Unit 5

Time-domain Design of Control System

Identify various control modes to achieve
the desired level of performance.

Proportional mode (P)

Derivative mode (D)
Integral mode (I)
Combination of modes (PD, PI and PID)
Integral Control, GC(s)=Ki/s

To eliminate steady state error completely (if the
system does not contain a factor of 1/s) integral
control action may be incorporated into the
controller (P+I control).

The controller transfer function is then of the
form:

or

Signal proportional Signal proportional

to the error to the integral of the error
Example 21

Find the steady state error of a unity feedback system

with a forward path transfer function of
when subjected to a unit step input.
From Final Value Theory:
Effect of (P+I) control on
transient and steady state response

Example 22: Examine the effects of (P+I) control on

the performance of the system below:

+
-
Effect of (P+I) control on transient
and steady state response
Method: *similar to previous*
Ki=0.5 Ki=2.0
Kp e(t)
S1 S2,3 S1 S2,3
0.5 -0.937 -0.13 0.19i -1.09 -0.054 0.42i 0.00
1 -0.873 -0.16 0.30i -1.15 -0.023 0.59i 0.00
2 -0.756 -0.22 0.46i -1.24 0.019 0.80i 0.00
4 -0.624 -0.29 0.75i -1.34 0.071 1.09i 0.00
6 -0.577 -0.31 0.97i -1.41 0.106 1.30i 0.00
8 -0.555 -0.32 1.16i -1.46 0.132 1.47i 0.00
10 -0.543 -0.33 1.32i -1.50 0.153 1.62i 0.00
Effect of (P+I) control on transient
and steady state response

PI Simulator
Effect of (P+I) control on transient
and steady state response
*For Ki = 2.0 and values of Kp above 1, the system is
actually unstable*

When Ki is set to very small value the response is
almost the same as with no integral control

But over a period of time the error is integrated causing
the output to rise slowly

In this case the proportional part reduces the steady
state error quickly but not completely and then the
remaining error is eliminated slowly by the integrator

If we increase Ki without reducing Kp, the steady state
error is reduced more rapidly but the system becomes
more oscillatory and may become unstable.

By adjusting Ki and Kp we can reduce the settle time
without forcing the system to become too oscillatory.
Effect of (P+I) control on transient
and steady state response

Summary:

In general increasing Ki steady state error is
reduced more rapidly.

Increasing Ki by too much may make the
system oscillatory and even unstable.
The 3 terms Controller (PID)

The benefits of integral and differential action are
complementary and are often brought together in a single
controller known as PID controller.

The general controller transfer function is:

or

The problem control engineer is to select appropriate

values of the three variables to achieve a given set of
performance criteria.

This is often done with the aid of simulation packages
such as Matlab.
PID control of the step response
of a mechanical system
Explain how such control can be realized
with controller settings determined.

CONTROLLER DESIGN: Setting the

controller variables

There may well be optimum choice of Kp, Ki and Kd.

This will be dictated by the relative importance of the
various aspect of the performance.

E.g. in some applications the settle time may be the
most importance aspect while for other applications zero
overshoot may be essential.
Example 23

For the closed-loop system below, determine the

proportionality constant, Kp to yield 9.5% overshoot
in the transient response.

+
-
Example 23

Comparing the T.F. with

standard from:

From the requirement, %OS = 9.5%

T h e e n d