Fourth Class Process Control

2. Integral mode, (I .controller)

𝑡𝑡
𝑃𝑃(𝑡𝑡) = 𝐾𝐾𝐼𝐼 ∫0 𝐸𝐸(𝑡𝑡)𝑑𝑑𝑑𝑑
𝑡𝑡
𝑃𝑃′ (𝑡𝑡) = 𝐾𝐾𝐼𝐼 ∫0 𝐸𝐸 ′ (𝑡𝑡)𝑑𝑑𝑑𝑑 + 𝑃𝑃0

Steady state : 𝑃𝑃𝑜𝑜 = 𝑃𝑃0 𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏

𝐾𝐾𝐼𝐼
𝑃𝑃(𝑠𝑠) = 𝐸𝐸(𝑠𝑠)
𝑠𝑠

𝑃𝑃(𝑠𝑠) 𝐾𝐾𝐼𝐼
𝐺𝐺𝑐𝑐 (𝑠𝑠) = =
𝐸𝐸(𝑠𝑠) 𝑠𝑠

𝑃𝑃(𝑠𝑠) 1
𝐺𝐺𝑐𝑐 (𝑠𝑠) = =
𝐸𝐸(𝑠𝑠) 𝜏𝜏 𝐼𝐼 𝑠𝑠

𝜏𝜏𝐼𝐼 =integral time constant(min.)

1. Proportional Plus integral action (PI) controller

2. Steady state : 𝑃𝑃 𝑜𝑜 = 𝑃𝑃0 𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏
At unsteady state: ‫ ﺍﻛﺘﺐ ﺍﻟﻤﻌﺎﺩﻟﺔ ﻫﻨﺎ‬.

𝐾𝐾𝐼𝐼 𝑡𝑡
𝑃𝑃′ (𝑡𝑡) = 𝑃𝑃0 + 𝐾𝐾𝑐𝑐 𝐸𝐸(𝑡𝑡) + ∫0 𝐸𝐸 ′ (𝑡𝑡) 𝑑𝑑𝑑𝑑
𝜏𝜏 𝐼𝐼

In deviation variable:
𝑡𝑡
𝑃𝑃(𝑡𝑡) = 𝐾𝐾𝑐𝑐 𝐸𝐸(𝑡𝑡) + 𝐾𝐾𝐼𝐼 ∫0 𝐸𝐸(𝑡𝑡)𝑑𝑑𝑑𝑑
1 𝑡𝑡
𝑃𝑃(𝑡𝑡) = 𝐾𝐾𝑐𝑐 �𝐸𝐸 (𝑡𝑡) + ∫0 𝐸𝐸(𝑡𝑡)𝑑𝑑𝑑𝑑�
𝜏𝜏 𝐼𝐼

1
𝑃𝑃(𝑠𝑠) = 𝐾𝐾𝑐𝑐 �𝐸𝐸 (𝑠𝑠) + 𝐸𝐸(𝑠𝑠)�
𝜏𝜏 𝐼𝐼 𝑠𝑠

𝑃𝑃(𝑠𝑠) 1
𝐺𝐺𝑐𝑐𝑐𝑐𝑐𝑐 (𝑠𝑠) = = 𝐾𝐾𝑐𝑐 �1 + �
𝐸𝐸(𝑠𝑠) 𝜏𝜏 𝐼𝐼 𝑠𝑠

𝑃𝑃(𝑠𝑠) 100 1
𝐺𝐺𝑐𝑐 (𝑠𝑠) = = �1 + �
𝐸𝐸(𝑠𝑠) 𝑃𝑃. 𝐵𝐵 𝜏𝜏𝐼𝐼 𝑠𝑠

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Fourth Class Process Control

3. Proportional -Derivative action (PD controller)

Derivative action

Controller output
𝑑𝑑𝑑𝑑 (𝑡𝑡)
𝑃𝑃(𝑡𝑡) ∝
𝑑𝑑𝑑𝑑

For PD controller:
𝑑𝑑𝑑𝑑 (𝑡𝑡)
𝑃𝑃(𝑡𝑡) = 𝐾𝐾𝑐𝑐 𝐸𝐸(𝑡𝑡) + 𝐾𝐾𝑑𝑑
𝑑𝑑𝑑𝑑

𝐾𝐾𝑑𝑑 𝑑𝑑𝑑𝑑 (𝑡𝑡)

= 𝐾𝐾𝑐𝑐 �𝐸𝐸 (𝑡𝑡) + �
𝐾𝐾𝑐𝑐 𝑑𝑑𝑑𝑑

𝑑𝑑𝑑𝑑 (𝑡𝑡)
𝑃𝑃(𝑡𝑡) = 𝐾𝐾𝑐𝑐 �𝐸𝐸 (𝑡𝑡) + 𝜏𝜏𝐷𝐷 �
𝑑𝑑𝑑𝑑

𝐾𝐾𝑑𝑑
𝜏𝜏𝐷𝐷 = , derivative time (min.)
𝐾𝐾𝑐𝑐

𝑃𝑃(𝑠𝑠)
𝐺𝐺𝑐𝑐𝑐𝑐𝑐𝑐 (𝑠𝑠) = = 𝐾𝐾𝑐𝑐 (1 + 𝜏𝜏𝐷𝐷 𝑠𝑠)
𝐸𝐸(𝑠𝑠)

4. Three mode control action (P+I+D)

𝑡𝑡
𝐾𝐾𝑐𝑐 𝑑𝑑𝑑𝑑(𝑡𝑡)
𝑃𝑃(𝑡𝑡) = 𝐾𝐾𝑐𝑐 𝐸𝐸(𝑡𝑡) + � 𝐸𝐸(𝑡𝑡)𝑑𝑑𝑑𝑑 + 𝐾𝐾𝑐𝑐 𝜏𝜏𝐷𝐷
𝜏𝜏𝐼𝐼 𝑑𝑑𝑑𝑑
0

𝑃𝑃(𝑠𝑠) 1
𝐺𝐺𝑐𝑐 (𝑠𝑠) = = 𝐾𝐾𝑐𝑐 �1 + + 𝜏𝜏𝐷𝐷 𝑠𝑠�
𝐸𝐸(𝑠𝑠) 𝜏𝜏𝐼𝐼 𝑠𝑠

This controller combines the benefits of PI controller with the derivative mode.
• The derivative mode provides anticipatory "look ahead" behavior, which helps to
counteract the destabilizing effect of the I-mode, thus providing stability.
• The amount of anticipation is decided by the parameter τd.
• The PID is suitable for processes with long time constant such as temperature and
composition control.
• The PID is not recommended for processes with short time constant and/or noisy
systems such as flow and pressure control.
• Derivative kick.
• Reset windup

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