Contro Engineering

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 A proportional control system is a type of
linear feedback control system. Two classic
mechanical examples are the toilet bowl float
proportioning valve and the fly-ball governor.
 Proportional control is how most drivers control
the speed of a car. If the car is at target speed and
the speed increases slightly, the power is reduced
slightly, or in proportion to the error (the actual
versus target speed), so that the car reduces speed
gradually and reaches the target point with very
little.
 Further refinements like PID control would help

compensate for additional variables like hills,
where the amount of power needed for a given
speed change would vary, which would be
accounted for by the integral function of the PID
control.
1). on-off control system
2). The proportional control system
3). proportional-integral-derivative (PID)
control system.
 WHAT IS PROPORTIONAL CONTROL
-In this control method, the control system acts

in a way that the control effort is proportional to
the error.
-The controller attempts to minimize the error by

adjusting the process control inputs. The PID
parameters used in the calculation must be
turned according to the nature of the system.
 The Control Units are in general build on the
control principles
▪ Proportional Controller
Derivative Controller
Integral Controller
Proportional
Controller
(P-Controller)
 One of the most used controllers is the
Proportional Controller (P-Controller) who
produce an output action that is proportional
to the deviation between the set point and
the measured process value.
OP = -kP Er
where
OP = output proportional controller
kP = proportional gain or action factor of the
controller
Er = error or deviation between the set point value
and the measured value
The gain or action factor - kP
 influence on the output with a magnitude of kP
 determines how fast the system responds. If the
value is too large the system will be in danger to
oscillate and/or become unstable. If the value is
too small the system error or deviation from set
point will be very large.
 can be regarded linear only for very small
variations.
The gain kP can be expressed as
kP = 100 / P
where
P = proportional band
The proportional band P, express the value necessary
for 100% controller output. If P = 0, the gain or action
factor kP would be infinity - the control action would
be ON/OFF.
Integral
Controller
(I-Controller)
 With integral action, the controller output is
proportional to the amount of time the error is
present. Integral action eliminates offset.
OI = - kI Σ(Er dt)
where
OI = output integrating controller
kI = integrating gain or action factor of the controller
dt = time sample
 The integral controller produce an output proportional
with the summarized deviation between the set point
and measured value and integrating gain or action
factor.
 Integral controllers tend to respond slowly at first, but
over a long period of time they tend to eliminate
errors.
 The integral controller eliminates the steady-state
error, but may make the transient response worse.
The controller may be unstable.
 The integral regulator may also cause problems
during shutdowns and start up as a result of
the integral saturation or wind up effect. An
integrating regulator with over time deviation
(typical during plant shut downs) will summarize
the output to +/- 100%. During start up the
output is set to 100%m which may be catastrophic.
Derivative
Controller
(D-Controller)
 With derivative action, the controller output is proportional
to the rate of change of the measurement or error. The
controller output is calculated by the rate of change of the
deviation or error with time.
OD = - kD dEr / dt
where
OD = output derivative controller
kD = derivative gain or action factor of the controller
dEr = deviation change over time sample dt
dt = time sample
 The derivative or differential controller is never used alone.
With sudden changes in the system the derivative controller
will compensate the output fast. The long term effects the
controller allow huge steady state errors.
 A derivative controller will in general have the effect of
increasing the stability of the system, reducing the
overshoot, and improving the transient response.
 The functions of the individual proportional, integral
and derivative controllers complements each other. If
they are combined its possible to make a system that
responds quickly to changes (derivative), tracks
required positions (proportional), and reduces steady
state errors (integral).
 Note that these correlations may not be exactly

accurate, because P, I and D are dependent of each
other. Changing one of these variables can change the
effect of the other two.
 It is a special case of the common PID controller in

which the derivative (D) of the error is not used
This can be mathematically expressed as
where,
 Pout = Output of the proportional controller

 Kp: = Proportional gain
 e(t) = Instantaneous process error at time 't'.
e(t) = SP − PV
 SP = Set point
 PV = Process variable
 The controller output is given by
where Δ is the error or deviation of actual measured

value (PV) from the set-point (SP).
Δ = SP – PV
 A PI controller can be modelled easily in software
such as Simulink using a "flow chart" box involving
Laplace operators:
 Where
 G = KP = proportional gain
 G / τ = KI = integral gain
 Setting a value for G is often a trade off between
decreasing overshoot and increasing settling time.
 The integral term in a PI controller causes the
steady-state error to be zero for a ramp input.
 The problem with using a PI controller is that it
introduces a phase-lag. This means that the phase
margin (a measure of stability) decreases. So
careful design considerations with respect to the
gain must be considered.
-There are basicly three types of controller that
is PROPORTIONAL controller, INTEGRAL
controller and DERIVATIVE controller.
-With the combination of this three types of
controller formed PID (Proportional Integral
Derivative) controller.
-With this combination the output of the
control system can be achieved to the desired
target.
-Wikipedia
-Google translate

Contro Engineering

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 01DKP08F1031 SHARIFUDDIN BIN

 Further refinements like PID control would help

-In this control method, the control system acts

-The controller attempts to minimize the error by

 Note that these correlations may not be exactly

 It is a special case of the common PID controller in

 Pout = Output of the proportional controller

where Δ is the error or deviation of actual measured

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