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Lecture-25-PID-Controllers

The document outlines various types of controllers used in feedback systems, including ON-OFF, Proportional (P), Integral (I), Derivative (D), and Proportional-Integral-Derivative (PID) controllers. Each controller is described in terms of its function, application, and characteristics, highlighting their advantages and disadvantages. The document emphasizes the importance of selecting the appropriate controller based on the specific needs of the system being controlled.

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yadavanshikaraj
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2 views

Lecture-25-PID-Controllers

The document outlines various types of controllers used in feedback systems, including ON-OFF, Proportional (P), Integral (I), Derivative (D), and Proportional-Integral-Derivative (PID) controllers. Each controller is described in terms of its function, application, and characteristics, highlighting their advantages and disadvantages. The document emphasizes the importance of selecting the appropriate controller based on the specific needs of the system being controlled.

Uploaded by

yadavanshikaraj
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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CONTROLLERS

𝑟(𝑡) 𝑒(𝑡)
+ 𝐶𝑂𝑁𝑇𝑅𝑂𝐿𝐿𝐸𝑅 𝑃𝐿𝐴𝑁𝑇
𝑅(𝑠) - 𝐸(𝑠)
𝑌(𝑠)

Output − feedback controllers


1. ON − OFF controller 5. PID controller
2. Proportional (P) controller 6. Lag controller State − feedback controllers
3. Proportional − Integral (PI) controller 7. Lead controller
4. Proportional − Derivative (PD) controller 8. Lag − Lead controller
On-Off controller
𝐶𝑂𝑁𝑇𝑅𝑂𝐿𝐿𝐸𝑅
𝑟(𝑡) 𝑒(𝑡) ON − OFF
+ CONTROLLER
𝑃𝐿𝐴𝑁𝑇
𝑅(𝑠) - 𝐸(𝑠)
𝑌(𝑠)
ON-OFF CONTROLLER or TWO-POSITION CONTROLLER

In two-position control, the signal u(t) remains at either a


maximum or minimum value, depending on whether the
actuating error signal is positive or negative, so that

where 𝑈 and 𝑈 are constants. The minimum value 𝑈 is


usually either zero or –𝑈 .

Disadvantage: Chattering at the decision boundary.

The range through which the actuator signal must move before
switching is called differential gap.

In some cases, the differential gap is a result of unintentional


friction and lost motion; however, quite often it is intentionally
provided in order to chattering.
Proportional (P) controller
𝐶𝑂𝑁𝑇𝑅𝑂𝐿𝐿𝐸𝑅

𝑟(𝑡) 𝑒(𝑡) 𝐾 𝑒(𝑡)


+ 𝐾 𝑃𝐿𝐴𝑁𝑇
𝑅(𝑠) - 𝐸(𝑠) 𝐾 𝐸(𝑠)
𝑌(𝑠)

•When to use: If you need a straightforward response that reacts to the current error, a P-only controller is the
simplest choice. It responds immediately to deviations but does not eliminate steady-state error by itself.

•Features:

•Quick reaction to current error.


•Can leave a steady-state offset (error) if used alone (Depends on type of plant).
•Increasing 𝐾 (the proportional gain) makes the system respond faster but risks overshoot and instability. (The root
locus may pass to the right half of complex plane when 𝐾 increases).
Integral (I) controller
𝐶𝑂𝑁𝑇𝑅𝑂𝐿𝐿𝐸𝑅

𝑟(𝑡) 𝑒(𝑡) 𝐾 ∫ 𝑒 𝑡 𝑑𝑡
+ 𝐾∫ 𝑑𝑡 𝑃𝐿𝐴𝑁𝑇
𝑅(𝑠) - 𝐸(𝑠) 𝐾
𝐸(𝑠) 𝑌(𝑠)
𝑠

•When to use: Integral action is added when you need to eliminate the steady-state error. Whenever your process
must settle at an exact setpoint (for example, speed regulation or position tracking where no offset is tolerated),
the I term is essential.

•Features:
•Accumulates past error and drives the steady-state error to zero.
•Slows down the overall response (because integration is inherently slower).
•Too much integral action can cause increased oscillations or “integrator windup.”
Derivative (D) controller
𝐶𝑂𝑁𝑇𝑅𝑂𝐿𝐿𝐸𝑅
𝑑𝑒(𝑡)
𝑟(𝑡) 𝑒(𝑡) 𝑑 𝐾
+ 𝐾
𝑑𝑡
𝑃𝐿𝐴𝑁𝑇
𝑅(𝑠) - 𝐸(𝑠) 𝑑𝑡 𝑠𝐾 𝐸(𝑠)
𝑌(𝑠)

•When to use: Derivative action is especially helpful if you need to reduce overshoot or respond to rapid
changes before they become too large. It provides a form of “prediction” by sensing the rate of change of error.

•Features:
•Reacts to how fast the error is changing (the error’s slope).
•Helps reduce overshoot and can improve damping.
•Very sensitive to noise in real systems (because it amplifies high-frequency signals).
•Often combined with filtering to avoid amplifying measurement noise.
Proportional-integral-derivative (PID) controller
𝐶𝑂𝑁𝑇𝑅𝑂𝐿𝐿𝐸𝑅
𝑑𝑒(𝑡)
𝑑 𝐾
𝑑𝑡
𝐾
𝑑𝑡 𝑠𝐾 𝐸(𝑠)

𝑟(𝑡) + 𝑑
+
𝑒(𝑡) 𝐾 𝑒(𝑡) 𝐾 𝑒(𝑡) + 𝐾 ∫ 𝑒 𝑡 𝑑𝑡 + 𝐾 𝑒(𝑡)
+ 𝐾 𝑑𝑡
𝑃𝐿𝐴𝑁𝑇
𝑅(𝑠) - 𝐸(𝑠) 𝐾 𝐸(𝑠) + 𝐾
𝐾 𝐸(𝑠) + 𝐸 𝑠 + 𝑠𝐾 𝐸(𝑠)
𝑠 𝑌(𝑠)

𝐾 ∫ 𝑒 𝑡 𝑑𝑡
𝐾∫ 𝑑𝑡
𝐾
𝐸(𝑠)
𝑠

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