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ITae Optimal Design

The document discusses designing a PID compensator to produce an ITAE optimal closed-loop step response for an aircraft attitude control system. A pre-filter may be required to obtain the optimal form. The solution involves: 1) Choosing design parameters to meet a settling time specification 2) Designing the PID compensator to match the optimal characteristic equation 3) Adding a pre-filter to "cancel" non-optimal terms and produce an ITAE optimal closed-loop transfer function 4) Verifying the closed-loop response is improved with the pre-filter, with settling time slightly above the specification.

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245 views

ITae Optimal Design

The document discusses designing a PID compensator to produce an ITAE optimal closed-loop step response for an aircraft attitude control system. A pre-filter may be required to obtain the optimal form. The solution involves: 1) Choosing design parameters to meet a settling time specification 2) Designing the PID compensator to match the optimal characteristic equation 3) Adding a pre-filter to "cancel" non-optimal terms and produce an ITAE optimal closed-loop transfer function 4) Verifying the closed-loop response is improved with the pre-filter, with settling time slightly above the specification.

Uploaded by

Amira Hosny
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ME 4710 Motion and Control

Compensator Design for ITAE Optimal Response with Pre-filters


(Reference: Dorf & Bishop, Modern Control Systems, Prentice-Hall, 2001)

o The forms of ITAE optimal transfer functions for step and ramp inputs are given in
Tables 5.6 and 5.7 of Dorf & Bishop's Modern Control Systems.
o To guarantee ITAE optimal behavior, we can design the system's compensator to force
the closed-loop transfer function to be of ITAE optimal form.
o The use of pre-filters may be required to obtain optimal form.
Design Strategy
1. Step Input: Assume = 0.7 ; Ramp Input: Assume = 1.6
2. Then select n to satisfy the settling time specification.
3. Find the compensator parameters to give a characteristic equation of the form given
in Table 5.6 (step input) or Table 5.7 (ramp input).
4. Design a pre-filter to cancel the unwanted terms in the numerator of the closedloop transfer function.

Example
o Design a PID compensator that will produce ITAE optimal, closed-loop step response
with a settling time Ts = 0.005 (sec) for the aircraft attitude control system shown in the
block diagram. Use a pre-filter as necessary.

d (s)

G pf ( s )

Gc ( s )

4500
s ( s + 361.2)

(s)

Solution
1. Find n by setting Ts = 4 n = 0.005 (sec) . Assuming = 0.7 (for a step input),
we find n = 1143 (rad/sec) .
K ( s 2 + as + b)
, the closed loop
s
transfer function (without the pre-filter) is found to be

2. Assuming a PID controller of the form Gc ( s ) =

4500 K ( s 2 + as + b)
T (s) = 2
s ( s + 361.2) + 4500 K ( s 2 + as + b)
With PID control and no pre-filter, this system is type-2, so it can be optimized for
ramp input. However, we are interested in optimizing the step response.
1

3. We now equate our characteristic equation with that provided by Table 5.6 with
n = 1143 .
s 3 + (361.2 + 4500 K ) s 2 + (4500aK ) s + (4500bK )
= s 3 + 1.75 n s 2 + 2.15 n2 s + n3
Equating the polynomial coefficients and solving for K , a , and b gives
or

K = 0.36423

a = 1713.73

b = 9.110673 105

K p = 624.2

K I = 331,838

K D = 0.36423

4. Pre-filter: To provide ITAE optimal response, we choose the pre-filter

(1143)3
G pf ( s ) =
1639( s 2 + as + b)
So, the final transfer function has ITAE optimal form

d ( s)
(1143)3
1639( s 2 + as + b)
=
( s) 1639( s 2 + as + b) s 3 + 2000s 2 + (2.8089 106 ) s + (1143)3
=

(1143)3
s 3 + 2000 s 2 + (2.8089 106 ) s + (1143)3

5. Closed-loop step response with and without pre-filter: From the plots below, it is
clear the closed loop system without a pre-filter has large overshoot due to the
zeros in the PID compensator. This problem is removed by including a pre-filter.
Both systems have settling times slightly larger than 0.005 (sec). Further iterations
on the choice of n will resolve this issue as well.
6. Error analysis with a pre-filter: The system error may be calculated as follows
E ( s ) = d ( s ) ( s ) = d ( s ) ( G pf ( s )T ( s ) ) d ( s ) = (1 G pf ( s )T ( s ) ) d ( s )

(1143)3
= 1 3
(s)
2
3 d
s
+
2000
s
+
(2.8089
E
6)
s
+
(1143)

So, we find the error transfer function to be


E (s)
s ( s 2 + 2000s + 2.8089 E 6)
=
d ( s) s 3 + 2000s 2 + (2.8089 E 6) s + (1143)3

Note that the system with the pre-filter has a zero steady-state error to a step input
and a finite steady-state error to a ramp input (typical of a type-1 system).
7. Error analysis with no pre-filter: The system with no pre-filter is a type-2 system,
so it has a zero steady-state error to both step and ramp inputs. Clearly, we lose
some error control when we use the pre-filter.

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