25-07-2020

PID OVERVIEW
PID control can be a confusing concept to understand. Here, a brief
summary of each term within PID (P. I, and D) is presented for your learning
benefit.

1. Proportional control mode (P)

Proportional – sometimes called gain or sensitivity – is a control action
reproducing changes in input as changes in output. Proportional controller
action responds to present changes in input by generating immediate and
commensurate changes in output. When you think of “proportional action” (P),
think prompt : this control action works immediately (never too soon or too
late) to match changes in the input signal.

Mathematically defined, proportional action is the ratio of output change to

input change. This may be expressed as a quotient of differences, or as a
derivative (a rate of change, using calculus notation):

For example, if the PV input of a proportional-only process controller with a

gain of 2 suddenly changes (“steps”) by 5 percent, and the output will
immediately jump by 10 percent (∆Output = Gain × ∆Input). The direction of
this output jump in relation to the direction of the input jump depends on
whether the controller is configured for direct or reverse action.

A legacy term used to express this same concept is proportional band: the
mathematical reciprocal of gain. “Proportional band” is defined as the amount
of input change necessary to evoke fullscale (100%) output change in a
proportional controller. Incidentally, it is always expressed as a percentage,
never as fraction or as a per unit value:
Using the same example of a proportional controller exhibiting an output
“step” of 10% in response to a PV “step” of 5%, the proportional band would
be 50%: the reciprocal of its gain ( 1/2 = 50%).

Another way of saying this is that a 50% input “step” would be required to
change the output of this controller by a full 100%, since its gain is set to a
value of 2.

2. Integral control mode (I)

Integral – sometimes called reset or floating control – is a control action
causing the output signal to change over time at a rate proportional to the
amount of error (the difference between PV and SP values).

Integral controller action responds to error accumulated over time, ramping

the output signal are far as it needs to go to completely eliminate error. If
proportional (P) action tells the output how far to move when an error
appears, integral (I) action tells the output how fast to move when an error
appears.

If proportional (P) action acts on the present, integral (I) action acts on the
past. Thus, how far the output signal gets driven by integral action depends
on the history of the error over time: how much error existed, and for how
long. When you think of “integral action” (I), think impatience: this control
action drives the output further and further the longer PV fails to match SP.

Mathematically defined, integral action is the ratio of output velocity to input

error:

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An alternate way to express integral action is to use the reciprocal unit of
“minutes per repeat.” If we define integral action in these terms, the defining
equations must be reciprocated:

For example, if an error of 5% appears between PV and SP on an integral-

only process controller with an integral value of 3 repeats per minute (i.e. an
integral time constant of 0.333 minutes per repeat), the output will begin
ramping at a rate of 15% per minute ( dm/dt = Integral value × e, or dm/dt =
e/Ti).

In most PI and PID controllers, integral response is also multiplied by

proportional gain, so the same conditions applied to a PI controller that
happened to also have a gain of 2 would result in an output ramping rate of
30% per minute ( dm/dt = Gain value × Integral value x e, or  dm/dt = Gain
value × e/Ti ).

The direction of this ramping in relation to the direction (sign) of the error
depends on whether the controller is configured for direct or reverse action.

3. Derivative control mode (D)

Derivative – sometimes called rate or pre-act – is a control action causing the
output signal to be offset by an amount proportional to the rate at which the
input is changing. Derivative controller action responds to how quickly the
input changes over time, biasing the output signal commensurate with that
rate of input change.

If proportional (P) action tells the output how far to move when an error
appears, derivative (D) action tells the output how far to move when the input
ramps. If proportional (P) action acts on the present and integral (I) action acts
on the past, derivative (D) action acts on the future:

it effectively “anticipates” overshoot by tempering the output response

according to how fast the process variable is rising or falling. When you think
of “derivative action” (D), think discretion: this control action is cautious and
prudent, working against change.

Mathematically defined, derivative action is the ratio of output offset to input

velocity:

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For example, if the PV signal begins to ramp at a rate of 5% per minute on a
process controller with a derivative time constant of 4 minutes, the output will
immediately become offset by 20% (∆Output = Derivative value × de/dt ).

In most PD and PID controllers, derivative response is also multiplied by

proportional gain, so the same conditions applied to a PD controller that
happened to also have a gain of 2 would result in an immediate offset of 40%
(∆Output = Gain value × Derivative value × de/dt ).

The direction (sign) of this offset in relation to the direction of the input
ramping depends on whether the controller is configured for direct or reverse
action.