Controller action

Controller action

* There are many type of control action used in industrial

controller.
* The understanding of each controller is very important
for every control engineer.
* Each controller has its own characteristic.
* The basic controllers we’ll be discussing in this course
are P, I, D and their interactive.
 Proportional Controller (P)
R(t) E m Y(t)
GC (t) G(t)
-

H(t)
Output, m, of controller, GC (t) is proportional with error signal,
E:

m(t ) µ e(t )
m(t ) = K p e(t ) ¾laplace
¾¾® m( s ) = K p e( s )
* Transfer function for this Controller is
m( s )
GC ( s ) = = Kp
e( s )
* Kp is a gain known as Proportional Gain
* We have seen and prove from previous class that for a
class / type 0 system, if input is a step input, there will
exist a steady state error.
* We have also proved that by having a big value of
proportional gain, the s.s. error will be reduced.
However it will never become zero.
* In order to get zero s.s. error for this system, integral
gain controller is introduced.
 Integral Controller (I)
R(t) E m Y(t)
GC (t) G(t)
-

H(t)
Output, m, of controller , GC (t) is proportional with
the integral input signal, E:
m(t ) µ ò e(t ) dt
Ki
m( s ) = e( s )
s
* Transfer function for this Controller is
m( s ) Ki
GC ( s ) = =
e( s ) s

* Ki is a gain known as Integral Gain

* We have seen and prove from previous class
that for a class / type 0 system, if input is a step
input, there will exist a steady state error.
* Integral gain controller is introduced in order to
get zero s.s. error for this system.
 Derivative Controller (D)
R(t) E m Y(t)
GC (t) G(t)
-

H(t)
Output, m, of controller, GC (t) is proportional with
derivative of input signal, E:
d
m(t ) µ e(t )
dt
d
m(t ) = K D e(t ) ¾laplace
¾¾® m( s ) = K D s e( s )
dt
* Transfer function for this Controller is

m( s )
GC ( s ) = = KDs
e( s )
* KD is a gain known as Derivative Gain

* In normal practice the Proportional, Integral and

Derivative controllers will not be use by its own.
* Control engineer will design these controllers
interactive. i.e. Proportional+Integral (PI),
Proportional+Derivatives (PD) and Proportional
+Integral +Derivatives (PID).
 Proportional Integral (PI)
Control action with input to the controller e and
output, m:

m(t ) = K P e(t ) + K I ò e(t )dt , taking laplace :

KI
m ( s ) = K P e( s ) + e( s )
s
controller transfer function :
m( s ) æ 1 ö K
G C (s) = = K P çç1 + ÷÷ where Ti = P
e( s ) T s KI
è i ø
 Proportional Derivative (PD)
Control action with input to the controller e and
output, m:
d
m(t ) = K P e(t ) + K D e(t ), taking laplace :
dt
m ( s ) = K P e( s ) + K D s e( s )
controller transfer function :
m( s ) K
G C (s) = = K P (1 + TD s ) where TD = D
e( s ) KP
 Proportional, Integral and
Derivative (PID)
d
m(t ) = K P e(t ) + K I ò e(t )dt +K D e(t ),
dt
KI
m ( s ) = K P e( s ) + + K D s e( s )
s
controller transfer function :
m( s ) æ 1 ö
G C (s) = = K P çç1 + + TD s ÷÷
e( s ) è TI s ø
KP KD
where TI = and TD =
KI KP
 POP KUIZ
* A first order control system is as shown in the
diagram. Obtain and sketch the time response if a
unity step input is applied to it with the controller
action as below:
* a) Proportional Controller : Gc(s) = 2
* b) Proportional Controller : Gc(s) = 9
* c) Proportional + Integral : Gc(s) = 2 + 2/s