Lecture 18

Practical Issues in
PID Implementation
CL-417 Process Control
Prof. Kannan M. Moudgalya
IIT Bombay
Tuesday, 4 September 2012
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Outline

Implementable derivative mode

Discretisation (minimal)

Handling communication mismatch

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PID controller
PID controller has proportional, integral and
derivative modes:
u(t) = u + K
c
_
e(t) +
1

i
_
t
0
e(w)dw +
d
de(t)
dt
_

e is error, u is control eort and u is the

steady state (or bias) value of u

It has three tuning parameters, K

c
,
i
,
d

Recall the tuning guidelines to change these

parameters
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Summary of PID Controller
Proportional mode:

Most popular control mode. Increase in

proportional mode generally results in

Decreased steady state oset

Increased oscillations
Integral Mode:

Used to remove steady state oset. Increase

in integral mode generally results in

Zero steady state oset

Increased oscillations
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Summary of PID Controller
Derivative Mode:

Mainly used for prediction purposes

Increase in derivative mode results in

Decreased oscillations and improved stability

Sensitive to noise

Used extensively by EE/ME

Less used by chemical engineers, mainly

because of noise problems
PID is most popular in industry
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How does one design the PID controller?

By direct synthesis - will study later in this

course

Using advanced control techniques and

implementing them as PID

By trial and error, using tuning methods

But need a starting point

Will study the most popular tuning method

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Reaction Curve - Ziegler Nichols Tuning

Applicable only to stable systems

Give a unit step input and get

R = K/
L
K
1. the time lag after which the system starts
responding (L),
2. the steady state gain (K) and
3. the time the output takes to reach the steady
state, after it starts responding ()
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Reaction Curve - Ziegler Nichols Tuning
R = K/
L
K
Calculate slope, R = K/
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Reaction Curve Method Ctd.
R = K/
L
K
PID settings are given below:
K
c

i

d
P 1/RL
PI 0.9/RL 3L
PID 1.2/RL 2L 0.5L
Consistent units should be used
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Stability Method - Ziegler Nichols Tuning
Another method to tune PID parameters:

Close loop with a proportional controller

Gain of controller is increased until the

closed loop system becomes unstable

At the verge of instability, note down

controller gain K
u
, period of oscillation P
u

PID settings are given below:

K
c

i

d
P 0.5K
u
PI 0.45K
u
P
u
/1.2
PID 0.6K
u
P
u
/2 P
u
/8
Consistent units should be used
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Practial Issues: 1. Noise
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Handling noise in error signal
PID control law is given by
u(t) = K
c
_
e(t) +
1

i
_
t
0
e(w)dw +
d
de(t)
dt
_

Problem with derivative, thanks to noise

Can be seen in Laplace transformed version

also:
U(s) = K
c
(1 +
1

i
s
+
d
s)E(s)
Can see that the derivative mode results in a
high pass transfer function.
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Implementable PID Controller

Recall U(s) = K
c
_
1 +
1

i
s
+
d
s
_
E(s)

Problem happens at high s in the derivative

mode: magnitude is unbounded

Constrain its magnitude at high frequency

Filtered derivative mode:

u(t) = K
c
_
1 +
1

i
s
+

d
s
1 +

d
s
N
_
e(t)

N is a large number

Typical values are 5, 10, etc.

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PID Control Implementation

Discrete version is required for

implementation

Many ways to do this

Digital Control by Moudgalya presents

several methods

We present one approach now

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Practial Issues: 2. Discretisation
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PID Controller - Discretisation
Recall the PID control law:
u(t) = K
c
_
e(t) +
1

i
_
t
0
e(t)dt +
d
de(t)
dt
_
Let us discretise, with u(n) = u(t)|
t=n
u(n) = K
c
[e(n)+
1

i
_
T
s
e(0) + e(1)
2
+ + T
s
e(n 1) + e(n)
2
_
+
D
e(n) e(n 1)
T
s
_
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Practial Issues: 3. Communication errors
Example:

Consider manual to automatic mode change

Suppose that the controller thinks that the

valve position oset is 0%

Suppose that the control law is calculated as

+0.1%

But the actual control valve position is at

+10% oset and that it is working ne

With the new control eort, the valve will

swing from +10% oset to +0.1% oset

How do we minimise this problem, given that

there is a communication mismatch?
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Calculate Change in PID Control
u(n) = K
c
[e(n)+
1

i
_
T
s
e(0) + e(1)
2
+ + T
s
e(n 1) + e(n)
2
_
+
D
e(n) e(n 1)
T
s
_
Calculate u(n) u(n 1) and simplify
u(n) u(n 1) = s
0
e(n) + s
1
e(n 1) + s
2
e(n 2)
s
0
= K
c
_
1 +
T
s
2
i
+

d
T
s
_
, s
2
= K
c

d
T
s
s
1
= K
c
_
1 +
T
s
2
i
2

d
T
s
_
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Bumpless Control
From the previous slide
u(n) u(n 1) =
s
0
e(n) + s
1
e(n 1) + s
2
e(n 2)
Because control law is given in terms of u,

Using absolute values could give a bump

In the previous example, the control eort

will go from 10% to 10.1%

Mismatch between the state of end control

element and what controller thinks it to be,
may not matter much

Hence known as bumpless transfer

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Practical Issues: 4. Setpoint Kick
To be covered later in this course
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Problem 3 I
Corridor Consultants Ltd. has asked two of its
engineers Ram and Mala to design a PD
controller for the plant G(s)
G(s) =
1
(s + 1)(s + 3)
with the following requirements: (1) the closed
loop system should respond reasonably fast (2)
the closed loop system should be stable for large
values of the proportional controller gain as well.
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Problem 3 II
Ram designs the following controller
G
cr
= K
c
(1 + 0.2s)
and Mala designs the following controller
G
cm
= K
c
(1 + 0.5s)
1. Which of the two controllers is better and
why?
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Problem 3 III
2. At the time of implementation of the
controller, however, it is found that the
actual model of the plant, which we denote
as G

(s), is given as
G

(s) =
1
s(s + 1)(s + 3)
Which of the two controllers would you
prefer now? Why?
Hint: Qualitative arguments, possibly with root
locus with a few calculations, could be sucient
most of the time. (40)
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What we learnt today

Implementable derivative mode

Discretisation

Handling communication mismatch

Root locus problem from a previous exam

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Thank you
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