1

Pengendali PID
(Proposional, Integrator, Derivatif)

HAMID
 Outlines & Tujuan
2

Outlines
 Algoritma pengendalian PID
 Aspek praktis

Tujuan
 Memahami pengendalian PID
 Memahami fungsi dari tiap-tiap bentuk pengendalian PID (P&I&D)
 Dapat memilih kombinasi yang baik dan melakukan tuning dari
PID untuk berbagai penerapan pengendalian proses.
 Mengetahui fitur tambahan yang diinstal kedalam pengendali yang
diterapkan dalam praktek
 Apakah Pengendalian PID itu?
3

The PID singkatan dari Proportional - Integrator –

Derivative.
Dikenal juga sebagai “three-term control”.
Diterapkan pada pemrograman komputer
 controller come in many different forms
 PID control sering dikombinasikan dengan logika, fungsi sequential ,
selectors, and fungsi blok sederhana untuk membuat sistem pengendalian
kompleks.
 Why PID Control?
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Algorithm PID sederhana, mudah dipahami,
dan relatif lebih mudah disetel (dituning)
daripada pengendali lain
 Menjadi peralatan standar ketika pengendalian proses berkembang
pada tahun 1940an
 Pada pengendalian proses saat ini, lebih dari 90% lingkar pengendalian
menggunakan tipe PID
 Konsep Kunci(1)
Aksi Proses 5

 Definisi
hubungan antara perubahan pada
valve dan perubahan pada pengukuran
DIRECT Peningkatan posisi valve
mengakibatkan peningkatan pada
variabel proses
REVERSE Peningkatan posisi valve
mengakibatkan penurunan pada
variabel proses
 6

PROSES DIRECT 
PENGENDALI HARUS REVERSE

PROSES REVERSE 
PENGENDALI HARUS DIRECT

Aksi pengendali harus berlawanan terhadap aksi proses

 Key Concepts (2)
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PID algorithm tidak mengenal output yang benar
untuk membawa variabel proses menuju setpoint
 The algorithm must have process measurement to perform
 It merely continues to move the output in the direction which should move the process
toward the setpoint

PID algorithm harus disetel ‘dituning’ sesuai dengan

loop proses nya.
 Tiap bentuk dari persamaan PID harus dipahami.
 Penyetelan didasarkan pada dinamika respon proses

PID Control
 Key Concepts (3)
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Manual & Auto modes

 Manual mode
 operator manusia mengatur output dalam mengoperasikan proses
 Manual Mode sangat berguna saat kondisi yang tidak stabil:
 Plant start-up
 Plant shut-down
 Emergencies
 Auto mode
 Algoritma pengendalian memanipulasi output untuk menghitung
sendiri nilai setelan pengendali dengan bantuan program
komputer hingga tercapainya set point.
 Biasanya dipakai untuk operasi steady state normal.

PID Control
 Algoritma Pengendalian PID
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Terdiri dari:
 Proportional – dikenal juga sebagai Proportional Gain atau Gain
 Integral – dikenal juga sebagai Automatic Reset atau Reset
 Derivative – dikenal juga sebagai Rate atau Pre-Act

Bisa juga dikombinasikan menjadi:

 Proportional saja (P)
 Proportional dan Integral (PI) (paling umum)
 Proportional, Integral, dan Derivative (PID)
 Proportional dan Derivative (PD)

PID Control
 Mode Proporsional (1)
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CO = P .e (+b)
b

SP e + CO
+ P +
P = proportional Gain (dimensionless)/ Kp P
CO = controller output (%) PVm
b = Bias (%) (dikenal juga sebagai manual reset) BIASANYA 0
e = ( SP – PVm ) (%)  “reverse action”, atau
e = – ( SP – PVm ) (%)  “direct action”

 Some manufacturers use Proportional Band (PB) instead of

proportional gain
 PB is the % change in the input which a 100% change in the output

PB =
10
0
.
CO = P e + b =
10
e+b
P
0
PID Control
PB
 Mode Proporsional (2)
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Proportional saja menghasilkan offset

 Offset dapat dikurangi dengan meningkatkan controller gain (atau
menurunkan proportional band). Tetapi tidak dapat menyetel gain
yang terlalu besar karena akan cenderung menimbulkan osilasi dan atau
ketidak stabilan.
PVm
SP

Large P

Small P

time
PID Control
 Mode Proporsional (2)
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 Untuk menghilangkan offset, operator harus secara manual melakukan

“reset” dengan mengatur nilai manual reset (“b” )

PVm
SP

Manual reset
P constant

Manual reset

time

PID Control
 Mode Integrator (Automatic Reset) (1)
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1
CO = T ò SP e CO
e dt + 11
dt
m
TTmm
ò
Tm = integral time (minute per repeat or PVm
second per repeat)
CO = controller output (%)
e = ( SP – PVm ) (%)  “reverse action” or
e = – ( SP – PVm ) (%)  “direct action”
 Some manufacturers use repeat per minute (or repeat per second)
instead of minute per repeat (or second per repeat)
 Repeat per minute (or second) is the time it takes the reset (or integral) element to repeat
(reset) the action of the proportional element

òe dt
1
repeat per minute (Tr) minute
= per repeat (Tm) CO = I
PID Control
 Integral (Automatic Reset) Mode (2)
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Selama masih ada error , controller selalu merubah

output dengan melakukan koreksi, sehingga mode
Integral memungkinkan untuk menghilangkan error
(error menjadi
PV nol)
m
SP
Kecepatan respons menjadi lebih kecil (jika
P-only
dibandingkan P-only mode)
I-only

Small P

time

PID Control
 Mode Proportional-Integral(1)
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P
P

SP e CO
+ 11
dt
TTmm
ò
PVm

1
CO = P (e + T òe dt)
m

PID Control
 Mode Proportional-Integral (2)
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Response of PI controller to step

P change in error
Output response Slope =
Tm for various
values of Tm
Response equal
Controller Output (CO)

in magnitude to
Proportional
response

Response due to
Proportional P
control action

Tm time
Error

0
time

PID Control
 Mode Proportional-Integral (3)
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Mengkombinasikan fitur terbaik dari mode

proportional dan integral modes
 Offset proporsional dihilangkan dimana hanya terjadi sedikit saja
penurunan kecepatan.
PVm PI
SP

P-only

I-only

Small P

time

PID Control
 Mode Derivative (1)
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de SP e CO
CO = dt + D
d
D dt
D
PVm
D = derivative time (minute or second)
CO = controller output (%)
e = ( SP – PVm ) (%)  “reverse action” or
e = – ( SP – PVm ) (%)  “direct action”

Kecepatan respon meningkat (jika dibandingkan

dengan P-only mode)
Hipersensitif terhadap noise dan gangguan frekuensi
tinggi lain.
PID Control
 Derivative Mode (2)
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sinyal error steady-state, walaupun demikian, tidak

dikenali oleh controller D, karena berapapun
besarnya kesalahan, kecepatan perubahannya
adalah nol. Sehingga pengendali derivative saja
tidak digunakan dalam praktek. (harus
dikombinasikan, biasanya dengan P dan PI)

PID Control
 Proportional-Derivative Mode (1)
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d b
D
D dt +
SP e + CO
+
P
P
+
+

PVm

de
)
CO = P (e + D dt + b

PID Control
 Mode Proportional-Derivative (2)
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Respons pengendali PD terhadap Response

perubahandue to error
Proportional and
berupa ramp Response due to
Proportional and
Derivative modes
Derivative modes
Controller Output (CO)

Theoretical
Actual

Response due to
Proportional mode
only
D

time

Ramp
Error

Generator OFF
Ramp
Generator ON time

PID Control
 Proportional-Derivative Mode (3)
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PD control can produces an offset

To avoid proportional offset, the bias “b” should be
set when the PVm is at setpoint
Commonly found in slow-response process control,
e.g. temperature,
PV m pH, composition
SP controls
PD

P-only

Small P

time

PID Control
 Proportional-Integral-Derivative Mode (1)
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Combine the best feature of P, I, and D terms

11
dt
TTmm
SP e ò + CO
+ +
P
P
+
d
D
D dt

PVm

1 de
ò
CO = P (e + T e dt + Ddt )
m

PID Control
 Proportional-Integral-Derivative Mode (2)
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P-only – notice the offset

P and I – offset gone

P, I and D – best

time

PID Control
 Bentuk-Bentuk Lain Cara Penulisan PID
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MATLAB menggunakan persamaan:

P+I/s+Ds
Artinya
P * e + I * ∫e dt + D * de/dt
(perhatikan perbedaan I dan Tm, dan perhatikan
satuan Tm dan D dalam menit  harus dikonversi
jika dijadikan detik)

Buku STEPHANOPOULOS menggunakan

CO = Kc * ( e + 1/ti * ∫ e dt + td * de/dt ) atau
CO = Kc * e + Kc /ti * ∫ e dt + Kc * td * de/dt
PID Control
 Additional PID Concepts
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Interactive vs. Non-interactive PID

Algorithm
Refer to interaction between the reset and derivative
terms
Also known as ‘series’ or ‘parallel’
Almost all analog controllers are interactive
Many digital controller are non-interactive, some are
interactive
The only difference is in the tuning of controller with
derivative
PID Control
 Reset Windup (1)
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All actuators have limitations:

 Ex.: A motor has limited speed, a valve cannot be more than fully opened or
fully closed
Windup phenomena is caused by the interaction of
integral action and saturations
When this happens the feedback loop is broken and
the system runs as an open loop because the actuator
will remain at its limit independently of the process
output
 If a controller with integrating action is used, the error will continue to be
integrated. This means that the integral term may become very large or,
colloquially, it “winds up”
 It is then required that the error has opposite sign for a long period before
things return to normal
 The consequence is that any controller with integral action may give large
transients when the actuator saturates
PID Control
 Reset Windup (2)
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y
PV m
ysp
SP

c
CO

Time
 Note that controller output saturates causing area “A” to accumulate by
the integral action
 After the disturbance returns to its normal level, the controller output
remains saturated for a period of time causing an upset in PVm
PID Control
 Anti-Reset Windup
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ySPsp y
PVm

c
CO

Time
 When the manipulated variable saturates, the integral is not allowed
to accumulate
 When control returns, the controller takes immediate action and the
process returns smoothly to the setpoint
PID Control
 Methods for Anti-Reset Windup
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Turn off the integral when a valve saturates or a

control loop is not in use.
Clamp the controller output to be greater than 0%
and less than 100%.
Apply internal reset feedback
Apply external reset feedback

PID Control
 Bumpless Transfer (1)
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Practically all controllers can be run in two modes:

manual or automatic
When the system is in manual mode, the control
algorithm produces a control signal that may be
different from the manually generated control signal,
or vice versa. It is necessary to make sure that the
two outputs coincide at the time of switching. This is
called bumpless transfer
With bumpless transfer, an internal setpoint is used
for the controller and the internal setpoint is ramped
at a slow rate from the initial conditions to the actual
PIDdesired
Control setpoint to order to provide a smooth startup
 Bumpless Transfer (2)
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Comparison of true and internal setpoint

True Setpoint

Internal Setpoint

Time

PID Control
 Bumpless Transfer (3)
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Control Performance with and without bumpless

transfer
w/o bumpless transfer

w/ bumpless transfer

Time

PID Control
 Derivative on Process Rather than Error (1)
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The Facts:
 A step change in the set point results in a step change in the process
 The derivative term acts on the rate of change of the error
 The rate of change of a step change is very large
 An operator step change of the setpoint would causes a very large change in the
output, upsetting the process

Derivative
Spike
MV

SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using standard PID

PID Control
 Derivative on Process Rather than Error (2)
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Solution: Let derivative act only on process rather

than error 11
dt
TTmm
SP e ò + CO
+ +
P
P

. d
P D
P D dt

PVm

1 dPVm
CO = P (e +T
m òe) - P Ddt
.
PID Control
 Derivative on Process Rather than Error (3)
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Process variable and valve response to a setpoint

change

MV

SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using
“Derivative on Process Measurement” PID

PID Control
 Derivative on Filtered Process
Rather than Process (1)
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The Fact:
 The derivative mode is hypersensitive to noise

PID Control
 Derivative on Filtered Process
Rather than Process (2)
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PID Control
 Gain on Process Rather than Error (1)
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The Facts:
 In applications with high gain, a step change can result in a sudden, large
movement in the valve
 Not as severe as derivative effect, but still can upset the process

MV

Gain
response
SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using
“Gain on error and Derivative on Process Measurement” PID

PID Control
 Gain on Process Rather than Error (2)
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Solution: Let gain act only on process rather than

SP e
error + PP dt
TTmm
ò + CO
P
P

. d
P D
P D dt

PVm

P dPVm
ò
CO = T e dt + P( PVm +
m dt )
PID Control
 Gain on Process Rather than Error (3)
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Process variable and valve response to a setpoint

change

MV

SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using
“Gain and Derivative on Process Measurement” PID

PID Control
 Digital PID Algorithms (1)
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Data acquisition concepts

Sampled signal Original signal

Continuous signal
Dt
sample

Dt Sampled signal Original signal

Dt = sampling time
2Dt

Shannon’s sampling theorem:

The sampling frequency must be greater or equal to two times of the highest
frequency occurring in the signal to be sampled
PID Control
 Digital PID Algorithms (2)
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Integral  Derivative

de ei – ei-1
ò e dt @ Dt S ei dt @ Dt
.

1 de
Continuous form:CO = P (
m ò
e + T e dt + Ddt )

Dt D
Digital form:CO = P [ei + Tm S ei + Dt (ei – ei-1])

i = sampling instant
PID Control
 Digital PID Algorithms (3)
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Two forms of digital PID algorithms:

 Positional form
Dt D
COi = P [ei +Tm S ei dt +Dt ])
(ei – ei-1

Dt D

COi = COi-1 + P (e
 Inherently
[ i –reset
Velocity form
have anti
ei-1) + T ei +Dt
windup
m feature
(ei – 2ei-1+e]i-2)

PID Control
 Several Offered PID Algorithms (1)
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Distributed Control System (DCS)

Honeywell TDC 3000
 Offers 4 (four) PID equations; A, B, C, and D

TDC 3000 P mode I mode D mode

Algorithm A Error Error Error

Algorithm B Error Error Measurement

Algorithm C Measurement Error Measurement

Not used
Algorithm D Not used Error

PID Control
 Several Offered PID Algorithms (2)
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Distributed Control System (DCS)

Foxboro I/A Series
Yokogawa Centum CS 3000
Bailey
ABB

PID Control
 Several Offered PID Algorithms (3)
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Programmable Logic Controller (PLC)

Modicon 984

TDC 3000 P mode I mode D mode

P-only

PI

PID

PID Control
 Several Offered PID Algorithms (3)
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Programmable Logic Controller (PLC)

Modicon
Allan-Bradley
 PLC-5
 SLC500
Siemens
Fuji Electric

PID Control
Guidelines for Common Control Loops (1)
49

Flow and liquid pressure control

Fast response with no time delay (no
pipe/transportation)
Usually with small high-frequency noise
PI controller with intermediate controller gain

Liquid level control

Noisy due to splashing and turbulence
High gain, low integral action of PI controller for
integrating process
PID Conservative setting for averaging control when it is
 Control
 Guidelines for Common Control Loops (2)
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Gas pressure control

Usually fast and self regulating
PI controller with small integral action (large reset
time)

Temperature control
Wide variety of the process nature
Usually slow response with time delay
Use PID controller to speed up the response

PID Control
 Guidelines for Common Control Loops (3)
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Composition control
Similar to temperature control usually with larger
noise and more time delay
Effectiveness of derivative action is limited
Temperature and composition controls are the prime
candidates for advance control strategies due to its
importance and difficulty of control

PID Control
 Session Summary
52

PID control, which is the most widely used control

algorithm in process control application, comes in
different forms and terms
Each of the terms of the PID equation must be
understood to obtain a right combination of the PID
control elements for various process control
application objectives

PID Control