EBB 320

PRACTICAL 2 REPORT:
Design and realization of PID controllers
GROUP 42

Name and Surname Student number Signature % contribution

Makgonye PD 13232704 25

Manganyi PA 12372308 25

Matthew CT 14070032 25

Mkhize NS 13370589 25

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Pretoria's policy on academic dishonesty and plagiarism and we declare that the work submitted in
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Table of Contents
1. Introduction .................................................................................................................................... 5
2. Mathematical calculations for design ............................................................................................. 6
2.1. Smith Predictor ........................................................................................................................... 7
2.2. Feedback Controller design ........................................................................................................ 8
3. Simulations Results ....................................................................................................................... 10
4. Practical Results ............................................................................................................................ 12
5. Discussion...................................................................................................................................... 13
6. Conclusion ..................................................................................................................................... 14
7. References .................................................................................................................................... 15

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Table of Figures
Figure 1: The Plant transfer function controlled by the Controller designed with the Smith Predictor.5
Figure 2 Smith Predictor Circuit .............................................................................................................. 7
Figure 3 Controller design circuit ............................................................................................................ 8
Figure 4 Integrator circuit ....................................................................................................................... 9
Figure 5 lead-compensator circuit .......................................................................................................... 9
Figure 6 Step response of the controller in the final circuit ................................................................. 10
Figure 7 step response of the circuit measuring at the output of the plant ........................................ 11
Figure 8 output of the plant .................................................................................................................. 11
Figure 9 Output of the smith predictor and controller ......................................................................... 12
Figure 11 Output of the smith predictor and controller ....................................................................... 12
Figure 10 FFT Output of the Smith predictor and controller ................................................................ 12

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 UNIVERSITY OF PRETORIA
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Topic of work: _______________EBB 320 PRACTICAL 3 REPORT_______________

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Signed by: Makgonye PD (13232704), Manganyi PA (12372308), Mathew C.T. (14070032),

Mkhize NS (13370589)

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1. Introduction

In this practical the purpose is to design and build a controller which would be used together
with system built in practical 1. This will be done using a Smith Predictor. The Smith Predictor
is designed specifically to be used with a closed loop feedback controller. The Smith Predictor
allows us to make various estimations and approximations. This is used to design the specific
controller for a plant where the time delay or the time delay approximation is known. The
Smith Predictor allows us to design a controller if there was no time delay for the plant for
which the controller was designed for. This is due to the time delay being moved outside the
feedback loop.
The diagram below depicts the Smith Predictor and feedback control structure. The plant is
controlled by the controller output depending on the inputs to the controller. The blocks
represent the controller ( ()), together with the Smith Predictor, cascaded with the
plant ( ()).

r(t) C(s) u(t) Gp(s) y(t)

- -

Gs(s)

Figure 1: The Plant transfer function controlled by the Controller designed with the Smith Predictor.

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2. Mathematical calculations for design

From figure 1, it can be seen that y(s) is the output of the system, r(s) is input and () is
the feedback controller. Furthermore the plants transfer function can be spilt into two:
G(s) =Gq (s)Gd (s) ..(1)
1
() = 0.001+1
.(2)
10.0001
() = ..(3)
1+0.0001

G(s) represents the plants transfer function which is split into a transfer function, (), which
represents the part which contains no delay approximation and () represents the part
that is the delay approximation.
Together the plants transfer function becomes:
10.0001
() = (1+0.001)(0.001+1)
(4)

The Smith Predictor represented by Gs(s) has the block transfer function:
() = () () ()

() = ( () ()(() ())

() = () ()() () ()()

()
() =
()
()
()
(1 + () ()) = ()()..................(5)

This gives us a an overall closed loop transfer function of the Smith Predictor together with
the feedback controller to be:
() () () ()
()
= () = 1+() ()
........................(6)

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 2.1. Smith Predictor

The Smith Predictor is designed to the following design:

Figure 2 Smith Predictor Circuit

The Smith Predictor was designed using the following calculations:

() = [1 ()] ()..(7)
1 1 0.0001
= [1 ( )]
0.001 + 1 1 + 0.001
0.0002
() =
(1 + 0.0001)(1 + 0.001)

1 2
() =
(1 1 + 1)(2 2 + 1)

1 2 = 0.0002
1 = 100
2 = 2
1 1 = 0.0001
1 = 1
2 2 = 0.001
2 = 50
= 33.3

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 2.2. Feedback Controller design

Figure 3 Controller design circuit

Figure 3 shows the circuit design for the Controller which was calculated using the information
provided in the practical 3 guide. The following where calculated given that n 4 000 rad/s
and = 20.5 0.707 therefore:
2 16 106
() = =
2 + 2 + 2 2 + 5656.845 + 16 106
Using:
() 1
() = 1 () (8)
()

Then:

16 106
() = 2
+ 5656.845 + 16 106 (0.001 + 1)
16 106
1+ 2
+ 5656.845 + 16 106
Therefore:

16000 + 16 106 16000 + 1000

() = 2
=
+ 5656.845 + 5656.845

The circuit in figure 3 is built using an integrator circuit and a lead compensator. A buffer was
used in between the two for practical demonstration in order to reduce loading effects. These
two circuits are cascaded.
Integrator:
1
16000 1 1
=

1
= 16000
1 1
Choose 1 = 10
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 Then 1 = 6.25

Figure 4 Integrator circuit

Lead-compensator:
1
+ 1000 1 1 + 1 1
=
+ 5656.845 2 1 + 1
2 2
Note that 1 1 2 2, therefore:

1 1 = 103

2 2 = 1.77 104
1
=1
2
Choosing 1 = 2 = 10:

1 = 100
2 = 17.7
This ensures that the condition of 1 1 2 2 is still applied.

Figure 5 lead-compensator circuit

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3. Simulations Results

Using the information and parameters provided in the practical 3 guide we can see that ,
1
= 0.7071
2
n = 4000 rad/s

Using:

2
/ 1
%OS 100 e

Therefore we get, % OS = 4.33 %

Furthermore using:

T
(1
P 2
n
)

We get the following values from the simulations:

TP = 1.57 ms

TS 1.54 ms
TR = 0.43 ms
Delay = 0.198 ms

Figure 6 Step response of the controller in the final circuit

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 Figure 7 step response of the circuit measuring at the output of the plant

Figure 8 output of the plant

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4. Practical Results

The following were measured using the oscilloscope and the following parameters were
used to measure the values:

2
/ 1
%OS 100 e

n

(1 )
2
T p

T
(1 )
P 2
n

4
TS=

Figure
Figure 910Output
Outputofofthe
thesmith
smithpredictor
predictorand
andcontroller
controller

Figure 11 FFT Output of the Smith predictor and controller

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5. Discussion

Peak time:
There was a distinct difference between the peak times (Tp) of the calculated value from
theory and the simulated values. This difference can be accounted for as the difference is
due the system being approximated to a 2 pole system. This isnt the case as seen in the
practical and simulations. It can be further seen that the tolerances of the components do
indeed affect the simulations as they are not ideal.
Rise Time:
Here too there was a difference between the theoretical value and the simulated result.
However this is negligible as the theoretical calculated value for the rise time Is
3 2
1.76 20.5 0.41720.5 + 1.03920.5 + 1
= = 537.12
4000
The simulated result was 430.439 and the practical it showed us 420 .
Time delay:
The simulated value was reached by the practical result as the calculated time delay is
= 198 and a value of = 227

Percent Overshoot:
2
The theoretical overshoot was calculated to be % = (/1 ) 100 =4.321%, using
the given parameters. The simulated result showed % = 5.66% and the practical
gave us
% = 6.34%. This again is due to the tolerances and the errors in the lab equipment.

Damping Factor:
The damping factor can be calculated from the practical circuit using the percentage
overshoot obtained in the practical.
%
ln ( 100 ) ln(0.0634)
= = = 0.6598
2 % 2 + (ln 0.0634)2
+ (ln 100 )2

The damping factor calculated using the given parameters, = 20.5 = 0.7071.
Therefor the damping factor stayed within 3% and can be accounted for by the component
tolerances.
Natural Frequency:

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The natural frequency of the practical system can be calculated using , = 1.98
and = 0.6598

= = = 2111.49
2
, 1 1.98 103 1 0.65982

This significant difference can again be accounted for by the components tolerances.

6. Conclusion

As seen from the Practical and simulated results, the parameters such as peak time, percent
overshoot, rise time and time delay all successfully conform the design specifications. The natural
frequency and damping constant given in the practical guide were calculated and correlate with
results obtained from both simulation and practical demonstration.

The design and building of the Smith Predictor was hence successfully designed as is meets the
requirements of the feedback controller. This was due to the successful and final implementation of
the final circuit.

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7. References

[1] H. Swart, Prof F. R. Camisani-Calzolari, Design and realization of PID controllers, EBB
320 practical guide accessed on 10 September 2016.
[2] Norman S. Nise, Control Systems Engineering, 5th Ed., 2008, John Wiley & Sons.
[3] H. Swart, Prof F. R. Camisani-Calzolari, Smith Predictor, EBB 320 practical guide
accessed on 20 October 2016.

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