Control Engineering

Lecturer: Phan Anh Tuan

University of Science and Technology of Hanoi

1
Module 5: Introduction to control – PID
Control

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 Two-Position or On–Off Control Action

𝑢 𝑡 = 𝑈1 , 𝑓𝑜𝑟 𝑒 𝑡 > 0
𝑢 𝑡 = 𝑈2 , 𝑓𝑜𝑟 𝑒 𝑡 < 0

Differential gap is intentionally provided in

order to prevent too-frequent operation of
the on–off mechanism.

3
 Two-Position or On–Off Control Action

Where are U1, U2?

• Applications: home heating system, oven, refrigerator and air

conditioner
4
 Exercise

• Build model of house

heating system in
Simulink following the
instruction below:
https://www.mathworks.com/
help/simulink/ug/model-a-
house-heating-system.html
• Use on-off control for the
model, run simulation
and withdraw the
advantages and
disadvantages of on-off
control

5
 Proportional Control (P control)
𝑢 𝑡 = 𝐾𝑝 𝑒 𝑡 → 𝑈 𝑠 = 𝐾𝑝 𝐸(𝑠)

• The controller output magnitude increases/decrease with the

increase/decrease of the deviation between set point and controlled variable
• The controller gain can be adjusted to make the controller output changes
as sensitive as desired to the error
• Take immediate corrective action

R(s) 2 Y (s)
KP
- s +1

5
s+5

6
 Proportional Control
𝑢 𝑡 = 𝐾𝑝 𝑒 𝑡 → 𝑈 𝑠 = 𝐾𝑝 𝐸(𝑠)

• Large proportional leads to fast transients [and possibly

instability/oscillation]
• Small proportional leads to slow transients
• Steady-state error can not be eliminated

R(s) 2 Y (s)
KP
- s +1

5
s+5

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 Integral Control
𝑡
𝐸(𝑠)
𝑢 𝑡 = 𝐾𝐼 න 𝑒 𝑡 𝑑𝑡 → 𝑈 𝑠 = 𝐾𝐼
𝑠
0

• Advantage: 𝑈(𝑡) will be changing • Disadvantage: Controller doesn’t

with time unless 𝑒(𝑡) is 0 → take action immediately when
Steady-state error can be 𝑒(𝑡) ≠ 0
eliminated
e e Slope = K
I
=K
𝐾P𝐼


1 1 Slope
Slope =1 𝐾

K𝑃D K p
0 0
0 0
0 0 t t 0 0 t

Integral control is usually combined with proportional control

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 Proportional – Integral control
1 1
𝑈 𝑠 =𝐸 𝑠 𝐾𝑃 + 𝐾𝐼 = 𝐸 𝑠 𝐾𝑐 1 +
𝑠 𝑇𝐼 𝑠

𝑡
1
𝑢 𝑡 = 𝐾𝑐 𝑒 𝑡 + න 𝑒 𝑡 𝑑𝑡
𝑇𝐼
0

1
+
𝑒(𝑡) 𝑢(𝑡)
𝐾𝐶
+
1
න
𝑇𝐼
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 Derivative Control
𝑑𝑒(𝑡)
𝑢 𝑡 = 𝐾𝐷 → 𝑈 𝑠 = 𝐾𝐷 𝑠𝐸(𝑠)
𝑑𝑡

• Anticipate the future behavior of the error signal by considering its rate of
change → tend to improve the dynamic response of the controlled variable

Slope = KP
Slope =1 KD

0 0
0 t 0

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 Derivative Control

• The big benefit of the derivative term • A disadvantage relates to

is that it works to decrease sensitivity to measurement noise
oscillations in 𝑦(𝑡)
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 Proportional – Derivative control

• First order Taylor approximation

𝑑𝑒(𝑡)
𝑢 𝑡 = 𝐾𝐶 𝑒 𝑡 + 𝑇𝐷 ≈ 𝐾𝐶 𝑒 𝑡 + 𝑇𝐷
𝑑𝑡

1
+
𝑒(𝑡) 𝑒(𝑡
Ƹ + 𝑇𝐷 )
+
𝑑(. )
𝑇𝐷
𝑑𝑡

Derivative action = anticipation

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 Proportional – Derivative control
1
+
𝑒(𝑡
Ƹ + 𝑇𝐷 )
𝑒(𝑡) 𝐾𝐶 u(𝑡)
+
𝑑(. )
𝑇𝐷 FO
𝑑𝑡

𝐾𝐶 𝑇𝐷 𝑠
𝑈 𝑠 = 𝐸 𝑠 + 𝐾𝐶 𝐸(𝑠)
𝑇𝐹𝐷 𝑠 + 1
• In practice, it is recommended to filter the variable that is
differentiated.
• Most often, a first order filter is used

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 PID control 𝑆𝑃
1
𝐶 𝑠 = 𝐾𝑃 + 𝐾𝐼 + 𝐾𝐷 𝑠
𝑠
1 𝐾𝐷 𝑠
𝐶 𝑠 = 𝐾𝑃 + 𝐾𝐼 +
𝑠 𝑇𝐹𝐷 𝑠 + 1

1
𝐶 𝑠 = 𝐾𝑐 1+ + 𝑇𝐷 𝑠
𝑇𝐼 𝑠
1 𝑇𝐷 𝑠
𝐶 𝑠 = 𝐾𝑐 1 + +
𝑇𝐼 𝑠 𝑇𝐹𝐷 𝑠 + 1

1
𝐶 𝑠 = 𝐾𝑐 1+ 1 + 𝑠𝑇𝐷
𝑇𝐼 𝑠
1 𝑇𝐷 𝑠
𝐶 𝑠 = 𝐾𝑐 1+ 1+
𝑇𝐼 𝑠 𝑇𝐹𝐷 𝑠 + 1
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 PID Summary

Close-loop Rise Time Overshoot Settling Steady-

Response Time State Error
𝐾𝑃 Decrease Increase Small Decrease
change
𝐾𝐼 Decrease Increase Increase Eliminate

𝐾𝐷 Small Decrease Decrease No change

change

This is correct for canonical systems but might not definitely

correct for noncanonical systems

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 Integral windup

• This effect occurs when the actuator has a saturation limitation.

Because of this limitation, it is not possible to reach the set point,
which results in a non-zero error value. During operation, the
integrator continues to accumulate this error, the signal at its output
increases, but does not affect the plant. As a result, there is a delay
in the transient process.

16
 Anti windup

• Clamping algorithm: When the control action reaches saturation,

we programmatically disconnect the integrator from the control

17
 Anti windup

• Back-Calculation algorithm: uses a feedback loop to discharge

the PID controller's internal integrator when the controller hits
specified saturation limits

18
 Exercise

• Replace the on-off control by P, PI, PID control and study the effect
of P, I and D components to the rise time, oscillation, overshoot,
settling time, steady-state error

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 Modification of PID control scheme
𝑡
1 𝑑𝑒𝐷
𝐾𝑃 𝑒𝑃 𝑡 + න 𝑒 𝑡 𝑑𝑡 + 𝜏𝐷
𝜏𝐼 𝑑𝑡
0

𝑒𝑃 = 𝛽𝑟 − 𝑦
𝑒 =𝑟−𝑦
𝑒𝐷 = 𝛾𝑟 − 𝑦

• 𝛽 and 𝛾 are small. If they are set to 0, then changes in the set point
don’t have any effect on these terms.

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Proportional – Integral control

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