P Controller:

Advantages:

1. P controller is mostly used in first order processes with single energy storage to stabilize
the unstable process.
2. The main usage of the P controller is to decrease the steady state error of the system. As
the proportional gain factor K increases, the steady state error of the system decreases.
3. We can use this controller only when our system is tolerable to a constant steady state
error

Disadvantages:
1. However, despite the reduction, P control can never manage to eliminate the steady state
error of the system.
2. As we increase the proportional gain, it provides smaller amplitude and phase margin,
faster dynamics satisfying wider frequency band and larger sensitivity to the noise.
3. In addition, it can be easily concluded that applying P controller decreases the rise time and
after a certain value of reduction on the steady state error, increasing K only leads to
overshoot of the system response.
4. P control also causes oscillation if sufficiently aggressive in the presence of lags and/or dead
time. The more lags (higher order), the more problem it leads. Plus, it directly amplifies
process noise.

I Controller:
Advantages:
1. In this control method, the control systems acts in a way that the control effort is
proportional to the integral of the error.
2. In integral control, the control effort is proportional to the integral so the controller now
needs to be an integrator, and it will have a transfer function of Ki/s - not just a gain, Kp.
3. If you can design a stable integral control system, the steady state error (SSE) will be zero
exactly.
4. An integral controller has one very good quality. An integral controller will normally ensure
zero SSE in a control system - for step (constant) inputs.
Disadvantages:
1. An integral controller is not particularly difficult to implement.
2. In an analog system, an integral control system integrates the error signal to generate the
control signal. If the error signal is a voltage, and the control signal is also a voltage, then a
proportional controller is just an analog integrator.
3. In a digital control system, an integral control system computes the error from measured
output and user input to a program, and integrates the error using some standard
integration algorithm, then generates an output/control signal from that integration.

D Contoller:
Advantages:
1. The derivative control mode gives a controller additional control action when the error
changes consistently.
2. It also makes the loop more stable (up to a point) which allows using a higher controller
gain and a faster integral (shorter integral time or higher integral gain).
3. These have the effect of reducing the maximum deviation of process variable from set
point if the process receives and external disturbance.
4. For a typical temperature control loop, you can expect a 20% reduction in the maximum
deviation.

Disadvantages:
1. Proportional gives the control loop an immediate response to an error, and the integral
mode eliminates the error in the longer term. Hence no derivative is needed.
2. It should be mentioned that derivative mode should be used with caution. Since it acts on
rates of change, derivative action will go crazy if it sees substantial noise in the PV signal.
3. Even small amounts of noise possess extremely large rates of change (defined as percent
PV change per minute of time) owing to the relatively high frequency of noise compared to
the timescale of physical process changes.

PI CONTROLLER:

Advantages:
1. P-I controller is mainly used to eliminate the steady state error resulting from P controller.
2. This controller is mostly used in areas where speed of the system is not an issue.
3. The PI controller fuses the properties of the P and I controllers. It shows a maximum overshoot
and settling time similar to the P controller but no steady-state error.

Disadvantages:
1. In terms of the speed of the response and overall stability of the system, it has a negative
impact.
2. Since P-I controller has no ability to predict the future errors of the system it cannot
decrease the rise time and eliminate the oscillations
3. If applied, any amount of I guarantees set point overshoot.

PID CONTROLLER:
Advantages:
1. P-I-D controller has the optimum control dynamics including zero steady state error, fast
response (short rise time), no oscillations and higher stability
2. The necessity of using a derivative gain component in addition to the PI controller is to
eliminate the overshoot and the oscillations occurring in the output response of the
system.
3. One of the main advantages of the P-I-D controller is that it can be used with higher order
processes including more than single energy storage.

Disadvantages:
1. Not Cheap enough for common use.
2. If you are using too much PID blocks in PLC program , you need to arrange the working
sequence.