GROUP 6

REPORT
IN
AUTOMATION
Submitted By Group 6: Anaya, Rigel C.
Abaya, Lawrence
Millete, Kim T.
Torib, Adrian E.

Submitted to: Engr. Raul Soria

Integral control
= is what you have when the signal driving the controlled system is derived by integrating the
error in the system.

Disadvantage of Integral Control

= It tends to make the system unstable because it responds slowly towards the produced error.

Advantage of Integral Control

= Due to their unique ability they can return the controlled variable back to the exact set point
following a disturbance thats why these are known as reset controllers.

Derivative Control
= With derivative action, the controller output is proportional to the rate of change of the
measurement or error. Some manufacturers use the term rate or pre-act instead of derivative.
Derivative, rate and pre-act are the same thing. The controller output is calculated by the rate of
change of the error with time.
= Derivative action has the potential to improve performance when sudden changes in measured
variable occur, but is should be used with care. It is mostly a matter of using enough, not too
much.

P-I Controller:
P-I controller is mainly used to eliminate the steady state error resulting from P
controller. However, in terms of the speed of the response and overall stability of
the system, it has a negative impact. This controller is mostly used in areas where
speed of the system is not an issue. 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. If applied, any amount of I guarantees set point overshoot.
D Controllers:
The derivative part is concerned with the rate-of-change of the error with time: If
the measured variable approaches the setpoint rapidly, then the actuator is backed
off early to allow it to coast to the required level; conversely if the measured value
begins to move rapidly away from the setpoint, extra effort is appliedin
proportion to that rapidityto try to maintain it.
Derivative action makes a control system behave much more intelligently. On
control systems like the tuning of the temperature of a furnace, or perhaps the
motion-control of a heavy item like a gun or camera on a moving vehicle, the
derivative action of a well-tuned PID controller can allow it to reach and maintain
a set point better than most skilled human operators could.

Step Response

The step response of a system in a given initial state consists of the time evolution
of its outputs when its control inputs are Heaviside step functions. In electronic
engineering and control theory, step response is the time behaviour of the outputs
of a general system when its inputs change from zero to one in a very short time.
The concept can be extended to the abstract mathematical notion of a dynamical
system using an evolution parameter.

PID Theory

Proportional Response
=The proportional component depends only on the difference between the set point
and the process variable. This difference is referred to as the Error term. The
proportional gain (Kc) determines the ratio of output response to the error signal.
For instance, if the error term has a magnitude of 10, a proportional gain of 5
would produce a proportional response of 50. In general, increasing the
proportional gain will increase the speed of the control system response. However,
if the proportional gain is too large, the process variable will begin to oscillate. If
Kc is increased further, the oscillations will become larger and the system will
become unstable and may even oscillate out of control.

Integral Response
= The integral component sums the error term over time. The result is that even a
small error term will cause the integral component to increase slowly. The integral
response will continually increase over time unless the error is zero, so the effect is
to drive the Steady-State error to zero. Steady-State error is the final difference
between the process variable and set point. A phenomenon called integral windup
results when integral action saturates a controller without the controller driving the
error signal towards zero

Derivative Response
= The derivative component causes the output to decrease if the process variable is
increasing rapidly. The derivative response is proportional to the rate of change of
the process variable. Increasing the derivative time (Td) parameter will cause the
control system to react more strongly to changes in the error term and will increase
the speed of the overall control system response. Most practical control systems
use very small derivative time (Td), because the Derivative Response is highly
sensitive to noise in the process variable signal. If the sensor feedback signal is
noisy or if the control loop rate is too slow, the derivative response can make the
control system unstable.