EEE 350 CONTROL

SYSTEM
CONTROLLERDESIGN

EN.MUHAMMADNASIRUDDIN
MAHYUDDIN

CONTROLLER DESIGN
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FundamentalPrinciplesofDesign
Beforecomingtochoosewhattypeofcontrollerthatissuitable,one
needtodecideonthecontrollerconfiguration.
Forthissubject,thedefaultcontrollerconfigurationisatypeof
series(cascadecompensation)likeshowninthefigurebelow.
R(t)

u(t)

e(t)
Controller
Gc(s)

Y(t)
Controlled
Process
Gp(s)

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Therearemanymorecontrollerconfigurationsoutthere.
Forthischapter,youonlyneedtofocusthecontrollerdesignonthe
seriestypecompensation.
Engineeringpracticedictatesthatonechoosethesimplestcontroller
thatmeetsallthedesignspecifications.
Themorecomplexacontrolleris,themoreitcosts,thelessreliable
itis,andmoredifficulttodesign.
Choosingaspecificcontrollerforaspecificapplicationisoften
basedonthedesignerspastexperienceandsometimesintuition.

CONTROLLER DESIGN
Incarryingoutthedesigneitherinthetime
domainorfrequencydomain,itisimportant
toestablishsomebasicguidelinesordesign
rules.
n Timedomaindesigndependsheavilyonthe
splaneandtherootloci.
n Frequencydomaindesigndependson
manipulatingthegainandphaseoftheloop
transferfunctionsothatthespecificationsare
met.
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TimeDomainDesign
Thisapproachispossibleanalyticallyonlyforsecondordersystems
orforsystemsthatcanbeapproximatedbysecondordersystem.
Generaldesignproceduresusingtimedomainspecificationsare
difficulttoestablishforsystemwithhigherorderthanthe2nd order.

FrequencyDomainDesign
Theadvantageofhavingthisapproachisthat,thefrequency
responseanalysistoolsuchasbodeplot,NyquistplotandNichols
chart,provideaconvenientwaytoanalyzesystemresponseby
sketchingwithoutanydetailedplotting.Highordersystemdonot
generallyposeanyparticularproblem.

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Typeofcontrollertobelearnt
PDcontroller
PIcontroller
PIDcontroller
PhaseLeadcompensator
PhaseLagcompensator
PhaseLeadLagcompensator

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PDController
R(s)

E(s)

+
Kp

U(s)

2
n

Y(s)

s(s+ 2zw n)

Gp(s)

KDs
Figure1:ControlsystemwithPDcontroller
Infrequencydomaindesign,thetransferfunctionofthePDcontrolleriswritten

KD
Gc (s) = Kp + KDs = Kp(1+
s)
KP

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PDcontroller
PDcontroller(orderivative)isananticipatorycontrol.
Thecontrollercananticipatethedirectionoftheerroranduseitto
bettercontroltheprocess.
Itworksbymeasurestheslopeofe(t),i.e.errorwithrespecttotime,
predictsthelargeovershootaheadoftimeandmakesaproper
correctiveeffortbeforetheexcessiveovershootactuallyoccurs.
Thecontrolleraffectsthesteadystateerrorofasystemonlyifthe
systemstateerrorvarieswithtime.
Ifthesteadstateerrorofasystemisconstantwithrespecttotime,
thenthederivativeportionofthecontrollerprovidesnoinputtothe
process.

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SummaryofPDcontroleffects
Improvingdampingandreducingmaximumovershoot
Reducingrisetimeandsettlingtime.
IncreasingBW.
ImprovingGM,PM,andMr.
Possiblyaccentuatingnoiseathigherfrequencies.
Possiblyrequiringarelativelylargecapacitorincircuit
implementation.

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PIcontroller

R(s)

E(s)

+
Kp

U(s)

2
n

s(s+ 2zw n)

Gp(s)

KI/s

Infrequencydomaindesign,thetransferfunctionofthePIcontrolleriswritten

KP
KI (1+
s)
KI
KI
Gc( s)= Kp +
=
s
s

Y(s)

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PIcontroller

TheforwardpathtransferfunctionofthePI
compensatedsystem

wn2(Kps+ KI )
G (s)= Gc(s)Gp(s)= 2
s (s+ 2zw n)

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PIController
GivenKp,thevalueofKI shouldnotbetoosmallorthecapacitorin
theopampcircuitimplementationwouldbetoolarge.
EffectivePIcontroldesignsusuallyresultinsmallvaluesofKI ,and
thuswemustwatchoutforunrealisticallylargecapacitorvalues.
ThePIcontrolincreasesthesystemtypeby1,thusimprovingthe
steadystateerrorbyoneorder.

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PIcontroller

TheeffectsofthePIcontrollerare

i.

Addingazeroats=KI/Kptotheforwardpathtransferfunction

ii.

Addingpoleats=0totheFWDpathtransferfunction.Thesystem
typeisincreasedby1toatype2system.Thus,thesteadystate
erroroftheoriginalsystemisimprovedbyoneorder:thatisasa
contrarytoPDeffectsPIcontrollerreduceserrortozeroifthethe
steadystateerrortoagiveninputisconstant.

iii.

However,asthesystemisnowbecomeathirdorder,itmaybe
lessstablethantheoriginal2nd ordersystemiftheparametersKI
andKparenotproperlychosen.

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SummaryofPIcontrollereffects
Improvingdampingandreducingmaximumovershoot.
Increasingrisetime.
DecreasingBW.
Improvinggainmargin,phasepargin,andMr.
Filteringouthighfrequencynoise.
SelectingapropercombinationofKpandKIsothatthecapacitorin
thecircuitimplementationofthecontrollerisnotsolarge.
ThisselectionisharderthaninthecaseofPDcontroller.

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PIDCONTROLLER

PIDcontrollercombinesthedualadvantageofPDandPIcontrol
togetherwhichmeansthatwecanhave:

i.

Adddampingtoasystemsoitwillreachthesetpointfasterby
anticipation.
Improvetherelativestabilityandthesteadystateerroratthe
sametime.

ii.

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PIDCONTROLLER
ConsiderthatthePIDcontrollerconsistsofaPIportionconnectedin
cascadewithaPDportion.

KI
KI2
Gc (s)= Kp + KDs+
= (1+ KD1s)(Kp2 +
)
s
s

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PIDCONTROLLER

TheproportionalconstantofthePDportionissettounity,sinceweneedonly
threeparametersinthePIDcontroller.Equatingbothsidethepreviousslide
equationwillresult,

K p = KP2 + KD1KD2
KD = KD1KP2
KI = KI2

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PIDCONTROLLER

ConsiderthatthePDportiononlyisineffect.SelectthevalueofKD1 sothat

aportionofthedesiredrelativestabilityisachieved.Infrequency
domainanalysis,weobservestabilitybythephasemargin.
SelecttheparametersKI2andKP2 sothatthetotalrequirementon
relativestabilityissatisfied.

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TUNINGOFPIDCONTROLLER

Theprocessofselectingthecontrollerparameterstomeetthegiven
performancespecificationsisknownascontrollertuning.ZieglerandNichols
suggestedrulesfortuningPIDcontrollers(meaningtoset Kp, Ti andTd )
basedonexperimentalstepresponsesorbasedonthevalueofKpthat
resultsinmarginallystabilitywhenonlyproportionalcontrolactionisused.

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TuningofPIDcontroller

TherearetwomethodscalledZieglerNicholstuningrules:

i.

Firstmethod

ii.

Secondmethod

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TuningofPIDcontroller

Firstmethod:obtaintheresponseoftheplanttounitstepinput
experimentally.Iftheplantdoesnotinvolvewithdominantcomplex
conjugatepoles,thensuchunitstepresponsecurvemaylookS
shapedcurve.

Suchstepresponsecurvemaybegeneratedexperimentallyorfrom
dynamicsimulationoftheplant.

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1st methodofPIDtuning

TheSshapedcurveconsistsoftwoconstants:
i.Delaytime,L
ii.Timeconstant,T

Thedelaytimeand
timeconstantare
determinedby
drawingtangentline
attheinflectionpoint
oftheSshaped
curveand
determiningthe
intersectionsofthe
tangentlinewiththe
timeaxisandlinec(t)
=K.

CONTROLLER DESIGN
1st methodofPIDtuning
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ThetransferfunctionC(s)/U(s)maybethenapproximatedbyafirstorder
systemwithatransportlagasfollows,

C( s) Ke-Ls
=
U(s) Ts+ 1
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ZieglerNicholssuggestedtosetvaluesofKp,TiandTdaccordingtothe
formulashowninTable1onthenextslide.

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1st methodofPIDtuning

Table1

Typeof
controller

Kp

Ti

Td

T/L

PI

(0.9)T/L

L/0.3

PID

(1.2)T/L

2L

0.5L

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1st methodofPIDtuning

ThePIDcontrollertunedbyfirstmethodofZieglerNicholsrulesgives

Gc( s)= Kp(1+

1
+ Tds)
Tis

T
1
= 1.2 (1+
+ 0.5Ls)
L
2Ls
1 2
(s+ )
L
= 0.6T
s
ThePIDcontrollerhasapoleattheoriginanddoublezerosats=1/L

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TuningofPIDcontroller
SecondMethod
WefirstsetTi=andTd=0.
Usingtheproportionalcontrolactiononly,increaseKpfrom0toa
criticalvalueKcr atwhichtheoutputfirstexhibitssustained
oscillations.

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2nd methodofPIDtuning

Thus,thecriticalgainKcr andthecorrespondingperiodPcr areexperimentally

Determined.ZieglernicholssuggestedthatwesetthevaluesofparametersKp,

TiandTdaccordingtotheformulaasshowninTable2onthenextslide.

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2nd methodofPIDtuning
Table2

Typeof
controller

Kp

Ti

Td

0.5Kcr

PI

0.45Kcr

(1/1.2)Pcr

PID

0.6Kcr

0.5Pcr

0.125Pcr

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2nd MethodofPIDtuning
Noticethat,thePIDcontrollertunedbythesecondmethodofZiegler
Nicholsrulesgives

Gc( s)= Kp(1+

1
+ Tds)
Tis

= 0.6Kcr(1+

1
+ 0.125Pcrs)
0.5Pcrs

4 2
(s+ )
Pcr
= 0.075KcrPcd
s
Thus,thePIDcontrollerhasapoleattheoriginanddoublezerosats=4/Pcr

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TuningofPIDcontroller
Ifthesystemhasaknownmathematicalmodel(suchasthetransfer
function),thenwecanusetherootlocusmethodtofindthecritical
gainKcrandthefrequencyofthesustainedoscillations crwhere
2/cr= Pcr. Thesevaluescanbefoundfromthecrossingpointof
therootlocusbrancheswiththejaxis.

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Example

Considerthecontrolsystemshownabove.ThePIDcontrollerusedisofthe
form:

1
Gc (s)= Kp(1+
+ Tds)
Tis

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Cont..Example
ApplyingZieglerNicholssecond
method.
BysettingTi=andTd=0,weobtain
theclosedlooptransferfunctionas
follows:

ThevalueofKpthatmakesthe
systemmarginallystablesothat
sustainedoscillationoccurscanbe
obtainedbytheuseofRouthsstability
criterion.TheCEfortheCLsystemis,

Kp
C (s)
=
R(s) s(s+ 1)(s+ 5)+ Kp

s 3 +6s2 + 5s+ Kp = 0

CONTROLLER DESIGN the Comparewith

obtainedusing
Kcr

RouthHurwitztabletofindKcr

Bodeplot

s3
s2

1
6

s1

30-K p

s0

6
Kp

5
Kp

CheckingthecoeffecientsofthefirstcolumnoftheRouthTable,wefindthat
SustainedoscillationwilloccurifKp=30.ThisisthecriticalgainKcr=30.

Now,CEbecomes

s +6s + 5s+ 30= 0

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Tofindthefrequencyofthesustainedoscillation,wesubsititutes=jwintothis
CEasfollows:

(jw)3 + 6(jw )2 + 5(jw )+ 30

or
6(5- w 2)+ jw (5- w 2)= 0
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Then,wefindthefrequencyofthesustainedoscillationtobe2=5or=5.
Hence,theperiodofoscillationis

2p

2p
Pcr =
=
= 2.8099
w
5

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ReferringtoTable2,wedetermineKp,TiandTpasfollows:

Kp =0.6Kcr = 18
Ti = 0.5Pcr = 1.405
Td = 0.125Pcr = 0.35124
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ThecorrespondingtransferfunctionofthePIDcontrolleristhus,
Gc( s)= Kp(1+

1
+ Tds)
Tis

1
+ 0.35124s)
1.405s
6.3223(s+ 1.4235)2
=
s

= 18(1+

CONTROLLER DESIGN

ThesystemplantwiththedesignedPIDcontroller.

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UsingbodeplottofindKcr
Gain
Margin
=29.6dB
Mg=29.6dB

CONTROLLER DESIGN

Comparewith
theKcr obtainedusing
RouthHurwitz

UsingbodeplottofindKcr

Therefore,therequiredgaintomakethesystemmarginally
stableis
20logKcr=gainmargin
Kcr=10^(29.6dB/20)
=28.2