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The various types of controllers are used to improve the performance of control systems. In this chapter, we will discuss the
basic controllers such as the proportional, the derivative and the integral controllers.
Proportional Controller
The proportional controller produces an output, which is proportional to error signal.
u
u((t
t)) ∝
∝ e
e((t
t))
⇒
⇒ u
u((t
t)) =
= K
KP e(t)
P e(t)
U
U((s
s)) =
= K
KP E(s)
P E(s)
U
U((s
s))
=
= K
KPP
E
E((s
s))
Where,
U(s) is the Laplace transform of the actuating signal u(t)
E(s) is the Laplace transform of the error signal e(t)
KP is the proportionality constant
The block diagram of the unity negative feedback closed loop control system along with the proportional controller is shown in
the following figure.
The proportional controller is used to change the transient response as per the requirement.
Derivative Controller
The derivative controller produces an output, which is derivative of the error signal.
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d
dee(
(tt)
)
u
u((t
t)) =
= K
KDD
d
dtt
U
U((s
s)) =
= K
KD sE(s)
D sE(s)
U
U((s
s))
=
= K
KD s
Ds
E
E((s
s))
Where, K
KDD
is the derivative constant.
The block diagram of the unity negative feedback closed loop control system along with the derivative controller is shown in
the following figure.
The derivative controller is used to make the unstable control system into a stable one.
Integral Controller
The integral controller produces an output, which is integral of the error signal.
u
u((t
t)) =
= K
KI ∫ e(t)dt
I ∫ e(t)dt
K
KI E(s)
I E(s)
U
U((s
s)) =
=
s
s
U
U((s
s)) K
KII
=
=
E
E((s
s)) s
s
K
Therefore, the transfer function of the integral controller is .
KII
s
s
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Where, K
KII
is the integral constant.
The block diagram of the unity negative feedback closed loop control system along with the integral controller is shown in the
following figure.
d
dee(
(tt)
)
u
u((t
t)) =
= K
KP e(t) + K D
P e(t) + KD
d
dtt
U
U((s
s)) =
= (
(KKP + KDs
P + KD s)
)EE(
(ss)
)
U
U((s
s))
=
= K
KP + KDs
P + KD s
E
E((s
s))
The block diagram of the unity negative feedback closed loop control system along with the proportional derivative controller
is shown in the following figure.
The proportional derivative controller is used to improve the stability of control system without affecting the steady state error.
The proportional integral controller produces an output, which is the combination of outputs of the proportional and integral
controllers.
u
u((t
t)) =
= K
KP e(t) + K I ∫
P e(t) + KI ∫ e
e((t
t))d
dtt
K
KII
U
U((s
s)) =
= (
(KKP +
P +
)
)EE(
(ss)
)
s
s
U
U((s
s)) K
KII
=
= K
KP +
P +
E
E((s
s)) s
s
K
Therefore, the transfer function of proportional integral controller is K
KP +
P +
KII
s
.
s
The block diagram of the unity negative feedback closed loop control system along with the proportional integral controller is
shown in the following figure.
The proportional integral controller is used to decrease the steady state error without affecting the stability of the control
system.
d
dee(
(tt)
)
u
u((t
t)) =
= K
KP e(t) + K I ∫
P e(t) + KI ∫ e
e((t
t))d
dtt+
+KKD
D
d
dtt
K
KII
U
U((s
s)) =
= (
(KKP +
P +
+
+KKD s) E(s)
D s) E(s)
s
s
U
U((s
s)) K
KII
=
= K
KP +
P +
+
+KKD
Ds
s
E
E((s
s)) s
s
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K
KII
Therefore, the transfer function of the proportional integral derivative controller is K
KP +
P + s
s
+
+KKD
Ds
s .
The block diagram of the unity negative feedback closed loop control system along with the proportional integral derivative
controller is shown in the following figure.
The proportional integral derivative controller is used to improve the stability of the control system and to decrease steady
state error.
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