PID Controller

Different Types of Feedback Control

On-Off Control

This is the simplest form of control.

Proportional Control

A proportional controller attempts to perform better than the On-off type by

applying power in proportion to the difference in temperature between the
measured and the set-point. As the gain is increased the system responds faster to
changes in set-point but becomes progressively underdamped and eventually
unstable. The final temperature lies below the set-point for this system because
some difference is required to keep the heater supplying power.
Proportional, Derivative Control

The stability and overshoot problems that arise when a proportional

controller is used at high gain can be mitigated by adding a term proportional
to the time-derivative of the error signal. The value of the damping can be
adjusted to achieve a critically damped response.
Proportional+Integral+Derivative Control

Although PD control deals neatly with the overshoot and problems

associated with proportional control it does not cure the problem with the
steady-state error. Fortunately it is possible to eliminate this while using
relatively low gain by adding an integral term to the control function
which becomes
The Characteristics of P, I, and D controllers

A proportional controller (Kp) will have the effect of reducing the

rise time and will reduce, but never eliminate, the steady-state
error.

An integral control (Ki) will have the effect of eliminating the

steady-state error, but it may make the transient response worse.

A derivative control (Kd) will have the effect of increasing the

stability of the system, reducing the overshoot, and improving the
transient response.
Proportional Control
By only employing proportional control, a steady state error
occurs.

Proportional and Integral Control

The response becomes more oscillatory and needs longer to
settle, the error disappears.

Proportional, Integral and Derivative Control

All design specifications can be reached.
The Characteristics of P, I, and D controllers

CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR

Kp Decrease Increase Small Change Decrease

Ki Decrease Increase Increase Eliminate

Kd Small Change Decrease Decrease Small Change

Tips for Designing a PID Controller

1. Obtain an open-loop response and determine what needs to be improved

2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overall
response.

Lastly, please keep in mind that you do not need to implement all three
controllers (proportional, derivative, and integral) into a single system, if not
necessary. For example, if a PI controller gives a good enough response (like the
above example), then you don't need to implement derivative controller to the
system. Keep the controller as simple as possible.
Open-Loop Control - Example
1
G( s )
2
s  10s  20

num=1;
den=[1 10 20];
step(num,den)
Proportional Control - Example

The proportional controller (Kp) reduces the rise time, increases

the overshoot, and reduces the steady-state error.
Kp
T( s )
MATLAB Example 2
s  10 s  ( 20  Kp )
Step Response
From: U(1)
1.4

Kp=300; 1.2 Step Response

From: U(1)
1

num=[Kp]; 1
0.9
Amplitude

0.8 0.8

den=[1 10 20+Kp];
To: Y(1)

0.7
0.6

0.6

t=0:0.01:2;
Amplitude
0.4

To: Y(1)
0.5

K=300 0.4 K=100

step(num,den,t)
0.2

0.3
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.2
Time (sec.)
0.1

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (sec.)
 Proportional - Derivative - Example

The derivative controller (Kd) reduces both the overshoot and the
settling time.
Kd  s  Kp
T( s )
MATLAB Example 2
s  ( 10  Kd )  s  ( 20  Kp )
Step Response
From: U(1)
1.4

1.2

Kp=300; 1 Step Response

From: U(1)
1

Kd=10;
Amplitude

0.8
To: Y(1)

0.9

0.6 0.8

num=[Kd Kp]; 0.7

Kd=10
0.4
0.6

Amplitude
den=[1 10+Kd 20+Kp];
To: Y(1)
0.2 0.5

0.4
0

t=0:0.01:2;
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.3
Time (sec.)
0.2
Kd=20
step(num,den,t) 0.1

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (sec.)
Proportional - Integral - Example

The integral controller (Ki) decreases the rise time, increases both
the overshoot and the settling time, and eliminates the steady-state
error Kp  s  Ki
T( s )
3 2
MATLAB Example s  10 s  ( 20  Kp )  s  Ki
Step Response
From: U(1)
1.4

Kp=30;
1.2
Step Response
From: U(1)
1 1.4

Ki=70;
Amplitude

1.2
0.8
To: Y(1)

1
0.6

num=[Kp Ki];
Ki=70
Amplitude
0.8

To: Y(1)
0.4

den=[1 10 20+Kp Ki]; 0.2

0.6

0.4
0

t=0:0.01:2; 0 0.2 0.4 0.6 0.8 1

Time (sec.)
1.2 1.4 1.6 1.8
0.2
2

Ki=100
0

step(num,den,t) 0 0.2 0.4 0.6 0.8 1

Time (sec.)
1.2 1.4 1.6 1.8 2
Example - Practice

Consider the following configuration:

Lead or Phase-Lead Compensator Using Root Locus

A first-order lead compensator can be designed using the root locus. A lead compensator
in root locus form is given by
( s  z)
G c( s )
( s  p)
where the magnitude of z is less than the magnitude of p. A phase-lead compensator
tends to shift the root locus toward the left half plane. This results in an improvement in
the system's stability and an increase in the response speed.

When a lead compensator is added to a system, the value of this intersection will be a
larger negative number than it was before. The net number of zeros and poles will be the
same (one zero and one pole are added), but the added pole is a larger negative number
than the added zero. Thus, the result of a lead compensator is that the asymptotes'
intersection is moved further into the left half plane, and the entire root locus will be
shifted to the left. This can increase the region of stability as well as the response speed.
Lead or Phase-Lead Compensator Using Root Locus

In Matlab a phase lead compensator in root

locus form is implemented by using the transfer
function in the form
numlead=kc*[1 z];
denlead=[1 p];

and using the conv() function to implement it

with the numerator and denominator of the plant
newnum=conv(num,numlead);
newden=conv(den,denlead);
Lag or Phase-Lag Compensator Using Root Locus

A first-order lag compensator can be designed using the root locus. A lag compensator in root
locus form is given by
( s  z)
G c( s )
( s  p)
where the magnitude of z is greater than the magnitude of p. A phase-lag compensator tends to
shift the root locus to the right, which is undesirable. For this reason, the pole and zero of a lag
compensator must be placed close together (usually near the origin) so they do not appreciably
change the transient response or stability characteristics of the system.

When a lag compensator is added to a system, the value of this intersection will be a smaller
negative number than it was before. The net number of zeros and poles will be the same (one
zero and one pole are added), but the added pole is a smaller negative number than the added
zero. Thus, the result of a lag compensator is that the asymptotes' intersection is moved closer
to the right half plane, and the entire root locus will be shifted to the right.