CONTROLLER MODES

• Contents
• Control modes meaning
• Types of controller modes

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 CONTROLLER MODES
• The method used by the controller to correct the error is the control
mode.
• The four most popular control modes are on/off, proportional,
integral and derivative. Control Modes.
• On /off control activates an output until the measured value reaches
the reference value. A common example is the household thermostat.

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• Discontinuous:
• A discontinuous mode of controller operation permits a discrete output value.
In this mode, the output does not show smooth variation according to the
signal generated by the controller rather shows fluctuation from one value to
another.
• According to this mode of operation, controllers are of two types:
• On-Off / Two-position controllers
• Multiposition controllers

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• Continuous:
• This mode permits smooth variation of the controlled output over the entire
range of operation. The output of the control system shows continuous
variation in proportion to the entire error signal or some form of it.

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• Two-position controllers:
• These are also known as on/off controllers. Here the output of the controller
fluctuates between two specific values, generally the maximum and minimum
value.
• The maximum value is generally considered 100% while the minimum as 0%.
• It is the easiest and most common type of control action of a controller. Here
the output shows variation between maximum and minimum values
according to the actuating error signal

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Two-position controllers block diagram: It is noteworthy in case of on-off controllers that each time
when error increases or decreases through 0 then an
overlapping exists. This overlapping leads to the span of
error and this span of error is known as the dead zone.

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• Suppose m is the output of the controller, e represents the actuating
error signal and m1 and m2 represent the maximum and minimum
value respectively.

• Then mathematically we can write it as:

• Examples of systems using two-position controllers are room heater
system, liquid level controlling system in water tanks, air conditioners,
etc.

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• Proportional Controller:
• Proportional controller: The controller whose output shows variation in
proportion with the error signal is known as a proportional controller.
• It is given as:

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Proportional Controller:

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• This type of controller permits both direct as well as reverse action.
This is so because an error can be either positive or negative
depending upon the difference of reference input and the feedback
signal.
• When with the increase in the input to the controller its output also
increases then it is known as direct control action.
• While if the increase in input causes a decrease in output and vice-
versa then it is known as reverse action.

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• Integral Controller
• Integral Controller: In this case, the output of the controller varies with the
integral of the error signal. Thus is given as:

• Ki represents the constant

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Integral Controller

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• In the case of the integrating controller, the rate of change of the
output of the controller depends on the integrating time constant, till
the time error signal becomes 0. Thus it is said to be comparatively
slower than the proportional controller.
• Here in order to generate an appreciable output comparatively more
time is required. But in its case, the processing continues, till the time
error signal becomes zero.

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• Derivative Controller:
• In the derivative controller, the control action is such that the output of the
controller is proportional to the rate with which the error signal is changing
with time.
• Mathematical expression is given as:

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Derivative Controller:

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• Thus there must be some action that specifies the rate of change of
error signal in derivative controllers. Sometimes it is also referred as
a rate action mode of the controller.
• Thus it is given as:
• Kd denotes the derivative gain constant which shows the amount of
variation in output of the controller for every per second rate of
change of actuating error signal.

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• It serves as an advantageous factor for the system because every time
the output varies with the change in error signal, thereby providing
significant corrected output before the error approaches a large
value.

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• Practically these modes are not used separately thus a combination of
these modes is used.
• Proportional Integral Controller
• Proportional Derivative Controller
• Proportional Integral Derivative Controller

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 PROPORTIONAL INTEGRAL
CONTROLLER
• The control signal is formed by merging error and integral of the
error signal.
• Thus is given as:

• We can write it as:

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 PROPORTIONAL INTEGRAL
CONTROLLER

PROPORTIONAL INTEGRAL CONTROLLER

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 PROPORTIONAL INTEGRAL
CONTROLLER
• The block diagram of a PI controller is given as:

PI controllers are designed to decrease the steady-state error. A steady-

state error is defined as the difference between the desired value and the
actual value of a system when the response has reached the steady state.

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 PROPORTIONAL INTEGRAL
CONTROLLER
• Steady-state error is defined as the difference between the desired
value and the actual value of a system output in the limit as time goes
to infinity (i.e. when the response of the control system has reached
steady-state).
• In general, a good control system will be one that has a low steady-
state error.

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 PROPORTIONAL DERIVATIVE
(PD) CONTROLLER
• Earlier the control action of derivative controllers was individually
used in a control system. But the merger of the proportional
controller with a derivative controller provides a more efficient
system. As here the disadvantages associated with the derivative
controller get eliminated by a proportional controller.

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 PROPORTIONAL DERIVATIVE
(PD) CONTROLLER
• A type of controller in a control system whose output varies in
proportion to the error signal as well as with the derivative of the
error signal is known as the proportional derivative controller. It is
also known as a proportional plus derivative controller or PD
controllers.
• This type of controller provides combined action of both proportional
and derivative control action.

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 PROPORTIONAL DERIVATIVE
(PD) CONTROLLER
• We know that the presence of controllers in any control system
improves the performance of the overall system. So, the presence of
two distinct control action generates a more precise system.
• For the PD controller, the output is given as:

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 PROPORTIONAL DERIVATIVE
(PD) CONTROLLER

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 PROPORTIONAL DERIVATIVE
(PD) CONTROLLER
• The block diagram of a control system comprising of PD controller is
given below:

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 PROPORTIONAL DERIVATIVE
(PD) CONTROLLER
• The presence of a derivative control action with a proportional
controller enhances sensitivity. This helps in producing early
corrective response for even small value of error signal thereby
increasing the stability of the system. But we are also aware of the
fact that the derivative controller increases steady-state error. While
the proportional controllers reduce the steady-state error.
• Therefore, to enhance the stability of the system without affecting the
steady-state error, a combination of proportional and derivative
controllers is used.

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 PROPORTIONAL INTEGRAL DERIVATIVE (PID)
CONTROLLER

• A type of controller in which the output of the controller varies in

proportion with the error signal, integral of the error signal and
derivative of the error signal is known as the proportional integral
derivative controller. PID is the acronym used for this type of
controller.
• Proportional plus integral plus derivative controller is sometimes
referred as a 3-mode controller, as it combines the controlling action
of proportional, integral as well as derivative controller altogether.

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 PROPORTIONAL INTEGRAL DERIVATIVE (PID)
CONTROLLER

• The combination of all the three types of control action improves the
overall performance of the control system, in order to provide the
desired output in an effective manner.
• The output of a PID controller is given as:

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 PROPORTIONAL INTEGRAL DERIVATIVE (PID)
CONTROLLER

A block diagram of the PID controller:

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 PROPORTIONAL INTEGRAL DERIVATIVE (PID)
CONTROLLER

• The combined action of proportional and integral controller acts as an

advantageous factor for the overall control system as it decreases the
steady-state error. Thus it improves the steady-state response of the
overall system. However, in this case, the stability of the system
remains unchanged as it does not show improvement.
• A PID controller produces a system, that provides increased stability
with a reduction in the steady-state error.

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 PROPORTIONAL INTEGRAL DERIVATIVE (PID)
CONTROLLER

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 Thanks for Listening

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