CSTD

Lecture Notes
Fundamentals of Control Systems
Course coordinator: Assoc. Prof. Dr. Huynh Thai Hoang

Department of Automatic Control
Faculty of Electrical & Electronics Engineering
Ho Chi Minh City University of Technology
Email: hthoang@hcmut.edu.vn
Instructor: Lecturers of Department of Automatic Control
12 January 2016 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

Chapter
p 5
DESIGN OF CONTINUOUS
CONTROL SYSTEMS
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 2

Content
 Introduction
 Effect of controllers on system performance
 Control systems design using the root locus method
 Control systems design in the frequency domain
 Design of PID controllers
 Control systems design in state-space
 Design of state estimators

Introduction

Introduction to design process
 Design is a process of adding/configuring hardware as well as

software in a system
y so that the new system
y satisfies the
desired specifications.

Series compensator
 Th controller
The ll isi connected
d in
i series
i with
i h the
h plant.
l
R(s) Y(s)
+ GC(s) G(s)
 Controllers: phase lead, phase lag, lead-lag compensator, P,

PD, PI, PID,…
 Design method: root locus, frequency response

State feedback control
 All the
th states
t t off the
th system
t are fed
f d back
b k to
t calculate
l l t the
th control
t l
rule.
r(t) u(t) x(t) y(t)

+
 x (t )  Ax (t )  Bu (t ) C
 State feedback controller: u (t )  r (t )  Kx (t )

K  k1 k2  kn 
 Design method: pole placement, LQR,…

Effects of controller on system
performance

Effects of the addition of poles
 The addition
Th dditi off a pole
l (in
(i the
th left-half
l ft h lf s-plane)
l ) to
t the
th open-
loop transfer function has the effect of pushing the root locus
to the right,
right tending to lower the system
system’s s relative stability and
to slow down the settling of the response.
Im s Im s Im s
Re s Re s Re s

Effects of the addition of zeros
 The addition
Th dditi off a zero (in
(i the
th left-half
l ft h lf s-plane)
l ) to
t the
th open-
loop transfer function has the effect of pulling the root locus to
the left,
left tending to make the system more stable and to speed
up the settling of the response.
Im s Im s Im s
Re s Re s Re s

Effects of lead compensators
 Transfer function:
1  Ts
GC ( s )  K C (  1)
1  Ts
T
 Frequency response:
1  Tj
GC ( j )  K C
1  Tj
 Characteristics of the Bode plots:
1    1 
 max  sin  
  1
1
 max 
T 
L ( max )  20 lg K C  10 lg 
 The lead compensators improve
the transient response (POT, ts,..)
Lead compensator implementation
 L d compensator
Lead t transfer
t f function:
f ti
U ( s ) R2 R4 1  R1C1s 1  Ts
  KC (  1  R1C1  R2C2 )
E ( s ) R1 R3 1  R2C2 s 1  Ts
E(s) U(s)

Effects of lag compensators
 Transfer function:
1  Ts
GC ( s )  K C (  1)
1  Ts
T
 Frequency response:
1  Tj
GC ( j )  K C
1  Tj
 Characteristics of the Bode plots:
1    1 
 min  sin  
   1
1
min 
T 
L (min )  20 lg K C  10 lg 
 The lag compensators
reduce the steady-state error.
Lag compensator implementation
 L compensator
Lag t transfer
t f function:
f ti
U ( s ) R2 R4 1  R1C1s 1  Ts
  KC (  1  R1C1  R2C2 )
E ( s ) R1 R3 1  R2C2 s 1  Ts
E(s) U(s)

Effects of lead
lead--lag compensators
 1  1T1s   1   2T2 s 
 Transfer function: GC ( s)  KC     (1  1, 2  1)
 1  T1s   1  T2 s 
 Bode diagram
 The lead
lead-lag
lag compensators improve transient response and
reduces the steady-state error.
Effects of proportional controller (P)
 Transfer function: GC ( s)  K P
 Increasing proportional gain leads to decreasing steady
steady-state
state
error, however, the system become less stable, and the POT
increases.
increases
y(t)
 Ex: response of a
proportional control
system whose
plant has the
transfer function
below:
10
G ( s) 
( s  2)( s  3)
Effects of proportional derivative controller (PD)
 Transfer function:  Bode diagram

GC ( s )  K P  K D s  K P (1  TD s )
 The PD controller is a
special
i l case off phase
h llead
d
compensator, the
maximum phase lead is
max=900 at the frequency
max=+.
 The PD controller speed up
the response of the system,
however it also makes the
system more sensitive to
high frequency noise.
Effects of proportional derivative controller (PD)
 Note:
N t Th larger
The l th derivative
the d i ti constant,
t t the
th faster
f t th
the
response of the system.
y(t)
(t)
unompensated

PD controller implementation
 PD controller
t ll transfer
t f function:
f ti
U ( s ) R2 R4
 (1  R1C1s )  K P  K D s
E ( s ) R1 R3
E(s)
U(s)
( )

Effects of proportional integral controller (PI)
 T
Transferf function:
f ti  B d diagram
Bode di
KI 1
GC ( s )  K P   K P (1  )
s TI s
 The PI controller is a
special
i l case off phase
h llag
compensator, the minimum
phase lag is min= 900 at
the frequency min=+.
 PI controllers eliminate
steady state error to step
input, however it can
increase POT and settling
time
time.

Effects of proportional integral controller (PI)
 Note:
N t The
Th larger
l th integral
the i t l constant,
t t the
th larger
l th POT
the
of response of the system.
y(t)
(t)
uncompensated

PI controller implementation
 PI controller
t ll transfer
t f function:
f ti
U ( s ) R2 R4 R2C2 s  1 KI
  KP 
E ( s ) R1 R3 R2C2 s s
E(s)
U(s)

Effects of proportional integral controller (PID)
 T
Transfer
f function:
f ti
 Bode diagram
KI
GC ( s )  K P   KDs
s
1
 GC ( s )  K P (1   TD s )
TI s
 1 
 GC ( s )  K P 1  1  TD 2 s 
 TI 1s 
 Effects of PID controllers:

 speed up response of
the system
 Eliminate steady-state
error to step input
input.

Comparison of PI, PD and PID controllers
y(t)
Uncompensated

Control systems design
using the root locus method

Procedure for designing lead compensator using the root locus
s  (1 / T )
Lead compensator: GC ( s )  K C (  1)
s  (1 / T )
*
 s
Step 1: Determine the dominant poles 1, 2 from desired
transient response specification:
Overshoot (POT) 
    s1*, 2  n  jn 1   2
Settling
g time ts n
 Step 2: Determine the deficiency angle so that the dominant
poles s1*, 2 lie on the root locus of the compensated system:
n m
 *  180 0   arg( s1*  pi )   arg( s1*  z i )
i 1 i 1
where pi and zi are poles & zeros of G(s) before compensation.

 *  180 0   angle
l from
f t s1*   angle
pi to l from
f zi to s1*
Procedure for designing lead compensator using the root locus
 Step 3: Determine the pole & zero of the lead compensator

*
Draw 2 arbitrarily rays starting from the dominant pole s1
suchh th
thatt th
the angle
l bbetween
t the ttwo rays equall tto *.
th * The
Th
intersection between the two rays and the real axis are the
positions of the pole and the zero of the lead compensator.
compensator
Two methods often used for drawing the rays:
 Bisector method
 Pole elimination method
 Step 4: Calculate the gain KC using the formula:
GC ( s )G ( s ) s s*  1
1

Example of designing a lead compensator using RL
R(s) 50 Y(s)
+ GC(s)
( s  5)
s (s
 Objective: design the compensator GC(s) so that the

response of the compensated system satisfies: POT<20%;
ts< 0,5sec (2% criterion).
 Solution:
 Because the design objective is to improve the transient
response we need to design a lead compensator:
response,
s  (1 / T )
GC ( s )  K C (  1)
s  (1 / T )
Example of designing a lead compensator using RL (cont’)
 Step 1: Determine the dominant poles:

   

POT  exp    0.2   l 0.2  1,6    0,45
 ln
 1 2  1 2
 
Chose   0,707
4 4
t qñ   0,5  n   n  11,4
 n 0,5  
Chose
C ose  n  155
The dominant poles are:
s1*, 2   n  j n 1   2  0,707  15  j15 1  0,707 2
s1*, 2  10,5  j10,5

 S
Step 2 Determine the deficiency
2: f angle:
Method 1:
 *  1800  arg[(10,5  j10,5)  0]  arg[(10,5  j10,5)  (5)]
  10,5   10,5 
 180  arctan
0
  arctan 
   10,5    5,5 
 1800  (135  117,6)
Im s
  *  72,6 0 s*
j10,5
Method 2:
 *  1800  ( 1   2 )
 1800  (1350  117,60 ) 2 1 Re s
O
   72,6
* 0 10 5
10,5 5
5

 Step 3:
3 Determine the pole and the zero
ero of the compensator
(bisector method) Im s
x s* P
j10 5
j10,5
B A C 1 Re s
O
10,5 5
 OPˆ x  *   OPˆ x  * 
i 
sin   sin   
OB  OP  2 2
 28,12  2 2
OC  OP  8,0
 OPˆ x  
*
 OPˆ x  
*
i 
sin   sin   
 2 2  2 2
s8
 GC ( s )  K C
s  28
 Step 4: Determine the gain of the compensator:
GC ( s )G ( s ) s  s*  1
 10,5  j10,5  8 50
 KC . 1
 10,5  j10,5  28 (10,5  j10,5)(10,5  j10,5  5)
10,79  50
 KC 1
20,41  15  11,85
 K C  6,7
 C
Conclusion:
l i Th transfer
The t f function
f ti off the
th lead
l d compensator
t is:
i
s8
GC ( s )  6,7
s  28
Root locus of the system
Root locus of the Root locus of the

uncompensated system compensated system

Transient response of the system
y(t)
uncompensated
t d
compensated
Transient response
p of the system
y

Procedure for designing lag compensator using the root locus
s  (1 / T )
Lag compensator: GC ( s)  KC (   1)
s  (1 / T )
 Step 1: Determine  to meet the steady-state error requirement:
KP KV Ka
 * or  * or  *
KP KV Ka
1
 Step 2: Chose the zero of the lag compensator:  Re( s *
1, 2 )
T
1 1
 Step 3: Calculate the pole of the compensator:  .
T T
 Step y g the condition: GC ( s)G ( s) s  s*  1

p 4: Calculate KC satisfying
1, 2

Example of designing a lag compensator using RL
R(s) 10 Y(s)
+ GC(s)
s( s  3)( s  4)

compensated system satisfies the following performances:
steady state error to ramp input is 0,02 and transient
response of the compensated system is nearly unchanged.
 Solution:
 The compensator to be design is a lag compensator:
s  (1 / T )
GC ( s)  KC (   1)
s  (1 / T )
Example of designing a lag compensator using RL (cont’)
 Step 1: Determine 
The velocity constant of uncompensated system :
10
KV  lim sG ( s)  lim s  0.83
s 0 s 0 s ( s  3)( s  4)
The desired velocity constant:

1 1
KV  * 
*
 50
exl 0,02
KV 0.83
Then:  * 
KV 50
  0,017

 Step 2: Chose the zero of the lag compensator

The pole of the uncompensated system:
10 s1, 2  1  j
1  G (s)  0  1 0  
s ( s  3)( s  4) s3  5
 The dominant poles of the uncompensated system: s1, 2  1  j
1
Chose:  Res1   1 1
 0,1
T T
 St 3:
Step 3 Calculate
C l l t the
th pole l off the
th compensator:
t
1 1 1
  (0,017)(0,1)   0,0017
T T T
s  0,1
 GC ( s)  K C
s  0,0017
 Step 4: Determine the gain of the compensator
GC ( s )G ( s ) s s*  1
s  0,1 10
 KC . 1
s  0,0017 s( s  3)( s  4) s  1 j
( 1  j  0,1) 10
 KC . 1
( 1  j  0,0017) ( 1  j )( 1  j  3)( 1  j  4)
KC  1,0042  1
s  0,1
 GC ( s ) 
s  0,0017

Root locus of the system
Root locus of the Root locus of the

uncompensated system compensated
t d system
t

Transient response of the system
y(t)
uncompensated
compensated
T
Transient
i t response off the
th system
t

Procedure for designing lead lag compensator using the RL
The compensator to be designed

GC ( s)  GC1 ( s)GC 2 ( s)
phase phase
lead l
lag
 Step 1: Design the lead compensator GC1(s) to satisfy the
transient response performances.
 Step 2: Let G1(s)= G (s). GC1(s)

Design
g the lag g compensator
p GC2((s)) in series with G1((s)) to
satisfy the steady-state performances (and not to degrade the
transient response
p obtained after p
phase lead compensating)
p g)

Example of designing a lead lag compensator using RL
R(s) 4 Y(s)
+ GC(s)
s( s  0.5)

compensated system has the dominant poles with  = 0.5,
n =5 (rad/sec) and the velocity constant KV =80.
 Solution
 The compensator to be designed is a lead lag compensator
because the design objective is to improve the transient
response and to reduce the steady-state error.
GC ( s)  GC1 ( s)GC 2 ( s)

Example of designing a lead lag compensator using RL (cont’)
 Step 1: Design the lead compensator GC1(s)

The dominant poles:
s1*, 2  n  jn 1   2  0,5  5  j 5 1  0,52
s1*, 2  2,5  j 4,33
The deficiency angle:

 *  180 0  ( 1   2 )
 180 0  (120 0  1150 )
 *  550

Chose the
Ch th zero off the
th lead
l d compensator t so that
th t it eliminates
li i t
the pole at –0.5 of G(s) (pole elimination method)
1
 0,5
T1
OA  0,5
sin APˆ B sin 550
AB  PA  4.76 0
 4.5
sin PAB sin 60
B A 1
 OA  AB  5
T1
–1/T
1/T1 –1/
1/T1
s  0,5
GC1 ( s )  K C1
s5

Calculate KC1: GC1 ( s )G ( s ) s  s*  1
s  0,5 4
K C1 . 1
s  5 s ( s  0,5) s  2,5  j 4,33
K C1  6,25
s  0,5
 GC1 ( s )  6,25
s5
The lead-compensated open-loop system:

25
G1 ( s )  GC1 ( s )G ( s ) 
s ( s  5)

 Step 2: Design the lag compensator GC2(s)

1
s
T2
GC 2 ( s )  K C 2
1
s
T2
e :
 Determine
ete
25
KV  lim sG1 ( s )  lim s 5
s 0 s  0 s ( s  5)
KV*  80
KV 5 1
  *  
KV 80 16

 Determine the zero of the lag compensator:

1
 Re(
R ( s * )  Re(
R (2,5  j 4,33)  2,5
T2
1
Chose:  0,16
T2
 Calculate the pole of the lag compensator:

1 1 1
 .  .(0,16)
T2 T2 16
1
  0.01
T2

 Calculate
C l l t KC2 using
i the
th gain
i condition:
diti GC 2 ( s )G1 ( s ) s  s*  1
 GC 2 (s) s s G1 (s) s s   1
 *
 *
 2,5  j 4,33  0,16

 KC 2 1
 2,5  j 4,33  0,01
 K C 2  1.01
The transfer function of the lag compensator:

( s  0,16)
GC 2 ( s )  1,01
( s  0,01)
( s  0,5)( s  0,16)
Final result: GC ( s )  GC1 ( s )GC 2 ( s )  6,31
( s  5)( s  0,01)

Control system
s stem design in
frequency domain

Procedure for designing lead compensators in frequency domain
Ts  1
The lead compensator: GC ( s )  KC (  1)
Ts  1
 Step 1: Determine KC to meet the steady-state error requirement:
K C  K P* / K P or K C  KV* / KV or K C  K a* / K a
 Step 2: Let G1(s)=KCG(s). Plot the Bode diagram of G1(s)
 Step 3: Determine the gain crossover frequency of G1(s):
L1 (C )  0 or G1 ( j C )  1
 Step 4: Determine the phase margin of G1(s) (phase margin
of uncompensated system): M  180  1 ( C )
 Step 5: Determine the necessary phase lead angle to be
added to the system:   M *  M  
max
M * is the desired phase margin,   50  200
Procedure for designing lead compensators in frequency domain
1  sin  max
 Step 6: Calculate  :  
1  sin  max
 Step 7: Determine the new gain crossover frequency (of
the compensated open-loop system) using the conditions:
L1 (C )  10 lg  or G1 ( jC )  1 / 
1
 Step 8: Calculate the time constant T: T 
 C 
 Step 9: Check if the compensated system satisfies the gain
margin? If not, repeat the design procedure from step 5.
 Note: It is possible to determine C (step 3), M (step 4) and
’C (step 7) by using Bode diagram instead of using analytic
calculation.
Design lead compensator in frequency domain - Example
R(s) 4 Y(s)
+ GC(s)
( s  2)
s(s
 Objective: Design the compensator GC(s) so that the

compensated system satisfies the performances:
KV*  20; M *  50 0 ; GM *  10dB
 Solution:
 The transfer function of the lead compensator to be designed:
1  Ts
GC ( s )  K C (  1)
1  Ts

Design lead compensator in frequency domain – Example (cont’)
 Step 1: Determine KC
The velocity constant of the uncompensated system:
4
KV  lim sG ( s )  lim s 2
s 0 s 0 s ( s  2)
The desired velocity constant: KV*  20
 KV* 20 
KC   K C  10
KV 2
4
 Step 2: Denote G1 ( s )  K C G ( s )  10.
s ( s  2)
20
 G1 ( s ) 
s (0,5s  1)
Draw the Bode diagram of G1(s)
-20dB/dec
26
-40dB/dec
2 c=6
M
-160

 S
Step 3 The gain crossover frequency
3: f off G1(s)
( )
According to the Bode diagram: C  6 (rad/sec)
 Step 4: The phase margin of G1(s)

According
A di to t the
th Bode
B d diagram:
di
1 (C )  1600
 M  180  1 (C )  200
 St 5:
Step 5 The
Th necessary phase
h l d angle
lead l to
t be
b added:
dd d
 max  M *  M   (chose =7)
  max  500  200  70
  max  37 0

 Step 6: Calculate 
1  sin  max 1  sin 37 0
    4
1  sin  max 1  sin 37 0
 Step
p 7: Determine the new g gain crossover frequency
q y using
g
Bode plot L (  )  10 lg   10 lg 4  6dB
1 C
The abscissa of the intersection between Bode magnitude

diagram and the horizontal line with ordinate of 6dB is the
new ggain crossover frequency.
q y According
g to the p
plot ((in slide
54), we have:
C  9 (rad/sec)
 Step 8: Calculate T
1 1
T   T  0,056  T  0,224
C  (9)( 4 )
-20dB/dec
-40dB/dec
+20dB/dec
-20dB/dec
-6
-40dB/dec
-40dB/dec
1/T=4.5 c=6  ’c=9 1/T=18
M *
M
-160

 Step 9: Check the gain margin of the compensated system

According to the compensated Bode diagram, GM GM* = +,, then
the compensated system fulfills the design requirements.
 C
Conclusion:
l i Th designed
The d i d lead
l d compensator
t is:
i
1  0,224 s
GC ( s )  10
1  0,056s

Design lead compensator in frequency domain – Example 2
R(s) Y(s)
+ GC(s) G(s)
20e-0.01s
G(s) =
s( s + 4)

compensated
t d system
t has:
h FM * ³ 600 ; GM *  10dB
d and
d
steady-state error to unit ramp input ess*  0.05;
 Solution:

Design lead compensator in frequency domain – Example 3
R(s) Y(s)
+ GC(s) G(s)
16e-0.01s
G ( s) =
( s + 2)( s 2 + 10 s + 25)

compensated
t d system
t has:
h M *  50 0 ; GM *  10dB
d and
d
steady-state error to unit step input ess*  0.05;
 Solution:

Procedure for designing lag compensators in frequency domain
Ts
T 1
The lag compensator: GC ( s )  K C (  1)
Ts  1
 Step 1: Determine KC to meet the steady-state error requirement:
K C  K P* / K P or KC  KV* / KV or K C  K a* / K a
 Step 2: Let G1(s)=KCG(s). Plot the Bode diagram of G1(s)
 Step 3: Determine the new gain crossover frequency C
satisfying the following condition:
1 (C )  180 0  M *  
M * is the desired phase margin,   50  20 0
 Step 4: Calculate  using the condition:
1
L1 ( C )  20 lg  or G1 ( j C ) 

Procedure for designing lag compensators in frequency domain
 Step 5 : Chose the zero of the lag compensator so that:

1
  C  T
T
 Step 6: Calculate the time constant T:
1 1 
 T
T T
 Step 7: Check if the compensated system satisfies the gain
margin? If not, repeat the design procedure from step 3.
 Note: It is possible to determine 1 ( C ) , C (step 3), L1 (C )

(step 4) by using Bode diagram instead of using analytic
calculation
calculation.

Design lag compensator in frequency domain – Example
R(s) 1 Y(s)
+ GC(s)
 s( s  1)(0.5s  1)
 Objective: design the lag compensator GC(s) so that that

compensated system satisfies the following performances:
KV*  5; M *  400 ; GM *  10dB
 S l ti
Solution
 The transfer function of the lag compensator to be designed:
1  Ts (  1)
GC ( s )  K C
1  Ts

Design lag compensator in frequency domain – Example (cont’)
 St 1:
Step 1 Determine
D t i KC
The velocity constant of the uncompensated system:
1
KV  lim sG ( s )  lim s 1
s 0 s 0 s( s  1)(0.5s  1)
The desired velocity constant: KV*  5
KV*
 KC  5
KV
 Step 2: Denote G1 ( s )  K C G ( s )
5
 G1 ( s ) 
s ( s  1)(0.5s  1)
D
Draw th
the B
Bode
d di
diagram off G1(s)
( )
-20dB/dec
14 -40dB/dec
-60dB/dec
1 2

 Step 3: Determine the new gain crossover frequency:

1 (C )  180  M  
 0 *
 1 (C )  1800  400  50

 1 ( C )  1350
According to the Bode diagram:  C  0.5 (rad/sec)
 Step 4: Calculate  using the condition:
L1 ( C )  20 lg 
According
g the Bode diagram:
g L1 ( C )  18 ((dB))
 18  20 lg   lg   0,9    10 0,9
   0,126
 St 5:
Step 5 Chose
Ch th zero off the
the th lag
l compensator:
t
1
 C  0.5
T
1
Chose  0.05  T  20
T
 Step
p 6: Calculate the time constant T
1 1
  0,126  0,05  0,0063  T  159
T T
 Step 7: It can be verified in the Bode diagram that the
compensated system satisfies the gain margin requirement.
requirement
(20 s  1)
Conclusion GC ( s )  5
(159 s  1)
-20dB/dec
L1(’c)
14 -40dB/dec GM*
L’(’)
-60dB/dec
0.0067 0.05 ’c=0.5 1’ 2
-135

Design lag compensator in frequency domain – Example 2
R(s) Y(s)
+ GC(s) G(s)
20e-0.2 s
G(s) =
s( s + 4)

compensated
t d system
t has:
h FM * ³ 600 ; GM *  10dB
d and
d
steady-state error to unit ramp input ess*  0.05;
 Solution:

Design lag compensator in frequency domain – Example 3
R(s) Y(s)
+ GC(s) G(s)
16e 0.02 s
G( s) 
( s  2)( s 2  10 s  25)

compensated
t d system
t h M *  50 0 ; GM *  10dB
has: d and
d
steady-state error to unit step input ess*  0.05;
 Solution:

Comparison of phase lead and phase lag compensator
(Dorf and Bishop (2008), Modern control system –p.729)

Design of PID controllers

Zeigler  Nichols method 1
 Determine the PID parameters based on the step response of
the open-loop system.
u(t) y(t)
Plant
y(t)
T1 T2
Zeigler  Nichols method 1 (cont’)
R(s) Y(s)
+ PID Plant
 1 
PID controller: GC ( s )  K P 1   TD s 
 TI s 
C t ll
Controller KP TI TD
P T2/(T1K)  0
PI 0.9T2/(T1K) 0.3T1 0
PID 1 2T2/(T1K)
1.2T 2T1 0 5T1
0.5T

Zeigler  Nichols method 1 – Example
 Problem:
P bl D i a PID
Design y(t)
(t)
controller to control a furnace
providing the open-loop
characteristic of the furnace 150
obtained from a experiment
p
beside. t (min)
K  150
8 24
T1  8 min  480 sec
T2  24 min  1440 sec
T2 1440  1 
K P  1.2  1.2  0.024 GPID ( s )  0.0241   240s 
T1K 480  150  960s 
TI  2T1  2  480  960 sec
TD  0.5T1  0.5  480  240 sec

Zeigler  Nichols method 2
 Determine
D t i the
th PID parameters
t b
basedd on the
th response off the
th
closed-loop system at the stability boundary.
+ KKcr Plant
y(t)
Tcr
t

Zeigler  Nichols method 2 (cont’)
R(s) Y(s)
+ PID Plant
 1 
PID controller: GC ( s )  K P 1   TD s 
 TI s 
C t ll
Controller KP TI TD
P 0.5Kcr  0
PI 0.45Kcr 0.83Tcr 0
PID 0 6Kcr
0.6K 0 5Tcr
0.5T 0 125Tcr
0.125T

Zeigler  Nichols method 2 – Example
 Problem: Design a PID controller to control the angle position
of a DC motor, providing that by experiment the critical gain of
the system is 20 and the critical cycle is T= 1 sec.
sec
 Solution:
 According to the given data:
K cr  20
Tcr  1 sec
 Applying Zeigler – Nichols method 2:
K P  0.6 K cr  0.6  20  12
 1 
GPID ( s )  121   0.5s 
TI  0.5Tcr  0.5  1  0.5 sec  0.125s 
TD  0.125Tcr  0.125  1  0.125 sec

Analytical method for designing PID controller
 Step 1: Establish equation(s) representing the relationship

between the controller to be designed and the desired
performances.
f
 Step 2:
St 2 Solve
S l ththe equation(s)
ti ( ) obtained
bt i d iin step
t 1 ffor th
the
parameter(s) of the controller.

Analytical method for designing PID controller
 Example:
E l Design
D i PID controller
t ll so th
thatt th
the control
t l system
t
satisfies the following requirements:
 Closed-loop
Closed loop comple ith =0.5
complex poles with 0 5 and n=8. 8
 Velocity constant KV = 100.
R(s) 100 Y(s)
+ GPID(s)
s 2  10s  100
 Solution: The transfer function of the PID controller to be

designed
KI
GC ( s )  K P   KDs
s

Analytical method for designing PID controller (cont’)
 Velocity constant of the controlled system:

 KI  100 
KV  lim sGC ( s )G ( s )  lim s K P   K D s  2 
s 0 s 0  s  s  10 s  100 
 KV  K I
According to the design requirement: KV = 100
 K I  100
 The characteristic equation of the controlled system:

 KI  100 
1  KP   K D s  2 0
 s  s  10 s  100 
 s 3  (10  100 K D ) s 2  (100  100 K P ) s  100 K I  0 (1)

Analytical method for designing PID controller (cont’)
 The desired characteristic equation:

( s  a )( s 2  2 n s   n2 )  0
 ( s  a )( s 2  8s  64)  0
 s 3  (a  8) s 2  (8a  64) s  64a  0 (2)
 Balancing
g the coefficients of the equations
q ((1)) and ((2),
), we have:
10  100 K D  a  8 a  156.25

 
100  100 K P  8a  64   K P  12,14
100 K  64a  K  1,54
 I  D
100
Conclusion: GC ( s )  12,64   1,54 s
s
Manual tuning of PID controllers
 Effect of increasing a parameter of PID controller independently

on closed-loop pp
performance:
Steady-
Para- Settling
g
Ri time
Rise ti POT state
t t St bilit
Stability
meter time
error
Small
KP Decrease Increase Decrease Degrade
change
KI Decrease Increase Increase Eliminate Degrade
g
Minor Improve if
KD Decrease Decrease No effect
change KD small

Manual tuning of PID controllers (cont.)
A procedure for manual tuning of PID controllers:
1. Set KI and KD to 0,, g
gradually
y increase KP to the critical
gain Kcr (i.e. the gain makes the closed-loop system
oscilate)
2. Set KP Kcr /2
3. Gradually increase KI until the steady-state error is
eliminated in a sufficient time for the process (Note that
too much KI will cause instability).
4 Increase KD if needed to reduce POT and settling time
4.
(Note that too much KD will cause excessive response
and
d overshoot)
h t)
C t l systems
Control t d
design
i ini state-
state
t t -space
using pole placement method

Controllability
 x (t )  Ax
A (t )  Bu (t )
 Consider a system: 
 y (t )  Cx(t )
 The system is complete state controllable if there exists an
unconstrained control law u(t) that can drive the system from
an initial state x(t0) to a arbitrarily final state x(tf) in a finite
time interval t0  t tf . Qualitatively, the system is state
controllable if each state variable can be influenced by the
input.
y(t)
Signal flow graph of an incomplete state controllable system

Controllability condition
 System:
 x (t )  Ax(t )  Bu (t )

 y (t )  Cx (t )
 Controllability matrix
C  [ B AB A2 B  An1 B]
 The necessary and sufficient condition for the controllability is:

rank ( C )  n
 Note: we use the term “controllable” instead of “complete

p
state controllable” for short.

Controllability – Example
 x (t )  Ax
A (t )  Bu (t )
 Consider a system 
 y (t )  Cx(t )
where:  0 1 5 
A  B  C  1 3
 2  3  2
Evaluate the controllability of the system.
 Solution: Controllability matrix:

5 2 
C  B AB   C  
 2  16 
 Because:
det( C )  84  rank ( C )  2
 The system is controllable

State feedback control
r(t)
(t) u(t)
(t) x(t)
(t) y(t)
(t)
+
 x (t )  Ax (t )  Bu (t ) C
 Consider a system described by the state equations:

 x (t )  Ax(t )  Bu (t )

 y (t )  Cx(t )
 The state feedback controller: u (t )  r (t )  Kx (t )
 The state equations of the closed-loop
closed loop system:
 x (t )  [ A  BK ] x(t )  Br (t )

 y(t )  Cx(t )
Pole placement method
Iff the system is controllable, then it is possible to determine
the feedback gain K so that the closed-loop system has the
poles at any location.
location
 Step 1: Write the characteristic equation of the closed-loop
system
det[ sI  A  BK ]  0 (1)
 S
Step 2: Write the desired characteristic equation:
n
 ( s  pi )  0 ((2))
i 1
pi , (i  1, n) are the desired poles
 Step 3: Balance the coefficients of the equations (1) and (2),
we can find
fi d the
h state feedback
f db k gain i K.
K
Pole placement method – Example
 Problem: Given a system described by the state-state
equation:
 x (t )  Ax(t )  Bu (t )

 y (t )  Cx(t )
0 1 0 0 

A 0 0 1  B   3  C  0 0 1
   
 4  7  3 1
 Determine the state feedback controller u (t )  r (t )  Kx(t )
so that
th t the
th closed-loop
l dl system
t h complex
has l poles l with ith
  0,6;n  10 and the third pole at 20.

Pole placement method – Example (cont’)
 Solution
 The characteristic equation of the closed-loop system:
det[ sI  A  BK ]  0
 1 0 0  0 1 0  0  
  
 det s 0 1 0   0 0 1   3k1 k2 k3   0
     
 0 0 1  4  7  3 1 
       
 s 3  (3  3k 2  k3 ) s 2  (7  3k1  10k 2  21k3 ) s  (4  10k1  12k3 )  0 (1)

( s  20)( s 2  2 n s   n2 )  0
 s 3  32 s 2  340 s  2000  0 (2)

Pole placement method – Example (cont’)
 Balance the coefficients of the equations (1) and (2), we have:

3  3k 2  k3  32

7  3k1  10k 2  21k3  340
4  10k  12k  2000
 1 2
 Solve the above set of equations,

equations we have:
k1  220,578

k 2  3,839
k  17,482
 3
 Conclusion: K  220,578 3,839 17,482 

Design of state estimators

The concept of state estimation
 To be able to implement state feedback control system, it is
required to measure all the states of the system.
 However, in some applications, we can only measure the
output, but cannot measure the states of the system.
 The problem is to estimate the states of the system from the
output measurement.
 State estimator (or state observer)

Observability
 x (t )  Ax
A (t )  Bu (t )
 Consider a system: 
 y (t )  Cx(t )
 Th system
The t is
i complete
l t state t t observable
b bl if given
i th
the control
t l
law u(t) and the output signal y(t) in a finite time interval
t0  t tf , it is possible to determine the initial states x(t0). )
Qualitatively, the system is state observable if all state variable
x(t)
( ) influences the output y( y(t).
)
y(t)
Signal flow graph of an incomplete state observable system

Observability condition
 System  x (t )  Ax
A (t )  Bu (t )

 y (t )  Cx(t )
It is necessary to estimate the state xˆ (t ) from mathematical
model of the system and the input-output data.
 Observability matrix:  C 
 CA 
 
O   CA2 
 
  
CAn 1 
 The necessary and sufficient condition for the observability is:

rankk (O )  n
Observability – Example
 x (t )  Ax
A (t )  Bu (t )
 Consider the system 
 y (t )  Cx(t )
0 1 1 
where: A  B  C  1 3
 2  3  2
Evaluate the observability of the system.
 Solution: Observability matrix:
C  1 3
O    O  
CA   6  8 
 Because det(O )  10  rank (O )  2
 The system is observable

State estimator
r(t)
(t) u(t)
() x(t)
(t) y(t)
(t)
x (t )  Ax (t )  Bu (t )
 C
+
L 
xˆ (t
(t )
B ++
+  C
yˆ (t )
 xˆ (t )  Axˆ (t )  Bu (t )  L( y (t )  yˆ (t ))
 State estimator: 
 yˆ (t )  Cxˆ (t )
L  [l1 l2  ln ]
T
where:
Design of state estimators
 Requirements:
 The state estimator must be stable, estimation error
should approach to zero.
 Dynamic response of the state estimator should be fast
enough in comparison with the dynamic response of the
control loop.
 It is required to chose L satisfying:
 All the roots of the equation det( sI  A  LC )  0 locates
in the half-left s-plane.
 The roots of the equation d t( sII  A  LC )  0 are further
eq ation det( f rther
from the imaginary axis than the roots of the equation
det( sI  A  BK )  0
 Depending on the design of L, we have different state estimator:
 Luenberger
ue be ge state obse
observere
 Kalman filter
Procedure for designing the Luenberger state observer
 Step 1: Write the characteristic equation of the state observer

det[[ sI  A  LC ]  0 (1)
 Step 1: Write the desired characteristic equation:
n
 ( s  pi )  0
(2)
i 1
pi , (i  1, n) are the desired poles of the state estimator
 Step 3: Balance the coefficients of the characteristic
equations (1) and (2), we can find the gain L.

Design of state estimators – Example
 Problem: Given a system described by the state equation:
 x (t )  Ax(t )  Bu(t )

 y (t )  Cx(t )
0 1 0 0 

A 0 0 1  B  3 C  1 0 0
   
 4  7  3 1
 Assuming that the states of the system cannot be directly
measured. Design the Luenberger state estimator so that the
poles of the state estimator lying at 20, 20 and 50.

Design of state estimators – Example (cont’)
 S
Solution
 The characteristic equation of the Luenberger state estimator:
det[ sI  A  LC ]  0
 1 0 0  0 1 0   l1  
       
 det s 0 1 0   0 0 1   l2 1 0 0  0
 0 0 1  4  7  3 l  
      3 
 s 3  (l1  3) s 2  (3l1  l2  7) s  (7l1  5l2  l3  4)  0 ((1))

( s  20) 2 ( s  50)  0
 s 3  90s 2  2400s  20000  0 (2)

Design of state estimators – Example (cont’)
 Balancing the coefficients of the equ. (1) and (2) leads to:
l1  3  90

3l1  l2  7  2400
7l  3l  l  4  20000
 1 2 3
 Solve the above set of equations, we have:

l1  87

l2  2132
l  12991
3
L  87 2132 12991

T
 Conclusion

End of Chapter 5

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Lecture Notes

Fundamentals of Control Systems

Course coordinator: Assoc. Prof. Dr. Huynh Thai Hoang

Instructor: Lecturers of Department of Automatic Control

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 Design is a process of adding/configuring hardware as well as

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 Controllers: phase lead, phase lag, lead-lag compensator, P,

 Design method: root locus, frequency response

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r(t) u(t) x(t) y(t)

 State feedback controller: u (t )  r (t )  Kx (t )

 Design method: pole placement, LQR,…

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 Transfer function:  Bode diagram

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 Effects of PID controllers:

12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 23

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where pi and zi are poles & zeros of G(s) before compensation.

 Step 3: Determine the pole & zero of the lead compensator

 Step 4: Calculate the gain KC using the formula:

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 Objective: design the compensator GC(s) so that the

 Step 1: Determine the dominant poles:

s1*, 2  10,5  j10,5

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 Step 4: Determine the gain of the compensator:

Root locus of the Root locus of the

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 Step y g the condition: GC ( s)G ( s) s  s*  1

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 Objective: design the compensator GC(s) so that the

The desired velocity constant:

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 Step 2: Chose the zero of the lag compensator

 Step 4: Determine the gain of the compensator

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Root locus of the Root locus of the

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The compensator to be designed

 Step 2: Let G1(s)= G (s). GC1(s)

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 Objective: design the compensator GC(s) so that the

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 Step 1: Design the lead compensator GC1(s)

s1*, 2  2,5  j 4,33