PID Control Tutorial

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PID Control Tutorial
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Overview
PID is an acronym for proportional band, integral and derivative. This control action allows a
measurement (process variable) to be controlled at a desired set point by continuously adjusting a
control output. These control parameters act on the error or deviation between set point and
process variable.
P: Proportional Band in %
I: Integral Time in sec/repeat
D: Derivative Time in seconds
Proportional Control
With proportional band, the

controller output changes in
"proportion" to the error between
process variable and set point. The
amplitude of the change is
adjustable from 1% to 999.9%.
Refer to Figure 1 below. This

example of a temperature controller
shows a proportional band setting of 5%.
/
Set point = 500°
Measurement range = 0-1000°
5% PB = 5% of 1000° = 50°
100% output at 475° (2.5% of 1000°)
0% output at 525° (2.5% of 1000°)
If the process variable equals the set point (500°), there is a 50% output. As the temperature
decreases, the proportional band increases the output linearly toward 100% as the temperature
falls toward 475°. The output decreases below 50% as the temperature rises toward 525°.
In this example, a small change in temperature provides a large change in output. If the setting is
too small for the process dynamics, oscillations will occur and will not settle at set point. A large PB
setting makes the controller act sluggish and will not respond adequately to upsets. Since
proportional control does not incorporate the time that the error has existed, there will always be
an offset from set point.
Typically, flow or pressure controllers have a much larger proportional setting due to a possible
narrower measurement range and fast process reaction to a change in the control output. For
example, a flow controller may have an input range of 0 to 60gpm and a set point of 30gpm.
Measurement range = 60gpm

Set point = 30gpm
100% PB = 100% of 60 = 60gpm
100% output at 0gpm
0% output at 60gpm
Proportional + Manual Reset
To eliminate the inherent

offset observed with
proportional control, a
manual reset function can
be used. Virtually no
process requires precisely
50% output to maintain
the process variable at the
set point. An offset will be present. Manual reset allows the user to bias the output accordingly to
compensate for the steady state offset using P only. Refer to Figure 2 below.
Proportional + Automatic Reset (Integral)
Automatic reset or integral action corrects for any offset between set point and process variable
automatically by shifting the proportional band over a pre-defined time. The integral time repeats
the proportional action over the time set. Integral redefines the output requirements at the set
/
point until the
process variable and
set point are equal.
Integral engineering
units vary by
controller
manufacturer. Some
use repeats/minute
(reset rate),
minutes/repeat or
seconds/repeat. In
Figure 3 below,
seconds/repeat is used. The integral term is added as follows:
The smaller the integral number, the proportional action will be repeated more often. If integral is
too small, the process variable will oscillate through set point and create erratic control action. If
the number is too large, the action will be sluggish and unable to compensate for process upsets.
The integral number should be approximately 5 times the dead/lag time of the process variable. If
the output is manually changed, dead time is defined as the time required for the process variable
to initially react after the change. The length of time that it takes for the process variable to
stabilize at a steady state is lag time.
Example: 40 sec (dead/lag) x 5 = 200 sec/repeat
Proportional + Integral + Derivative
Derivative action is used primarily in processes with long dead and lag times. This control function
looks at the rate of change of the error and adjusts the control output based on that rate. The
derivative term is added to the control algorithm as follows:
The amount of derivative added to the control output is based in time units. Figure 4 below shows
how derivative acts on the proportional band. The dashed line shows a proportional only control
due to a process variable error from set point.
Using derivative (solid line), the control output jumps up, rises in a ramp and then falls back to
proportional control action when the error becomes constant. In essence, it applies the "brakes"
on the process error by quickly shifting the proportional band. Derivative has no effect on the

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How does proportional control work?

What is the purpose of integral control?

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Home / Library / Resources / Application Notes / PID Control Tutorial

Download (34 KB)

With proportional band, the

Refer to Figure 1 below. This

Measurement range = 60gpm

Proportional + Manual Reset

To eliminate the inherent

Proportional + Automatic Reset (Integral)

Example: 40 sec (dead/lag) x 5 = 200 sec/repeat

Proportional + Integral + Derivative

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