Report on

Industrial Controllers

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Index
S. No.
1.)
2.)
3.)
4.)
5.)
6.)

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Topic
Executive Summary
Introduction
P Controller
PD Controller
PI Controller
PID Controller

Page No.
3
3-4
5
6
7
8-9

Executive Summary
This report studies the characteristics and advantages/disadvantages of various controllers like P,
PD, PI and ultimately in the end PID. The main motive of the study of Control system controllers
is to improve and analyze the parameters of the system and ultimately in turn to improve the
stability of the system.

Introduction
A control system is a device, or set of devices, that manages, commands, directs or regulates the
behavior of other devices or systems. Industrial control systems are used in industrial production
for controlling equipment or machines.
Single Input Single Output Systems
These are also known as SISO type of system. In this the system has single input for single
output. Various example of this kind of system may include temperature control, position control
system etc.
Multiple Input Multiple Output Systems
These are also known as MIMO type of system. In this the system has multiple outputs for
multiple inputs. Various example of this kind of system may include PLC type system etc.
When a system is unstable, the output of the system may be infinite even though the input to the
system was finite. This causes a number of practical problems. For instance, a robot arm
controller that is unstable may cause the robot to move dangerously. Also, systems that are
unstable often incur a certain amount of physical damage, which can become costly.
Nonetheless, many systems are inherently unstable - a fighter jet, for instance, or a rocket at
liftoff, are examples of naturally unstable systems.
Stability of a controller depends upon many factors such as:
1.
2.
3.
4.
5.
6.

Steady State Error (Should be less).

Time Constant (Should be less).
Offset (Should be less).
Maximum Overshoot (Should be less).
Transient Stability should be high.
There should not be any oscillations present in the system.

Controllers are used in cascade along with the plant transfer function to modify the system
parameters and to make the system stable. The parameters of the control system can be varied by
properly tuning the controllers.

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Different type of controllers which are available are:

1.
2.
3.
4.

Proportional Controller
Proportional Derivative Controller
Proportional Integral Controller
Proportional Integral Derivative (PID) Controller.

Out of these controllers, PID controller is used to match all the required specifications and can
provide 100 % stability. But also on the other hand PID controller requires the fixation of 3
parameters so the complexity increases.

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Study of Different Types of Controllers

A.) Proportional Controller
In a proportional controller the output (also called the actuating/control signal) is directly
proportional to the error signal.

Control signal = Kp * Error Signal

If the error signal is a voltage, and the control signal is also a voltage, then a proportional
controller is just an amplifier.
Properties:
1. In a proportional controller, steady state error tends to depend inversely upon the
proportional gain, so if the gain is made larger the error goes down.
2. SSE = 1/(1 + KpG(0))
3. Proportional controller helps in reducing the steady state error, thus makes the system
more stable.
4. Slow response of the over damped system can be made faster with the help of these
controllers.
Shortcomings:
P controller has the advantage of reducing down the steady state error of the system, but along
with that it also has some serious disadvantages.
1. Due to presence of these controllers we some offsets in the system.
2. Proportional controllers also increase the maximum overshoot of the system.
3. It directly amplifies process noise.
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B.) Proportional Derivative Controller

This kind of action gives an output which is proportional to the derivative or the rate of change
of the error.
Derivative action could not be used alone in practice. This is because its output is only related to
the rate of change of the error. The error could be huge, but if it were unchanging, the controller
would not give any output. Thus although it is theoretically possible, it is practically impossible.

Derivative control is usually found in combination with proportional control, to form so-called
P+D.
Properties/Advantages of PD Controller:
OD = - kD dEr / dt
where
OD = output derivative controller
kD = derivative gain or action factor of the controller
dEr = deviation change over time sample dt.
dt = time sample

Derivative part in the PD controller reduces the overshoot and improves the transient
stability of the control system.

It reduces the time constant of the system and thus making system faster.

It has no effect on the steady state error (derivative part) and on the offset caused by the P
controller.

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C.) Proportional Integral Controller

As the name suggests in integral controllers the output (also called the actuating signal) is
directly proportional to the integral of the error signal.
Integral Controllers used alongside with proportional controllers are called PI controllers.

PI controller equation:

Properties/Advantages of PI controller:

Output is proportional to the integral of the input signal.

As the integrator is involved, it increases the type of the system.

As the type of the system increases, it reduces SSE and hence improves accuracy.

Integral action enables PI controllers to eliminate offset, a major weakness of a P-only

controller. Thus, PI controllers provide a balance of complexity and capability that makes
them by far the most widely used algorithm in process control applications.

As the type of the system is increased, there is some negative impact over the stability of
the system.

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D.) Proportional-Integral-Derivative (PID) Controller:

PID controller involves all the three controllers studied earlier i:e P, PD and PI connected in
parallel.

PID controller involves the parallel combination of these 3 controllers and the output equation is
proportional to the derivative as well as integral of the error signal.

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.

All design specifications can be reached with the PID controller and 100% desired conditions
can be achieved.

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Effect of increasing the individual gains:

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.

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