PID Implementation Issues

Different Forms of PID Controller

Many variations of PID control are used in practice We consider
the three most common forms.

i. Parallel Form of PID Control

ii. Series Form of PID Control
iii. Expanded Form of PID Control

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 Parallel Form of PID Control
The parallel form of the PID control algorithm (without a derivative filter) is given by

The corresponding transfer function is

This controller can be viewed as three separate elements operating in parallel on E(s).

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 Series Form of PID Control

• Historically, it was convenient to construct early

analog controllers (both electronic and pneumatic)
so that a PI element and a PD element operated in
series.
• The series form of PID control without a
derivative filter is shown in Figure.
• In principle, it makes no difference whether the PD
element or the PI element comes first.
• Commercial versions of the series-form controller can be from 0.01 to 0.2
have a derivative filter that is applied to either the Ideally
derivative term, or to the PD term

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Expanded Form of PID Control
 The controller parameters for the expanded form are three "gains," , and , rather
than the standard parameters, , , and ·
 The expanded form of PID control is used in MATLAB.
 This form might appear to be well suited for controller tuning, because each gain
independently adjust the influences only one control mode.
 But the well-established controller tuning relations were developed for the series and
parallel forms. Thus, there is little advantage in using the expanded form.

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Contd..

𝑃 ′ ( 𝑠) 𝐾𝐼
=𝐾 𝐶 + +𝐾𝐷 𝑠
𝐸( 𝑠) 𝑠

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Challenges in implementing PID
Control
 Derivative Kick
 Proportional Kick
 Integral wind-up

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 Noise in Derivative Control
 Derivative control action also tends to improve the dynamic response of the controlled variable by the
settling time, the time it takes reducing to reach steady state.
 But if the process measurement is noisy, that is, if it contains high-frequency, random fluctuations,
then the derivative of the measured variable will change wildly, and derivative action will amplify the
noise unless the measurement is filtered.
 Consequently, derivative action is seldom used for flow control, because flow control loops respond
quickly and flow measurements tend to be noisy.

For analog controllers, the transfer function of derivative controller can be approximated by

• where the constant a typically has a value between 0.01

and 0.2, with 0.1 being a common choice.
• The denominator term serves as a derivative mode filter(or
a derivative filter) that reduces the sensitivity of the
control calculations to noisy measurements.

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Derivative Kick
 One disadvantage of the previous PID controllers is that a sudden change in set point
(and hence the error, e) will cause the derivative term momentarily to become very
large and thus provide a derivative kick to the final control element.
 This sudden "spike" is undesirable and can be avoided by basing the derivative
action on the measurement, Ym, rather than on the error signal, e.

Elimination of derivative kick in the parallel form of PID control

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Contd..
 For a series-form PID controller, it can be implemented quite easily by placing the
PD element in the feedback path, as shown in Figure

Derivative kick for set-point changes does not

affect the controller performance when the Ysp
is constant.

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Proportional Kick
 A more flexible PID control algorithm can be obtained by weighting the set point in both the
proportional and the derivative terms.
 This modification eliminates the proportional kick that also occurs after a step change in set point.
 For this modified PID algorithm, a different error term is defined for each control mode

• where are nonnegative constants. This control algorithm is known as

the parallel PID controller with proportional and derivative mode
weighting, or the beta-gamma controller.
• The modified PID control algorithm in this equation allows for
independent set-point weighting in the proportional and derivative
terms.
• Thus, to eliminate derivative kick, is set to zero; to eliminate
proportional kick, is set to zero.
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Integral windup (reset windup):
 For a control system with a wide range of operating conditions, it may happen that
the control variable reaches the actuator limits, i.e., the actuator saturates.
 In this case, the control variable is independent of the feedback and the system
runs as an open loop.
 If a controller with integrating action is used, the error will continue to be
integrated. This means that the integral term may become very large or “winds up”.
 The consequence is that any controller with integral action may give large
transients when the actuator saturates.
 ▪Windup is associated with the I component only.

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Illustration of integral windup

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Anti-windup Techniques

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Conditional integration method 1

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Conditional integration method 2

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Effective error method (or) Back Calculation

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Difference between having and not having
an anti-windup scheme

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Automatic/Manual Control Modes
 In certain situations, the plant operator may decide to override the automatic
mode and adjust the controller output manually.
 This manual mode of controller operation is very useful during a plant start-up,
shutdown, or emergency situation.
 A manual/automatic switch, or the software equivalent, is used to transfer the
controller from the automatic mode to the manual mode, and vice versa.
 During these transfers, it is important that the controller output not change
abruptly and "bump" the process. Consequently, most controllers facilitate
bumpless transfers.
 A controller may be left in manual for long periods of time (or indefinitely) if
the operator is not satisfied with its performance in the automatic mode.

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source of the bumps-1
 When a control loop is placed in Manual the PID controller is no longer determining the
position of the control device. That decision is now being made by the plant operator.
 If the PID controller is not “informed” that the operator has taken direct control over the
device the PID controller will still think that it is in control of the device.
 While the loop is in Manual there is only a very small chance that the SP and the PV will
have the same value.
 If there is an Error which exists during the time that the loop is in Manual, and if the PID
controller is not informed that the loop is in Manual, the integral component of the PID
controller will continue calculate control moves to try and “drive the PV toward the SP”.
 This integral action will “wind up” to either the completely open or closed position of
the control device. If this is allowed to occur there will be a major disturbance when the
transfer from Manual back to Automatic mode is made.

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Manual to auto transfer with bump due to CO wind-
up

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Manual to auto transfer with bump due to P-
action.

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Bumpless Transfer by SP tracking
PV

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Bumpless transfer by suppressed P-
action

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Common PID Controllers

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Key Characteristics of Commercial PID
Controllers

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THANK YOU

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