Contents

Tasck 1: Before studying the automatic control system, several concepts of the control filed need to be
understood clearly. The requirements for this task are that students have to answer the following questions:....2
Task 2: Mathematical Models of the Control System..........................................................................................5
2.1 Find Mathematical Models of the Mechanical and Electrical Systems..................................................5
2.1.1 For a given a Spring-Mass-Daspot system in Fig. 2......................................................................5
2.1.2 For the circuit as follows in Fig 3...................................................................................................7
2.2 Block diagram:........................................................................................................................................8
2.3.......................................................................................................................................................................10
2.4.......................................................................................................................................................................12
Task 3:Transient Response and stability Analysis..............................................................................................15
3.1 Analyse the behaviour and response of the first-order system as follow:.....................................................15
3.2.......................................................................................................................................................................16
3.3.......................................................................................................................................................................18
3.4.......................................................................................................................................................................20
Task4:..................................................................................................................................................................... 23
4.1 Explain PID controller and The poles of The PID control in the control system...................................23
4.2 Let us consider the following System.........................................................................................................24
4.3 Consider a system in the following figure..................................................................................................27
4.4 The DC motor in Fig 13 is modeled in the following transfer function...................................................31
Reference:..............................................................................................................................................................32

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Tasck 1:

Fig. 1 Level-Liquid Control system

Control: is the act of correcting something, adjusting something, making something happen in the
desired way. These adjustments or corrections will all be made by humans.
Automatic control: is when the control is performed by a device made by humans, when it is performed
automatically by a machine or computer. Automatic control is not a one-time adjustment but a
continuous adjustment to keep something in the desired state.
Over the past 125 years, a number of common understandings in various devices and behaviors have
merged into what is now called control and automation theory. This theory is an abstraction that allows
us to draw common themes from numerous examples in both natural and artificial mechanisms.

Fig 1: Difference between Manual and Automatic control.[1]

In the system in figure 1, with manual control, the machine will be operated by a human but in the
case of an automatic control system, the machine will perform the operation automatically. The
automatic control system has a controller so it can perform operations itself.

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 Fig 2: Block diagram of Closed-Loop System. [1]
Typical components and their function:
- Controller: A device used in control systems to reduce the difference between the actual value
of the system (process variable) and its desired value (setpoint), serving as the main component
of control engineering.
- Actuator: A device in closed-loop systems, including position feedback. Sensors read the output
signal and send it to the controller for precise system adjustment.
- Algorithm: It is often implemented as a software program on a computer. Like our brain, the
algorithm determines the actions.
- Sensor: It is likened to the eyes of the system. Sensors are used to observe (see, hear, sense,
count) some variables that indicate quality, called Controlled Variables or CV.
- Control Element in the Feedback Loop: It is called the manipulated variable or MV. It is
adjusted to cause a change in the value of the CV.
- Communication System: It will send the sensed information to the computer, then transmit the
output of the algorithm to the final element. In automatic control, the communication system can
be a wired or wireless network or point-to-point connection, but it can use hydraulic, pneumatic,
or other signaling systems. Additionally, the signal can be digital (discrete) or analog
(continuous).
The difference between closed-loop and open-loop systems are mentioned in the following Table:[2]
Closed-loop Open-loop
Definition When the System has a feedback path, When the System has no feedback
it is called a Closed-loop control path, it is called an Open-loop control
system. system
Difference Name Feedback control system Non-Feedback control system
Control action Control operation depends on the Control operation is independent of
system output. the output of the entire system.
Design Comparatively complex Simple
complexity
Main Controller, plant or process, feedback Controller and plant
components element and error detector
(comparator).
Response Slow because it has feedback path. Fast response because there is no
meansure and feedback of output
Reliability More reliable Low reliability
Accuracy Accurate because the response Depends on system calibration.
maintains its accuracy. Therefore be Less.
Stability Comparatively less stable Higher than because The output of
the system remains constant.
Optimization Optimized Not optimized
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 Implementation Relatively Difficult to Implement Easy to Implement
Maintaince and Require more maintenance and Require less maintenance and less
Cost relatively high expensive. expensive.
Noise Less internal noise. More internal noise
Example Refrigerators, toasters, radar tracking Automatic traffic light system,
systems, etc. automatic washing machine,
immersion heater, etc.
Through the table above, we can see many advantages of open loop. But the most significant
difference between open-loop and closed-loop control system is that open-loop control system has no
feedback path, while closed-loop control system has feedback path. However, open and closed loop
control systems are widely used.

Fig 3: Control Level-liquid system.

Component of level-liquid system:
- Controller: Used to control the opening and closing of the gas valve so that the solution flows
into the tank. With analog clock to display the water level in the tank, and through it can control
the water level.
- Pneumatic Valve: Controlled by controller. It allows the solution to flow into the tank or blocks
the solution from flowing into the tank.
- Level-Liquid sensor: Used to send signals to the controller. Aim to let the controller know what
the water level.
Block diagram of Level-Liquid system:

Fig 4: Block diagram of Level-Liquid System.

This is a closed-loop system because it depends on the Liquid-level sensor (signal feedback) at the
output to open and close the valve.

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Task 2: Mathematical Models of the Control System
2.1 Find Mathematical Models of the Mechanical and Electrical Systems
2.1.1 For a given a Spring-Mass-Daspot system in Fig. 2.

Fig 1.1.1 Spring-Mass-Daspot system

Apply Newton’s 2nd on Fig 2.1.1,Forces on M is:

Fig 1.1.2: Forces in M.

 f(t)+Kx1+b(ẋ1)=Mẍ1 [1]
 f(t)= Mẍ1+ Kx1+ b(ẋ1)
 f(s)= M s 2 x 1+ bs x 1+ k x1
1
 x 1= 2
f ( s ) (1)
M s +bs +k
From (1), we have laplace transform:
x1 1
 G ( s )= =
f ( s ) M s +bs +k
2

Simulate this system by Matlab with f=1; M=1kg; K=0.1; b=0.15;

x1 1
 G ( s )= =
f ( s ) s 2 +0 , 15 s+ 0 .1

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Fig 1.1.3: Tranfer function Code in MATLAB.

Fig 1.1.4: Signal of the Transfer function.

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When we have the signal off the Tranfer function, We move to draw the system in Simulink:

Fig 1.1.5: Block diagram of The System in Simulink.

And then we run the system (at T=50s) and have the result of this system:

Fig 1.1.6: Signal Obtained in scope.

2.1.2 For the circuit as follows in Fig 3.

Fig 1.2.1: Electrical system

Determine the transfer function of the above system in which v i ( t ) is the input voltage and v o ( t ) is
the output voltage.
From Fig 3 , we have L=1H, R1=2Ω, R2=2 Ω:

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 Fig 1.2.2: Loop of the electrical system.
We using Kirchoff’s Voltage Law, we have:
V i=V R 1 +V 0 (t) (because V L=V 0) => V i ( t ) =i R1 +V 0 ( t ) (1)
And then we apply Kirchoff’s Current Law , We have:
1 V0
i=i 1 +i 2 => i=
L
∫ V 0 ( t ) dt +
R2
(2)

From (1) and (2), we have Laplace Transform:

2V 0 ( s ) +2 V 0 ( t ) s
V i ( s )=
s
When we have Vi and Vo, we have Tranfer function:
V 0 (t ) S
G(s)= =
V i (t) 2 S+2
Simulate this system by Matlab/Simulink using a sine wave v i ( t ) .
Now, we draw in Simulink:

Fig 1.2.3: Block diagram of Elcetrical system.

Then, we run and have result in Scope:

Fig 1.2.4: Signal Obtained in the scope.

2.2 Block diagram:
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Consider a Pneumatic Controller showed in Fig. 4

Fig 2.2.1: Structure of Pneumatic System

The Pneumatic Controller is modeled under block-diagram in Fig. 4

Fig. 2.2.2: Block diagram of Pneumatic system

T d S+1
T 1 s+1
Step 1:

Fig 2.2.3:First step of Transfer Block.

From Fig 2.2.2, we can have :
Ti (s )
(
A ( s )= 1 −
1
).
1
=
T i S +1 T d ( s ) +1 (T d ( s ) +1)(T i S +1)
Step 2:

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 Fig 2.2.4: Second Step of Transfer Block.
aA .T 1 ( s )
H ( s )= ( )( )
a
.
A
a+b k s
. A ( s )=
k s (T ¿¿ i ( s ) +1)(T d ( s ) +1)(a+ b)¿
(1)

Fig 2.2.5: Third Step of Transfer block.

K k s .(T ¿ ¿i ( s ) +1). ( T d ( s ) +1 ) . ( a+b )
G ( s )=¿ =K . ¿ (2)
1+ K . H ( s ) k s . (T ¿¿ i ( s ) +1). ( T d ( s ) +1 ) . ( a+b )+ aA . T i ( s ) . k ¿
From (2) and (1), We have Tranfer function :
b k s .(T ¿¿ i ( s )+ 1). ( T d ( s )+ 1 ) . ( a+b )
G ( k )=G ( s ) . =K . ¿
a+b b
k s .(T ¿¿ i ( s ) +1). ( T d ( s ) +1 ) . ( a+b ) +aA .T i ( s ) . k . ¿
a+b
k s (T ¿¿ i ( s ) +1)(T d ( s ) +1)(a+b)
=>G ( k )=Kb 2
¿
k s (T ¿¿ i ( s ) +1) ( T d ( s ) +1 ) ( a+ b ) + ( a+b ) . aA . T i ( s ) .k ¿

2.3

Because we have G(s) and H(s), So that we have Transfer function:

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 1
G (s ) 2
s + s +4 S +2
G ( k )= = = 3 (1)
1+G( s) H (s ) 1 1 S +3 S
2
+ 6 S +9
1+ 2 .
S + S +4 S+ 2
Now we using Matlab software to Determine Tranfer function for make sure (1) is correct:

Fig 2.3.1: Result of transfer fucntion in Matlab.

Fig 2.3.2 :Block diagram of this system in Simulink.

After that, We run this system and have result in scope:

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 Fig 2.3.3: Signal Obtained in Scope.
2.4

From Newton 2 law, we have :

F= m.a
m ÿ ( t )=− b ẏ (t ) −ky ( t )+ u(t) (1)
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We Set x 1 ( t )= y ( t ) , x 2 ( t )= ẏ ( t ), and then we add 2 variable to (1), we have:
=> x˙1 (t)=x 2 (t)
k b 1
=> x˙2 ( t )=− x 1 ( t ) − x 2 ( t ) + u (t)
m m m
=> y (t )=x 1 ( t )
After that we have matrix:

[ ][ ][ ][ ]
0 1 0
ẋ1 (t ) x 1 (t)
= k b × + 1 u(t) (2)
ẋ2 (t ) − − x 2 (t)
m m m

y ( t ) =[ 1 0 ]
[ ]
x 1 (t)
x 2 (t)
(3)

With { ẋ (t )= Ax ( t ) + Bu(t)
y ( t )=Cx ( t ) + Du(t)
From (2) and (3) we have result:

[ ] []
0 1 0
A= k b ; B= 1 ; C=[ 1 0 ]; D=0
− −
m m m
With m = 1, b = 0,1 and k = 0,15, we have:
A=
[ 0 1
−0 ,15 −0 , 1
B=
0
1 ] []
C=[ 1 0 ] D=0

Now we will simulate with Matlab:

Fig 2.4.1: Block diagram of State-space system.

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Fig 2.4.2: Setting value of this system.

Fig 2.4.3: Signal obtained in Scope.

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Task 3:Transient Response and stability Analysis.
3.1 Analyse the behaviour and response of the first-order system as follow:

G(s)

Fig 8. A tranfer function block

1
where G ( s )= , a is the last number of your student ID ( if your last number of the student ID is zero,
4 s+ a
please select a=2).

 Determine the settling time with 2% criterion.

 Simulate the system in Matlab with unity step signal.
My student ID:20ED10110.
1 4
G ( s )= => T= =2 ( because 2 %=0.02 )
4 s+ 2 2
With ε =2 %=0.02 We have:

=> t s=Tln ( 1ε )=2 ln ( 1ε )=7,824

Now we simulate with matlab:

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 Fig 3.1.1:Signal Obtained and block diagram of this system.
3.2

Now we transfer block diagram:

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 1
2
s k
G ( s )=k . = 2 (1)
1 s +k s
1+ 2 .k 1 s 1
s

Fig 3.2.1 Block diagram.

We have transfer function : withh H(s)=1
K
2
G(s) s + K1 s K
G(k)=¿ = = 2
1+ G(s )H (s) K s + K 1 s+ K
1+ 2
s +K1 s
We havve fomula of thhe Second-order Oscillating system:

K 1
G ( s )= =
s + K 1 s+ K 1 s2 + 1 K s+ 1
2
=>
K K 1
1
We have T =
√K
1
=>ω n= T =√ K
K1 k1
=>ξ= =
K .2T 2 √ K
Setting time 5% criterion is 4s:
3
3 4= 6
=>t s=
ξ ωn
=> K1
2√K ( )
.( √ K )
=>4= k
1
=> k 1= 1.5

Now we apply POT fomula, we havc:

( ξπ
) .100 %=15 %
( )
−
ξπ √ 1 −ξ 2
POT =exp − .100 %=e
√ 1− ξ 2

( √ ( ))
K1
π
2 √K
−
=>15% K1
2

¿e
( −
ξπ
√ 1− ξ2 ).100 %=e 1−
2√K

2 , 25 ( π + ( ln ( 0 , 15 ) ) )
2 2

=> K= 2
=2,105
4 ( ln ( 0 , 15 ) )
We have k=2,105 and k1=1,5, we add to function (1):
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 2,105
G ( s )= 2
s +1 ,5 s
Now we calculate the steady-state error formula:
k p=lim (G ( s ))=∞
s→0

1
=>e ss = =0
1+k p
Now we simulate this system in matlab:

Fig 3.2.2: Blockdiagram and settting value .

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 v
Fig 3.2.3: Signal obtained in scope.

3.3

s+ 5 1
G ( s )= ; H ( s )=
2
2 s + 4 s+3 s +1
We have transfer function:
s+ 5
G ( s) 2
2 s + 4 s+3
2
s +6 s+5
G ( k )= = = 3
1+G( s) H ( s )
( )( )
2
1 s+5 2 s + 6 s + 8 s +8
1+
s+1 2 s2 + 4 s +3

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The Zeros of the system:
2
s +6 s+5=0 => X1= -5; X2= -1.
The Poles of the system:
3 2
2 s +6 s +8 s +8=0 => X1= -2; X2= -0,5- 1,323i ; X3= -0,5+1,323i.

Fig 3.3.1: Code and pole-zero result.

=>We can see in Fig 3.3.1, All poles in left hand side. So that this system is stable.

Fig 3.3.2: Blockdiagram on Matlab.

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 Fig 3.3.3: Signal Obtained in Scope.
3.4

2Kp 2Kp
G 1 ( s )=G ( s ) .G P ( s )= = 3
s (s +1)(s +4 ) s +5 s 2 +4 s
We have the characteristic equation :
1+G1(s)H(s)=0
2Kp
=> 1+ 3 2
=¿ 0
s +5s +4 s
=> s3 +5 s 2 +4 s+ 2 k p=0 (1)
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From (1) we have Routh-Hurwirtz Table:
S3 1 4
2
S 5 2kp
1 S1 2kp
a3= 5 4−
5
25 S0 k
a 4=
20 −2 k p

{
k p >0
=>
4−
2kp
5
>0
=> {k p >0
10>k p
=> 0< k p <10

Now we draw in matlab and Choose kp= 7 and kp=12

Fig 3.3.4: Block diagram of this system.

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Kp=7

Kp=12

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Task4:
4.1 Explain PID controller and The poles of The PID control in the control system.
PID (Proportional-Integral-Derivative) controller is a type of feedback control system widely used in
industrial control systems. It calculates the error value as the difference between the desired setpoint and
the measured process variable, and applies a correction based on the proportional, integral, and
differential components. [3]
=> Formula of PID control system:

Fig 4.1.1: Formula of PID Control system.

- P (Proportional) Control: The proportional component produces an output value proportional to the
current error value.
=> Formula: Pout = K P . e (t)
With is the proportional gain coefficient and e(t) is the error at t.
-I (Integral) Control: The integral part involves the accumulation of past errors. It is intended to
eliminate the steady-state residual error that occurs with purely proportional controllers.
=> Formula: I out =K i .∫ e(t )dt
With K i is the integral gain coefficient.
- D (Derivative) control: The differential component is a prediction of future error, based on its rate of
change. It provides a dampening effect, improving system stability.
¿
=> Formula: Dout =K d . de(t)¿ dt
With K d is the differential gain coefficient.
*Example:

Fig 4.1.2: Temperature control with PID.

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This example will use PID to automatically adjust the temperature of the dryer to achieve optimal
performance. Because when drying, the temperature outside the environment will affect the temperature
in the combustion chamber.
The PID controller of the above system will be designed automatically so that it can self-adjust Kp, Kd,
Ki. From there the sensor will send a signal. If the temperature is lower or higher, the PID will control
the valve opening and closing.
4.2 Let us consider the following System.

Let Ki=0, Kd=0. Now we use Matlab to simulate the system with kp=1, kp=5, kp=10, kp=200

Fig 4.2.1:Block diagram of this system.

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 Fig 4.2.2: Signal Obtained of 4 Kp.
According to Fig 4.2.2 above, we can see that, with Kp=1, when starting there is almost no spike and the
stabilization time is quite fast. With kp=5, we can see that it has a moderate spike and a fast stabilization
time, so kp=5 is quite stable. Otherwise, with kp=10, the spike is higher and the stability is longer than
Kp=5. Finally, Kp=200 has extremely high spike and extremely low stability.
Let Kp=10, Kd=0. Now we use Matlab to simulate the system with ki=0.1, ki=1, ki=20, ki=0

Fig 4.2.3: Signal Obtained of 4 ki.

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 With Ki=0.1K_i = 0.1Ki=0.1, the system is stable with small oscillations and gradually reaches a steady state. As
KiK_iKi increases to 1, oscillations and overshoot increase slightly, but the system remains stable. With Ki=20K_i =
20Ki=20, the system becomes less stable with larger, longer-lasting oscillations. At Ki=50K_i = 50Ki=50, the system
is unstable with very large oscillations that do not diminish. Overall, higher KiK_iKi values lead to faster response
but decreased stability and increased oscillations.

Let Kp=10, Ki=10. Now we use Matlab to simulate the system with kd=0.1, kd=1, kd=5, kd=15

Fig 4.2.4: Signal Obtained of 4 kd.

With Kd=0.1K_d = 0.1Kd=0.1, there is significant overshoot and oscillations, taking a long time to
stabilize. Increasing KdK_dKd to 1 reduces overshoot and oscillations, with a shorter settling time. At
Kd=5K_d = 5Kd=5, the system has minimal overshoot, quickly reaches a steady state, and shows a well-
damped response. With Kd=15K_d = 15Kd=15, the system becomes over-damped, responding very
slowly with no overshoot and a significantly increased rise time.

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4.3 Consider a system in the following figure.

From The second Method Of ziegler-Nicholsttuning rules, We set T i=∞∧T d =0, We have:
C ( s) kp
 G ( k )= =
R ( s ) S ( s +2 ) ( S +6 ) + K p
After that we use Routth's Stability criterion. We have:
3 2
s +8 s +12 s +k p =0
The routh harry becomes:
Table 1:Routh table.
3
s 1 12

2
s 8 kp

1 96 − k p
a 3= 1
s
8 8
64
a 4= 0
s kp
96 − k p
From the first column of Routh table, we can find the sustained oscillation will occur if Kp=96:
=> K cr =96 (1)
Set Equal Kcr=96, The 2nd-order characteristic equation is:
=> 8 S2 +96=0
But S=jw, so we have:
=> 8 ( jw )2 +96=0
=>8 ( 12 −w 2 )=0 =>w=√ 12=2 √ 3
2π
=> T cr = =1.814 (2)
w
From (1),(2) and table below, we have:

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 Table 2: Fomular of PID

k p=0.6 K CR =57.6 (3)

T I =0.5 T Cr =0.907
T D =0.125 T cr=0.227
12 K Cr
K I= =63 , 5 (4)
T Cr
K D=0.075 K CR T CR =13 , 1 (5)
When we have Kp, Ki, Kd, we can calculate the Gpid transfer function and transfer function:

( )
2
1 13 , 06 ( S+2 , 21 )
G PID ( s )=K P 1+ +T D s =
Tis S
C ( s) kp 13 , 06. S2 +57 , 6 S+63 , 5
 G ( k )= = = 4
R ( s ) S ( s +2 ) ( S +6 ) + K p S +∗ S3 +25 , 06 S 2 +57 , 6 S +63 , 5
Now we simulate this system on MATLAB to verify:
First we have block diagram of this system when we have PID and don’t have PID:

Fig 4.3.1: Block diagram of system.

We add (3), (4), (5) to PID block:

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 Fig 4.3.2: Value of Kp, Ki, Kd in PID block function.
After that, we have the Result :

Fig 4.3.3: Signal obtained in scope.

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  Through the above results in fig 4.3.3 we can see that, when combined with a PID controller, it
will be more stable and reach step value faster. On the contrary, when not combined with PID,
the system will be less stable and take a lot of time to reach the step value.
Because Overshoot of this system higher than 40%, we will tune PID to get Overshoot 25%:

Fig 4.3.4: Overshoot Before we tune.

Fig 4.3.5: Overshoot after we tune.

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After we tune this system, The Overshoot reduce from 61.1% to approximately 25.1% and Ki, Kd, Kp
will change :Kp=28,614; Ki=5,277 and Kd=9,46. Now we see new result in cope:

Fig 4.3.6: The result after we tune.

4.4 The DC motor in Fig 13 is modeled in the following transfer function.

We have:
di di
V ( t )=L + R I a ( t ) +e (t)=L + R I a ( t ) +k b θ̇ (t)
dt dt

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The mechanical equation of the DC motor is given by Newton's second law:
2
d θ(t) dθ ( t )
J. 2
+b . =k m I (t)
dt dt
Using laplace transform:
V(s)=L.S.I(s)+R.I(s)+ k b . s .θ (s)
V ( s ) − k b . s . θ(s)
 I ( s )= (1)
LS + R
2
J . s . θ ( s ) +b . s .θ (s )=k m I (s )(2)
From(2) and (1), we have:

J . s 2 . θ ( s ) +b . s .θ ( s ) =k m ( LS + R )
V ( s ) −k b . s .θ ( s ) k m V ( s ) − k m k b . s .θ ( s )
=
LS+ R
θ ( s ) ( J . s 2+bs ) ( Ls+ R )=k m V (s) −k m k b . s . θ ( s )
3 2
V ( s ) JL S + ( JR+bL ) S + ( bR+ K m k b ) s
=
θ (s ) Km
θ (s ) km 0.015
 G(s) = = =
( )
V s JL S + ( JR+bL ) S + ( bR+ K m k b ) s 0.01 S 3+ 0.14 S 20.4 s
3 2

After that, we Design a block digram for a closed-loop system to control DC motor with PID controller:

Fig 4.4.1: Simple Block Diagram of Motor ĐC control with PID.

Now we add to Matlab and obtain the result signal:

Fig 4.4.2: Block diagram in Matlab.

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 Fig 4.4.3: Signal Obtaied we Before Tuning PID.
As we saw in Figure 4.4.3, Overshoot is quite high and takes a long time to stabilize. So that , we proceed to tune
the PID to make the system more stable and reduce Overshoot:

Fig 4.4.4: Result After The auto-tuning PID .

To better understand the effectiveness of The PID auto-tuning, we will compare the system with and without PID:

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 Fig 4.4.5: Block diagram of both system.
After that, we auto-Tuning this system wit Overshoot 11.2%:

Fig 4.4.6: Result when we auto tuning PID.

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 Fig 4.4.7: Signal obtain of this system.
=> Looking at fig 4.4.7, we can see that the yellow line is the signal of the system with PID and the red line is
without PID. First with the PID signal, the spike is quite high but at the same time it stabilizes extremely quickly.
Besides, without PID, the system has almost no spikes and the time for the system to stabilize is extremely long.

Reference:
[1] Ashlin (2023) What is an automatic control system? - automationforum, Instrumentation and Control Engineering.
Available at: https://automationforum.co/what-is-an-automatic-control-system/ (Accessed: 22 June 2024).
[2] Difference between open loop and closed loop control system (no date) Tutorialspoint. Available at:
https://www.tutorialspoint.com/difference-between-open-loop-and-closed-loop-control-system#:~:text=Common
%20practical%20examples%20of%20open,%2C%20radar%20tracking%20system%2C%20etc. (Accessed: 22 June
2024).
[3] Libretexts (2023) 3.3: Pi, PD, and Pid Controllers, Engineering LibreTexts. Available at:
https://eng.libretexts.org/Bookshelves/Industrial_and_Systems_Engineering/
Introduction_to_Control_Systems_(Iqbal)/03%3A_Feedback_Control_System_Models/3.3%3A_PI%2C_PD
%2C_and_PID_Controllers (Accessed: 26 June 2024).

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