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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
For PID control, the actuating signal u(t),consists of proportional error signal
added with derivative and integral of error signal e(t)
https://vivekbose.com/introduction-to-pid-controller-with-detailed-ppipd-pd-control 2/19
12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
Where Kp is the Proportional Gain,Kd is the Derivative Gain & Ki is the Integral
Gain of the controller
Thus ,PID controller adds pole at the origin and two zeroes to the Open loop
transfer function
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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
1. A proportional controller (Kp) will have the effect of reducing the rise time
and will reduce, but never eliminate, the steady-state error.
2. An integral control (Ki) will have the effect of eliminating the steady-state
error, but it may make the transient response worse.
3. A derivative control (Kd) will have the effect of increasing the stability of the
system, reducing the overshoot, and improving the transient response but
little effect on rise time
4. A PD Controller could add damping to a system, but the steady-state
response is not affected.(steady state error is not eliminated)
5. A PI Controller could improve relative stability and eliminate steady state
error at the same time, but the settling time is increased(System response
sluggish)
But a PID controller removes steady-state error and decreases system settling
times while maintaining a reasonable transient response
E l ll P P PD & P D
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ll 4/19
12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
G=tf(1,[1 10 20]);
Step(G);
https://vivekbose.com/introduction-to-pid-controller-with-detailed-ppipd-pd-control 5/19
12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
The DC gain of the plant transfer function is 1/20, so 0.05 is the final value of
the output to a unit step input. This corresponds to the steady-state error
of 0.95, quite large indeed.
Furthermore, the rise time is about one second, and the settling time is about
1.5 seconds.
#Proportional Control
In Proportional control, the actuating signal for the control action in a control
system is proportional to the error signal. The error signal being the difference
between the reference input signal and the feedback signal obtained from the
output
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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
For Kp=500
Kp = 500;
C = pid(Kp)
P=tf(1,[1 10 20])
T = feedback(C*P,1)
t = 0:0.01:2;
step (T,t);
The Step response of the system in MATLAB indicates that the proportional
controller (Kp) reduces the rise time, increases the overshoot, reduces the
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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
This is a type-zero system and hence will have a finite steady-state error for a
step input.
Large values of K lead to small steady-state error; however, they also lead to a
faster, less damped responses.
#PD Controller
For Derivative control action the actuating signal consists of proportional error
signal added with derivative of the error signal
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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
Kp = 500;
Kd=10;
C = pid(Kp,0,Kd);
P=tf(1,[1 10 20]);
T = feedback(C*P,1)
step(T);
Kp + Kd * s
With Kp = 500, Kd = 10
Transfer function:
10 s + 500
—————-
s^2 + 20 s + 520
Without integral control, this is a type-zero system, and hence will have a finite
steady state error to a unit step input
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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
The derivative controller reduced both the overshoot and the Settling time, and
had a small effect on the rise time and the steady-state error.
Effects of PD Controller :-
#PI Controller
For Integral control action, the actuating signal consists of proportional-error
signal added with integral of the error signal.
https://vivekbose.com/introduction-to-pid-controller-with-detailed-ppipd-pd-control 11/19
12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
Kp = 30;
Ki=70;
C = pid(Kp,Ki)
P=tf(1,[1 10 20]);
T = feedback(C*P,1)
step(T);
https://vivekbose.com/introduction-to-pid-controller-with-detailed-ppipd-pd-control 12/19
12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
Kp + Ki * —
With Kp = 30, Ki = 70
Transfer function:
30 s + 70
————————
s^3 + 10 s^2 + 50 s + 70
Using integral control makes the system type-one, so the steady-state error
due to a step input is zero.
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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
The response shows that the Integral control has removed the steady-state
error and improved the transient response, but it has also increased the system
settling time.
Effects of PI Controller :-
PID Controller
For PID control, the actuating signal u(t),consists of proportional error signal
added with derivative and integral of error signal e(t)
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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
Kp=500,Kd=50,Ki=400;
G=tf(1,[1 10 20]);
C=pid(Kp,Ki,Kd);
T=feedback(C*G,1);
step(T,0:0.01:2);
Kp + Ki * — + Kd * s
Transfer function:
————————–
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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
Thus, A PID controller has removed steady-state error and decreased system
settling times while maintaining a reasonable transient response
While designing a PID controller, the general rule is to add proportional control
to get the desired rise time, add derivative control to get the desired overshoot,
and then add integral control (if needed) to eliminate the steady-state error.
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12/26/22, 12:32 PM Introduction to PID Controller With Detailed P,PI,PD & PD Control - VivekBose.com
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