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Time Domain Analysis of Control System
Time Domain Analysis of Control System
Chapter 10
Time-Domain Analysis and
Design of Control Systems
A. Bazoune
10.1 INTRODUCTION
Block Diagram: Pictorial representation of functions performed by each
component of a system and that of flow of signals.
C (s )
R (s )
C (s ) =G(s ) R(s )
Terminology:
Disturbance U ( s )
R (s )
E (s ) = R (s ) b (s )
G1 (s )
G2 (s )
C (s )
M (s )
B (s )
H (s )
Figure 10-2.
1.
2.
Feedback Control System: A system which compares output to some reference input and
keeps output as close as possible to this reference.
3.
4.
Open-loop Control System: Output of the system is not feedback to the system.
5.
to command a specified action of the plant. It often represents ideal plant output behavior.
8.
9.
C ( s ) , and which is algebraically summed with the reference input R ( s ) to obtain the
E (s ) .
actuating signal
( )
10. The Actuating Signal E s , also called the error or control action, is the algebraic sum
consisting of the reference input
B (s ) .
11. The Manipulated Variable
control elements
12. A Disturbance U
output
(s )
C (s ) .
14. The Feedback Path is the transmission path from the controlled output
feedback signal
C ( s ) to the primary
B (s ) .
15. Summing Point: A circle with a cross is the symbol that indicates a summing point. The
or
(+)
16. Branch Point: A branch point is a point from which the signal from a block goes concurrently
to other blocks or summing points.
2/11
R (s )
G (s )
C (s )
B (s )
H (s )
Figure 10-3
1.
2.
3.
4.
5.
C (s ) = G (s ) E (s )
where
E ( s ) = R ( s ) B ( s ) = R ( s ) H ( s )C ( s )
Eliminating E ( s ) from these equations gives
C ( s ) = G ( s ) [ R ( s ) H ( s ) C ( s )]
This can be written in the form
[1 + G ( s ) H ( s )]C ( s ) = G ( s ) R ( s )
or
C (s )
R (s )
G (s )
1 + G (s ) H (s )
The Characteristic equation of the system is defined as an equation obtained by setting the
denominator polynomial of the transfer function to zero. The Characteristic equation for the above
system is
1+ G (s) H (s) = 0.
3/11
G1
G2
G 1G 2
G1
Y = (G1 G2 )X
G1 G 2
Y = (GG
1 2 )X
G2
u
u
1/ G
u1
u2
u1
u2
G2
y = Gu
u2
u
y = Gu
1
u =
y
G
y
u1
4/11
u1
u
y
1/ G2
e2 = G ( u1 u2 )
1/ G
u2
G1
y = Gu1 u2
y
y = ( G1 G2 ) u
Example 1
5/11
C
G
1
GH
=
=
= Closed-loop Transfer function
R 1 GH H 1 GH
Example 2
Step 4:
Example 3
6/11
7/11
Example 4
Use block diagram reduction to simplify the block diagram below into a single block relating
Y ( s ) to R ( s ) .
Solution
8/11
Example 5
Use block diagram algebra to solve the previous example.
Solution
Multiple-Inputs cases
In feedback control system, we often encounter multiple inputs (or even multiple output
cases). For a linear system, we can apply the superposition principle to solve this type of
problems, i.e. to treat each input one at a time while setting all other inputs to zeros, and then
algebraically add all the outputs as follows:
TABLE 10-3: Procedure For reducing Multiple Input Blocks
1
Find the output response due to the chosen input action alone
9/11
Example 6
We shall determine the output C of the following system:
Solution
Step1: Put U 0
Step2: The system reduces to
C R due to input R is C R =
G1G 2
R
1 + G1G 2
CU due to input U is
CU =
G2
U
1 + G1G 2
C = C R + CU =
G1G 2
G2
G2
R+
U =
[G1 R + U ]
1 + G1G 2
1 + G1G 2
1 + G1G 2
Example 7
11/11
Chapter 10
Time-Domain Analysis and Design of
Control Systems
A. Bazoune
1/10
1. Delay time, Td
2. Rise time, Tr
3. Peak time, Tp
4. Maximum overshoot, M p
5. Settling time, Ts
These specifications are defined next and are shown in graphically in Figure 10-21.
Delay Time. The delay time Td is the time needed for the response to reach half of
its final value the very first time.
Rise Time.
The rise time Tr is the time required for the response to rise from 10%
to 90%, 5% to 95%, or 0% to 100% of its final value. For underdamped second order systems,
the 0% to 100% rise time is normally used. For overdamped systems, the 10% to 90% rise time
is common.
Peak Time.
The peak time Tp is the time required for the response to reach the first
maximum peak value of the response curve [the curve of c ( t ) versus t ], measured from
( )
C tp C ( )
C ()
100%
Settling Time. The settling time Ts is the time required for the response curve to reach
and stay within 2% of the final value. In some cases, 5% instead of 2% , is used as the
percentage of the final value. The settling time is the largest time constant of the system.
Comments. If we specify the values of Td , Tr , Tp , Ts and M p , the shape of the
response curve is virtually fixed as shown in Figure 10.22.
Figure 10-22
2/10
c (t ) = 1
1
=1e
n t
n t
n t
sin d t e
n t
(0 <
< 1) is
cos d t
(10-13)
sin d t + cos d t
1 2
or
c (t ) = 1
sin d t + tan
2
1
(10-14)
A family of curves c ( t ) plotted against t with various values of is shown in Figure 10-24.
Step Response
1.6
= 0.2
1.4
0.5
1.2
0.7
u (t )
In p u t
n2
s2 + 2 n s + n2
Amplitude
1
0.8
2
0.6
0.4
0.2
10
12
Time (sec)
_______________
Output
Figure 10-24
3/10
14
16
18
20
Delay Time.
formula:
Td =
1 + 0.7
Rise Time. We find the rise time Tr by letting c (Tr ) = 1 in Equation (10-13), or
nT r
c (T r ) = 1 = 1 e
Since e
n t
sin dT r + cos dT r
2
1
(10-15)
sin dT r + cos dT r = 0
or
tan dT r =
1 2
T r = tan
(10-16)
where is defined in Figure 10-25. Clearly to obtain a large value of Tr we must have a
large value of .
j
S-plane
j d
n 1 2
or = sin1
1 2
1 2
or = tan1
= cos1 ( )
n
Figure 10-25
Definition of angle
dc (t )
n
t
=
e
sin d t = 0
dt
1 2
n
It follows that
sin d t = 0
or
d t = 0, , 2 , 3 ,... = n , n = 0,1,2.....
Since the peak time Tp corresponds to the first peak overshoot ( n = 1) , we have
dT p = .
Then
Tp =
=
d n 1 2
(10-17)
The peak time Tp corresponds to one half-cycle of the frequency damped oscillations.
Maximum Overshoot M p
T p = d
n ( d )
M p = c Tp 1 = e
sin
+
cos
2
1
= 1
=0
( )
or
1 2
M p = e
(10-18)
M p% = e
1 2
100%
The relationship between the damping ratio and the maximum percent overshoot is
shown in Figure 10-26. Notice that no overshoot for 1 and overshoot becomes negligible
for > 0.7 .
5/10
Figure 10-26
Settling Time Ts
enTs = 0.02
nTs = ln ( 0.02 ) Ts =
Ts =
ln ( 0.02 )
n
( 2% Criterion )
(10-19)
( 5% Criterion )
(10-20)
Ts =
6/10
2. Damping ratio or
c c 2 4mk
2m
= c / 2 mk
n =
d = n 1 2
= 2m / c = 1 / n if 1
2
or =
=
2
1
4 2 + 2
1. Roots
s1, 2 =
5. Time constant
6. Logarithmic decrement
k
m
7. Stability Property
Stable if, and only if, both roots have negative real parts, this
occurs if and only if , m, c, and k have the same sign.
8. Maximum Percent Overshoot: The maximum % overshoot M p is the maximum peak
value of the response curve.
M p = 100e /
1 2
9. Peak time: Time needed for the response to reach the first peak of the overshoot
Tp = /n 1 2
10. Delay time: Time needed for the response to reach 50% of its final value the first time
Td
1 + 0.7
11. Settling time: Time needed for the response curve to reach and stay within 2% of the final
value
Ts =
12. Rise time: Time needed for the response to rise from (10% to 90%) or (0% to 100%) or (5% to
95%) of its final value
Tr =
7/10
SOLVED PROBLEMS
Example 1
Figure 4-20
Example 2
8/10
(for Example 1)
Figure 4-21
(for Example 2)
Solution
First The transfer function of the system is
9/10
1
s ( s + 1)
R( s)
Figure 10-28
C (s)
Control System
Solution
The closed-loop transfer function of the system is
1
C (s)
s ( s + 1)
1
=
= 2
R (s) 1+ 1
s + s +1
s ( s + 1)
Notice that
Tr =
Rise Time.
= 1 0.52 = 0.866
where
j d
Tr =
1.05
0.866
Peak Time.
n 1 2
Therfore,
= 2.41 s
Tp =
=
= 3.63
d 0.866
n
s
Delay Time.
Td =
1 + 0.7
M p = e
Maximum Overshoot :
Settling time:
Ts =
1 + 0. 7 ( 0. 5 )
= 1.35 s
1
1 2
4
= 8s
0.5 1
10/10
= e 0.5
10.52
Chapter 10
Time Domain Analysis and Design of
Control System
9
A. Bazoune
10.7
STABILITY ANALYSIS
Stability Conditions Using Rolling Ball
The base of the hollow is in equilibrium point. If the ball is displaced a small distance
from this position and released, it oscillates but ultimately returns to its rest position
at the base as it loses energy as a result of friction. This is therefore a stable
equilibrium point. (With no energy dissipation the ball would roll back and forth forever
and exhibit neutral stability).
The ball is in equilibrium if placed exactly at the top of the surface, but if it is displaced
an infinitesimal distance to either side, the net gravitational force acting on it will cause
it to roll down the surface and never return to the equilibrium point. This equilibrium is
therefore unstable.
The ball neither moves away nor returns to its equilibrium position. The flat portion
represents a neutrally stable region.
1/20
For such a system, as soon as the power is turned on, the output may increase with time.
If no saturation takes place in the system and no mechanical stop is provided, then the
system may eventually be damaged and fail, since the response of a real physical system
cannot increase indefinitely.
Stability may be defined as the ability of a system to restore its equilibrium position
when disturbed or a system which has a bounded response for a bounded output.
Consider a simple feedback system
R (s)
E (s)
G (s)
C ( s)
H ( s)
The overall transfer function is given by
C (s)
G (s)
=
R (s) 1+ G (s) H (s)
The denominator of the transfer function 1 + G ( s ) H ( s ) is known as the characteristic
polynomial. The characteristic equation is of the above system is
1+ G (s) H (s) = 0
What are the roots of the characteristic equation?
2/20
T (s) =
( s z1 )( s z2 ) ( s z3 ) ... ( s zn )
( s p1 )( s p2 )( s p3 ) ... ( s pm )
where z1 , z1 ,..., zn are the zeros of T ( s ) and p1 , p1 ,..., pm are the poles of T ( s ) . If the
input R ( s ) is given then
In order to compute the output, we resort the above equation into partial fraction
expansion
K1
K ij
K2
K n K i1
Ki 2
+
+ ... +
+
+ ... +
C (s) =
+
( s pm ) ( s pi ) ( s pii )
( s pik )
( s p1 ) ( s p2 )
The first bracket contains time that originates from the system itself. Terms in the
first bracket will give rise to time in the form
Stable
region
Unstable
region
s-plane
s = + j
3/20
Re
F ( s ) = 1 + G ( s ) H ( s ) = an sn + an1s n1 + an 2s n 2 + + a1s + a0 = 0
Example 1
a ( s ) = s6 + 4s5 + 3s 4 2s3 + s 2 + 4s + 4
Is the system described by this characteristic equation stable?
4/20
Solution
One coefficient (-2) is negative. Therefore, the system does not satisfy the necessary
condition for stability.
Example 2
a ( s ) = s6 + 4s5 + 3s 4 + s 2 + 4s + 4
Is the system described by this characteristic equation stable?
Solution
3
The term s is missing. Therefore, the system does not satisfy the necessary condition
for stability.
(4)
F ( s ) = 1 + G ( s ) H ( s ) = an sn + an1s n1 + an 2 s n 2 + + a1s + a0 = 0
Step 1:
Arrange the coefficients of the above equation into two rows. The
first row consists of the first, third, fifth, , coefficients. The
second row consists of the second, fourth, sixth,, coefficients, all
counting from the highest term as shown in the tabulation below
an
an1
an2
an3
5/20
an4
an5
an6
an7
Step 2:
a6 s 6 + a5 s5 + a4 s 4 + a3s3 + a2 s 2 + a1s + a0 = 0
s6
a6
a4
a2
a0
s5
a5
a3
a1
a5a4 a6a3
a a a6a1
a a a 0
=A 5 2
=B 5 0 6
= a0
a5
a5
a5
s3
Aa3 a5B
Aa1 a5a0
A 0 a5 0
=C
=D
=0
A
A
A
s2
Ca0 A 0
BC AD
C 0A 0
=E
= a0
=0
C
C
C
s1
ED Ca0
=F
E
s0
Fa0 E 0
= a0
F
6/20
s6
a6
a5
s5
s4
s2
s
a4
a3
a2
a1
a0
a6 a 4
a a
a a
6 0
6 2
a5 a3
a5 0
a5 a1
=A
= a0
=B
a5
a5
a5
a5 a3
a a1
5
A B
A a0
=C
=D
A
A
A C
A C
B D
a0 0
=E
C
C
C
E
D a0
= F
E
E F
a0 0
= a0
F
s0
= a0
a5 0
A 0
= 0
A
A C
0 0
=0
C
s5 + s 4 + 3s3 + 9s 2 + 16s + 10
Solution
7/20
0
0
2 ( s 2 + 2s + 25 )
Example 1 Given
H (s) =
s5 + s 4 + 3s3 + 9s 2 + 16s + 10 = 0
s5
s4
16
10
s3
116 10 1
=6
1
6 10 0 1
= 10
6
s2
1 3 9 1
= 6
1
6 9 6 1
= 10
6
s1
10 6 10 ( 6 )
= 12
10
10 0 0 ( 6 )
=0
10
s0
12 10 0 (10 )
= 10
12
There are 2 sign changes. There are 2 poles on the right half of the s plane.
Therefore, the system is unstable.
Pole-Zero Map
5
4
3
Imaginary Axis
2
1
0
-1
-2
-3
-4
-5
-1.5
-1
-0.5
0.5
Real Axis
pzmap plot
Example 2
stable
E (s)
R (s)
Solution:
C ( s)
1 + G (s )H (s ) = 1 +
or
K
s ( s + 1)( s + 2)
K
=0
s ( s + 1)( s + 2 )
s ( s + 1)( s + 2 ) + K = 0 s 3 + 3s 2 + 2s + K = 0
8/20
s3
s2
s1
2 3 K 1 6 K
=
3
3
s0
6 K K 3 0
3
=K
6K
For the system to be stable we must have the following two conditions satisfied
simultaneously:
K >0
i)
and
6K
> 0 6K > 0 K < 6
3
ii)
The above two conditions can be shown graphically on the real line
0<K <6
4 5
K <6
K >0
The intersection of the two conditions above gives the condition for the stability
of the above system, that is 0 < K < 6 . What will happen if K = 0 or K = 6 ?
For
or
s ( s + 3s + 2 ) = 0
2
s = 1
s = 2
For
3
or
(s
+ 3) ( s 2 + 2 ) = 0
s = 3
s = + j 2
s = j 2
9/20
2 rad/s.
Special Cases
i)
When the first term in a row is zero, the following element of (power-1) s will be
infinite. One of the following methods may be used.
1 Substitute for s =
same
Complete
the
Example 3
Check whether the following system given by its characteristic equation is stable
or not
( s ) = 1 + G (s )H (s ) = s 4 + s 3 + 2s 2 + 2s + 5 = 0
Solution
Construct the Routh array
s4
s3
s2
1 2 1 2
=0
1
1 5 1 0
=5
1
s1
s0
10/20
1
in the original equation.
x
( s ) = s 4 + s 3 + 2s 2 + 2s + 5 = 0
Substitute
or
( s ) and
1
s = in the above
x
4
3
2
B ( x ) = (1 x ) + (1 x ) + 2 (1 x ) + 2 (1 x ) + 5 = 0
B ( x ) have
same stability
characteristic
B ( x ) = 5x 4 + 2x 3 + 2x 2 + x + 1 = 0
x4
x3
x2
First Sign
Change.
Second Sign
Change.
2 2 1 5 1
=
2
2
x1
( 1 2 ) 1 1 2 = 5
( 1 2 )
x0
There are two sign changes. Therefore, there are 2 roots that lie on the right half of the
s-plane. The system is unstable.
B (s ) =
s + s + 2s + 2s + 5 )
(
4
s + 1)
(
We are multiplying
by this quantity
Previous Polynomial
or
B ( s ) = s 5 + 2s 4 + 3s 3 + 4s 2 + 7s + 5
First Sign
Change.
Second Sign
Change.
s5
s4
s3
23 1 4
= +1
2
27 15 9
=
2
2
15 2 0
=5
1
s2
1 4 ( 9 2) 2
s1
5 ( 9 2) 5 1
s0
1
5
= 5
= 11 2
(11 2) 5 0 5 = 5
(11 2)
11/20
There are two sign changes. Therefore, there are 2 roots that lie on the right half of the
s-plane. The system is unstable.
Method 3: Substitute
s4
s3
s2
First Sign
Change.
s1
1 2 1 2
=0
1
1 5 1 0
=5
1
2 51
Second Sign
Change.
= 2 =
0 is substituted by
5 2 0
=5
5
s0
Tends to
as 0
There are two sign changes. Therefore, there are 2 roots that lie on the right half of the
s-plane. The system is unstable.
The roots of
MATLAB PROGRAM:
>> Q=[1
1
2
2
>> roots (Q)
ans = 0.5753 + 1.3544i
0.5753 - 1.3544i
-1.0753 + 1.0737i
-1.0753 - 1.0737i
5];
Pole-Zero Map
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-1.2
-1
-0.8
-0.6
-0.4
-0.2
Real Axis
12/20
0.2
0.4
0.6
ii)
A Row of Zeros
This situation occurs when the characteristic equation has a pair of real roots with
opposite sign ( r ) , complex conjugate roots on the imaginary axis ( j ) , or a pair of
complex conjugate roots with opposite real parts
( a jb , a jb )
as shown in the
figure below.
Example 3
Check whether the following system given by its characteristic equation is stable
or not
Solution
Step 1
13/20
d [a ( s ) ]
ds
with
respect to s .
Step 3 Replace the row of zeros with the coefficients of
d [a ( s ) ]
ds
Step 4 Continue with Rouths tabulation in the usual manner with the
newly formed row of coefficients replacing the row of zeros.
Step 5 Interpret the change of signs, if any, of the coefficients in the
first column of Rouths tabulation in the usual manner.
s5
s4
11
28
23
12
s3
5 11 1 23
= 6.4
5
6.4 23 25.6 5
=3
6.4
3 25.6 6.4 12
=0
3
5 28 12 1
= 25.6
5
6.4 12 0 5
= 12
6.4
s2
s1
0
0
Row
of zeros
s0
The auxiliary equation is
The zeros in the row of
of the auxiliary equation
a ( s ) = 3s 2 + 12
and
d [a ( s ) ]
ds
= 6s
= 6s
s1
s0
6 12 0 3
=6
6
There are no sign changes in the first column of the Routh array. All roots have
negative real parts except for a pair on the imaginary axis.
Roots of the auxiliary equation are
a1 ( s ) = 3s 2 + 12 = 3 ( s 2 + 4 ) = 0
Roots of the characteristic equation are
14/20
s1,2 = j 2
s1 = 3 (real)
s = j 2
2
complex conjugates
s3 = + j 2
s = 1
4
real repeated
s5 = 1
Pole-Zero Map
2
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-2
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
Real Axis
Limitations
It should be reiterated that the Routh-Hurwitz criterion is valid only if the
characteristic equation is algebraic with real coefficients. If any one of the coefficients
is complex, or if the equation is not algebraic, such as containing exponential functions
or sinusoidal functions of s , the Routh-Hurwitz criterion simply cannot be applied.
Another limitation of the Routh-Hurwitz criterion is that it is valid only for the
determination of the roots of the characteristic equation with respect to the left half
or the right half of the s-plane. The stability boundary is just the j axis of the
s plane. The criterion cannot be applied to any other stability boundaries in a complex
plane, such as the unit circle in the z plane, which is the stability of discrete data
system.
15/20
Solved Problems
16/20
17/20
18/20
19/20
20/20
Chapter 10
Time-Domain Analysis and Design of
Control Systems
A. Bazoune
E (s)
R (s)
G ( s)
C ( s)
H ( s)
C (s)
G (s)
=
R (s) 1+ G (s)
(1)
(2)
E (s) =
1
R (s)
1+ G (s)
(3)
The steady-state error ess may be found by use of the Final Value Theorem (FVT) as follows:
s0
s0
sR ( s )
1+ G (s)
(4)
Equation (4) shows that the steady state error depends upon the input R ( s ) and the forward
transfer function G ( s ) . The expression for steady-state errors for various types of standard
test signals are derived next.
1/15
1.
Input
r ( t ) = 1( t )
or
R ( s ) = L r ( t ) =
r ( t)
1
s
ess = lim
s0
s (1 s )
sR ( s )
1
1
1
= lim
= lim
=
=
s
0
s
0
1+ G (s)
1+ G (s)
1 + G (s) 1 + G (0) 1 + Kp
2.
Input
or
From Equation (4)
r ( t)
s (1 s 2 )
sR ( s )
1
1
1
= lim
= lim
= lim
=
ess = lim
s0 1 + G ( s )
s 0 1 + G ( s )
s 0 s + sG ( s )
s 0 sG ( s )
Kv
3.
Input
1
r (t ) = t2
2
or
R ( s ) = L r ( t ) =
or
r (t ) = 1
r ( t)
1
s3
s (1 s3 )
sR ( s )
1
1
1
ess = lim
= lim
= lim 2 2
= lim 2
=
s0 1 + G ( s )
s0 1 + G ( s )
s0 s + s G ( s )
s 0 s G ( s )
Ka
where K a = lim s 2G ( s ) is defined as the acceleration error constant.
s 0
2/15
G (s) =
(8)
where K and T are constants. The system type refers to the order of the pole of G ( s ) at s = 0 .
Equation (8) is of type n .
G (s) =
K ' ( s + z1 )( s + z2 ) s + z j
s ( s + p1 )( s + p2 ) ( s + pk )
(9)
z
K = K'
(10)
k
with the gain relation of Equation (10) for the two forms of G ( s ) , it is sufficient to obtain
steady state errors in terms of the gains of any one of the forms. We shall use the time
constant form in the discussion below.
Equation (8) involves the term sn in the denominator which corresponds to number of
1.
Type-0 System.
If n = 0, G ( s ) =
K
= K the steady-state errors to various standard inputs, obtained from
s0
1
1
1
=
=
1 + G (0) 1 + K 1 + Kp
ess ( Position )
ess ( Velocity )
= lim
s 0
3/15
1
1
= lim
=
sG ( s ) s 0 sK
1
1
= lim 2 =
s G ( s ) s0 s K
2
(11)
2.
Type-1 System.
If n = 1, G ( s ) =
K
, the steady-state errors to various standard inputs, obtained from
s1
1
1
1
= lim
=
=0
s
0
K
1 + G (0)
1+
1+
s
1
1
1
1
ess ( Velocity )
= lim
= lim
= =
s 0 sG ( s )
s0
K K Kv
s
s
1
1
1
ess ( Acceleration ) = lim 2
= lim
= =
s 0 s G ( s )
s0 2 K
0
s
s
ess ( Position )
(12)
3.
Type-2 System.
If n = 1, G ( s ) =
K
, the steady-state errors to various standard inputs, obtained from
s2
1
1
1
= lim
=
=0
1 + G ( 0 ) s0 1 + K 1 +
s2
1
1
1
ess ( Velocity )
= lim
= lim
= =0
s 0 sG ( s )
s 0
K
s 2
s
1
1
1
1
ess ( Acceleration ) = lim 2
= lim
= =
s 0 s G ( s )
s 0 2 K
s 2 K Ka
s
ess ( Position )
4/15
(13)
Type-0 system
TABLE 1.
r(t) = A
ess =
A
1 + Kp
ess =
ess =
Type-1 system
r(t ) = At
ess =
Type-2 system
ess = 0
A
Kv
ess =
r(t ) =
ess = 0
ess = 0
s0
5/15
1 2
At
2
ess =
A
Ka
Ka = lim s2G(s)
s0
E (s)
C ( s)
G ( s)
H( s)
Add to the previous block two feedback blocks H1 ( s ) = 1 and H1 ( s ) = 1
R (s)
E (s)
G ( s)
C ( s)
H( s)
Parallel blocks. Can
be combined in one
R (s)
E (s)
G ( s)
C ( s)
H ( s) 1
Ge ( s)
R (s)
E (s)
G( s)
1+ G( s) H( s) G( s)
6/15
C ( s)
Example 1
For the system shown below, find
The system type
Appropriate error constant associated with the system type, and
The steady state error for unit step input
R (s)
E (s)
100
s ( s + 10 )
1
s+5
Solution
7/15
C ( s)
8/15
9/15
10/15
11/15
12/15
13/15
14/15
15/15
Chapter 4:
Basic Properties of Feedback
P, PI or PID Controller
When utilizing the PID algorithm, it is necessary to decide
which modes are to be used (P, I or D) and then specify the
parameters (or settings) for each mode used.
Generally, three basic algorithms are used: P, PI or PID.
Controllers are designed to eliminate the need for
continuous operator attention.
Cruise control in a car and a house thermostat
are common examples of how controllers are used to
automatically adjust some variable to hold a measurement
(or process variable) to a desired variable (or set-point)
Controller Output
The variable being controlled is the output of the controller
(and the input of the plant):
system to be controlled
PID Controller
U ( s) = K p + i + K d s E ( s)
s
de(t )
u (t ) = K p e(t ) + K i e(t )dt + K d
0
dt
t
proportional gain
integral gain
derivative gain
PID Controller
de(t )
u (t ) = K p e(t ) + K i e(t )dt + K d
0
dt
t
The signal u(t) will be sent to the plant, and a new output y(t)
will be obtained. This new output y(t) will be sent back to
the sensor again to find the new error signal e(t). The
controllers takes this new error signal and computes its
derivative and its integral gain. This process goes on and on.
Definitions
In the time domain:
de(t )
u (t ) = K p e(t ) + K i e(t ) dt + K d
0
dt
de(t )
1 t
where Ti =
proportional gain
Kp
Ki
Kd
Td =
Ki
integral gain
derivative gain
Controller Effects
A proportional controller (P) reduces error responses to
disturbances, but still allows a steady-state error.
When the controller includes a term proportional to the
integral of the error (I), then the steady state error to a
constant input is eliminated, although typically at the cost
of deterioration in the dynamic response.
A derivative control typically makes the system better
damped and more stable.
Closed-loop Response
Rise time
P
Decrease
Maximum
overshoot
Increase
Decrease
Increase
Settling
time
Small
change
Increase
Small
change
Decrease
Decrease
Steadystate error
Decrease
Eliminate
Small
change
mx + bx + kx = f
Taking the Laplace Transform, we obtain:
ms 2 X ( s ) + bsX ( s ) + kX ( s ) = F ( s )
The Transfer function is then given by:
1
X (s)
= 2
F ( s ) ms + bs + k
m = 1kg , b = 10 N .s / m , k = 20 N / m , f = 1N
By plugging these values in the transfer function:
X (s)
1
= 2
F ( s ) s + 10 s + 20
The goal of this problem is to show you how each of
K p , K i and K d contribute to obtain:
fast rise time,
minimum overshoot,
no steady-state error.
Ex (contd): No controller
X (s)
1
= 2
F ( s ) s + 10s + 20
The steady-state value for the output is:
X (s) 1
xss = lim x(t ) = lim sX ( s ) = lim sF ( s )
=
t
s 0
s 0
F ( s ) 20
Kp
X (s)
=
F (s)
Kp
s 2 + 10s + 20 =
Kp
s 2 + 10 s + (20 + K p )
1+ 2
s + 10s + 20
Ex (contd): PD Controller
K p + Kd s
s 2 + 10s + 20 =
K p + Kd s
s 2 + (10 + K d ) s + (20 + K p )
1+ 2
s + 10s + 20
Ex (contd): PD control
Let K p = 300, K d = 10
This plot shows that the
proportional derivative
controller reduced both
the overshoot and the
settling time, and had
small effect on the rise
time and the steady-state
error.
Ex (contd): PI Controller
K p s + Ki
s 2 + 10s + 20 =
K p + Ki / s
s 3 + 10s 2 + (20 + K p ) s + K i
1+ 2
s + 10s + 20
Ex (contd): PI Controller
Let
K p = 30, K i = 70
K d s 2 + K p s + Ki
s + 10s + 20
=
K p + K d s + K i / s s 3 + (10 + K d ) s 2 + (20 + K p ) s + K i
1+
s 2 + 10s + 20
Ex (contd): Summary
PD
PI
PID
Effect of Proportional,
Integral & Derivative Gains on the
Dynamic Response
Proportional Controller
Pure gain (or attenuation) since:
the controller input is error
the controller output is a proportional gain
E ( s) K p = U ( s) u (t ) = K p e(t )
Integral Controller
Integral of error with a constant gain
increase the system type by 1
eliminate steady-state error for a unit step input
amplify overshoot and oscillations
Ki
E (s)
= U ( s ) u (t ) = K i e(t )dt
s
0
Derivative Controller
Differentiation of error with a constant gain
detect rapid change in output
reduce overshoot and oscillation
do not affect the steady-state response
de(t )
E ( s ) K d s = U ( s ) u (t ) = K d
dt
Conclusions
Increasing the proportional feedback gain reduces steadystate errors, but high gains almost always destabilize the
system.
Integral control provides robust reduction in steady-state
errors, but often makes the system less stable.
Derivative control usually increases damping and
improves stability, but has almost no effect on the steady
state error
These 3 kinds of control combined from the classical PID
controller
Conclusion - PID
The standard PID controller is described by the
equation:
Ki
+ K d s E (s)
U (s) = K p +
s
1
or U ( s ) = K p 1 + s + Td s E ( s )
Ti