EEM352

Wan Amir Fuad Wajdi Othman

Room: PPKEE 3.25
Ext: 6062
Email: eeamirfuad@eng.usm.my
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PID Controller / multi-OpAmps

PID Controller / OpAmp

PID Controller / OpAmp

PID Controller / OpAmp

Designing PID Controller (ex)

Design the PID controller of
(s+111.84)(s+1)
Gc (s) =
s

by using operational amplifier.

Designing PID Controller (ex)

(s+111.84)(s+1)
Given Gc (s) =
s

which can be expressed as

Gc (s) = s+112.84+
From table, we have

R2 C1
+
= 112.84
R1 C 2
R2 C 1 = 1
1
= 111.84
R1 C2

111.84
s

Now we have 4 unknowns & 3

equations. We then select a
practical value for one of the
elements, so here we select C2 =
0.1 F, then, we will have

R1 =89.41 k ,
R2 =89.41 k ,
C 1=0.11F
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Designing PID Controller (ex2)

Design the controller of

(s+0.1)(s+5)
Gc (s) =
s

by using operational amplifier.

We can express the controller as G c (s) = 5.1+s+
From table, now we have

R2 C1
+
= 5.1
R1 C 2
R2 C 1 = 1
1
= 0.5
R1 C2

0.5
s

Again we have 4 unknowns & 3

equations. We then select a
practical value for one of the
elements, so here we select C1 =
10 F, then, we will have

R2 = 100 k
R1 = 20 k
C 2 = 100 F
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Assignment 3

Q1. Determine Free Body Diagram for the above mass-spring damper system
Q2. Determine the transfer function for the given system
Q3. By using SciLAB, excite u(t) to the system, record / print the response of the
system.
Q4. Determine the KP, KI and KD based on the transient step response of the
system (Ziegler-Nichols open-loop tuning). Plug the PID controller to the above
system, record the response of the system (by using SciLAB).
Q5. Fine tune (tweak) the KP, KD and KI to reduce rise time and overshoot, and
also to eliminate steady-state error.
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Assignment 3

Q6. Compare your Q4 and Q5 findings

Q7. Determine the transfer function for the PID controller GC(s), by using KP, KD
and KI from Q5
Q8. Design the above controller GC(s) by using operational amplifier.

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References
Nise, Control Systems Engineering, 5th Ed. (pp. 480~490)
Ogata, Modern Control Engineering, 5th Ed. (90~100)
Dorf & Bishop, Modern Control Systems, 12th Ed. (pp. 502~514)
Gopal, Control Systems Principle and Design, 3rd Ed. (pp. 80~95)
Palani, Control Systems Engineering, 2nd Ed. (Ch2 & Ch4)
http://quadratic-formula-calculator.com/
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