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EE 448

Control Systems, Sensors and


Actuators
Lecture 3. Control Techniques
Instructor : Hunh Vit Thng <thang143@gmail.com>
LA
: V Vn Thanh
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Control techniques
Closed loop control is an essential topic for control
systems, bringing together actuators and sensors with
the control algorithm in software

Introduction
Problem: supplying the same analog voltage (or the same PWM
signal) to a motor does not guarantee that the motor will run at
the same speed under all circumstances!

Solution: Feedback is everything!

Introduction (cont.)

C: the controller; P: plant or process; F: sensor measurement


y(t): output of the system;
u(t): output of the controller
r(t): reference signal (input);
e(t): error signal

Introduction (cont.)
Assuming the process/plant P, the sensor F and the controller
C are LTI (Linear Time-Invariant) systems

Closed-loop
transfer function

Control techniques

On-off control
PID control
Adaptive control (LMS, NLMS, RLS algorithms)
Others:
Fuzzy control
Neural Networks based control

On-off control
The power to motor is either switched on or switched off

R(t): control signal (control voltage) over time

On-off control (cont.)


Behavior over time

Advantage: simplest control method; used in refridgerators,


heater, thermostat, etc.
Disadvantage: the motor control signal is only updated at
fixed time intervals (e.g., 10ms)  hysteresis (tr)
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On-off control (cont.)


Use a hyteresis band with 2 desired signals to prevent a high
switching frequency

Step-response of an on-off controller

Not smooth
Can we improve this?
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PID Control

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PID Control (cont.)


The PID controller algorithm involves three separate constant
parameters, and is accordingly sometimes called three-term
control: the proportional, the integral and derivative values
PID = P + I + D
P = Proportional; I = Integral; D = Derivative
P depends on the present error,
I depends on the accumulation of past errors,
D is a prediction of future errors, based on current rate of
change
The weighted sum of these three actions is used to adjust the
process via a control element
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Proportional Controller (P)


The control voltage is directly proportional to the error signal
(error function)

P controller is only slightly different from on-off controller


Varying the controller gain Kp will change the behavior of
the P controller
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Proportional Controller (cont.)


Step response for P controller
Higher Kp  Faster response
Important: Too high Kp
leads to undesirable
oscillating system!
Require fast response
and stable system
(e.g., Kp = 0.45)

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Proportional Controller (cont.)


P controllers equilibrium state is not at the desired velocity
due to control formula
Steady-state error is the difference between desired velocity
and equilibrium-states velocity
Can we reduce the
steady-state error?
 Integral controller

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Integral Controller (I)


The idea of the I controller is to reduce the steady-state error
of P controller
The I controller is commonly used with the P or PD controller

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Integral Controller (cont.)


Define the error function : e(t) =
The formula for PI controller is
Rewrite for 2 independent additive terms for P and I

How can we compute the integral?


A naive way of implementing the I controller part is to
transform the integration into a sum of a fixed number (for
example 10) of previous error values. These 10 values would
then have to be stored in an array and added for every
iteration.
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Integral Controller (cont.)


Proper Implementation:
replace the integral with a sum and use the trapezoidal rule

Use the term Rn-1 to remove the sum

Substitute KI for

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Integral Controller (cont.)


proper implementation of PI control algorithm

We only need to store


the previous control value Rn-1
the previous error value en-1

to calculate the PI output

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Derivative Controller (D)


The idea of using the D controller is to speed up the P
controllers response to a change of input
The D controller is commonly used with the P or PI controller
Recall:
P provides a better step response than on-off controller
I for reducing steady-state error of P
D for speeding up step response of P

How would the P, PD and PID controllers behave?

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P, PD and PID

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PID controller
The full formula for PID controller

Using the discretization (as for PI control)

Using the difference between 2 subsequent controller outputs

Finally, using the generic notations KP, KI and KD


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PID controller
A complete PID formula

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PID parameter tuning


Find parameters experimentally

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Other control techniques


Adaptive control (LMS, NLMS, RLS)
Fuzzy control
Control using Neural Network

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