Types of Controllers/Control Actions

 Discontinuous
 ON/OFF

 Time Proportional

 Continuous
 Proportional (P)

 Integral (I)

 Derivative (D)

 PI

 PD

 PID
 ON/OFF Controller
 P = 0 % ep < 0 (ep = SP – MV)
= 100 % ep > 0
 Oscillations in controlled variable about SP value
 To reduce cycling of controller output, deadband is
et around SP(Neutral zone/ differential gap)
 Advantages a. Simple b. Inexpensive
 Disadvantages Oscillations of controlled variable
about SP
 Applications: Large scale systems with slow process
rate like room heating or AC
ON/OFF Controller
ON/OFF Controller
ON/OFF Controller
 ON/OFF Controller
 Why oscillations are produced in ON/OFF
controller? How they can be reduced.
 State advantages and limitations of ON?OFF
controller and give application of it
 Proportional Controller
 P = Kp ep + Po
 Specified in terms of proportional gain
Kp or in terms of proportional band(PB)
PB = 100 / Kp
 The magnitude by which ep has to
change to cover full controller output
from 0 % to 100 % is PB
Proportional Controller
Proportional Controller
Offset in Proportional Controller
 Proportional Controller
 Disadvantages: Due to 1:1 correspondence between
ep and output when there is a load change it generates
offset (permanent difference between SP and the
value attained by process variable following a load
change)
 Proportional controller responds only to magnitude of
ep and not to the time for which ep is present
 Offset is less if Kp is high. If Kp is v high response is
oscillatory
 Not used in applications where there are frequent load
changes
 Integral
t
Controller
 Equation P= K I ⌡ep dt + Po(I)

 Acts on both magnitude and time for which error is present

 Can eliminate offset generated by proportional controller
following a load change. So called as reset
action/Automatic reset.
 Disadvantage: Reset windup
 So can’t be used alone

 Not used for batch process

 Causes overshoot during startup of continuous process.

 Used in process having small process lags and small

capacity.
 Derivative Controller
 Equation P= KD dep
dt
 Fastest control action
 Anticipatory control action
 Also called as rate action
 Suitable for processes having large process lag like in
temperature loops/large time constant Multicapacity
process.
 Not suitable for flow control
 Disadvantage: Provides no output when error is constant.
So never used alone.
 Not suitable for step input.