Where, Kd is proportional constant also known as controller gain. The derivative controller is
also known as the rate controller.

Advantages of Derivative Controller

The major advantage of a derivative controller is that it improves the transient response of the
system.
Disadvantages of Derivative Controller
1. It never improves the steady-state error.
2. It produces saturation effects and also amplifies the noise signals produced in the system.
 Proportional and Integral(PI) controllers
PI controllers are often employed in practice. In this combination, one P and one I controller are
connected in parallel as shown in(Fig.

writing this mathematically we have,

Removing the sign of proportionality we have,

Where, Ki and kp proportional constant and integral constant respectively.

If properly designed, they combine the advantages of both controller types (stability and
rapidity; no steady-state error), so that their disadvantages are compensated for at the same
time.

PI controllers are very often used in industry, especially when speed of the response is not an
issue. A control without D mode is used when:

a) fast response of the system is not required

b)large disturbances and noise are present during operation of the process

c)there is only one energy storage in process (capacitive or inductive)

d)there are large transport delays in the system.

Example: For a closed loop shown below calculate the offset for unit step change in Ti.

Ti
1/s+1
T sp Ti(s)
2(1+
4/s+1
G(s) = = = =
( )

T=0.24 δ=1.16

Offset= =0

Proportional plus Integral plus Derivative (PID) controller

If a D component is added to PI controllers, the result is an extremely versatile PID controller as
shown in(Fig.). As with PD controllers, the added D component if properly tuned causes the
controlled variable to reach its set point more quickly, thus reaching steady state more rapidly.

PID controllers are suitable for systems with great lag that must be eliminated as quick as
possible. Compared to the PI controller, the added D component results in better control
dynamics. Compared to the PD controller, the added I component prevents error in steady state

Example: For the closed loop shown below in the Fig. if a unit step change occurs in XL Find:

a-The value of T ,δ and the offset. b- The response .

5+5s+ 1/s+1

solution:

G(s)= = = = = 0.2
( )

T=1.095 δ=0.5 offset= 0.2 ]=0

b- Y(t)= . G(S) = 0.2 =

√
A=√ = 0.866 B= =0.79 C= =0.46

Y(t)= 1.0545
 Proportional and Derivative Controller (PD Controller)
As the name suggests it is a combination of proportional and a derivative controller the output
(also called the actuating signal) is equals to the summation of proportional and derivative of the
error signal.

writing this mathematically we have,

Removing the sign of proportionality we have,

Where, Kd and Kp proportional constant and derivative constant respectively.

Advantages and disadvantages Are combinations of advantages and disadvantages of

proportional and derivative controllers.

Example: Consider the block diagram shown in fig find the offset when a unit step change in XL

XL

+
2+S 0.4/
Y sp y(s)

G(S)= = = =

T=0.74 δ=0.87

Offset= ] = 0.222
Discontinuous controllers
on-off control : is the simplest form of a controller, which switches ON when the error is
positive and switches OFF when the error is zero or negative. An on-off controller doesn’t have
intermediate states but only fully ON or fully OFF states. Due to the switching logic, an on-off
controller is often called a bang-bang controller or a two-step controller.

The main advantages of on-off controllers are: simplicity, inexpensive and digital output (only
two states).

The main disadvantages are: the controlled parameter will continuously switch around the set
point and if the hysteresis is not correctly set, the deviation from the set point could be quite
signicant.

Three position controller : A variant of two-position control with differential gap is three
position control , where in the controller responds with an intermediate out (e.g.50%) when
controlled variable lies with in so-called dead zone

Three-position controllers can assume three different switching states. In a temperature control
system, these states are not only ‘ off’ and ‘ heating’ as in a two-position controller, but also
cooling’ . Therefore, a three-position controller fulfills the function of two coupled two-position
controllers that switch at different states

Selecting a Controller
Selection criteria To solve a control task it is required that

the controlled system be analyzed and

a suitable controller be selected and designed.

The most important properties of the widely used P, PD, I, PI and PID control elements are listed
in the following table:
Which controller to select depends on the following factors:

 Is the system based on integral or proportional control action (with or without self-
regulation)?
 How great is the process lag (time constants and/or dead times)?
 How fast must errors be corrected?
 Is steady-state error acceptable?
References

file:///C:/Users/NS/Desktop/Control%20System%20_%20Closed%
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