International Journal of Engineering Research & Technology (IJERT)

ISSN: 2278-0181
Vol. 2 Issue 5, May - 2013

Performance Analysis Of Speed Control Of Dc Motor Using

P, PI, PD And PID Controllers
V M Venkateswara Rao
Assistant professor
Dnyanganga College of Engineering and Research, Pune

Abstract steady state error of the system. As the proportional

gain factor K increases, the steady state error of the
In this paper deals the usage of continuous time P-I-D system decreases. However, despite the reduction, P
controllers. In the first part of the recitation, it was control can never manage to eliminate the steady state
aimed to show the how P, P-I, P-I-D controllers error of the system. As we increase the proportional
change the steady state response of the closed loop gain, it provides smaller amplitude and phase margin,
systems. Moreover, the methods to tune P-I-D faster dynamics satisfying wider frequency band and
controllers were introduced. It was meant to show that larger sensitivity to the noise. We can use this
how hard it could get to properly tune a P-I-D controller only when our system is tolerable to a
controller. Secondly, it was intended to show how P, P- constant steady state error. In addition, it can be easily
D, P-I, and P-I-D controllers affect the transient concluded that applying P controller decreases the rise
response of the closed loop system. It was designed to time and after a certain value of reduction on the steady
show how one can gain a feature but lose the other. state error, increasing K only leads to overshoot of the
RT
Thirdly, it was intended to show how one should system response. P control also causes oscillation if
estimate the dynamics of the continuous time plant and sufficiently aggressive in the presence of lags and/or
use proper sampling time for discrete time P-I-D dead time. The more lags (higher order), the more
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controller. It was also show how changing problem it leads. Plus, it directly amplifies process
transformation method may cause different pole noise
locations on the z-plane. P-I Controller:
1. Introduction P-I controller is mainly used to eliminate the steady
It was mainly about P, P-D, P-I and P-I-D state error resulting from P controller. However, in
controllers, their digital versus continuous time terms of the speed of the response and overall stability
realizations and their characteristics including sampling of the system, it has a negative impact. This controller
period effects on the response of digital ones. Apart is mostly used in areas where speed of the system is not
from these topics, P-I-D tuning methods such as an issue. Since P-I controller has no ability to predict
manual tuning, Ziegler-Nichols tuning and MATLAB the future errors of the system it cannot decrease the
tuning method were discussed. Transient performances rise time and eliminate the oscillations. If applied, any
of P, P-D, P-I and P-I-D controllers were explained in amount of I guarantees set point overshoot
detail. Modelling a discrete time P-I-D controller to P-D Controller:
control a continuous time plant was explained over a The aim of using P-D controller is to increase the
MATLAB code introducing the effect of sampling time stability of the system by improving control since it has
and the choice of s*-domain to z-domain an ability to predict the future error of the system
transformation method on MATLAB. It was explained response. In order to avoid effects of the sudden change
how to remove poles that cause instability in discrete in the value of the error signal, the derivative is taken
time by adding a new pole. Finally, it was shown how from the output response of the system variable instead
one could control the speed and position of the of the error signal. Therefore, D mode is designed to be
vehicle using discrete time P-I-D controller on the proportional to the change of the output variable to
‘Gate’ project. prevent the sudden changes occurring in the control
output resulting from sudden changes in the error
signal. In addition D directly amplifies process noise
P Controller:
therefore D-only control is not used.
P controller is mostly used in first order processes with
single energy storage to stabilize the unstable process. P-I-D Controller:
The main usage of the P controller is to decrease the P-I-D controller has the optimum control dynamics
including zero steady state error, fast response (short

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 2 Issue 5, May - 2013

rise time), no oscillations and higher stability. The

necessity of using a derivative gain component in
addition to the PI controller is to eliminate the
overshoot and the oscillations occurring in the output
response of the system. One of the main advantages of
the P-I-D controller is that it can be used with higher
order processes including more than single energy
storage.
In order to observe the basic impacts, described above,
of the proportional, integrative and derivative gain to
the system response, see the simulations below Figure 4: Step response with P controller, Kp = 200, Ki = 0,
prepared on MATLAB in continuous time with a Kd = 0, Steady state error (ess) =0.23, Rise time (tr) =0.5 sec,
overshoot occurs output response.
transfer function 1/s2+10s+20 and unit step input. The
results will lead to tuning methods
2.Simulations and Results to Find the
Constraints on Loop Tuning:

Figure 5: Step response with P-I controller, Kp = 200, Ki = 100,

Kd = 0, Steady state error (ess) =0, Rise time (tr) =0.3 sec, overshoot
RT
remains

Figure 1: Step response without any controller

Steady state error (ess) =0.965(too high), Rise time(tr) =3 sec.
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Figure 6: Step response with P-I controller, Kp = 200, Ki = 200,

Kd = 0, Steady state error (ess) =0, Rise time (tr) =0.3 sec, ts=0.7sec,
overshoot remains

Figure 2: Step response with P controller, Kp = 10, Ki = 0, Kd = 0

Out put response improved, Rise time (tr) =decreased

Figure 7: Step response with P-I-D controller, Kp = 200, Ki = 200

and Kd = 10, Steady state error (ess) =0, Rise time (tr) =0.3 sec,
ts=0.5sec, overshoot removes
3.Loop Tuning:
Tuning a control loop is arranging the control
parameters to their optimum values in order to obtain
Figure 3: Step response with P controller, Kp = 100, Ki = 0, Kd = 0
desired control response. At this point, stability is the
main necessity, but beyond that, different systems leads
Steady state error (ess) =0.23(decreased), Rise time (tr) =decreased. to different behaviors and requirements and these might
not be compatible with each other. In principle, P-I-D

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 2 Issue 5, May - 2013

tuning seems completely easy, consisting of only 3 oscillate again, record the integral value and raise value
parameters, however, in practice; it is a difficult to 100. After raising the integral value to 100, return to
problem because the complex criteria at the P-I-D limit the proportional value and raise this value until
should be satisfied. P-I-D tuning is mostly a heuristic oscillation ceases. Finally, lower the proportional value
concept but existence of many objectives to be met back to 100.0 and then lower the integral value slowly
such as short transient, high stability makes this process to a value that is 10% to 20% higher than the recorded
harder. For example sometimes, systems might have value when oscillation started (recorded value times 1.1
nonlinearity problem which means that while the or 1.2).
parameters works properly for full load conditions, they Although manual tuning method seems simple it
might not work as effective for no load conditions. requires a lot of time and experience
Also, if the P-I-D parameters are chosen wrong, control Ziegler-Nichols Method:
process input might be unstable, with or without More than six decades ago, P-I controllers were more
oscillation; output diverges until it reaches to saturation widely used than P-I-D controllers. Despite the fact that
or mechanical breakage. P-I-D controller is faster and has no oscillation, it tends
For a system to operate properly, the output should be to be unstable in the condition of even small changes in
stable, and the process should not oscillate in any the input set point or any disturbances to the process
condition of set point or disturbance. However, for than P-I controllers. Ziegler-Nichols Method is one of
some cases bounded oscillation condition as a marginal the most effective methods that increase the usage of P-
stability can be accepted. I-D controllers
As an optimum behaviour, a process should satisfy the
regulation and command breaking requirements. These
two properties define how accurately a controlled
variable reaches the desired values. The most important
characteristics for command breaking are rise time and
settling time. For some systems where overshoot is not
RT
acceptable, to achieve the optimum behaviour requires
eliminating the overshoot completely and minimizing
the dissipated power in order to reach a new set point.
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In today’s control engineering world, P-I-D is

Figure 8: Ziegler-Nichols P-I-D controller tuning method
used over % 95 of the control loops. Actually if there is
control, there is P-I-D, in analogy or digital forms. In The logic comes from the neutral heuristic principle.
order to achieve optimum solutions Kp, Ki and Kd Firstly, it is checked that whether the desired
gains are arranged according to the system proportional control gain is positive or negative. For
characteristics. There are many tuning methods, but this, step input is manually increased a little, if the
most common methods are as follows: steady state output increases as well it is positive,
otherwise; it is negative. Then, Ki and Kd are set to
zero and only Kp value is increased until it creates a
4.Manual Tuning Method periodic oscillation at the output response. This critical
Kp value is attained to be “ultimate gain”, Kc and the
Ziegler-Nichols Tuning Method
period where the oscillation occurs is named as Pc
PID Tuning Software Methods (ex. MATLAB)
“ultimate period”. As a result, the whole process
Manual Tuning Method: depends on two variables and the other control
Manual tuning is achieved by arranging the parameters parameters are calculated according to the table in the
according to the system response. Until the desired Figure 9.
system response is obtained Ki, Kp and Kd are changed
by observing system behavior.
Example (for no system oscillation): First lower the
derivative and integral value to 0 and raise the
proportional value 100. Then increase the integral value
to 100 and slowly lower the integral value and observe
the system’s response. Since the system will be
maintained around set point, change set point and
verify if system corrects in an acceptable amount of
time. If not acceptable or for a quick response, continue Figure 9: Ziegler-Nichols P-I-D controller tuning method,
lowering the integral value. If the system begins to adjusting Kp, Ki and Kd

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 2 Issue 5, May - 2013

Advantages: PID Parameters:

It is an easy experiment; only need to change the P PID controller can be investigated under 3 main
controller, Includes dynamics of whole process, which categories. Each controller has different properties in
gives a more accurate picture of how the system is terms of controlling the whole system.
behaving In proportional control, adjustments are based on the
current difference between the actual and desired
Disadvantages: speed.
Experiment can be time consuming, it can venture into In integral control, adjustments are based on recent
unstable regions while testing the P controller, which errors.
could cause the system to become out of control, For In derivative control, adjustments are based on the rate
some cases it might result in aggressive gain and of change of errors.
overshoot 7.The Design Requirements of the System:
5.PID Controller Design for Controlling DC The design requirements of the systems may vary from
one system to another. For our case, we want a fast
Motor Speed
response of the system to an error. The overshoot of the
system should not be higher than %5 and the settling
To design P-I-D controller is to make the actual motor
time should be smaller than 2 seconds.
speed match the desired motor speed. P-I-D algorithm
The main design requirements are as follows;
will calculate necessary power changes to get the actual
Settling time should be less than 2 seconds;
speed. This creates a cycle where the motor’ speed is
Overshoot of the system should be less than 5%;
constantly being checked against the desired speed. The
Steady state error should be less than 1%
power level is always set based on what is needed to
achieve the correct results. The Schematic of the DC Motor:
By using P-I-D controller, we can make the steady state
error zero with integral control. We can also obtain fast
RT
response time by changing the P-I-D parameters. P-I-D
is also very feasible when it is compared with other
controllers.
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In our project, first of all we have obtained the P-I-D

parameters for our system. Then we have constituted
our own P-I-D controller.
6.The Block Diagram of the DC Motor Speed
Control Loop:
Figure 11-The Schematic of the DC Motor

The Parameters of the Dc Motor:

The parameters of the DC motors may change

according to different torque and rpm values of the DC
Figure 10: The Block Diagram of the DC Motor Speed Control motors. For 1000 rpm DC motor that we have used in
Loop
this discussions
• Rotor moment of inertia (Jm)=0.01kg*m2/s2
• Resistance=1Ω
As it is seen from the block diagram of the DC motor • Inductor=0.5H
control loop, the speed sensor (encoder) measure the • Electromotive Force Constant Kt=0.01Nm/Amp
speed of the DC motor. In these loops we have the • Motor Viscous Friction Constant (Beq) =0.1Nms
actual speed of the DC motor with the desired one. The The open loop transfer functions of the DC
DC speed measurement gives the actual speed value. motor:
The error between theoretical and practical values is The transfer function of the DC motor can be found
corrected with PID controller. The parameters of the from the schematic of the DC motor in Figure 11.
PID controller are determined with MATLAB results
which will be explained in the following sections. The
output of the PID controller gives the duty cycle of the
square wave generator.

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 2 Issue 5, May - 2013

From that point, we have to find the PID parameters for

our PID control algorithm. To find the parameters of
PID, we should start from proportional constant.
By using only proportional controller, the block
diagram of the overall system would be as follows

Figure 14-The MATLAB Result for Ki=1, Kd=1, Kp=100

The settling time of the new system is 400 seconds
which is far away from satisfying our design
requirement. There is also a pulse in t=0 which causes
instability to our system. To obtain a better response,
Figure 12-The Block Diagram of the System with Proportional
Controller we have increased the value of Ki to 200;
The MATLAB Result for Kp=100: The MATLAB Result For Ki=200; Kd=1;
RT Kp=100:
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Figure 13-The MATLAB Result, Kp=100

The overshoot of the system with Kp = 100 is %25 Figure 15- The MATLAB Result for Ki=200, Kd=1, Kp=100
which does not satisfy our design requirements. The As we have increased the value of Ki, the steady state
settling time of the system is about 0.37 seconds. This value of the system becomes 0. Actually the aim in
satisfies our system requirement. The steady state error using the integral control is to make the steady state
of the system is 0.1. error zero. For The overshoot of the system does not
After adding derivative and integral controllers to the satisfy the design requirement. For that reason let
system; the block diagram of the system is the increase the value of Kd.
following; The MATLAB Result For Ki=200; Kd=10;
Kp=100:

Figure 56-The Block Diagram of the Overall System after Adding Figure 16- The MATLAB Result for Ki=200, Kd=10, Kp=100
Integral and Derivative Controllers
Initially we have chosen both of our integral and As we have increased the value of Kp, the overshoot
derivative controllers’ parameters as 1; value of the system becomes 0, ess=0, ts=2 sec and.

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 2 Issue 5, May - 2013

With those parameters of P-I-D controller, we have

obtained the system design requirements.
Note that P-I-D parameters are found in continuous
time system. So we have to check whether these
parameters satisfy the system requirements in discrete
time domain.
To be able to check it, first of all we have to obtain the
DC motor transfer function in z domain. For the
conversion from s to z, we have used ZOH method
which is learnt in the class.
8.s*-domain to z-domain with ZOH (only plant-
DC motor): Figure 18-The Step Response of Plant with PID Controller
2 Our system’s step response is unstable. To find the
T(s) = --------------------------- reason of instability, we have to check the root locus of
(s+9.997) (s+2.003) the compensated system.

The root locus of the system is the following;

0.0020586 (z+0.8189) Root Locus of the Compensated System:
T(z)= -------------------------------------
(Z-0.9047) (z-0.6066)
Sampling time: 0.05, Note that sampling time of the
system is defined according to dominant pole
approximation.
Now let investigate the step response of the plant with
RT
zero order hold;
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Figure 19-The Root Locus of the Compensated System

Note that the pole at -1 goes to infinity as the gain (K)
of the system is increased. It is the reason of instability.
To be able to make the system stable, let make a pole at
-0.82. After adding a pole at -0.82 the root locus of the
system is the following;
After Adding a Pole at -0.82:

Figure 17-The Step Motor Response of the DC motor without

PID controller
The steady state error of the system is increased to 0.9
which was 0.1 in continuous time. From that graph we
can make the assumption that our system is required
modification
Let investigate the step response of the compensated Figure 20-The Root Locus of the Compensated System
system with P-I-D; Note that for the values of the poles in the unit circle,
we expect to obtain stable compensated system. For
that purpose, to show the gain and other specifications
of the system, we have taken 3 point. Note that any

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 2 Issue 5, May - 2013

point in the unit circle can be chosen to obtain stable [8] Miran Rodic, Larel Jezernic ,. Direct torque control of
systems. At that point we have chosen gain=0.89 PWM inverter fed ac motors . a survey., IEEE Trans. On
Indust. Electronics., Vol. 51, No. 4, August 2004, pp. 744-
The Step Response of the System with P-I-D 757.
Controller: [9] M. F. Rahman, L. Zhong, M. Haque, and M. A. Rahman,
.A direct torque controlled Interior permanent magnet
synchronous motor drive without a speed sensor., IEEE
Trans. On Energy Conversion, Vol. 18,
No.1,March2003,pp.17-22.
[10] Jawad Faiz and S.Hossien Mohseni . . A novel technique
for estimation and control of stator flux of a salient pole
PMSM in DTC method based on MTPF.. IEEE Trans. On
Indust. Appl., Vol. 50,No. 2, April 2003,pp.262-270

v m venkateswara rao(M’) was born in chittoor , in 1985.

He received the B.Tech degree in electrical engineering from
Figure 21-The Step Response of the System with modified P-I-D JNT University Hyderabad and the M.Tech. Degree in
Controller electrical drives and control from the Pondicherry University
As it is seen from Figure 21, the system design in 2006 and 2009 respectively. He is currently an Assistant
requirements are also satisfied in discrete time model. Professor in Dnyanganga College of engineering and
In real life, the addition of pole can be done by adding a research, pune. His research interests include motor servo
capacitor at the end of the PID controller.
drives, , nonlinear control, and intelligent control system
9.Conclusions: including neural networks and fuzzy logic
P-I-D control and its variations are commonly used in
the industry. They have so many applications. Control
engineers usually prefer P-I controllers to control first
RT
order plants. On the other hand, P-I-D control is vastly
used to control two or higher order plants. In almost all
cases fast transient response and zero steady state error
is desired for a closed loop system. Usually, these two
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specifications conflict with each other which makes the

design harder. The reason why P-I-D is preferred is that
it provides both of these features at the same time. In
this recitation, it was aimed to explain how one can
successfully use P-I-D controllers in their prospective
paper and focus on almost all aspects of P-I-D
controller.
10.References
[1] Kim, H-W., Choi, J-W. and Sul, S-K., Accurate position
control for servo motor using novel speed estimator,
IECON’95, 1995,vol. 1, pp. 627–632.
[2] Patel, D. M., High speed floating-point robot controller,
CAMC’87, 1987, pp. 13–22.
[3] Ohm, D. Y. and Mazurkiewicz, J., Control of AC motors
for servo applications, PCIM’91, 1991, pp. 288–298.
[4]Galvan, E., Barrero, F., Aguirre, M. A.,Torralba, A. and
ranquelo, L. G., A robust speed control of AC motor drives
based on fuzzy reasoning, IAS’93, Part III, 1993, pp. 2055–
2058.
[5] Takakura, S., Murakami, T. and Ohnishi, K., An approach
to collision detection and recovery motion in industrial robot,
IEEE,1989, pp. 421–426.
[6] Orges Gjini, Takaynki Kaneko and Hirosh Ohsawa. "A
new controller for PMSM servo drive based on the sliding
mode approach with parameter adaptation". IEE Trans. On
IA, V 123, No. 6, 2003, pp. 675-680
[7] Ogata K., "Modern control Engineering". New
Jersey, Prentice-Hall, 1990.

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