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The manner in which the controller produces the controller signal U(s) is called control
action. The sensor or transducer element H(s) is a device that converts the output signal
variable into a same unit as the reference input signal.
Gp(s) is the process or plant transfer function and H(s) is the feedback transfer function.
D(s), disturbance
Automatic Controller
Reference
input, R(s)
E(s)
Gc(s)
U(s)
Output, C(s)
Gp(s)
B(s)
Measured
Output
H(s)
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e(t)
Gc(s)
u(t)
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U1
e(t)
u(t)
U2
U1
e(t)
+
-
u(t)
U2
Proportional Controller, Gc = Kp
A proportional controller is defined to be one in which the output is simply proportional
to the input.
e(t)
Kp
u(t)
The relationship between the output and the input can be describes as follows
u(t) = Kpe(t),
where Kp is the proportional gain.
The proportional controller is essentially an amplifier with adjustable gain.
Proportional controllers with very high gains Kp act as two-position controllers.
3/11
1
and H(s) = 1, the
1 s
closed loop transfer relating the output to the input R and disturbance D can be evaluated
as follows
K
C
(1 K )
R 1 s
(1 K )
and
1
C
(1 K )
D 1 s
(1 K )
If the input R(s) and the disturbance D(s) are a unit step input, the corresponding steadysate outputs respectively becomes
C ss
K
1 K
and
C ss
1
1 K
If proportional gain is made large value, then the output (when R=1/s and D=0) will
approaches unity and steady state error will become zero. While the output will approach
zero when R=0 and D=1/s. This is a good result but it is impossible to practically to have
very large value of gain K. Hence, proportional controller does not give good
performance in term of steady state error, and disturbance rejection.
Next, consider the plant transfer function, is the second order system which consists of
moment of inertia J and viscous friction b. [i.e. G p
1
and H(s) = 1]. The closed
s ( Js b)
loop transfer relating the output to the input R and disturbance D can be evaluated as
follows
C
K
2
R Js bs K
and
C
1
2
D Js bs K
If the input R(s) and the disturbance D(s) are a unit step input, the corresponding steadysate outputs respectively becomes
C ss 1
and
C ss
1
K
The steady state output (when R=1/s and D=0) will approaches unity and steady state
error will become zero which is good. However the steady-state output (when R=0 and
D=1/s) will approach zero only when K is very large but it is impossible to practically to
have very large value of gain K. Another problem is that large value of K will cause the
roots of the open-loop transfer function, which are s=0 and 1/ to be shifted to the right.
This will produce a small damping ratio, hence it causes oscillatory response.
4/11
Im
Re
-1/
Overall, proportional controller does not give good performance in term of steady state
error, and disturbance rejection as well as transient response.
Ki
s
The controller action of the PID controller is defined by
u (t ) K p e(t )
Kp
Ti
e(t )dt
0
e(t)
Kp
Ki
s
u(t)
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1
and with unity feedback
1 s
H(s)=1, the new transfer function relating the output the two inputs become
K p s Ki
C ( s)
2
R( s ) s s (1 K p ) K i
C ( s)
s
2
D( s ) s s (1 K p ) K i
and
The steady-state outputs C for a unit step input of R while D=0, and for a unit step input
of D while R=0 becomes respectively as follows
Css (t) = 1
and
Css (t) = 0
For the first order system, PI controller has reduced the steady state error to zero and
completely rejected the external disturbance.
For the plant transfer function of the second order system, i.e. G p
1
and H(s) =
s ( Js b)
1, the closed loop transfer relating the output to the input R and disturbance T can be
evaluated as follows
K p s Ki
C
3
R Js bs 2 K p s K i
and
C
s
3
2
D Js bs K p s K i
If the input R(s) and the disturbance T(s) are a unit step input, the corresponding steadysate outputs respectively becomes
C ss 1
C ss 0
and
Again, for the second order system, the disturbance is completely rejected and the steadystate error is zero without using high forward-path gains.
K p s Ki
s 2 ( Js b)
p z
i
nm
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Ki
b
J
Kp
Im
Re
Ki/Kp
b/J
u (t ) K p e(t ) K d
de(t )
dt
e(t)
K p Kd s
u(t)
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D(s)
R(s) +
K p Kd s
1
2
Js Cs
C(s)
When the input R is a unit step, the steady-state output C becomes css(t) = 1 and therefore
the steady state error due to unit step input is zero. ( ess(t) = 0 )
If R(s) = 0, the transfer function relating C and D is as follows
C ( s)
1
2
D ( s ) Js s (C K d ) K p
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s 2 2 n s n2 s 2
In which 2 n
c Kd
J
c Kd
J
Kp
J
and n2
Kp
J
D(s)
R(s) +
+
-
Kp
-
1
Js C
1
s
C(s)
KT
C (s)
1
2
D( s ) Js s (C K T ) K p
From the characteristic of equation of the transfer functions show that the effect of the
tachometer feedback is the same as PD control. However, there is no closed-loop pole
that makes the prediction of the transient response somewhat easier.
9/11
Derivative control is never used alone because of noise of error signal e(t). Figure bolow
de(t )
e , which magnifies significantly the noise
shows the derivative of signal error
dt
of the error. Without the noise the derivative of error signal is a horizontal line.
e
t
U ( s)
K p (1 Td s )
E ( s)
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Ki
Kd s
s
Kp
+
e(t)
Ki
s
u(t)
+
+
Kd s
e(t)
1
Gc Kp(1 Tds)
Tis
u(t)
The individual setting of the parameters setting of Kp, Ki and Kd is needed to tuning the
controller so that it meet the required performance of the controlled system.
11/11