5/26/2019 Adding Integral control | 4.

2 PID | IOT2x Courseware | edX

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Adding Integral control

Disturbances in a control loop

require more than just P
We can set a good compromise KP, but this
TECH
won’t allow for disturbances.

NOTE:
You start changing lanes with your Mathematically, adding
ideally chosen rate of change (KP). Integral control ‘increases
the controller output by

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5/26/2019 Adding Integral control | 4.2 PID | IOT2x Courseware | edX

Your vehicle starts to change the Integral of the error’.

lanes, but a crosswind reduces The integral of a signal is
your rate of change, and is strong the sum of all the
enough to counteract the e ects instantaneous values that
of your steering change (KP), which the signal has captured in
you have preset and can’t change. a given time. In our PID
system, it means that the
integral action will start
adding up all the error
 
values, resulting in a
ramp signal if the error is
 
non-zero. We need to be
very careful of the KI 
How can we allow for these
value, or we will create an
disturbances?
unstable system.
Let’s start by using KP as our bias (ideal
conditions and the rate we would like to
change at), and add in another form of
feedback – the Integral! Also known as the ‘automatic reset’, the Integral works simply
by resetting the bias of the gain until it’s zero again.

Back in your vehicle again, strong crosswinds are cancelling out your
attempts to change lanes (KP) so you continue to move straight ahead. You
begin to increase your steering angle until you start to change direction. The
rate of increase is your integral component KI.

If there is an error between the SP and the PV, the integral action will start to
increase the controller output, until things start moving again.

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5/26/2019 Adding Integral control | 4.2 PID | IOT2x Courseware | edX

The combination of Proportional and Integral action seems to do a reasonably good

job of controlling our system. In fact, PI controllers are probably the most common
con guration.

Let’s see if we can improve the situation a little more by adding in our nal form of
feedback…

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