PNPT L: T"L@: KTLR, Ay Ij / 'ND'

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*** Note that this example
is also done with the
graphics at the end of
this file.
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Example 2 (PID, Nise): Given the system below,

design a PID controller so that the system operates
with 2/3 of the uncompensated peak time at 20%
overshoot and zero steady-state error:
R( s)
K1
K2
K3s
s
K s 8
s 3 s 6 s 10
C (s)
Step 1: Evaluate performance of uncompensated

system
t
operating
ti att 20% overshoot
h t ( = 0.456).
0 456)
Obtain the root-locus plot and draw the 20%
overshoot line to determine the closed-loop dominant
poles:
MAAE 4500: Feedback Control
Step 2: Design a PD
compensator to meet
the transient response
specs (determine the
zero location and the
PD controller gain).
The real and imaginary
parts of the dominant
pole must be:
tp
0.297
d 10.569

2 3 0.297
tan 117.129
15.867
8.13
2
s 8
s 3 s 6 s 10 s 8.13 j15.867
198.371
Next, design the PD

compensator. The
contribution from the
compensator zero must
be:
180 (198.371 ) 360 18.371
From the Figure:

15.867
tan 18.371
zc 8.13
zc 55.909
G1 ( s ) K s 55.909
G1 ( s )G ( s )
K s 55.909 s 8
s 3 s 6 s 10
Draw the root-locus of

the PD-compensated
system to determine the
gain and the static
di l
displacement
t error ((and
d
the steady-state error):
K p G1 (0)G (0)
5.339 8 55.909
13.267
3 6 10
1
1
ess
0.070
0 070
1 K p 1 13.267
G2 ( s )G1 ( s )G ( s )
K s 55.909 s 0.5 s 8
s s 3 s 6 s 10
Step 3: Design a PI
compensator to meet
the steady-state error
(determine the zero
location arbitrarilyy near
the origin [e.g. 0.5]
and place the pole at
the origin):
G2 ( s )
s zc s 0.5
s
s
Re-draw
R
d
th
the roott llocus
to determine the final
gain and the static
displacement error (and
the steady-state error)
K p lim G2 (0)G1 (0)G (0)

s 0
ess 0 (type 1)
Step 4 Check the specs:

uncompensated
PD
PID
5.415 j10.569
8.13 j15.867
7.519 j14.676
121 510
121.510
5 339
5.339
4 604
4.604
Damping ratio,
0.456
0.456
0.456
Natural freq., n
11.875
17.829
16.49
0.2
0.2
0.2
0.267
0.198
(=2/3* 0.267)
0.214
(~4/5 * 0.267)
Static displ. error, Kp
5.4
13.267
Steady-state error, ess
0.156
0.070
Dominant poles
Gain K
Gain,
Max. overshoot, Mp
Peak time, tp
If not satisfactory redesign the PI controller

Unit step response
PID compensated
uncompensated
Compensation yields the original system

faster and with no steady-state error; the
peak time is still a little large for the specs
(overshoot not altered).
Step 5 Determine the PID controller gains:

R(s)
K1
G2 ( s )G1 ( s )
K s 8
K2
K3s
s
s 3 s 6 s 10
4.604 s 55.909 s 0.5

s
4.604 s 2 56.409 s 27.954

s
C (s)
K1 259.7
K 2 128.7
K 3 4.604
(One pole at the origin, one zero at 0.5 and one zero at
55.909)
Summary of Controllers and Their Usage
10

PNPT L: T"L@: KTLR, Ay Ij / 'ND'

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o

PID eontuohrE aa." u bo

con/n//er. TAr ptO *.'// be_ fuAd

rbva- tornr icufs, qld

( ^ zero pltr a .a/e o{

,ft @: EprWttrPT cu:vlalw+'

-ft '*4- 't'fi erQrry('

n7 @. F^t a// ru,pga'rhc kyt kd,kr Q'

).^ ' a.'

t* 't'f ^fJ '

+lN cLa;'e4 ? tD is " J;tl

pla"t is q' tlfn-o

- fi'rsl olrul +{,1 r>a/ /o uil "ol Arad

obv,&,E sr,L ort- &o^,;orl'

ond ollu poles Qru. 0n

oJd ___ ai '. tr

+ -Q= 1"b.?11\ = l'tltt

5,,.,= -8 .t3I t f '&'7 art *f

+ we n*rl to ods 4=+ lg3;

was simr /ut +n L"/

Gro U) = .ft rt. 1L

'for +t'n- nfa)

for PAis !=5'3'l

)L cL1-ulL +'h s+uF rzaTonat

sv*Attry?. f fi' 4i''*,

o Th! + zbrn ,/, //

*ors io"*s ->

Qss t" &'ro '

+l'af Pr> v"oLLt

sanepok-l do.J n'f

fi- +L' Yvat

flo,all be nLV" 6r"'f nn''rel

1' L ' P'A

' ^l'''il b* ?na'v "Ifu&J

Example 2 (PID, Nise): Given the system below,

Step 1: Evaluate performance of uncompensated

Next, design the PD

From the Figure:

MAAE 4500: Feedback Control

Draw the root-locus of

MAAE 4500: Feedback Control

K p lim G2 (0)G1 (0)G (0)

Step 4 Check the specs:

Static displ. error, Kp

Steady-state error, ess

If not satisfactory redesign the PI controller

Unit step response

Compensation yields the original system

MAAE 4500: Feedback Control

Step 5 Determine the PID controller gains:

4.604 s 55.909 s 0.5

4.604 s 2 56.409 s 27.954

Summary of Controllers and Their Usage

MAAE 4500: Feedback Control

MAAE 4500: Feedback Control

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