Design and Simulation of an Analog PID Controller (OP-AMP)
1. Objective
Design an analog PID controller using op-amps to track a DC reference voltage (5 V) and
verify that the controller can track a changed reference (10 V). Study the effects of
proportional (Kp), integral (Ki) and derivative (Kd) gains on the output response.
2. System Overview / Block Diagram
An analog PID controller implements
de(t )
u(t )=K p e (t)+ K i ∫ e (t)dt+ K d where e (t)=V ref−V out.
dt
Typical implementation (3 op-amps):
P block: unity buffer + inverting/non-inverting gain stage for proportional action.
I block: op-amp integrator (capacitor in feedback) for accumulating error.
D block: op-amp differentiator (capacitor in series input and resistor in feedback)
to respond to error rate.
The three contributions are summed via a summing amplifier to produce the
controller output that drives the plant (here the plant is the node/driver in your
circuit).
(See the implemented circuit screenshot for the actual topology used in Multisim/TINA.)
3. Implemented Circuit (Multisim/TINA)
1. Build the circuit in Multisim or TINA exactly as in the screenshot (use op-amp model
µA741 or a rail-to-rail op-amp appropriate to your supply rails).
2. Set the DC reference source (V1) to 5 V initially. Connect ground reference properly.
3. Run a transient simulation for 0–5 s (or longer as needed) and plot:
o V(ref) (reference node)
o V(out) (controller output / plant node, shown in screenshot as node 11)
4. Change V1 to 10 V, re-run transient simulation to observe tracking.
5. Vary the adjustable pots (Kp, Ki, Kd) and re-run to see effect on transient response.
4.
Simulation Results:
The transient simulation shows the controller output V(11) tracking the reference signal
V(1). The figure below shows the response when the reference voltage is stepped.
Blue — V(1) (reference input). In the screenshot it is a steady DC level (about 5 V in the
first test).
Green — V(11) (controller/plant output). This is the node being controlled.
Observed behaviour:
The output follows the reference with a transient response (initial difference at t=0
followed by settling toward the reference).
When the reference was changed to a higher level (10 V), the same controller
architecture is capable of tracking the new setpoint (the implemented analog PID
scales and the adjustable gains allow follow-up to different DC setpoints) — verify in
simulation by stepping V1 to 10 V and viewing V(11).
5. Effect of PID Gains
Proportional gain (Kp)
Increases Kp → faster response and reduced rise time.
Side-effect: too large Kp increases overshoot and can cause oscillation or
instability.
Steady-state error: reduces but does not eliminate steady-state error for a pure
P controller.
Integral gain (Ki)
Increases Ki → eliminates steady-state error (integrator accumulates residual
error).
Side-effect: increases settling time and can introduce oscillation or slow
sustained overshoot if Ki too large (integral windup possible).
Practical tweak: add anti-windup or limit integrator if actuator saturates.
Derivative gain (Kd)
Increases Kd → improves damping and reduces overshoot and ringing; makes
transient response crisper.
Side-effect: differentiator amplifies high-frequency noise; implement derivative
with a small input resistor + capacitor (practical “band-limited differentiator”).
Recommended tuning approach (simple)
1. Start with Ki = 0, Kd = 0. Increase Kp until you get a reasonable rise time but
without excessive overshoot.
2. Add Ki slowly to remove steady-state error — watch for oscillation.
3. Add Kd to reduce overshoot and improve damping.
4. Iterate and, if available, use step response metrics (rise time, overshoot, settling
time) to quantify.
6. Conclusion
An analog, op-amp based PID controller was implemented and
simulated in Multisim/TINA. The controller is capable of tracking
DC reference voltages (5 V and 10 V) using the same circuit by
adjusting gains.
Kp mainly affects speed and proportional steady-state reduction;
Ki removes steady-state error but can slow and destabilize if too
large; Kd helps damping but amplifies noise if not band-limited.
Practical improvements: add integrator anti-windup, use a band-
limited differentiator, and choose op-amps with supply rails and
output swing matching your reference levels (for 10 V references
be sure op-amp and supply rails allow that output swing or use
level-shifting).