Any Practical

system is a
control system

Typical Block Diagram model for a Feedback Control System

Error Detector

Actuating
Error
^e(t)

RV
r(t)
+

Disturbance
signal
w(t)

CONTROLLER
D(s)

Feedback
signal
b(t)

SENSOR
H(s)

Disturbance
N(s)

MV
u(t)

PLANT
G(s)

CV
+ c(t)
+

Proportional control
e(t)

r(t)
+

u(t)

G(s)

c(t)

H(s)

Control action:- u(t)=Ke(t)

Effect on Steady State Response:- Reduces the steady state error

Effect on Transient Response:- Increases the speed of response.

Limitations and shortcomings:- Saturation, noise and instability.

Hence new control schemes (PI, PD) are conceived.

Proportional and Integral (PI) control

KI/s

e(t)

r(t)
+

+
K

u(t)

G(s)

c(t)

H(s)

Control action:- u(t)=Ke(t)+KIe(t)dt

U(s)=(K+ KI/s)E(s) where KI=1/TI , TI=Integral or reset time

Effect on Steady State Response:- steady state error can be reduced to

zero exactly.
Effect on Transient Response:-Increases peak overshoot & reduces the
speed of response.
Limitations and shortcomings:- Reduces the stability margin of the
system.

Proportional and Derivative (PD) control

sKD

e(t)

r(t)
+

+
K

u(t)

G(s)

c(t)

H(s)

Control action:- u(t)=Ke(t)+KD(de/dt)

U(s)=(K+ sKD)E(s) where KD=KcTD , TD=Derivative or rate time.

Effect on Steady State Response:-Almost no effect.

Effect on Transient Response:-Decreases the peak overshoot by
improving the effective damping of the system.
Limitations and shortcomings:-Amplifies the high frequency noise
signals.

Proportional ,Integral & Derivative (PID) control

e(t)

r(t)

c(t)

u(t)
G(s)

H(s)

Control action:-By proper adjustment of K, KD,KI the transient and

dynamic responses are properly shaped.
Problems:-Tuning of PID controller is a difficult job.

MASS,SPRING,DAMPER system-A simple 2nd order system

Let
M = Mass=1kg
b =co-efficient of damping= 10 N.s/m
k = spring constant=20 N/m

System without any controller

Response of the system without any controller

System with P controller

Response of the system with P controller

System with PD controller

Response of the system with PD controller

System with PI controller

Response of the system with PI controller

System with PID controller

Response of the system with PID controller

Speed Control system of Separately excited DC motor

rfr

ra

rf

rar
ia

if

La

uf

TL
r , Te

LOAD

quadrature axis
ua

Lf

Ea Laf i f r
-

field

direct axis
armature
-

VOLTAGE
SUPPLY

BLOCK DIAGRAM MODEL

wr

KP

er
+

D(S)

-et

ea
+

-eb

KT/Ra

TW

Tm +
+

1/(Js+B)

Kb

Kt

Kp=Potentiometer constant Tw=Disturbance torque/ load torque.

Kt= Tacho-generator constant Tm=Electromagnetic Torque developed by motor.
Kb=Back emf constant
D(s)=Controller Transfer Function.
KT=Torque constant

PROS & CONS

Very popular industrial controller due to its simplicity.
Almost 75-85% industrial process controllers are still of
this kind.
3 way independent control action.
The Tuning of PID controller is a cumbersome.
Online, Ziegles Nichols , Software Based, Cohen Coon
all these tuning methods possess problems.

Futuristic Controller:- Fuzzy logic /Neuro fuzzy logic

controller

ACKNOWLEDGEMENT
en.wikipedia.org
www.youtube.com
Modern Control Engineering by k.Ogata.
Control Systems: Principles and Design

by Madan Gopal.

PID -controllers, Theory Design and Tuning by K Astrom and

T Hagglund
Automatic Control Systems by B.C Kuo

!!!!THANK YOU!!!