Introduction to Control Engineering & P, PI, PID
Controllers
Class Notes / Study Material
Prepared by: Venki
Table of Contents
1. Introduction to Control Engineering
2. Types of Control Systems
3. Mathematical Modeling
4. Time Response Analysis
5. Proportional (P) Controller
6. Proportional-Integral (PI) Controller
7. Proportional-Integral-Derivative (PID) Controller
8. Applications of PID Control
9. Simulation Results (MATLAB)
10. Conclusion
11. References
1. Introduction to Control Engineering
Control engineering deals with the modeling of dynamic systems and the design of controllers to
obtain desired system behavior.
It plays a vital role in automation, robotics, aerospace, and industrial applications.
2. Types of Control Systems
Open-loop Control System: Operates without feedback. Example: Washing machine.
Closed-loop Control System: Uses feedback to adjust inputs. Example: Temperature control in AC.
3. Mathematical Modeling
Dynamic systems are represented using differential equations, transfer functions, or state-space
models.
Example: For an RC circuit, Transfer Function: G(s) = 1 / (RCs + 1).
4. Time Response Analysis
Time response consists of Transient response and Steady-state response.
Important parameters: Rise time, Settling time, Overshoot, Steady-state error.
5. Proportional (P) Controller
Control law: u(t) = Kp * e(t)
Advantages: Simple design, improves stability.
Disadvantages: Steady-state error persists.
6. Proportional-Integral (PI) Controller
Control law: u(t) = Kp * e(t) + Ki ∫ e(t) dt
Advantages: Eliminates steady-state error.
Disadvantages: Slower response compared to P controller.
7. Proportional-Integral-Derivative (PID) Controller
Control law: u(t) = Kp * e(t) + Ki ∫ e(t) dt + Kd (de/dt)
Advantages: Most widely used controller. Provides stability, speed, and accuracy.
Applications: Robotics, process control, automobiles, aerospace.
8. Applications of PID Control
Industrial automation systems.
Speed control of DC motors.
Flight control systems in aircraft.
Robotics for precision movement.
9. Simulation Results (MATLAB)
Step response of P, PI, PID controllers can be simulated using MATLAB.
Example MATLAB code: step(feedback(Kp*G,1)).
PID shows the best compromise between stability and fast response.
10. Conclusion
Control systems form the backbone of automation.
PID controllers remain the most important due to their effectiveness.
11. References
Nagoor Kani – Control Systems Engineering.
K. Ogata – Modern Control Engineering.
MATLAB Documentation.
