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Controller

A controller compares the measured value of a process with a desired set point to produce a control signal that reduces error. Different types of controllers, including Proportional (P), Integral (I), and Derivative (D), have distinct advantages and disadvantages, such as eliminating steady-state error or improving stability, but can also lead to issues like overshoot and integral wind-up. Effective tuning of a controller aims for zero steady-state error, low overshoot, fast rise time, short settling time, and controlled oscillations.

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6 views26 pages

Controller

A controller compares the measured value of a process with a desired set point to produce a control signal that reduces error. Different types of controllers, including Proportional (P), Integral (I), and Derivative (D), have distinct advantages and disadvantages, such as eliminating steady-state error or improving stability, but can also lead to issues like overshoot and integral wind-up. Effective tuning of a controller aims for zero steady-state error, low overshoot, fast rise time, short settling time, and controlled oscillations.

Uploaded by

bindranil733
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd

Controller

Controller: A controller is a device that compares the measured value of a process with the desired
value (set point) and produces a control signal to reduce the error.
In many industry applications, C(t), PV and SP are expressed in units of percent.

Proportional Band (PB): It is the range of error over which the controller output changes from 0% to
100% of its full output range.

Proportional Band is related to Proportional Gain Kp:-

PB=100/ Kp
A P controller cannot eliminate steady-state error (offset) because some error must remain to produce
controller [Link], overshoot increases.
Increasing gain to reduce the error can make the system unstable or oscillatory, so P control alone is
usually not sufficient.
Eliminates steady-state error (offset) in the system.

But, Makes the system response slow, Can cause oscillations and stable system undergoes to unstable
if used alone., May lead to integral wind-up when the actuator saturates.
Advantages:- Eliminates steady-state error (offset) due to the integral action and maintain stability.

Disadvantages:- Can produce overshoot or oscillations if not properly tuned and May suffer from
integral wind-up during actuator saturation.

Integral wind-up occurs when the integral part of a PI/PID controller keeps accumulating error even
when the controller output has reached its maximum or minimum limit (saturation).

When the process variable finally reaches near the setpoint:

 Error becomes small


 But the integrator already stored a large value

So the controller output stays too large for too long.

Result:

 Large overshoot
 Slow settling time
 Possible oscillation

This is integral wind-up.


A derivative controller produces an output proportional to the rate of change of error. When the error
changes suddenly, it produces a spike called derivative kick, and when the error is constant the output
becomes zero.

Advantages:- Derivative control reacts to the rate of change of error, so it can predict the future trend
of the error. Improves system stability.

Disadvantages:- 1. Cannot be used alone because it produces zero output for constant error.

2. Highly sensitive to noise in the measurement signal.

3. Sudden changes in error can produce large spikes (derivative kick).


Advantages:- 1. Improves system stability

2. Reduces overshoot

3. Provides faster response due to proportional and predictive derivative action

Disadvantages:- 1. Cannot eliminate steady-state error (offset) because there is no integral action.

2. Sensitive to noise due to derivative action.


1. Eliminates steady-state error due to integral action.
2. Improves stability and reduces overshoot with derivative action.
3. Provides fast and accurate response, combining benefits of P, I, and D.
When tuning a controller, we aim for:

 Zero steady-state error


 Low overshoot
 Fast rise time
 Short settling time
 Controlled oscillations

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