Lecture 11

PID Controllers
Dr Eyad Radwan

Dr Eyad Radwan/ Automatic Control-L11

PID Controllers
PID controllers are one of the most widely used controllers in the
industry.
P: Proportional, I: Integral, D: Derivative

PD Controller: Proportional-Derivative controller has the transfer

function of the form: GPD ( s ) K P K D s where KP is the
proportional gain, KD is the derivative gain of the controller.
so if the controller is inserted in series with a plant , the block
diagram of the system becomes as in Figure 11-1.
r(t) +

e(t)

R(s) -

E(s)

KP

U(s)
+

y(t)
G(s)
Y(s)

K Ds
PD Controller

Figure 11-1
Dr Eyad Radwan/ Automatic Control-L11

PID Controllers
The PD controller will operate on the error signal e(t) in the
following manner:
de( t )
u( t ) K P e( t ) K D
dt
The electronic circuit realization of the PD controller is shown in
Figure 11-2 and Figure 11-3
R2
R
R1

R2

Ein

Eo

R1
R
C1

Eo

Rd

Ein
R
Cd

Figure 11-2

Figure 11-3

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PID Controllers
The transfer function of the PD circuit in Figure 11-2 can be
derived as follows:
i1 i2 and i1 iR1 iC 1
i2

i1

vo
thus
R2

ein
de
v
C1 in o
R1
dt
R2

ein
de
C1 in and Eo Vo
R1
dt
Ein

R1

R2

i2
R

Vo R

Eo

C1

taking Laplace transform

Ein
V
1
V
C1 Ein s o Ein ( C1s ) o
R1
R2
R1
R2
Eo R2

R2C1s comparing this equation with the PD controller' s general form ,

Ein R1
KP

R2
and K D R2C1
R1
Dr Eyad Radwan/ Automatic Control-L11

PID Controllers
The transfer function of the circuit in Figure 11-3 can be
derived as follows:
R2

iCd iRd and iR1 iR 2 and Eo ( Vd Vr )

iCd

thus

iR1 R1
R

de
v
Cd in , iRd d taking Laplace transform ,
dt
Rd

R
Vd Rd Cd sEin , and Vr 2 Ein
R1

iR2

Ein

Eo

Vr
Rd

iRd

iCd
R
Cd

Vd

Eo R2

Rd Cd s comparing this equation with the

Ein R1

general structure of PD controller yields :

KP

R2
and K D Rd Cd
R1

Dr Eyad Radwan/ Automatic Control-L11

PID Controllers
Figure 11-2 has the advantage that only two amplifiers are
used. However, the circuit doesnt allow independent
selection of KP and KD. Figure 11-3 uses three amplifiers but
allows for independent selection of KP and KD.
PD controller will add a zero to the system at (-KP/KD).
PD controller has high-pass characteristic, thus in most cases
it will increase the Band Width (BW) of the system and will
usually accentuate any high frequency that enters the input.
PD controller decreases the maximum overshoot, rise time
and settling time.

Dr Eyad Radwan/ Automatic Control-L11

PID Controllers
Example 11-1
Given the forward-path transfer function G(s) of an aircraft
control system, design PD controller to meet the following
specifications:
G( s )

4500 K
s 2 ( s 361.2 )

Steady-state error due to ramp input unit 0.000443 sec

Maximum overshoot 5%
Rise time tr 0.005 sec
Settling time ts 0.005 sec
Dr Eyad Radwan/ Automatic Control-L11

PID Controllers
Solution EX 11-1
=
=

4500
361.2

1
= LIM
0

361.2

= 4500 0.000443 181.2

with this value of K=181.2 the unity feedback closed loop system will have the following
characteristic equation:
2 + 361.2 + 4500 181.2 = 0
the damping ratio and the natural frequency can be found from the above equation,
= 4500 181.2 = 903 . 1
361.2

= 2903 = 0.2

with this damping ratio, the system will have M.O of 52.7%

Dr Eyad Radwan/ Automatic Control-L11

To achieve the 5% maximum overshoot, must be set above 0.69,

0.05=

1 2

thus = 0.69

To get = 0.69 the gain K has to be decreased in the equation = 2

361.2
4500

however

decreasing K will affect the steady state error. Therefore, if a PD term is used, the unity
feedback forward-path transfer function will be modified to become:
4500

= ( + ) (+361.2)
With K =181.2, the closed loop transfer function becomes,
()
815265( + )
= 2
() + (361.2 + 815265 ) + 815265
Setting Kp to 1 will maintain the steady state error below 0.000443 as required, thus the
characteristic equation becomes:
2 + 361.2 + 815265 + 815265 = 0
If the value of is selected above 0.69 to achieve the required maximum overshoot say = 1
critical damping, then KD can be found as
=

361.2+815265
2903

then KD =0.001772.
Dr Eyad Radwan/ Automatic Control-L11

PID Controllers
PI Controller: the general form of a PI controller and the
plant/ system is shown in Figure 11-4. Proportional-Integral
KI
G
(
s
)

controller has the transfer function of the form: PI

P
s
where KP is the proportional gain, KI is the integral gain of the
controller.
so if the controller is inserted in series with a plant , the block
diagram of the system becomes as in Figure 11-4
r(t) +
R(s) -

e(t)
E(s)

KP

y(t)

u(t)

+
+

U(s)

G(s)
Y(s)

KI /s
PI Controller
Dr Eyad Radwan/ Automatic Control-L11

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PID Controllers
The PI controller will operate on the error signal e(t) in the
following manner: u( t ) K Pe( t ) K I e( t )dt
The electronic circuit realization of the PI controller is shown
in Figure 11-5 and Figure 11-6
R2

C2
R2

Ein

R1
R

R1
R

Eo

Eo

Ci

Figure 11-5

Ein

Ri
R

Dr Eyad Radwan/ Automatic Control-L11

Figure 11-6

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PID Controllers
The transfer function of the circuit in Figure 11-5 can be
C2
i
R2
derived as follows:
2

i1

e
dv
i1 i2 and , i1 in , i2 C2 c 2
R1
dt

Ein

R1

Vo

Eo

dvo dvc 2 dvR 2

dt
dt
dt
dvc 2
e
dvR 2
di
R de
in and
R2 2 2 in substituting in the above equation
dt
R1C2
dt
dt
R1 dt

vo vc 2 vR 2 taking first derivative

dvo
e
R de
in 2 in taking Laplace transform
dt
R1C2 R1 dt
sVo

Ein
R
V
1
R
s 2 Ein thus o (
2)
R1C2
R1
Ein
R1C2 s R1

note the negative sign will be cancelled by the next stage inverter
Dr Eyad Radwan/ Automatic Control-L11

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PID Controllers
The PI controller transfer function is
The effect of the PI controller be

GPI ( s )

( sK p K I )
s

Adding a pole at the origin (s=0)

Adding a zero at s=-KI /KP.

A PI controller will operate as a low pass filter thus it will slow

the rise and settling times.
A viable method of designing PI controller is to select the zero
close to the origin and away from the systems most significant
pole.
The value of KP and KI should be relatively small.

Dr Eyad Radwan/ Automatic Control-L11

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PID Controllers
Example 11-2:
Consider the second order system G(s) (as in EX 11-1), it is
required to design a PI controller so that the system meets the
following specifications:
G( s )

4500 KK P ( s K I K P )
s 2 ( s 361.2 )

Steady-state parabolic input (t2u(t)/2) 0.2

Maximum overshoot 5%
Rise time tr 0.01
Settling time 0.02

Dr Eyad Radwan/ Automatic Control-L11

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PID Controllers

Solution

= lim0 2 =
=

0.08026

4500
361.2

= 12.46

0.2

If K is set to 181.17 as in EX-11-1, then 0.002215

The characteristic equation:
3 + 361.2 2 + 815265 + 815265 = 0
Applying Rouths test to check the boundaries of KI, yields that the systems is stable if
0 < < 361.2
If is selected such that 361.2 so that it is close to the origin and far away
from the most significant pole (at s= -361.2). Setting =10 will result in a second order
approximation of the transfer function G(s). Thus G(s) becomes

815265
( + 361.2)

The characteristic equation, 2 + 361.2 + 815265 = 0 if damping ration is chosen to

give an under-damped response with =0.7, then
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PID Controllers
KP=0.08 and KI can be found as KI=10KP=0.8
Note that the three roots of the third order characteristic equation with the selected Kp and KI
values (KP=0.08 and Ki=0.8) are: -10.6, -175.3j175.4
It is apparent that the real pole (-10.6) is moved very near to the zero at KI/KP to cancel it.
And the transient (system dynamics) are essentially determined by the two complex poles.
The two complex poles (-175.3j175.4) of the third order equation still give a damping ratio
of 0.7 as desired.
If KI/KP is selected = 5, then KP=0.08 and KI= 0.4, the three roots of the third order
characteristic equation with the selected Kp and KI values (KP=0.08 and KI=0.4) are: -5.14, 178.03j178.03 so again the damping ratio is still around 0.7 and the real pole at -5.14 is very
near to the zero at -5 (so they cancel each other) and thus the dynamics of the system is
determined by the two complex roots.
In conclusion the second order approximation made above is valid as the original systems
behaviour will be determined by the two complex roots (poles)
Dr Eyad Radwan/ Automatic Control-L11

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PID Controllers
Ziegler Nichols Rules for Tuning of PID Controllers
Figure 11-7 shows a PID controller (where Ti=KP/KI, and Td=KD/KP) and a
plant in a closed loop system.
If the plant mathematical model is available then it is possible to apply
various design techniques to determine the parameters of the controller
that will meet the steady state and transient specifications of a closedloop system.
If the mathematical model of the plant is so complicated or difficult to
obtain, then the system can be tuned experimentally using rules such as
Ziegler-Nichols tuning rules.
R(s)

+
-

1
KP( 1
Td s )
Ti s

PID controller

Y(s)
G(s)
Plant

Figure 11-7
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PID Controllers
First Method
We obtain experimentally the systems (plants) response to a step input. If
the plant doesnt have a integrator (1/s) term neither dominant complex
poles, then the response of the system may look as S-shaped curve.
measure the delay constant L and time constant T as shown in Figure 11-8.

Figure 11-8

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PID Controller
The selection of the PID parameters based on L and T is given in the below
table.

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PID Controllers
Second method
we first set Ti= and Td=0. then we are left with the proportional
controller gain KP in the closed loop system. The proportional gain KP is
then increased until the systems output exhibits sustained oscillations.
The value of KP that caused the system to oscillate is recorded as the
critical gain KPcr and the period of oscillation Pcr is measured as in Figure
11-9. Pcr=2/cr note that if the system doesnt exhibit oscillations this
method cant be applied).

Figure 11-9
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PID Controllers
The selection of the PID parameters based on the second method can be
found from the table below.

Note that if the systems transfer function is known then KPcr and Pcr can
also be determined using Rouths test or from the root locus.

Dr Eyad Radwan/ Automatic Control-L11

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PID COntrollers
Example 11-3:
Consider the control system shown in Figure 11-10. Apply
Ziegler-Nichols tuning rules to determine the PID controller
parameters.
Y(s)
+
R(s)

PID
PID controller

1
s( s 1 )( s 5 )
Plant

Figure 11-10

Solution: Since the plant is having an integrator, then the step

response of the system will not exhibit an S-shaped curve,
thus first method doesnt apply. However, applying second
method.
using Rouths stability test KPcr can be found.
Dr Eyad Radwan/ Automatic Control-L11

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PID Controllers
The closed loop transfer function is
Y( s )
KP

R( s ) s( s 1 )( s 5 ) K P
the characteristic eq s 3 6 s 2 5 s K P 0
applying Routh' s test
s3
s2
s
s0

1
6
30 K P
6
KP

5
KP

Setting KP to 30 will make the row s all zeros, thus KPcr =30,
using the auxiliary equation the Period Pcr can be found.
Dr Eyad Radwan/ Automatic Control-L11

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PID Controllers
6 s 2 30 0
2
2.81 sec .
5
u sin g the table K P 0.6 K Pcr 18
thus 5 and Pcr
Ti 0.5 Pcr 1.405
Td 0.125 Pcr 0.351

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