CONTROL THEORY

⮚Control theory is a branch of Applied Mathematics

dealing with the use of feedback to influence the behavior
of a system in order to achieve a desired goal. One can
distinguish two classes of systems for which control theory
plays an indispensable role, namely man-made systems
and biological systems.

⮚ Control theory thus, closely related to the field of

science & technology since centuries . It played an
important role in many technological advances, like
Control of spacecraft, CANADARM, the Space Shuttle's
robotic arm Robot technology, Anti Lock braking systems,
Smart fluid technology
CONTROL SYSTEM
► A control system manages, commands,
directs, or regulates the behavior of other
devices or systems using control loops.
► It can range from a single home heating
controller using a thermostat controlling a
domestic boiler to large
industrial control systems which are used for
controlling processes or machines. The
control systems are designed via
control engineering process..
► In engineering terms , a control system is a
causal system that gives a desired output
response to a reference input command .
TYPES OF CONTROL SYSTEM
Open-loop and closed-loop system
 In open-loop control, the control action from the controller is independent of the
"process output" (or "controlled process variable"). A good example of this is a
central heating boiler controlled only by a timer, so that heat is applied for a
constant time, regardless of the temperature of the building. The control action is
the switching on/off of the boiler, but the controlled variable should be the
building temperature, but is not because this is open-loop control of the boiler,
which does not give closed-loop control of the temperature.

 In closed loop control, the control action from the controller is dependent on the
process output. In the case of the boiler analogy this would include a thermostat
to monitor the building temperature, and thereby feed back a signal to ensure the
controller maintains the building at the temperature set on the thermostat. A
closed loop controller therefore has a feedback loop which ensures the controller
exerts a control action to give a process output the same as the "reference input"
or "set point". For this reason, closed loop controllers are also called feedback
controllers
STABILITY OF CONTROL SYSTEMS &
ANALYSIS METHODS

 In mathematical terms, control system is

considered stable when the all the poles of closed
loop transfer function of a control system is on the
left hand side of complex s plane . S-plane is a
cartesian representation used to determine the
position of poles and zeros and derive conclusion
about various parameters of control system
 Practically, a system is observed to be stable if it is
providing a output response with little error and no
sustained oscillations. .
 Various mathematical techniques are used to
determine stability related parameters of control
systems such as Root locus, bode plot, Nyquist and
polar plot .
PID CONTROLLER
 PID stands for Proportional-Integral-Derivative. These three
controllers are combined in such a way that it produces a control
signal.
 Approximately 95% of the closed-loop operations of the
industrial automation sector use PID controllers.
 As a feedback controller, it delivers the control output at desired levels.
Before microprocessors were invented, PID control was implemented
by the analog electronic components. But today all PID controllers are
processed by the microprocessors.
 Programmable logic controllers also have the inbuilt PID controller
instructions. Due to the flexibility and reliability of the PID controllers,
these are traditionally used in process control applications.
PID CONTROLLER IN CONTRAST WITH TRADITIONAL ON-
OFF CONTROLLER

 A closed-loop system like a PID controller includes a feedback control system. This system evaluates

the feedback variable using a fixed point to generate an error signal. Based on that, it alters the

system output. This procedure will continue till the error reaches Zero otherwise the value of the

feedback variable becomes equivalent to a fixed point.

 This controller provides good results as compared with the ON/OFF type controller. In the ON/OFF

type controller, simply two conditions are obtainable to manage the system. Once the process value is

lower than the fixed point, then it will turn ON. Similarly, it will turn OFF once the value is higher

than a fixed value. The output is not stable in this kind of controller and it will swing frequently in the

region of the fixed point. However, this controller is more steady & accurate as compared to the

ON/OFF type controller

 WORKING OF PID CONTROLLER
PID controller maintains the output such that there is zero
error between the process variable and setpoint/ desired
output by closed-loop operations. PID uses three basic control
behaviors :
1) P- Controller
 Proportional or P- controller gives an output that is
proportional to current error e (t). It compares the desired
or set point with the actual value or feedback process
value. The resulting error is multiplied with a proportional
constant to get the output. If the error value is zero, then
this controller output is zero.
 This controller requires biasing or manual reset when
used alone. This is because it never reaches the steady-
state condition. It provides stable operation but always
maintains the steady-state error. The speed of the
response is increased when the proportional constant Kp
increases.
WORKING OF PID CONTROLLER

2)I-Controller
 Due to the limitation of p-controller where
there always exists an offset between the process
variable and setpoint, I-controller is needed,
which provides necessary action to eliminate the
steady-state error. It integrates the error over a
period of time until the error value reaches zero.
It holds the value to the final control device at
which error becomes zero.
 Integral control decreases its output when a
negative error takes place. It limits the speed of
response and affects the stability of the system.
mathematically, it adds a pole at origin to the
plant control system transfer function which leads
the root locus trace to shift towards right side
thus, decreasing the stability margin. The speed of
the response is increased by decreasing integral
gain, Ki.
WORKING OF PID CONTROLLER

3)D-Controller

 I-controller doesn’t have the capability to predict the future behavior of error.
So it reacts normally once the setpoint is changed. D-controller overcomes
this problem by anticipating the future behavior of the error. Its output
depends on the rate of change of error with respect to time, multiplied by
derivative constant. It gives the kick start for the output thereby increasing
system response.

 From a mathematical standpoint , it is observed that D controller adds a zero

to the transfer function of plant control transfer function , thus , improving
its stability by increasing it stability margin by shifting the root locus trace
towards the left side of plane .
WORKING OF PID CONTROLLER

A PID CONTROL TOPOLOGY EMPLOYS ALL THREE CONTROLLER

TYPES AS SHOWN ABOVE IN IMAGE AND RESULT IN A BRAND
NEW CONTROLLER THAT CAN BE TUNED TO CARRY OUT
STABLE CONTROL FUNCTION
 INDUSTRIAL PID CONTROLLERS

 In modern industries ,PLCs are used like PID

controllers in most of the industrial control
applications The arrangement of PID blocks can
be done within PACs or PLCs to give superior
choices for an exact PLC control. These
controllers are smarter as well as powerful as
compared with separate controllers. Each PLC
includes the PID block within the software
programming.
 A programmable logic controller (PLC) or
programmable controller is an industrial computer
that has been ruggedized and adapted for the
control of manufacturing processes, such as
assembly lines, machines, robotic devices, or any
activity that requires high reliability, ease of
programming, and process fault diagnosis.
TUNING METHODS FOR PID CONTROLLER
Before the working of the PID controller takes place, it must be tuned to suit with dynamics of the
process to be controlled. Designers give the default values for P, I, and D terms, and these values
couldn’t give the desired performance and sometimes leads to instability and slow control
performances. Different types of tuning methods are developed to tune the PID controllers and
require much attention from the operator to select the best values of proportional, integral, and
derivative gains.

1)Trial and Error Method: It is a simple method of PID controller tuning. While the system or
controller is working, we can tune the controller. In this method, first, we have to set Ki and Kd
values to zero and increase the proportional term (Kp) until the system reaches oscillating behavior.
Once it is oscillating, adjust Ki (Integral term) so that oscillations stop and finally adjust D to get a
fast response.

2)Ziegler-Nichols method: Zeigler-Nichols proposed closed-loop methods for tuning the PID
controller. Those are the continuous cycling method and damped oscillation method. Procedures for
both methods are the same but oscillation behavior is different. In this, first, we have to set the p-
controller constant, Kp to a particular value while Ki and Kd values are zero. Proportional gain is
increased till the system oscillates at a constant amplitude. After that the gains of I & D blocks are
set accordingly to get a desired control response.
APPLICATIONS OF PID CONTROLLER IN MODERN
TECHNOLOGY
SPACECRAFT OTV
 OTV stands for orbiter transfer vehicle. they are a new
breed of propulsion technology that poses the ability to
transfer satellites from one specific orbit to another orbit
on command from a ground station. they are often
being used in modern spy satellites to avoid any
interception attack and also are designed for deorbiting
space debris .
 It incorporates a pid controlled satellite attitude yaw-
axis control system to step the angle of the satellite
body via actuating a precise angular position of a DC
motor as quickly and accurately as most optimally
possible. The (PID) controller was advantageously
chosen for its quick transient response and zero
steady-state error.
MPPT Charge Controller

 The V-I characteristic of a photovoltaic cell mainly

depends on the range of temperature as well as
irradiance. Based on the weather conditions, the
current and operating voltage will change
constantly. So, it is extremely significant to track
the highest PowerPoint of an efficient
photovoltaic system.
 PID controller is used to finding MPPT by giving
fixed voltage and current points to the PID
controller. Once the weather condition is changed
then the tracker maintains current and voltage
stable.
MODERN NUCLEAR POWER
PLANTS

 In pressurized water reactor (PWR) nuclear power

plants (NPPs) pressure control in the primary loops is
fundamental for keeping the reactor in a safety
condition and improve the generation process
efficiency. The main component responsible for this
task is the pressurizer. The pressurizer pressure
control system (PPCS) utilizes heaters and spray
valves to maintain the pressure within an operating
band during steady state conditions, and limits the
pressure changes during transient conditions
 Various protective reactor trips are generated if the
system parameters exceed safe bounds. Historically, a
proportional-integral-derivative (PID) controller is used
in PWRs to keep the pressure in the set point, during
those operation conditions
ADVANCED ROBOTICS & AUTOMATION

 One of the most extensive application of

control theory since decades have been in the
domain of Automation . Earlier control systems
were designed to automate furnace , conveyer
belts and pumping grids using
springs ,actuators and motors .
 With advancement in technology , control
theory is extensively apple into new age
robotics . robotic equipment such surgical
robotic hands , assembler robots and
surveillance probes require very high precision
based operation , thus, PID controller is used to
produce a highly stable output with minimum
steady state error to carry out highly sensitive
and precise tasks.
FUTURE OF CONTROL THEORY
 The control system of tomorrow will have a modular
automation architecture that will evolve to address customer
needs, becoming more open, interoperable and flexible, while
maintaining the same high level of reliability, availability, safety
and security to which users have grown accustomed.
 Rise of Artificial intelligence will have significant impact on
control theory and related industry . Inclusion of Artificial
intelligence is inevitable and it will completely revolutionize the
paradigm of control technologies .
 It will lead to the development of systems not only to course
correct itself through feedback control but also learn on the way
and create new power flow algorithms to improve the working
efficiency to the maximum possible limit by using the data and
neural network of AI systems . it may also lead to development
of self replicating and self healing control systems capable to
running large industrial complex without any human
intervention .
THANK YOU