DEPARTMENT OF TECHNICAL EDUCATION

ANDHRA PRADESH
Name : Sri.E. BABU
Designation : Lecturer
Branch : Electronics and Instrumentation Engg.
Institute : S.G.P.R. Govt. Polytechnic, Kurnool.
Year/Semester : V Semester.
Subject : Process control
Subject code : AEI-504
Topic : Controller principles
Duration : 50mts.
Sub Topic : Output of continuous and composite
controllers for variable error input
Teaching Aids : Diagrams
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 Recap

We have discussed about

• Floating controller output for fixed error

• Single speed

• Multi speed

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 Objectives
On completion of this period, you would be able to know:
• Proportional controller output for variable error input

• Integral controller output for variable error input

• Derivative controller output for variable error input

• PI controller output for variable error input

• PD controller output for variable error input

• PID controller output for variable error input

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 Proportional controller

• The output is given by

• P = Kpep + p0

• The proportional band depends upon the inverse of the gain

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The proportional controller output for variable error

Fig.1

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 Proportional controller

• In fig.1 p0 has been set 50%

• Two different gains are used for illustration

• Proportional band is dependent on the gain

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 Integral controller

• The controller output for error is given by

p(t) = KI  ep dt + p(0)

• Rate of change of output is

dp
dt = KI ep

• Fig.2 shows the rate of output change for error change

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The rate of output change for error change

Fig.2

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Integral controller output for error input

Fig.3

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Integral mode output for error with effect of process and control
lag

Fig. 4
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 Derivative controller
• The controller output for error is given by

de
p (t )  k p

dt
D

• If the error is zero ,the mode provides no output

• If the error is constant in time , the mode provides no

output

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 Derivative controller

• If the error is changing in time then output is KD%

• For every 1% per second rate of change of error

• For direct action , a positive rate of change of error

produces a positive output as fig.5

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Derivative mode output for error

Fig. 5

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 Composite PI controller
• The controller output for error is given by

p(t) = Kp ep + Kp KI  ep dt + p(0)

• If the error is zero ,the output is fixed at that value it had

when error went to zero

• If the error is not zero, then output is shown in fig.6

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PI control action error input for reverse action

Fig.6
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 PD controller
• The controller output for error is given by
de
p (t )  k e  k k p
p

dt
p p p d o

• Handles fast process load changes

• The following fig.7 shows the output

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PD control action for error input

Fig.7
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 PID controller
• The controller output for error is given by

p(t) = Kp ep + Kp KI ep dt+ KpKD dep /dt + p0

• Handles fast process load changes

• Eliminates offset error

• The following fig.8 shows output

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PID control action for error input

Fig.8
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 Summary

• P- controller response for variable error

• PI controller response for variable error

• PD controller response for variable error

• PID controller response for variable error

 QUIZ

1. If the error is zero then the output of p-control

a. 0%
b. 100%
c. Does not change but floats
d. 50%

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2. The disadvantage of p- controller is

a. Does not have smooth output

b. Offset error

c. Dead zone

d. None

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3. If the error is zero then D- controller output is

a. 20%

b. 0

c. 50%

d. None

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4. If the error is constant then D- controller output is

• KD
b. 50%
c. 0
d. None

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 Frequently asked Questions in Examinations

• Describe the PI controller output for variable error input

• Explain the PD controller output for variable error input

• Explain the PID controller output for variable error input

• Explain the P controller output for variable error input

• Explain the D controller output for variable error input

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