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Integral - & PI - Control of 1st Order Plant Model

The document discusses integral control for first-order systems, emphasizing the need to eliminate offset error by producing a control signal proportional to the integral of the error. It highlights the importance of selecting appropriate gains to ensure system stability and outlines the effects of disturbances on steady-state values. Additionally, it covers the combination of proportional and integral actions to meet both steady-state and transient response specifications.

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Samra Khalid
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13 views4 pages

Integral - & PI - Control of 1st Order Plant Model

The document discusses integral control for first-order systems, emphasizing the need to eliminate offset error by producing a control signal proportional to the integral of the error. It highlights the importance of selecting appropriate gains to ensure system stability and outlines the effects of disturbances on steady-state values. Additionally, it covers the combination of proportional and integral actions to meet both steady-state and transient response specifications.

Uploaded by

Samra Khalid
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Integral Control of 1st order system

 In proportional control, a constant error exists.

 To eliminate offset error, controller should produce an increasing signal as long as error is

non-zero.

 Integral control gives change in control signal proportional to integral of the error,

𝑘
𝑓(𝑡) = 𝑘 𝑒(𝑡) 𝑑𝑡 ⟹ 𝐹(𝑠) = 𝐸(𝑠)
𝑠

𝑘 → 𝐼𝑛𝑡𝑒𝑔𝑟𝑎𝑙 𝐶𝑜𝑛𝑡𝑟𝑜𝑙 𝐺𝑎𝑖𝑛

Note:

 If error signal 𝑒(𝑡) remains +𝑣𝑒, the integration will (theoretically) produce an

infinite value of 𝑓(𝑡).

 So special care must be taken to re-initialize the controller.

Assume, 𝑘 =𝑘 ⟹ 𝑘 =

So,

Ω(𝑠) Ω(𝑠)
= , =
Ω (𝑠) T (𝑠)

To ensure stability, 𝐼, 𝐶 & 𝑘 must have same sign. [according to the Routh Hurwitz criterion]

Further, we need to select 𝑘 appropriately to ensure stability.

Steady State value of output for unit step input Ω (𝑠),


Ω = lim 𝑠 Ω(𝑠) = lim 𝑠______________________________ = ________________________________ = _________
→ →

⟹ 𝑇ℎ𝑒𝑟𝑒 𝑖𝑠 ______________ 𝑠𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑒𝑟𝑟𝑜𝑟.

Load (Disturbance) Effect: Ω(𝑠) = __________________________________T (𝑠)

For a unit step disturbance , 𝑇 (𝑠) =

Effect of disturbance on steady state value of output,

Ω = lim 𝑠 Ω(𝑠) = lim 𝑠__________________________________ = __________________________________


→ →

Performance Parameters:

Damping Ratio (𝜉) : 𝜉 = _________ ⟹ 𝑖𝑓 𝐶 𝑖𝑠 ___________ 𝑡ℎ𝑒𝑛 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑤𝑖𝑙𝑙 𝑏𝑒 𝑜𝑠𝑐𝑖𝑙𝑙𝑎𝑡𝑜𝑟𝑦.

⟹ 𝑆𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑤𝑖𝑙𝑙 𝑏𝑒 𝑖𝑚𝑝𝑟𝑜𝑣𝑒𝑑 𝑏𝑢𝑡 𝑎𝑡 𝑡ℎ𝑒 𝑐𝑜𝑠𝑡 𝑜𝑓 𝑑𝑒𝑔𝑟𝑎𝑑𝑒𝑑 𝑡𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒.
𝐶ℎ𝑎𝑟𝑎𝑐𝑡𝑒𝑟𝑖𝑠𝑡𝑖𝑐 𝑅𝑜𝑜𝑡𝑠 𝑎𝑟𝑒 , 𝑠 , = __________________________________

𝑅𝑒𝑎𝑙 𝑃𝑎𝑟𝑡 ∶ 𝜎 = __________________________________


1 2𝐼
𝑇𝑖𝑚𝑒 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 ∶ 𝜏 = =
𝜎 𝐶
⟹ 𝑘 𝑤𝑖𝑙𝑙 𝑒𝑓𝑓𝑒𝑐𝑡 𝑡ℎ𝑒 ____________________________________________________________________________

In order to reduce the oscillations, 𝑘 should be_______________________________________ to increase 𝜉

but response will become .

Proportional & Integral Control

Proportional Action Integral Action


If "P" & "𝐼" actions are combined in the controller. It will introduce enough variability into the

coefficients of the characteristic equation to satisfy the steady state as well as transient

response specifications.

𝑘
𝑓(𝑡) = 𝑘 𝑒(𝑡) + 𝑘 𝑒(𝑡) 𝑑𝑡 ⟹ 𝐹(𝑠) = 𝑘 + 𝐸(𝑠)
𝑠

𝑘
⟹ 𝐺 (𝑠) = 𝑘 +
𝑠

𝑘 𝑘 𝑘 𝑘 𝑘 𝑘
𝑘 = , 𝑘 =
𝑅 𝑅

Ω(𝑠) Ω(𝑠)
= , =
Ω (𝑠) T (𝑠)

Steady State value of output for unit step input Ω (𝑠),

Ω = lim 𝑠 Ω(𝑠) = lim 𝑠 = =


→ →

⟹ 𝑇ℎ𝑒𝑟𝑒 𝑖𝑠 ______________ 𝑠𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑒𝑟𝑟𝑜𝑟.

Load (Disturbance) Effect: Ω(𝑠) = ____________________________T (𝑠)

For a unit step disturbance , 𝑇 (𝑠) =

Effect of disturbance on steady state value of output,

Ω = lim 𝑠 Ω(𝑠) = lim 𝑠 ____________________________ = ____________________________


→ →

Performance Parameters:
Damping Ratio (𝜉) : 𝜉 = ____________________________ ⟹ ____________________________

𝐶ℎ𝑎𝑟𝑎𝑐𝑡𝑒𝑟𝑖𝑠𝑡𝑖𝑐 𝑅𝑜𝑜𝑡𝑠 𝑎𝑟𝑒 , 𝑠 , = ________________________________________________________

𝑅𝑒𝑎𝑙 𝑃𝑎𝑟𝑡 ∶ 𝜎 = ____________________________


1
𝑇𝑖𝑚𝑒 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 ∶ 𝜏 = = ____________________________
𝜎
⟹ 𝑘 𝑐𝑎𝑛 𝑏𝑒 𝑠𝑒𝑙𝑒𝑐𝑡𝑒𝑑 𝑡𝑜 𝑜𝑏𝑡𝑎𝑖𝑛 𝑑𝑒𝑠𝑖𝑟𝑒𝑑 _________________________.

⟹ 𝑘 𝑐𝑎𝑛 𝑏𝑒 𝑠𝑒𝑙𝑒𝑐𝑡𝑒𝑑 𝑡𝑜 𝑠𝑒𝑡 𝑑𝑒𝑠𝑖𝑟𝑒𝑑 _____________________.

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