Automatic Controllers

Remember

r e p Final m c
Controller Control Process
Element

b Measuring
Device
 Control Action
 It is the relationship between e(t) {input to
controller-deviation between measured output
signal and set point} and corresponding
change in output p(t)

e(t) p(t)
Controller

Depends on the
construction of the
controller (pneumatic,
electrical…….
 Control Modes
I. Discontinuous Controllers
(On-off or 2-position or discrete)
 When the water in the tank reaches
setpoint, the burner turns off. Because the
water starts cooling again when the burner
turns on, it is only a matter of time before
the cycle begins again.
 This type of control doesn’t actually hold
the variable at setpoint, but keeps the
variable within proximity of setpoint in what
is known as a dead zone .
II. Multistep Controllers
 They have at least one other possible position in addition to on and
off.
 They operate similarly to discrete controllers, but as setpoint is
approached, the multistep controller takes intermediate steps.
 The oscillation around setpoint can be less dramatic when multistep
controllers are employed than when discrete controllers are used
III. Continuous Controllers

Continuous Controllers

Proportional Integral Derivative

 Controller Gain
1. Proportional Action
p(t)-po  e(t)
p(t)-po=Kc e(t)
p̂=Kc e(t )
P(s)=Kc E(s)

GC(s)= KC
Higher KC the more the controller
output will change for a
given error e, i.e. the
higher the sensitivity of
the controller
 KC higher sensitive

 KC lower sensitive
Remember

 Regulator Operation: If it is desired to maintain

a constant value of the controlled variable
inspite of disturbances or load variations
 Servo Operation: If the controlled variable is
normally constant (no disturbances) and it is
required to make the controlled variable
change in a definite manner, i.e. follow the
changes of the controller set point (reference
input).
 Closed Loop Response of
1st Order Systems with P Controller

Unit step change in set point Unit step change in load

Proportional action will not return the process variable to setpoint. It will,
however, return it to a value that is within a defined span around the
setpoint.
Effect of the value of KC of a
Proportional Controller

KC  Offset 

Offset = 0 when KC=∞

However we cannot use extremely

large values as the process becomes unstable
 The Gain may be +ve or -ve
 +ve gain: P – Po = KC (Tsp – T)
when process signal  control output 
reverse acting controller
e.g. controlling outlet temp. of a H.E. by steam
 - ve gain:
when process signal  control output 
direct acing controller
e.g. controlling outlet temp. of a H.E. by coolant
2. Integral Action
p(t)-po  ∫ e(t) dt
1
p( t )  p o ( t )   e( t )dt
I

Integral or Reset time Area under curve

1
G C (s) 
 IS
If there is no error the controller
output does not move.

The integral action causes the output

to keep changing as long as an error Very
exists in the process. Therefore such Imp.

a controller can eliminate even very

small errors.

Thus the basic purpose of integral

action is to drive the process back to
its set point when it has been
disturbed. This is called “zero steady
state error” or “zero off-set”.
 However:
lags
slow
3. Derivative Action

de
p( t )  p o ( t )   D
dt

Derivative Time
Slope of the tangent
to the curve

G C (s)   D S
 The purpose of the derivative action is to
anticipate what the error will be in the
immediate future and applies a control
action which is proportional to the current
rate of change in the error (change in
input).
What about if the error
is constant ?????
 Lags are reduced in derivative controllers,
and it brings stabilizing effect to the system,
however:-
 For a response with constant error it gives
no control action.
 For noisy response with almost zero error it
can compute large derivatives and thus yield
large control action which is not needed.
 Control Mode Effect on Response
Proportional Control a. Accelerates the response of a
controlled process
b. Produces an offset
c. If the KC is increased to decrease
the offset the system becomes
oscillatory and might lead to
instability
Integral Control a. Eliminates any offset.
b.Produces sluggish response.

Derivative Control a. Anticipates future errors and

introduces appropriate action
b.Decreases lags in the process
c. Produces unneeded control action
in case of noisy responses.
d.Produces no control action in case
of constant error.
 Commercial Controllers

P PI PID

Good Stability G C (s)  K C (1  1 )

Rapid Response S 1
 I 
Easy to tune p( t )  p o ( t )  K C e( t )    e( t )dt 
I

No offset
Response of a controlled process to a unit step change in load
With different types of controllers
 Control Mode Characteristics
On-Off - Inexpensive.
- Extremely simple
P -Simple
-Easy to tune.
-Experience off-set at steady state
PI -No-offset
-Better dynamic response than integral alone

PID -Most complex

-Most expensive
-Rapid reponse.
-No offset.
-Difficult to tune.
-Best control if properly tuned.
Does every process requires a
full PID Control Strategy ??
Not every process requires a full PID control strategy.

 If a small offset has no impact on the process, then

proportional control alone may be sufficient.

 PI control is used where no offset can be tolerated,

where noise (temporary error readings that do not
reflect the true process variable condition) may be
present.

 In processes where no offset can be tolerated and no

noise is present, and where dead time is an issue,
customers can use full PID control.