Basic Control Action

Two position or on-off controller

Proportional controller
Integral controller
P+I controller
P+D controller
PID controller
Two Position or On-off controller
Two Position or On-off controller
Proportional controller
Integral controller & Proportional +
Integral controller
PD controller & PID controller
Effect of the sensor on system performance
Effect I and D control action on system
performance
Integral action of liquid level control systems
Effect I and D control action on system
performance
Response to torque disturbance (P control)
Effect I and D control action on system
performance
Response to torque
disturbance (P+I control)
Effect I and D control action on system
performance
Proportional control of system with inertia load
Effect I and D control action on system
performance
P + D control of system with inertia load
Effect I and D control action on system
performance
P + D control of second order system
Higher order system
Transient response of higher order systems
C(s) ( ) p(s) n(s)
G(s)= H(s)=
R(s) 1 ( ) ( ) q(s) d(s)
( ) ( )

( ) ( ) ( ) ( )

G s
G s H s
p s d s
q s d s p s n s
=
+
=
+
1
0 1 1
1
0 1 1
...
( )
.....
m m
m m
n n
n n
b s b s b s b
m n
a s a s a s a

+ + + +
= <
+ + + +
1 2
1 2
1
( )( )....( ).....( ) C(s)

R(s) ( )( )....( ).....( )
1
For a unit step input ( )
( )

m i m
n i n
n
i
i
i
K s z s z s z s z
s p s p s p s p
R s
s
a a
C s
s s p

=
+ + + +
=
+ + + +
=
= +
+

( )
( ) ( )
1
2 2
1 1
: residue of pole at
( ) consist of real poles and pairs of complex conjugate poles.
( )
2
i i
m
i
i
q r
j k k k
j k
a s p
C s
K s z
C s
s s p s s
=
= =
=
+
=
+ + +

( )
2
2 2
1 1
2
If the closed loop poles are distinct,
1
( )
2
The inverse Laplace transform :

k k k k k k q r
j
k k k
p k
j
q r n
b s c
a
a
C s
s s
s s p


= =
+ =
+ +
= + +
+ +
+

2 2
1 1 1
c( ) cos 1 sin 1 0
j
k k k k
q r r
p t
t t
j k k k k k k
j k k
t a a e b e t c e t t

= = =
= + + +

Routh stability criterion
Transient response of higher order systems
C(s) ( ) p(s) n(s)
G(s)= H(s)=
R(s) 1 ( ) ( ) q(s) d(s)
( ) ( )

( ) ( ) ( ) ( )

G s
G s H s
p s d s
q s d s p s n s
=
+
=
+
1
0 1 1
1
0 1 1
... C(s) B(s)
= ( )
R(s) ..... A(s)
m m
m m
n n
n n
b s b s b s b
m n
a s a s a s a

+ + + +
= <
+ + + +
Rouths stability criterion
1
0 1 1
1
0 1 1
1
0 1 1
... C(s) B(s)
=
R(s) ..... A(s)
a) Write polinomial in s
..... 0
b) If any of the coeffiecients are zero or negativ
m m
m m
n n
n n
n n
n n
b s b s b s b
a s a s a s a
a s a s a s a

+ + + +
=
+ + + +
+ + + + =
e in presence of at least one position,
there is a root or roots that are imaginary ot that have positive real parts, the system
is not stable
c) If all coeffiecients are positive, arrange the co
0 2 4
-1
1 3 5
-2
1 2 3
efficients of polynomial in row according
to the following pattern :




n
n
n
s a a a
s a a a
s b b b
-3
2
1
0
1
1 2 3
1 2 0 3 1 3
1 1
1

.



Coeffiecient , , are evaluated as folllows

n
s
s
s
s g
b b b
a a a a b a
b c
a

= =
1 2
1
1 4 0 5 1 5 1 3
2 2
1 1
1 6 0 7 1 7 1 4
3 3
1 1


a b
b
a a a a b a a b
b c
a b
a a a a b a a b
b c
a b

= =

= =