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Controllers
Designing Classical Controllers
• Classical control design involves creating controllers based on
the input-output behavior of a system.
• From the locations of these roots, you infer the optimal value
of K.
• You then can use the gain K to design a controller for a single-
input single-output (SISO) system.
• The root locus plot depicts the path that the roots follow as you
vary the gain.
This graph shows the locations of the closed-loop poles. The pole locations
are –1, –2, and –3.
Root Locus Design Technique
• For example, consider a system with the
following open-loop transfer function:
• You also can use other frequency domain tools, such as Bode,
Nyquist, and Nichols plots, to design a system.
• PID controllers compare the output against the reference input and
initiate the appropriate corrective action.
Note that these correlations may not be exactly accurate, because Kp, Ki, and Kd are
dependent on each other. In fact, changing one of these variables can change the effect of the
other two. For this reason, the table should only be used as a reference when you are
determining the values for Kp, Ki and Kc.
PID Controller Forms
• Each PID form produces the same result but incorporates
information in a different manner.
• For example, you can adjust each term independently using the
PID Parallel form.
• The PID form you use depends on the design decisions you
make, such as how you need to manipulate the output of the
controller.
Download the VI
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& Rise time
Adding a Controller & Feebdack
Example 3
• Suppose we have a simple mass, spring, and
damper problem.
Example 3
• The modeling equation of this system is:
The graph shows that the proportional controller reduced both the rise time and the steady-state
error, increased the overshoot, and decreased the settling time by small amount.
Applying Proportional Control
Applying Proportional-Derivative
Control
• Now, let's take a look at a PD control. From the table
in Figure 3, we see that the derivative controller (Kd)
reduces both the overshoot and the settling time. The
closed-loop transfer function of the given system with
a PD controller is:
Compare the graph in Figure 10 to the graph in Figure 9. The step response plot shows that the
derivative controller reduced both the overshoot and the settling time, and had a small effect on
the rise time and the steady-state error.
Applying Proportional-Integral
Control
• Before going into a PID control, let's take a look at a
PI control. From the table, we see that an integral
controller (Ki) decreases the rise time, increases both
the overshoot and the settling time, and eliminates the
steady-state error. For the given system, the closed-
loop transfer function with a PI control is:
We have reduced the proportional gain (Kp) because the integral controller also reduces the
rise time and increases the overshoot as the proportional controller does (double effect).
The above response shows that the integral controller eliminated the steady-state error.
Applying Proportional-Integral-
Derivative Control
• Now, let's take a look at a PID controller. The
closed-loop transfer function of the given
system with a PID controller is:
Now, we have obtained a closed-loop system with no overshoot, fast rise time, and no steady-state
error.
Example 4
The VI shown below shows how to analyze and
simulate a feedback control system.
5 6
7
1
3
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• You can use this VI to find tuples of stable PID gain values
automatically for a given model or family of models.
Designing PID Controllers
Analytically
• The input to this VI is one or more discrete system models in
transfer function, zero-pole-gain, or state-space form.