PID Controller Explained Simply

This document provides a simplified explanation of Proportional-Integral-Derivative (PID)

controllers, a widely used control loop feedback mechanism in industrial control systems. It
breaks down the core concepts of each component (Proportional, Integral, and Derivative)
and explains how they work together to achieve a desired setpoint. The document aims to
provide an intuitive understanding of PID controllers without delving into complex
mathematical details.

PID Controller Hierarchy

Derivative

Integral

Proportional

Introduction to PID Controllers

A PID controller is a control loop feedback mechanism used in industrial control systems and
a variety of other applications requiring continuously modulated control. A PID controller
continuously calculates an error value as the difference between a desired setpoint and a
measured process variable and applies a correction based on proportional, integral, and
derivative terms (denoted P, I, and D respectively) which give their name to the controller
type.
 PID Controller Feedback Loop

Calculate Error
Measure Process
Variable Determine the
difference between
Monitor the actual setpoint and process
process variable. variable.

Apply
Adjust Output
Proportional Term
Modify control output to
reduce error. Adjust output based on
current error.

Apply Derivative Apply Integral

Term Term
Predict future errors Correct for accumulated
based on rate of errors over time.
change.

In simpler terms, imagine you're trying to maintain the temperature of a room at 20°C (the
setpoint). You have a heater and a thermometer. The PID controller is like a smart thermostat
that adjusts the heater's output to keep the room at the desired temperature. It does this by
constantly monitoring the temperature (process variable) and comparing it to the setpoint.

The Three Components: P, I, and D

The PID controller uses three basic control behaviors: Proportional, Integral, and Derivative.
Each of these behaviors addresses a specific aspect of the control problem.
 PID Controller Components

Proportional Control Integral Control Derivative Control

Adjusts output Eliminates steady- Predicts future

based on current state errors over errors by rate of
error. time. change.

1. Proportional (P)

The proportional term responds to the current error. It's the most intuitive part of the
controller.

• How it works: The output of the proportional term is directly proportional to the error.
A larger error results in a larger output.
• Example: If the room temperature is 15°C (5°C below the setpoint), the proportional
term will increase the heater output proportionally to this 5°C error.
• Effect: The proportional term helps to quickly reduce the error and move the process
variable towards the setpoint.
• Limitations: The proportional term alone often cannot eliminate the error completely.
As the process variable approaches the setpoint, the proportional output decreases,
and the system may settle at a value slightly different from the setpoint. This is called
steady-state error or offset. Also, a very high proportional gain can lead to oscillations.
 Proportional Term in PID Controller

Identify Error Apply Output Approach Setpoint

Calculate Proportional Reduce Error Settle with Offset

Output

2. Integral (I)

The integral term responds to the accumulated error over time.

• How it works: The integral term accumulates the error over time. Even a small error, if
it persists for a long time, will eventually result in a significant integral output.
• Example: If the room temperature consistently stays 1°C below the setpoint, the
integral term will gradually increase the heater output to compensate for this
persistent error.
• Effect: The integral term eliminates the steady-state error or offset that the
proportional term alone cannot handle. It drives the process variable to the exact
setpoint.
• Limitations: The integral term can be slow to respond and can cause overshoot (the
process variable exceeding the setpoint) and oscillations. A phenomenon called
integral windup can occur if the error persists for a long time while the actuator is
saturated (e.g., the heater is already at its maximum output). In this case, the integral
term accumulates a large value, which can cause a significant overshoot when the
error finally starts to decrease.
 Integral Term in PID Controller

Error Accumulation Integral Output Increase Overshoot and Oscillations

Persistent Error Steady-State Error Integral Windup

Elimination

3. Derivative (D)

The derivative term responds to the rate of change of the error.

• How it works: The derivative term calculates the rate at which the error is changing. If
the error is changing rapidly, the derivative term will produce a significant output.
• Example: If the room temperature is rapidly approaching the setpoint, the derivative
term will reduce the heater output to prevent overshoot.
• Effect: The derivative term helps to dampen oscillations and improve the stability of
the system. It anticipates future errors based on the current rate of change.
• Limitations: The derivative term can be sensitive to noise in the measured process
variable. Small fluctuations in the measurement can result in large derivative outputs,
which can cause instability. Also, the derivative term does not respond to constant
errors.
 Derivative Term in PID Controller

No Response to Constant
Calculate Error Rate Reduce Heater Output Anticipate Future Errors Errors

Produce Significant Output Dampen Oscillations Sensitivity to Noise

Putting it All Together: The PID Equation

The output of the PID controller is the sum of the outputs of the proportional, integral, and
derivative terms:

Output = Kp * error + Ki * ∫error dt + Kd * d(error)/dt

Where:

• Kp is the proportional gain.

• Ki is the integral gain.
• Kd is the derivative gain.
• error is the difference between the setpoint and the process variable.
• ∫error dt is the integral of the error over time.
• d(error)/dt is the derivative of the error with respect to time.
 Understanding PID Controller Components

Proportional Gain (Kp)

Adjusts output based on
current error
Integral Gain (Ki)
Corrects accumulated error
over time
Derivative Gain (Kd)
Predicts future error based on
rate of change
Error
Difference between setpoint
and process variable
Integral of Error
Sum of error over time

Derivative of Error
Rate of change of error

The gains Kp, Ki, and Kd are tuning parameters that determine the relative contribution of
each term to the overall control output. Adjusting these gains is crucial for achieving optimal
performance.

Tuning a PID Controller

Tuning a PID controller involves finding the optimal values for the gains Kp, Ki, and Kd to
achieve the desired control performance. This can be a challenging task, as the optimal gains
depend on the specific characteristics of the system being controlled.

Several methods can be used to tune a PID controller, including:

• Manual Tuning: This involves adjusting the gains manually while observing the
system's response. It's often a trial-and-error process.
• Ziegler-Nichols Method: This is a classic tuning method that involves increasing the
proportional gain until the system oscillates, then using the oscillation period to
calculate the gains.
• Software-Based Tuning: Many software packages provide automated tuning
algorithms that can automatically determine the optimal gains.
 Which PID controller tuning method should be used?

Ziegler-Nichols
Method
Manual Tuning Uses oscillation
period to calculate Software-
Involves trial-and-
error adjustments
gains. Based Tuning
while observing Employs automated
system response. algorithms for
optimal gain
determination.

Practical Considerations
• Filtering: It's often necessary to filter the measured process variable to reduce noise,
especially when using the derivative term.
• Anti-Windup: Anti-windup techniques are used to prevent integral windup when the
actuator is saturated.
• Sampling Rate: The sampling rate of the controller should be fast enough to capture
the dynamics of the system being controlled.

Conclusion

PID controllers are a powerful and versatile tool for controlling a wide range of processes. By
understanding the basic principles of the proportional, integral, and derivative terms, you can
effectively tune a PID controller to achieve optimal performance. While this explanation
simplifies the underlying mathematics, it provides a solid foundation for understanding how
PID controllers work in practice.
 Understanding PID Controllers

Proportional Term
Adjusts output based on
current error
Integral Term
Eliminates steady-state error
over time
Derivative Term
Predicts future error based on
rate of change