MA3005: Control Theory

School of Mechanical and Aerospace

Engineering

Faculty: Asst Prof Tegoeh Tjahjowidodo

Email: [email protected]
Phone: (+65)6790 4952
Office: N3-02c-68
Week 7 – Basic Control Actions
Part I – Lecture Map
2. Laplace
Transform
3. Modelling

1. Introduction to Systems

6. First-Order 4. Response and Stability

5. Routh Stability
8. Transient 7. Second-Order
Response

9. Basic
Control PART II. CONTROLLER DESIGN
Actions

Week 7 3
Learning Objectives
At the end of this week, you should be able to describe different types of controller.

+q
Target

Current position

Week 7 4
Control System
A control system can be:
• Open loop
R(s) C(s)
G(s)
• Closed-loop

Plant/
R(s) Controller
System C(s)
+-

Week 7 5
Open Loop Control System
Advantages:
• Stability is not a problem if plant is stable
• Less expensive
• Easier to control, especially if output cannot be measured

Disadvantages:
• Sensitive to disturbance and modelling errors
• Periodic calibration is required

Week 7 6
Closed-Loop Control System
Advantages:
• Reduced sensitivity to disturbance inputs
• Reduced sensitivity to changes in plant (modelling errors)
• Ability to stabilise an open loop unstable plant
• Ability to change dynamics of system to get the required system performance

Disadvantages:
• Need to use a sensor, which adds complexity and cost
• Risk of instability

Week 7 7
Block Diagram of an Industrial Control System

Automatic controller

Error detector

Reference
input Output
Amplifier Actuator Plant
Set point +-
Actuating
error signal
Sensor

Week 7 8
Simplified Feedback Block Diagram
Considering unity feedback system i.e. H(s) = 1:

R E U C
Controller Plant
+-

Week 7 9
Classification of Industrial Controllers
This includes:
• Two-position or on-off controller
• Proportional (P) controller
• Integral (I) controller
• Proportional-plus-Integral (P+I, PI) controller
• Proportional-plus-Derivative (P+D, PD) controller
• Proportional-plus-Integral-plus-Derivative (P+I+D, PID) controller

Week 7 10
On-Off Control Action
Characteristics:
• Two fixed positions, either on or off
• Relatively simple and inexpensive
• Output signal from controller u(t) remains at a minimum U2 or maximum U1 value,
depending on whether the actuating error signal e(t) is positive or negative

Block Diagram Differential gap

U1
e u e u
+- U2 +-

Week 7 11
Controller

Week 7 12
On-Off Controller Logic
R E Controller
U Plant
C
+-

Owing to the air conditioning (AC) concept, the controller will activate the plant (e.g. heat
pump) when C > R (or E < 0) and deactivate it when E > 0.
U
1
Note:
• 1 means activation of the plant.
0 E • 0 means deactivation of the plant.

Week 7 13
On-Off Controller Logic (Cont’d.)
R E Controller
U Plant
C
+-

Consider a case of a servo system (angular positioning of a motor shaft):

+q
Target

Current position

Week 7 14
Controlling Servo System

U
+q 1
Target

Current position 0 E

–1

E = target - current

Note:
• 1 means to rotate the motor counterclockwise (ccw) in full speed.
• –1 means to rotate the motor clockwise (cw) in full speed.
Week 7 15
Controlling Servo System (Cont’d.)

U
+q 1
Target
0.5
Current position 0 E
–0.5

–1

E = target - current

Note:
• 1 means to rotate the motor ccw in full speed.
• –1 means to rotate the motor cw in full speed.
Week 7 16
Controlling Servo System (Cont’d.)

U
+q 1
Target
0.5
Current position 0 E
–0.5

–1

Note:
• 1 means to rotate the motor ccw in full speed.
• –1 means to rotate the motor cw in full speed.
Week 7 17
Controlling Servo System (Cont’d.)

U
+q 1
Target
0.5
Current position 0 E
–0.5

–1

E = target - current

The output signal of the controller u(t) is

proportional to the error signal e(t).
R E U C
Note: Controller Plant

• 1 means to rotate the motor ccw in full speed. + - = Kp

• –1 means to rotate the motor cw in full speed.
Week 7 18
P and I Controllers

19
P Control Action
The output signal of the controller u(t) is proportional to the error signal e(t) i.e.:
U (s)
u(t) = Kp e(t) or  Kp
E (s)
• Kp is called the proportional gain.
• P controller is just an amplifier with an adjustable gain.

Week 7 20
Block Diagram for P Controller

E(s) U(s)
Kp
+-

e(t) u(t)

0 t 0 t

The plot of u(t) has the same shape as that of e(t) and is just scaled by the value of Kp.

Week 7 21
Effects of P Controller
A high value of Kp will result in:
• High system sensitivity and improved transient response
• Better disturbance rejection
• Lower steady-state error

An excessively high value of Kp can also lead to instability.

Week 7 22
I Control Action
Controller output u(t) is changed at a rate proportional to the actuating error signal e(t) i.e.:
du (t ) t
 K i e(t ) or u (t )  K i  e(t )dt
dt 0
t
u (t ) . K i  e(t )dt
where Ki is an adjustableorconstant
0

Transfer function for integral control:

U ( s) Ki

E ( s) s

Week 7 23
Block Diagram of an I Controller
E(s) Ki U(s)
+- s

e(t) u(t)
Area = A u(t1) = KI A

0 t1 t2 t 0 t1 t2 t

In general, even if e(∞) = 0, there can be a non-zero actuation signal, i.e., u(∞) = constant
value ≠ 0.

Week 7 24
Effects of I Controller
There can be a constant u(∞) even when e(∞) = 0.
It is able to eliminate steady-state error due to step reference and disturbance inputs.
If e(t) does not change sign, u(t) will increase and become very large. For physical controller,
the output will saturate.
If e(t) changes sign, a larger KI value results in oscillatory u(t), which may result in a more
oscillatory response.

Week 7 25
PI Control Action
Control action of a PI controller is defined by:
t
u (t )  K p e(t )  K I  e(t )dt
0

Transfer function representation is:

U s  
 K I 
 K p 1
E s  
 K p s 

It is common practice to express integral control gain, in terms of integral time Ti, as:

U ( s)  1 
 K p 1  
E (s)  Ti 
s

Week 7 26
Block Diagram of PI Controller

E(s) K p (1  Ti s ) U(s)
+- Ti s

where Kp is the proportional gain and Ti is the integral time (1/Ti is the reset rate).
Both Kp and Ti are adjustable.

Week 7 27
Effects of PI Controller
Its main effect is similar to I controller.
Both proportional and integral controllers contribute to u(t), whose larger value accelerates
the output towards the set point.
However, larger u(t) can result in the system to overreact, oscillate and may result in
instability (similar to I controller).
The I term allows for the elimination of steady-state error that may occur with P controller
alone.

Week 7 28
P, I and D Controllers

29
PD Control Action
Control action of a PD controller is defined as:
de(t )
u(t )  K p e(t )  K pTd
dt
and the transfer function is:
U ( s)
 K p 1  Td s 
E ( s)

Week 7 30
Block Diagram of PD controller

E(s) U(s)
Kp(1+Td s)
+-

Td is a constant called the derivative time. Both Kp and Td are adjustable.

Derivative control action is also called rate control.
Magnitude of controller output is proportional to rate of change of actuating error signal.

Week 7 31
Effects of PD Controller
PD controller is able to anticipate error to improves stability, i.e., to increase the damping of
the system.
It tends to amplify high frequency signals, which may lead to saturation of system.
D controller is always combined with a P or PI controller.

Week 7 32
PID Control Action
PID control action is the combination of P, I, and D control actions. It has the advantages of
each of the three individual control actions.
The combine action is given as:
Kp t de(t )
u ( t )  K p e( t ) 
Ti 0
e(t )dt  K pTd
dt
Transfer function representation:
U ( s)  1 
 K p 1   Td s 
E ( s)  Ti s 
where Kp is the proportional gain, Ti is the integral time, and Td is the derivative time.

Week 7 33
Remarks on PID controller
PID control is extremely common in process industry.
It maintains controlled variables such as temperature, pressures, and levels at constant values
despite disturbances and parameters variation.
Gains of PID controller are set by established procedure such as Ziegler-Nichols method
(Section 8-2: Tuning Rules for PID controllers).

Week 7 34
Summary
Proportional control improves speed of response and disturbance rejection.
Integral control can remove steady-state error. However, it may also lead to oscillatory
response or instability.
Derivative control adds damping to the system and tends to increase the stability of the
system.
Derivative control permits the use of a larger proportional gain, which will result in an
improvement in the steady-state accuracy.

Week 7 35
Lesson Summary (Cont’d.)
At the end of this week, you should be able to describe different types of controller.

+q
Target

Current position

Week 7 36