It is clear from the above that a three-mode PID controller should be

16.4 Select ,.,~ Type of Feedback Controller
Which one of the three popular feedback controllers should be used to
control a given process?The question can be answered in a very system-
atic manner as follows:
1. Define an appropriate performance criterion (e.g., ISE, IAE, or
ITAE).
2. Compute the value of the performance criterion using a P, or PI,
or PID controller with the best settings for the adjusted parame-
ters Ki, iI, and TD
3. Select that controller which gives the "best" value for the per-
formance criterion.
This procedure, although mathematically rigorous, has several seri-
ous practical drawbacks:
It is very tedious.
It relies on models (transfer functions) for the process, sensor, and
final control element which may notbe known exactly.
It incorporates certain ambiguities as 10 which is the most appropri-
ate criterion and what input changes to consider.
Fortunately, we can select the most appropriate type of feedback
controller using only general qualitative considerations stemming from
the analysis in Chapter 14. There we had examined the effect of the
proportional, integral, and derivative control modes on the response of
a system. In summary, the conclusions were as follows: ;-
. @roportional control .
(a) Accelerates the response of a controlled process.
(b) Produces an offset (i.e., nonzero steady-state error) for all
processes except those with terms 1/s (integrators) in their
. IHe best. This is true in the sense that it offers the highest flexibility to
achieve the desired controlled response by having three adjustable
parameters. At the same time, it introduces a more complex tuning
problem because we have to adjust three parameters. To balance the
quality of the desired response against the tuning difficulty we can
adopt the following rules in selecting the most appropriate controller.
I. If possible, use simple proportional controller Simple propor-
tional controller can be used if (a) we can achieve acceptable
offset with moderate values of K, or (b) the process has an
integrating action (i.e., a term 1/s in its transfer function) for
which the P control does not exhibit offset. Therefore, for gas
pressure or liquid-level control we can use onlv'l' controller.
2. 1] a Simple P controller is unacceptable, use a PI. A PI controller
should be used when proportional control alone cannot provide
sufficiently small steady-state errors (offsets). Therefore, PI will
seldom be used in liquid-level or gas presure control systems but
very often (almost always) for flow control. The response of a flow
system is rather fast. Consequently, the speed of the closed-loop
system remains satisfactory despite the slowdown caused by the
integral control mode.
3. Use a PJD controller to increase the speed of the closed-loop
response and retain robustness. The PI eliminates the offset but
reduces the speed of the closed-loop response. For a multicapacity
process whose response is very sluggish, the addition of a PI
controller makes it even more sluggish. In such cases the addition
of the derivative control action with its stabilizing effect allows
the use of higher gains which produce faster responses without
excessive oscillations. Therefore, derivative action is recom-
mended for temperature and composition control where we have
sluggish, muiticapacity processes.

transfer function, such as the liquid level in a tank or the gas

r:;'\ pressure in a vessel (see Remark 4 in Section 14.2).
~ntegralcontrol.
(a) Eliminates any offset.
(b) The elimination of the offset usually comes at the expense of
higher maximum deviations.
(c) Produces sluggish, long oscillating responses.
(d) If we increase the gain K; to produce faster response, the
system becomes more oscillatory and' may be l,ed to instability.
(9Derivative control"
(a) Anticipates future errors and introduces appropriate action
(b) Introduces a stabilizing effect on the closed-loop response of a
process
Figure 16.1 reflects in a very simple way all the characteristics noted
above.
 ~ f;",
..JI:!o::::t:s::t:r1t:zm::-~ 0r. t
...... ....-.
1

I 1 1 1 ,I 1 1 , I

'"
KCl

.. :. . ~
h(t), ft KC2
~ ~--- I
.,
..
~t)
\.
w~
L ~
~ 1
6.0 I-
~.
L-S~tP.;;;;-t-----K--<-K
~
cl c,
< KC3
-----------------

Ti me

I" -:.': I':

Figure 5-3.6 Response of liquid level process.

t at ~~- ~{-4)

fWT'~
h .fo .,\~~ ~ . c.cf)
,,-..l~l ...0
.1
..'fU ....
t.
I.~
,',
 I
r C
o
--
J
(--
,....,
11
v
c
(':J
c,
;.....
(1)
"'0
C
:J
o:
er:
I
(1)
0
0
;.....
Cl)
E
....- - w/
r-.
(1) ,.I
f.- > I
0
o
11
 The PID controllc . three terms, K, or P8, Tt or Tf, and To, that must be adjusted
, simply (Iime)- J. No.; uu when Tt is used and
(tuned) to obtain sa.. .ctory control. The derivative action gives the controller the
:' value must be used in the controller. However,
capability to anticipate where the process is heading-that is, to "look ahead" -by
be used. Therefore, before tuning the reset term,
calculating the derivative of the error. The amount of "anticipation" is decided by the
:ontroller uses reset time (time) or reset rate
value of the tuning parameter, T/).
) their effects are opposite.
Let us consider the heat exchanger shown in Fig. 5-3.2 and use it to clarify what is
on, two terms are used for the proportional mode
meant by anticipation. Assume that the inlet process temperature decreases by some
ed that there are also two terms for the integral
amount and the outlet temperature starts to decrease correspondingly, as shown in Fig .
.ising, so it is important to keep the differences
5-3.10. At time ta' the amount of the error is positive and small. Consequently, the
,quations 5-3.9, 5-3.11, 5-3.12, and 5-3.13 show
amount of control correction provided by the proportional and integral modes is small.
parameters (Eq. 5-3.24 in Section 5-3.3 presents
However, the derivative of tbi ypm, the slope of the error curve, is large and positive,
) Eq. 5-3.9 as the classical controller.
making the control correction provided by die denvatlve mode large. By looking at the

)0
- e(t)
8
+ --100
PS T,
f e(t) dt (5-3.11)
derivative of the error, the controller kno lat the controlled . able is headin awa
from set point rather fast, and It uses this fact to elp in controlling. At time tb' the
error is still positive and is larger than before: The amount of control correction provided .
"()~ pa..w;t J:; is l~...r,
)0
- e(t)
'8
100T~
+ --
P8
f eel) dt (5-3.12)
~$o
s.J.ill ~~
~V\. ~

-h:. ~
~~

o..&r.d-
',$

ce(t) + KcTf f e(t) dt (5-3.13) Ti(t),OC

&) (.. &, ~ 'I lls: &0
D~VI +'k.. <;;'R a "" 'It.I~
awed for the proportional controller, we obtain the t~
( from Eq. 5-3.9.
(~d. r~35-2)')
. ( 1+-I )
c
T,S
=Kc-- (TtS +
T,S
1) (5-3.14)

controllers have two tuning parameters: the gain

T(t), C

ta tb
... -- b:: t~
~.~
Is '" ~
T~

me or reset rate. Their advantage is that the inte- T~

85% of all controllers in use are of this type.
~
TIkl--=- (O~t;.1-)
mtroller (PlO) e(t) 0

I is added to the PI controller. This new mode of TItuL e. 0 V\.;l-v-cJ,f!.w 0( c:kOl,.4.

h is also called the rate action, or preact. lis purpose
; heading by looking at the time rate of change of ta tb t~ i~ +0 e.OMr-e.",SOl~ f-v
nCt) to
~ ;;1-fA +i-i
ing equation is Figure 5-3.10 Heat exchanger control.
~ i~
\ I tt'Ct
*~ 04 ~,." .,.

~
'"

!.!: (r~)
~I'c.' &t;