Malang, Ray Mike-An C. Reyes, Abigail O.

On-Off, P, PI and PID Controller Simulation using Simulink On-Off Controller

Step Response:

The response of the system is a sinusoid that de ays and settles at a onstant !alue of " at a ertain time. #rror: The response of the error is a ur!e that de reases in amplitude from a !alue of " and damps until it settles at a onstant !alue of $ero Control Output: The response is a s%uare &a!e that in reases its fre%uen y as time approa hes infinity. #'plain for the os illatory beha!ior of the step-response. The os illatory beha!ior of the step response is abrupt &ith respe t to fre%uen y, the same &ay as ho& the signal &as fed. (hat are the fi'ed states of the on-off ontrol) The fi'ed states of the on-off ontrol are simply " and -".

Proportional Controller

Step Response:

The response is a ur!e that in reases, o!ershoots slightly at *.+ and then settles at a onstant !alue of *.+ #rror: The response is a ur!e that starts from *.,+, de reases and settles at *.",+ Control Output: The plot is similar to error response but starts at " and settles at *.+.

kp-input./kp /0 a-1kp2*.,+3 b-1" " *.,+3 sys-tf.a,b0 sys"-feedba k.sys,",-"0 step.sys"0 4p " ,.+ + "* +* "** 7** 5er ent O!ershoot 5er ent 6 O!er 7.8, "8.9 ,7.+ 89 ;7." 98 :+.8 Steady-State #rror *.+ *.,:; *.";9 *.*<" *.*, *.*" *

As 4p in reases, the per ent o!ershoot in reases.

Steady State #rror

The steady state error de reases &ith time and &hen the 4 p in reases. Which Value of Kp provides the Best response? Explain. The system=s best response is &hen 4p is around the median be ause the steady state error is at mean as &ell as the error to a %uire stability of the system. Sometimes, it depends on the system=s re%uirements.
Step Response 0.7 1.4 1.8 1.6 0.6 1.2 1.4 0.5 1 1.2 0.8 0.4 1 0.8 0.3 0.6 0.6 0.2 0.4 0.4 0.2 0.1 0.2 0 0.9 1.4 0.8 1.2 System: sys1 Final Value: 0.5 System: sys1 System: sys1 Peak amplitude: 0.522 Final Value: 0.833 System: sys1 Overshoot (%): 4.32 Final Value: 0.98 At time (sec): 6.29 0.7 1 0.6 0.8 0.5 0.4 0.6 0.3 0.4 0.2 0.2 0.1 0 0 0 0 Step StepResponse Response

Amplitude

6 Time (sec)

10

12

Amplitude Amplitude

System: sys1 Peak amplitude: 1.61 Overshoot (%): 64.1 At time (sec): 0.897 System: sys1 Peak amplitude: 1.04 Overshoot (%): 24.5 At time (sec): 2.76

System: sys1 System: sys1 Peak amplitude: 0.812 Peak amplitude: 1.25 Overshoot (%): 13.7 Overshoot (%): 37 time (sec): 3.98 At time (sec): At 1.99

System: System: sys1 sys1 Final FinalValue: Value:0.714 0.909

2 2

4 4

6 6 Time Time(sec) (sec)

8 8

10 10

12 12

Step Response 2 1.8 1.6 1.4 1.2 Amplitude 1 0.8 0.6 0.4 0.2 0 System: sys1 Final Value: 0.998

System: sys1 Peak amplitude: 1.85 Overshoot (%): 85.3 At time (sec): 0.32

6 Time (sec)

10

12

Step Response 1.8 1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 System: sys1 Peak amplitude: 1.71 Overshoot (%): 73 At time (sec): 0.638

System: sys1 Final Value: 0.99

Amplitude

6 Time (sec)

10

12

Proportional-Integral Controller

Step Response:

The response is a sinusoidal &a!eform that de reases its amplitude as time in reases and settles at a onstant !alue of ".
#rror:

The response starts at $ero, abruptly rises to one, and os illates. >t de reases in amplitude as time in reases and settles at $ero.
Control Output:

The response is proportional to the integral of the error.

ki-input./ki)/0 a-1ki3? b-1" *3? sys-tf.a,b0 sys"-parallel.,.+,sys0 a"-1"3? b"-1" " *.,+3? sys,-tf.a",b"0 sys8-series.sys",sys,0 sys7-feedba k.sys8,",-"0 step.sys70 Ki *." *.,+ *.+ *.9+ " ".7 , ,.9 +
Step Response 1.4 1.5

Percent Overshoot ,9.: 8,.7 7* 79.8 +7 ;7." 99.9 <"., @a@

2% Settling ime 89.; ",.< :.<" "*.; ",.; ";.; 88.9 +9, @one
Step Response

1.2

System: sys4 Peak amplitude: 1.28 Overshoot (%): 27.8 At time (sec): 1.98

System: sys4 Settling Time (sec): 37.6 1

System: sys4 Peak amplitude: 1.4 Overshoot (%): 40 At time (sec): 1.99

System: sys4 Settling Time (sec): 8.91

Amplitude

0.8 Amplitude Step Response 1.5 1.6 0.5 0.4 System: sys4 System: sys4 Peak amplitude: 1.47 Peak amplitude: 1.54 Overshoot (%): 47.3 Overshoot (%): 54 At time (sec): 2.02 At time (sec): 2.03

0.6

1.4

1.2 0.2 1 1 0 0 Amplitude 0 10 20 30 40 50 60 70 80 90 0 5 0.8

System: sys4 Settling Time (sec): 10.6 System: sys4 Settling Time (sec): 12.6

10 Time (sec)

15

Time (sec)

0.6 0.5 0.4

0.2

22

68

10 8 Time (sec)

1210

14 12 16

1418

16 20

Step Response 1.8 1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 1.8 1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 System: sys4 Peak amplitude: 1.78 Overshoot (%): 77.7 At time (sec): 1.99

Step Response

System: sys4 Peak amplitude: 1.64 Overshoot (%): 64.1 At time (sec): 2.02 System: sys4 Settling Time (sec): 16.6 Amplitude

System: sys4 Settling Time (sec): 33.7

Amplitude

10

15 Time (sec)

20

25

30

10

15

20 2 8 1.8 6 1.6 4 1.4 2 Amplitude Amplitude 1.2 0 1 -2 0.8 -4 0.6 -6 0.4 -8 0.2 0 0

25 Time (sec)

30

35

40

45 50 Step Response

System: sys4 Peak amplitude: 1.91 Overshoot (%): 91.2 At time (sec): 1.98

System: sys4 Settling Time (sec): 572

System: sys4 Peak amplitude < -6.45 Overshoot (%): NaN At time (sec) > 10 System: sys4 Settling Time: None 8 9 10

5er ent O!ershoot:

5 Time (sec)

The per ent o!ershoot in reases &ith in reasing integral gain.

,6 Settling Time:

100

200

300

400

500

600

700

800

900

Time (sec)

The settling time de reases &hen 4 is less than one &hile it in reases &hen 4 is greater than one.
(hi h !alue of 4i pro!ides the best response) #'plain.

The Aalue of 4 that pro!ides the best response is *.9+ sin e it has a short settling time and mean error in the table. Proportional-Integral-Derivative Controller

Step Response:

The step response of the system is in reasing infinitely.

#rror:

The error of the system is de reasing e'ponentially until it settles at a onstant !alue of $ero.
Control Output:

The plot is a linear onstant at $ero e' ept at t-* &here the amplitude is !ery high.

4d- *."

4d-*.,+

4d-*.+

4d-*.9+

4d-"

4d-+

4d-"**

4d-+**

Kd ".# ".2& ".& ".)& # & #"" &""

Percent Overshoot $%.&2% $" 2( #'.& #( 2.%' +an +an

2% Settling i!e '.'& %.'& &.2& $.)) (.(' *.# +an +an

(hi h !alue of 4d pro!ides the best response) #'plain. The !alue of 4d that pro!ides the best response is at *.9+ sin e it has the lo&est settling time gi!ing the smallest steady-state error for the system. (hi h of the abo!e ontrollers gi!e the best response to a ertain system) #'plain.

Based on the graphs, the ontroller that gi!es the best response is the proportional ontroller be ause its a tual response is almost similar to the desired response &hi h is the input, the step response.

Seat!ork"

Cesign a 5>C ontroller su h that the response gi!en a unit step input has an o!ershoot of "*6 and a settling time bet&een 8 se onds to 8.+ se onds. Sho& the Step response

Kp # $

Ki # %

Kd # %&'

DISC(SSIO)
#'periment 9 is entitled On-Off, 5, 5>, and 5>C Controller Simulations Dsing Simulink. Simulink appli ation of the MATEAB is a tool for modelling, simulating and analy$ing multidomain dynami systems. >ts primary interfa e is a graphi al blo k diagramming tool and a ustomi$able set of blo k libraries. >n this e'periment, Simulink ser!es as an essential tool for simulating the four basi modes of ontrol: the on-off ontroller, proportional ontrol, integral ontrol and deri!ati!e ontrol. >n simulating the on-off ontroller, the system &as monitored in three different points at the output of the step response, error point, and the ontrol output. The system uses the sign blo k that ser!e as the input to the gi!en transfer fun tion together &ith the step response. The step response of the system is a sinusoidal &a!e that de ays &ith time until it settles at a onstant !alue of ". The error of the system is a plot that de ays from a !alue of " and ripples until it settles at a onstant !alue of $ero. Eastly, the ontrol output is a s%uare &a!e, &hi h represents the on and off ondition of the system, and its fre%uen y in reases as time as time approa hes infinity. >n proportional ontrol, the sign blo k &as repla ed by a gain blo k. >t &as still monitored in three different points: at the step response, at the error, and at the ontrol output. As a result, the ontrol output is !ery similar to the error, only that the amplitude of the error is higher and it settles at *.+, &hile the ontrol settles bet&een *."+ and *.". The step response of the system starts at $ero and rea hes its steady state at *.+. ontinuously in reases until it

>n proportional F integral ontroller, the ontroller &as a ombination of a gain blo k and s transfer fun tion e%ual to 4iGs. As a result, the integral of the error and ontrol output of the system are proportional. The error starts at $ero, abruptly rises to one, and os illates, and settles to $ero. >t is a sinusoid that e!entually settles to " as time approa hes infinity. >n 5roportional F >ntegral F deri!ati!e ontroller the ontroller &as a ombination of proportional integral ontroller and deri!ati!e ontroller.

CO)C*(SIO)
Simulink is a tool for modelling, simulating and analy$ing multidomain dynami systems. >ts primary interfa e is a graphi al blo k diagramming tool and a ustomi$able set of blo k libraries. >t offers tight integration &ith the rest of the MATEAB en!ironment. Heedba k ontrol system has different four basi modes of ontrol: on-off ontrol, proportional ontrol, proportional plus integral ontrol, and proportional plus integral plus deri!ati!e ontrol. The On F Off ontrol is onsidered as the simplest form of ontrol be ause of its t&o states. The response of the system has a minimal os illatory beha!iour be ause of the minimal errors that system e%ui!alent a tion is at ma'imum. 5roportional ontrol feed the error to the transfer fun tion of the system. Be ause of this method of dire t feeding, it produ es a ontrol a tion proportional to the error. The ontrol of a proportional ontroller is based on the gain of the transfer fun tion. As the gain in reases the o!ershoot of the step response in reases &hile the steady state error de eases. 5roportional plus integral ontrol feed the integral of error to the transfer fun tion of the system. Steady state error an be impro!ed by pla ing an open-loop pole at the origin, be ause it in reases the system type by one. 5roportional plus integral plus deri!ati!e ontrol is a ontroller that onsists of ideal deri!ati!e ontroller and a proportional plus integral ontroller. This type of ontroller impro!es the system by putting t&o $eros plus a pole at the origin.