PID CONTROLLER |1
Question: What is PID controller? Discuss the effect of proportional, integral
and derivative control on the system.
Answer:
PID Controller: A proportional-integral-derivative controller (PID controller)
is a closed loop feedback mechanism commonly used in industrial control
systems.
A PID controller continuously calculates an error value e(t) as the difference
between a desired set point and a measured process variable and applies a
correction based on proportional, integral and derivative terms.
Effect of proportional, integral and derivative control:
Proportional control action: In proportional control action, the output of the
controller is proportional to the error. When the error is zero, the controller
output is constant. In this action the gain KP and proportional band are inversely
proportional to each other.
Integral control action: In proportional control of a plant whose transfer
function does not possess an integrator, there is a steady-state error or an offset
in the response to a step input. Such an offset can be eliminated if the integral
control action is introduced in the controller. The integral control action will
remove offset or steady-state error which may lead to oscillatory response of
slowly decreasing amplitude or sometimes even increasing amplitude.
Derivative control action: Derivative control action when added to
proportional controller provides a means of obtaining a controller with high
sensitivity. The advantage of using derivative control action is that it responds
Prepared By: Hasan Bin Firoz (533)
Control System-I (EEE 703)
PID CONTROLLER |2
to rate of change of actuating error as well as produces an efficient correction
before the magnitude of actuating error becomes too large. Derivative control
thus anticipates the actuating error, initiates an easily corrective action and leads
to increase the stability of the system.
Closed loop Rise time Overshoot Settling time S-S error
response
Kp Decrease Increase Small change Decrease
Ki Decrease Increase Increase Eliminate
Kd Small change Decrease Decrease No change
Question: Write down the expression for proportional controller.
Answer:
For inverting op-amp, we can write,
So, from the circuit,
Now, =
= ( )
or, = KP where KP = Proportional gain.
Question: Write down the expression for integral controller.
Answer:
For inverting op-amp,
we can write,
Prepared By: Hasan Bin Firoz (533)
Control System-I (EEE 703)
PID CONTROLLER |3
So, from the circuit,
⁄
=
Now, =
= ( )
or, = KI where KI = Integral gain.
Question: Derive the expression for derivative controller.
Answer:
For inverting op-amp,
we can write,
So, from the circuit,
=
⁄
Now, =
= ( )
or, = KD where KD = Derivative gain.
Question: Derive the expression for PD controller.
Answer:
For inverting op-
amp, we can write,
Prepared By: Hasan Bin Firoz (533)
Control System-I (EEE 703)
PID CONTROLLER |4
So, from the circuit,
( )
=
Now, =
( )
= ( )
( )
=
=* +
=* +
or, = KD
where, KD = Derivative gain.
KP = Proportional gain
Question: Derive the expression for PI controller.
Answer:
For inverting op-amp,
we can write,
So, from the circuit,
Prepared By: Hasan Bin Firoz (533)
Control System-I (EEE 703)
PID CONTROLLER |5
Now, =
= ( )
=* +
=* +
or, = KP
where, KI = Integral gain.
KP = Proportional gain
Question: Derive the expression for PID controller.
Answer:
For inverting op-amp, we can write,
So, from the circuit,
Now, =
( )( )
=
( ) ( )
=
Prepared By: Hasan Bin Firoz (533)
Control System-I (EEE 703)
PID CONTROLLER |6
( ) ( )
= * +
( )
= * ( ) +
or, =( )
where KD = Derivative gain.
( )
KP = = Proportional gain
KI = = Integral gain
Prepared By: Hasan Bin Firoz (533)
Control System-I (EEE 703)
