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Design and Tuning in Control Systems - GATE Study Material in PDF
Design and Tuning in Control Systems - GATE Study Material in PDF
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input MP) and setting time ts. For setting these values to our choice, we make use of
controllers. The controller consists of an amplifier and an error detector.
They are of two types, discontinuous and continuous type controllers.
A discontinuous Controller can be of two types, ON/OFF controller and Multi Position
Controller.
Our focus is on continuous type controllers which are classified as Proportional, Integral,
Derivative controller and combinations of these three. The combinations which are used
are Proportional + Derivative (PD), Proportional + Integral (PI) and Proportional +
Integral + Derivative (PID) Controllers. We will discuss them here one by one.
Proportional Controller
In this controller, the error is amplified using a proportional gain. It can be seen as
Now, to discuss the effect of it on the system, suppose we provide step input.
1
R(s) = s
1+sT 1
ess = lt =
s0 1+sT+1 2
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1
ess =
1+Kp
If Kp > 1, the steady state error is reduced. However, it is not completely removed. That
unclear error is called residual error or offset error.
Integral controller
The block diagram when integral controller is applied is shown as
Ki 1
=
s Ti s
Where Ti is called integral time and also defined as time of change of output caused by a
unit change of error signal.
In integral controller, the output of the controller is changed at the rate which is
proportional to the rate which is proportional to the error signal. This controller alone is
sluggish is nature, hence it decreases the overall speed of system. It improves the steady
state response.
Now, we know that steady state error for given system without controller is ess =
Now, steady state error with integral controller,
sR(s)
ess = lt
s0 1+G(s)H(s)
1
s( ) s(1+sT)
ess = lt s
Ki = lt
s0 1+( ) s0 s2 T+s+Ki
s(1+sT)
=0
Thus the steady state error for first order system gets eliminated using Integral controller.
Now, if we talk about stability, consider a second order system with integral controller.
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Characteristic equation for the above system is
1 + G(s)H(s) = 0
Ki 2n
1+ =0
s s2 +2n s
s 3 + 2n s2 + K i 2n = 0
Forming the Routh array, we get
s3 1 0
s 2 2n K i 2n
K i n
s1
2
s0 K i 2n
Since there is change of sign in first column, hence the system after integral controller
becomes unstable as the value of constants used are greater than zero.
Thus an integral error increases the type and order of the system by one, makes system
less stable, reduces steady state error and improves steady state response.
Derivative Controller
It is known as tachometer controller or rate controller. This controller is anticipative in
nature and anticipates the output even before it changes.
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Open loop transfer function after applying derivative controller,
KD 2n
G (s) =
s+2n
Hence Derivative controller reduces the system type and order by 1. It increases the steady
state error, reduces the oscillation and hence improves the transient response.
Since it is anticipating in nature hence the speed of response is very fast.
C 2n
Transfer function is = (Try to derive it yourself)
R s2 +(2n +2n KD )s +2n
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Thus damping is increased in derivative feedback, hence maximum overshoot is decreased.
If we look into steady state error, suppose the system is provided with ramp input.
Steady state error without derivative feedback,
2
ess =
n
sR(s)
With derivation feedback, ess = lt
s0 1+G(s)H(s)
1 s2 +(2n +2n KD )s
ess = lt s. [ 2 2 ]
s0 s2 s2 +(2n +n KD )s+n
2n +2n KD
=
2n
2
ess = + KD
n
C (1+KD )2n
Transfer function is =
R s2 +(2n +KD 2n )s+2n
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Hence PD controller increases damping ratio. Now, if we look into steady state error
(assuming Ramp Input)
1
R(s) = s2
sR(s)
ess = lt
s0 1+G(s)H(s)
1 s(s+2n )
= lt s ( 2) [ 2 2 2 ]
s0 s s +(2 n +KD n )s+n
2
ess = , which is same as the one without PD controller.
n
C (s+Ki )2n
Transfer function is given as = (Try to derive)
R s3 +2n s2 +2n s+Ki 2n
1
For parabolic input (R(s) = 3) , steady state error is given as
s
sR(s) 1 1
ess = lt = lt 3.s[ s+K 2 ]
s0 1+G(s)H(s) s0 s n
1+ s i s(s+2
n)
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s+2n
= lt 2
s0 s2 (s+2n )+(s+Ki )n
2
ess =
Ki n
s 0 K i 2n
23n ki2n
For the system to be stable, >0
2n
2n > K i
, Ki needs to be managed such that Ki < 2n
Thus, a PI Controller increase the system type by 1, decrease steady state error. It increases
the order of the system by 1 which leads to increase in oscillations. It improves steady state
response.
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