Closed Loop
Controllers
Unit 6 - Mechatronics PEARSON BTEC HND
Electrical & Electronic
Engineering
Randeera Liyanage
Introduction to Closed Loop Controllers
• A controller is used to
compare continuously the
output of a system with the
required condition and
convert the error into a
control action designed to
reduce the error.
Control modes determine how the system
reacts to the error signal.
Introduction to Closed Loop Controllers
• Many processes not only involve controlling some variable to a required
value, but also involve the sequencing of operations.
• Clock-based system - The actions are carried out at specific times.
• Event-based system - The actions are carried out when there is feedback to indicate
that a particular event has occurred.
Direct digital control is when the computer is in the feedback loop and exercising control
in this way.
Closed Loop Systems
• With a closed-loop system, there is a feedback from the output to modify
the input so that the system maintains the required output.
• With feedback, there is a reduction of the effects of disturbance signals
on the system.
Disturbance Signal - A disturbance signal is an unwanted signal which affects the output
signal of a system.
Closed Loop Systems
𝐺1 𝑠 𝐺2 𝑠 𝐺2 𝑠
𝑋 𝑠 = 𝑅 𝑠 + 𝐷(𝑠)
1 + 𝐺1 𝑠 𝐺2 𝑠 𝐻 𝑠 1 + 𝐺1 𝑠 𝐺2 𝑠 𝐻 𝑠
Steady State Error
• A closed-loop control system uses a measurement of the system output
and a comparison of its value with the desired output to generate an
error signal.
Steady-state error is used for the difference between the desired set
value input and the output
Steady State Error
• Steady state error is a measure of the accuracy of the control system in
tracking the set value input.
• Whenever there is an error, the output is not at the desired output.
𝑅(𝑠)
𝐸 𝑠 =
1 + 𝐺(𝑠)
Types of Linear Control Modes
• Two-step mode
• Proportional mode (P)
• Derivative mode (D)
• Integral mode (I)
• Combined modes of proportional, integral, and derivative.
A control unit can react to an error signal and supply an output for correcting elements.
Types of Linear Control Modes
How can a controller achieve different control modes?
• Pneumatic circuits
• Analogue electronic circuits involving operational amplifiers
• Programming of a microprocessor
• Computer
Two-Step Control Mode
• Two-step mode is a discontinuous action of control.
• It is a simple on/off mode of control where the on or off position is
determined generally by the action of a physical feedback at specified
conditions.
• This creates oscillations of the controlled variable occur about the
required condition.
Two-Step Control Mode
Example – Bimetallic Thermostat (Temperature Control System)
Two-Step Control Mode
Example – Bimetallic Thermostat (Temperature Control System)
Two-Step Control Mode
Example – Bimetallic Thermostat (Temperature Control System)
• The room temperature oscillates above and below the required
temperature.
• Dead band - Values between the on and off values.
• A large dead band results in large fluctuations of the temperature about the set
temperature.
• A small dead band will result in an increased frequency of switching.
Two-Step Control Mode
• Two-step control is not very precise.
• It involve simple devices and is therefore it is fairly cheap.
Two-step control action tends to be used where changes are
taking place very slowly.
Proportional (P) Control Mode
• The size of the controller output is proportional to the size of the error.
• The bigger the error, the bigger the output from the controller.
• Correction element of the control system, will receive a signal which is
proportional to the size of the correction required.
𝐼(𝑠)
𝐶 𝑠 = = 𝐾𝑃
𝐸(𝑠)
𝑒(𝑡) – Error; 𝑖(𝑡) – Controller output; 𝐾𝑃 – Proportional constant; 𝐶(𝑠) – Controller TF
Proportional (P) Control Mode
System specification changes by proportional control are,
• Time to first peak is reduced.
• Rise time is reduced.
• Settling time is reduced.
• Steady state error is changed.
Proportional (P) Control Mode
Blue – Original response.
Green – Kp = 1
Red - Kp = 2
Derivative (D) Control Mode
• The controller output is proportional to the rate of change with time of
the error signal.
• As soon as the error signal begins to change, there can be a large
controller output since it is proportional to the rate of change the error.
𝐼(𝑠)
𝐶 𝑠 = = 𝐾𝐷 𝑠
𝐸(𝑠)
𝐾𝐷 – Derivative constant
Proportional (P) + Derivative (D) Control Mode
• Derivative control is never used alone because it is not capable of giving
an output when there is a steady error signal.
• It is used in conjunction with proportional control so that the limitations
of derivative control mode can be resolved.
𝐼(𝑠)
𝐶 𝑠 = = 𝐾𝑃 + 𝐾𝐷 𝑠
𝐸(𝑠)
Proportional (P) + Derivative (D) Control Mode
System specification changes by proportional + derivative control are,
• Reduce in rise time
• Reduce in time to first peak
• Reduce in settling time
Proportional (P) + Derivative (D) Control Mode
Integral (I) Control Mode
• The integral controller consists a rate of change of the control output
which is proportional to the input error signal.
• Integral control is a form of control which is based upon the integral of
the error signal.
𝐼 𝑠 1
𝐶 𝑠 = = 𝐾𝐼
𝐸 𝑠 𝑠
𝐾𝐼 – Integral constant
Integral (I) Control Mode
System specification changes by increasing the integral gain are,
• Steady state error will reduce and eventually will reach a minimum value.
• Time to first peak will decrease.
• Settling time does not change.
• Peak overshoot will increase.
Proportional (P) + Integral (I) Control Mode
• The integral mode of control is not usually used alone but is frequently
used in conjunction with the proportional mode.
𝐼 𝑠 1
𝐶 𝑠 = = 𝐾𝑃 + 𝐾𝐼
𝐸 𝑠 𝑠
PID Control Mode
• PID control is a form of combining all three forms of control
(Proportional, Integral and Derivative) into a single control.
• PID controller can compensate for the differences in each of the
individual methods of control while maintaining their advantages.
𝐼 𝑠 1
𝐶 𝑠 = = 𝐾𝑃 + 𝐾𝐷 𝑠 + 𝐾𝐼
𝐸 𝑠 𝑠
PID Control Mode
1
𝐾𝑃 + 𝐾𝐷 𝑠 + 𝐾𝐼
𝑠
1
𝑋 𝑠 𝐺 𝑠 𝐾𝑃 + 𝐾𝐷 𝑠 + 𝐾𝐼
= 𝑠
𝑅 𝑠 1
1 + 𝐺 𝑠 𝐾𝑃 + 𝐾𝐷 𝑠 + 𝐾𝐼
𝑠
PID Control Mode
Blue – Original response.
Green – Kp = KI = KD = 1
PID Control Mode
What Does PID Controller Actually Do?
• Proportional – Present
• Integral – Past
• Derivative – Future
- END -
