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Performance of P-only, PI
and PID Controllers
Tuning loops
Control loop design
Control loop troubleshooting
Command of the terminology
Fundamental understanding
Process dynamics
Feedback control
P-only Control
For an open loop overdamped process as Kc
is increased the process dynamics goes
through the following sequence of behavior
overdamped
critically damped
oscillatory
ringing
sustained oscillations
unstable oscillations
Dynamic Changes as Kc is
Increased for a FOPDT Process
Time
Time
Time
Time
Time
Time
Imaginary Axis
4
e
0
a
-4
-4
d
f
-8
-8
-5
-4
-3
-2
Real Axis
-1
Effect of Kc on Closed-Loop z
Effect of Kc on Closed-Loop tp
PI Control
As Kc is increased or tI is decreased (i.e.,
more aggressive control), the closed loop
dynamics goes through the same sequence
of changes as the P-only controller:
overdamped, critically damped, oscillatory,
ringing, sustained oscillations, and unstable
oscillations.
Effect of Variations in Kc
Time
Time
Time
Effect of Variations in tI
Time
Time
Time
Lag
ys
Time
Lag
ys
Time
Lag
ys
Time
PID Control
Kc and tI have the same general effect as
observed for PI control.
Derivative action tends to reduce the
oscillatory nature of the response and
results in faster settling for systems with
larger deadtime to time constant ratios.
PID
Time
PID
Time
ys
Time
Effect of tD on Closed-Loop z
Overview
As the controller aggressiveness is increased
(i.e., Kc is increased or tI is decreased), the
response goes from overdamped to critically
damped to oscillatory to ringing to sustained
oscillations to unstable.
Too little proportional or integral action are
easy to identify while too much proportional
or integral results in ringing. Differentiating
between too much integral or proportional
action requires comparing the lag between
the controller output and the CV.