IntroCtrlSys Chapter6

Lecture Notes
Introduction to Control Systems
Instructor: Dr. Huynh Thai Hoang

Department of Automatic Control
Faculty of Electrical & Electronics Engineering
Ho Chi Minh City University of Technology
Email: hthoang@hcmut.edu.vn
huynhthaihoang@yahoo.com
Homepage: www4.hcmut.edu.vn/~hthoang/
9 November 2012 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

Chapter 6
DESIGN OF CONTINUOUS
CONTROL SYSTEMS
9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 2

Content
Introduction
Effect of controllers on system performance
Control systems design using the root locus method
Control systems design in the frequency domain
Design
g of PID controllers
Control systems design in state-space
Design of state estimators

Introduction

Introduction to design process
Design is a process of adding/configuring hardware as well as

software in a system so that the new system satisfies the
d i d specifications.
desired ifi ti

Series compensator
The controller is connected in series with the plant.
plant
R(s) Y(s)
+ GC(s) G(s)
Controllers: phase lead, phase lag, lead-lag compensator, P,

PD PI,
PD, PI PID,
PID
Design method: root locus,

locus frequency response

State feedback control
All the states of the system are fed back to calculate the control
rule.
r(t) u(t) x(t) y(t)

+
x (t ) Ax (t ) Bu (t ) C
State feedback controller: u (t ) r (t ) Kx (t )

K k1 k2 kn
Design method: pole placement,

placement LQR,
LQR

Effects of controller on system
performance

Effects of the addition of poles
The addition of a pole (in the left
left-half
half ss-plane)
plane) to the open
open-
loop transfer function has the effect of pushing the root locus
to the right, tending to lower the systems relative stability and
t slow
to l d
down th settling
the ttli off the
th response.
Im s Im s Im s
Re s Re s Re s

Effects of the addition of zeros
The addition of a zero (in the left

left-half
half ss-plane)
plane) to the open
open-
loop transfer function has the effect of pulling the root locus to
the left, tending to make the system more stable and to speed
up the
th settling
ttli off the
th response.
Im s Im s Im s
Re s Re s Re s

Effects of lead compensators
Transfer function:
1 Ts
GC ( s ) K C ( 1)
1 Ts
Frequency response:
1 Tj
GC ( j ) K C
1 Tj
Characteristics of the Bode plots:
1 1
max sin
1
1
max
T
L ( max ) 20 lg K C 10 lg
The lead compensators improve
the transient response (POT, ts,..)
Lead compensator implementation
Lead compensator transfer function:
U ( s ) R2 R4 1 R1C1s 1 Ts
KC ( 1 R1C1 R2C2 )
E ( s ) R1 R3 1 R2C2 s 1 Ts
E(s) U(s)

Effects of lag compensators
Transfer function:
1 Ts
GC ( s ) K C ( 1)
1 Ts
Frequency response:
1 Tj
GC ( j ) K C
1 Tj
Characteristics of the Bode plots:
1 1
min sin
1
1
min
T
L (min ) 20 lg K C 10 lg
The lag
g compensators
reduce the steady-state error.
Lag compensator implementation
Lag compensator transfer function:
U ( s ) R2 R4 1 R1C1s 1 Ts
KC ( 1 R1C1 R2C2 )
E ( s ) R1 R3 1 R2C2 s 1 Ts
E(s) U(s)

Effects of lead
lead--lag compensators
1 1T1s 1 2T2 s
Transfer function: GC ( s) KC (1 1, 2 1)
1 T1s 1 T2 s
Bode diagram
The lead-lag
lead lag compensators improve transient response and
reduces the steady-state error.
Effects of proportional controller (P)
T
Transfer
f function:
f ti GC ( s ) K P
Increasing proportional gain leads to decreasing steady-state
error, however,
h the
h system become
b l
less stable,
bl andd the
h POT
increases.
y(t)
(t)
Ex: response of a
proportional control
system
t whose
h
plant has the
transfer function
below:
10
G ( s)
( s 2)( s 3)
Effects of proportional derivative controller (PD)
Transfer function: Bode diagram

GC ( s ) K P K D s K P (1 TD s )
The PD controller is a
special case of phase lead
compensator,
t the
th
maximum phase lead is
max=900 at the frequency
q y
max=+.
The PD controller speed up
the response of the system,
however it also makes the
system more sensitive to
high frequency noise.
Effects of proportional derivative controller (PD)
Note: The larger the derivative constant,
constant the faster the
response of the system.
y( )
y(t)
unompensated

PD controller implementation
PD controller transfer function:
U ( s ) R2 R4
(1 R1C1s ) K P K D s
E ( s ) R1 R3
E(s)
U(s)
( )

Effects of proportional integral controller (PI)
Transfer function: Bode diagram
KI 1
GC ( s ) K P K P (1 )
s TI s
The PI controller is a
special case of phase lag
compensator,
t theth minimum
i i
phase lag is min= 900 at
the frequency
q y min=+.
PI controllers eliminate
stead state error to step
steady
input, however it can
increase POT and settling
time.

Effects of proportional integral controller (PI)
Note: The larger the integral constant,
constant the larger the POT
of response of the system.
y( )
y(t)
uncompensated

PI controller implementation
PI controller transfer function:
U ( s ) R2 R4 R2C2 s 1 KI
KP
E ( s ) R1 R3 R2C2 s s
E(s)
U( )
U(s)

Effects of proportional integral controller (PID)
Transfer function:
Bode diagram
KI
GC ( s ) K P KDs
s
1
GC ( s ) K P (1 TD s )
TI s
1
GC ( s ) K P 1 1 TD 2 s
TI 1s
Effects of PID controllers:

speed up response of
the system
Eliminate steady-state
error to step input.

Comparison of PI, PD and PID controllers
(t)
y(t)
U
Uncompensated
t d

Control systems
y design
g
using the root locus method

Procedure for designing lead compensator using the root locus
s (1 / T )
Lead compensator: GC ( s ) K C ( 1)
s (1 / T )
*
s
Step 1: Determine the dominant poles 1, 2 from desired
transient response specification:
Overshoot ((POT))
s1*, 2
n jn 1 2
Settling time ts n
Step 2: Determine the deficiency angle so that the dominant
poles s1*, 2 lie on the root locus of the compensated system:
n m
* 180 0 arg( s1* pi ) arg( s1* z i )
i 1 i 1
where pi and zi are poles & zeros of G(s) before compensation.

* 180 0 angle from pi to s1* angle from zi to s1*
Procedure for designing lead compensator using the root locus
Step 3: Determine the pole & zero of the lead compensator

*
Draw 2 arbitrarily rays starting from the dominant pole s1
such that the angle between the two rays equal to *. The
intersection between the two rays and the real axis are the
positions of the pole and the zero of the lead compensator.
Two methods often used for drawing the rays:
Bisector method
Pole elimination method
Step 4: Calculate the gain KC using the formula:
GC ( s )G ( s ) s s* 1
1

Example of designing a lead compensator using RL
R(s)
( ) 50 Y(s)
+ GC(s)
s ( s 5)
Objective:
j design
g the compensator
p GC((s)) so that the
response of the compensated system satisfies: POT<20%;
ts< 0,5sec (2% criterion).
Solution:
Because the design objective is to improve the transient
response, we need to design a lead compensator:
s (1 / T )
GC ( s ) K C ( 1)
s (1 / T )
Example of designing a lead compensator using RL (cont)
Step 1:
1 Determine the dominant poles:
poles

POT exp 0.2 ln 0.2 1,6 0,45
2 1 2
1
Chose 0,707
4 4
t q 0,5 n n 11,4
n 0,5
Chose n 15
The dominant p
poles are:
s1*, 2 n j n 1 2 0,707 15 j15 1 0,707 2
s1*, 2 10,5 j10,5

Step 2: Determine the deficiency angle:

Method 1:
* 1800 arg[(10,5 j10,5) 0] arg[(10,5 j10,5) (5)]
10,5 10,5
180 arctan
0
arctan
10,5 5,5
1800 (135 117,6)
Im s
72,6
* 0
s*
j10,5
Method 2:
* 1800 ( 1 2 )
1800 (1350 117,60 ) 2 1 Re s
O
72,6
* 0 10,5 5

Step 3: Determine the pole and the zero of the compensator

(bisector method) Im s
x s* P
j10,5
B A C 1 Re s
O
10,5 5
OP x * OP x *
sin sin
OB OP 2 2
28,12 2 2
OC OP 8,0
OP x
*
OP x
*
sin sin
2 2 2 2
s8
GC ( s ) K C
s 28
Step 4: Determine the gain of the compensator:
GC ( s )G ( s ) s s* 1
10,5 j10,5 8 50
KC . 1
10,5 j10,5 28 (10,5 j10,5)(10,5 j10,5 5)
10,79 50
KC 1
20,41 15 11,85
K C 6,7
Conclusion: The transfer function of the lead compensator is:
s8
GC ( s ) 6,7
s 28
Root locus of the system
Root locus of the Root locus of the

uncompensated system compensated system

Transient response of the system
y(t)
uncompensated
compensated

Procedure for designing lag compensator using the root locus
s (1 / T )
Lag compensator: GC ( s) KC ( 1)
s (1 / T )
Step 1: Determine to meet the steady-state error requirement:
KP KV Ka
* or * or *
KP KV Ka
1
Step 2: Chose the zero of the lag compensator: Re(
( s *
1, 2 )
T
1 1
Step 3: Calculate the pole of the compensator: .
T T
Step 4: Calculate KC satisfying the condition: GC ( s)G ( s) s s* 1

1, 2

Example of designing a lag compensator using RL
R(s)
( ) 10 Y(s)
+ GC(s)
s( s 3)( s 4)
Objective:
j design
g the compensator
compensated system satisfies the following performances:
steady state error to ramp input is 0,02 and transient
response of the compensated system is nearly unchanged
unchanged.
Solution:
The compensator to be design is a lag compensator:
s (1 / T )
GC ( s) KC ( 1)
s (1 / T )
Example of designing a lag compensator using RL (cont)
Step 1: Determine
The velocity constant of uncompensated system :
10
KV lim sG ( s) lim s 0.83
s 0 s 0 s ( s 3)( s 4)
The desired velocity constant:

1 1
KV *
*
50
exl 0,02
KV 0.83
Then: *
KV 50
0,017

Step 2: Chose the zero of the lag compensator

The pole of the uncompensated system:
10 s1, 2 1 j
1 G (s) 0 1 0
s ( s 3)( s 4) s3 5
The
Th dominant
d i t poles
l off the
th uncompensated t : s1, 2 1 j
t d system
1
Chose: Res1 1
1
0,1
T T
Step 3: Calculate the pole of the compensator:
1 1 1
(0,017)(0,1) 0,0017
T T T
s 0,1
GC ( s) K C
s 0,0017
Step 4: Determine the gain of the compensator
GC ( s )G ( s ) s ss* 1
s 0,1 10
KC . 1
s 0,00177 s( s 3)( s 4) s 1
1 j
( 1 j 0,1) 10
KC . 1
( 1 j 0,0017) ( 1 j )( 1 j 3)( 1 j 4)
KC 1,0042 1
s 0,1
GC ( s )
s 0,0017

Root locus of the system
Root locus of the Root locus of the

uncompensated system compensated system

()
y(t)
uncompensated
compensated
t d

Procedure for designing lead lag compensator using the RL
The compensator to be designed

GC ( s) GC1 ( s)GC 2 ( s)
phase phase
lead lag
Step 1: Design the lead compensator GC1(s) to satisfy the
transient response performances.
Step 2: Let G1(s)= G (s). GC1(s)

D i
Design the
h lag
l compensator GC2(s)( ) in
i series
i with
i h G1(s)
( ) to
satisfy the steady-state performances (and not to degrade the
transient response obtained after phase lead compensating)

Example of designing a lead lag compensator using RL
R(s)
( ) 4 Y(s)
+ GC(s)
s( s 0.5)
Objective:
j design
g the compensator
compensated system has the dominant poles with = 0.5,
n =5 (rad/sec) and the velocity constant KV =80.
Solution
The compensator
p to be designed
g is a lead lag g compensator
p
because the design objective is to improve the transient
response and to reduce the steady-state error.
GC ( s) GC1 ( s)GC 2 ( s)

Example of designing a lead lag compensator using RL (cont)
Step 1: Design the lead compensator GC1(s)

The dominant poles:
s1*, 2 n jn 1 2 0,5 5 j 5 1 0,52
s1*, 2 2,5 j 4,33
The deficiency angle:

* 180 0 ( 1 2 )
180 0 (120 0 1150 )
* 550

Chose the zero of the lead compensator so that it eliminates

the pole at 0.5 of G(s) (pole elimination method)
1
0,5
T1
OA 0,5
sin AP B sin 550
AB PA 4.76 0
4.5
sin PAB sin 60
B A 1
OA AB 5
T1
1/T1 1/T1
s 0,5
GC1 ( s ) K C1
s5

C l l
Calculate KC1: GC1 ( s )G ( s ) s s* 1
s 0,5 4
K C1 . 1
s 5 s ( s 0,5) s 2,5 j 4,33
K C1 6,25
s 0,5
GC1 ( s ) 6,25
s5
The lead-compensated open-loop system:

25
G1 ( s ) GC1 ( s )G ( s )
s ( s 5)

Step 2: Design the lag compensator GC2(s)

1
s
T2
GC 2 ( s ) K C 2
1
s
T2
Determine :
25
KV lim sG1 ( s ) lim s 5
s 0 s 0 s ( s 5)
KV* 80
KV 5 1
*
KV 80 16

Determine
D i the
h zero off the
h lag
l compensator:
1
Re( s * ) Re(2,5 j 4,33) 2,5
T2
1
Chose: 0,16
T2
Calculate the pole of the lag compensator:

1 1 1
. .((0,16)
T2 T2 16
1
0.01
T2

Calculate KC2 using the gain condition: GC 2 ( s )G1 ( s ) s s* 1

GC 2 (s) s s G1 (s) s s 1
*
*
2,5 j 4,33 0,16

KC 2 1
2,5 j 4,33 0,01
K C 2 1.01
The transfer function of the lag compensator:

( s 0,16)
GC 2 ( s ) 1,01
( s 0,01)
( s 0,5)( s 0,16)
Final result: GC ( s ) GC1 ( s )GC 2 ( s ) 6,31
( s 5)( s 0,01)

Control system
y design
g in
frequency domain

Procedure for designing lead compensators in frequency domain
Ts 1
The lead compensator: GC ( s ) KC ( 1)
Ts 1
Step 1: Determine KC to meet the steady
steady-state
state error requirement:
K C K P* / K P or K C KV* / KV or K C K a* / K a
Step 2: Let G1(s)=KCG(s).
G(s) Plot the Bode diagram of G1(s)
Step 3: Determine the gain crossover frequency of G1(s):
L1 (C ) 0 or G1 ( j C ) 1
Step 4: Determine the phase margin of G1(s) (phase margin
of uncompensated system): M 180 1 ( C )
Step 5: Determine the necessary phase lead angle to be
added to the system: M * M
max
M * is the desired phase margin, 50 200
Procedure for designing lead compensators in frequency domain
1 sin max
Step 6: Calculate :
1 sin max
Step 7:
St 7 Determine
D t i th new gain
the i crossover frequency
f ( f
(of
the compensated open-loop system) using the conditions:
L1 (C ) 10 lg or G1 ( jC ) 1 /
1
p 8: Calculate the time constant T: T
Step
C
Step 9: Check if the compensated system satisfies the gain
margin? If not,
not repeat the design procedure from step 5.
5
Note: It is possible to determine C (step 3), M (step 4) and
C (step 7) by using Bode diagram instead of using analytic
calculation.
Design lead compensator in frequency domain - Example
R(s)
( ) 4 Y(s)
+ GC(s)
s( s 2)
Objective:
j Design
g the compensator
compensated system satisfies the performances:
KV* 20; M * 50 0 ; GM * 10dB
Solution:
The transfer function of the lead compensator
p to be designed:
g
1 Ts
GC ( s ) K C ( 1)
1 Ts

Design lead compensator in frequency domain Example (cont)
Step 1: Determine KC
The velocity constant of the uncompensated system:
4
KV lim
li sGG ( s ) lim
li s 2
s 0 s 0 s ( s 2)
The desired velocityy constant: KV* 20
KV* 20
KC K C 10
KV 2
4
Step 2: Denote G1 ( s ) K C G ( s ) 10.
s ( s 2)
20
G1 ( s )
s (0,5s 1)
Draw the Bode diagram of G1(s)
-20dB/dec
26
-40dB/dec
2 c=6
-160
160

Step 3: The gain crossover frequency of G1(s)

According to the Bode diagram: C 6 (rad/sec)
Step 4: The phase margin of G1(s)

According to the Bode diagram:
1 (C ) 1600
M 180 1 (C ) 200
Step 5: The necessary phase lead angle to be added:

max M * M (chose =7)
7)
max 500 200 70
max 37 0

Step 6: Calculate
1 sin max 1 sin 37 0
4
1 sin max 1 sin 37 0
Step 7: Determine the new gain crossover frequency using
Bode p
plot L ( ) 10 lg 10 lg 4 6dB
1 C
The abscissa of the intersection between Bode magnitude

diagram
d ag a a and
d the
e horizontal
o o a line e with o
ordinate
d ae o of 6d
6dB iss the
e
new gain crossover frequency. According to the plot (in slide
54), we have:
C 9 (rad/sec)
Step 8: Calculate T
1 1
T T 0,056 T 0,224
C (9)( 4 )
-20dB/dec
-40dB/dec
+20dB/dec
-20dB/dec
-6
-40dB/dec
-40dB/dec
1/T=4.5 c=6 c=9 1/T=18
M *
M
-160
160

Step 9: Check the gain margin of the compensated system

According to the compensated Bode diagram, GM* = +, then
the compensated system fulfills the design requirements.
requirements
Conclusion: The designed lead compensator is:

1 0,224 s
GC ( s ) 10
1 0,056s

Design lead compensator in frequency domain Example 2
R(s)
( ) Y(s)
+ GC(s) G(s)
16e 0.02 s
G( s)
( s 2)( s 2 10 s 25)
Objective: Design the compensator GC(s) so that the

compensated system has: M * 50 0 ; GM * 10dB and
state error to unit step input ess* 0.05;
steady-state
steady
Solution:

Procedure for designing lag compensators in frequency domain
Ts 1
The lag compensator: GC ( s ) K C ( 1)
Ts 1
Step 1: Determine KC to meet the steady state error requirement:
steady-state
K C K P* / K P or K C KV* / KV or K C K a* / K a
Step 2: Let G1(s)=KCG(s).
G(s) Plot the Bode diagram of G1(s)
Step 3: Determine the new gain crossover frequency C
satisfying the following condition:

1 (C ) 180 M
0 *
M is the desired phase margin

*
margin, 50 20 0
Step 4: Calculate using the condition:
1
L1 ( C ) 20 lg
l or G1 ( j C )

Procedure for designing lag compensators in frequency domain
St 5 : Chose
Step Ch th zero off the
the th lag
l compensator
t so that:
th t
1
C T
T
Step 6: Calculate the time constant T:
1 1
T
T T
Step 7: Check if the compensated system satisfies the gain
margin? If not, repeat the design procedure from step 3.
Note: It is possible to determine 1 ( C ) , C (step 3), L1 (C )

(step 4) by using Bode diagram instead of using analytic
calculation.

Design lag compensator in frequency domain Example
R(s)
( ) 1 Y(s)
+ GC(s)
s( s 1)(0.5s 1)
Objective:
j design
g the lag
g compensator
p GC((s)) so that that
compensated system satisfies the following performances:
KV* 5; M * 400 ; GM * 10dB
Solution
The transfer function of the lag compensator to be designed:
1 Ts ( 1)
GC ( s ) K C
1 Ts

Design lag compensator in frequency domain Example (cont)
Step 1: Determine KC
The velocity constant of the uncompensated system:
1
KV lim sG
G ( s ) lim s 1
s 0 s 0 s( s 1)(0.5s 1)
The desired velocityy constant: KV* 5
KV*
KC 5
KV
Step 2: Denote G1 ( s ) K C G ( s )
5
G1 ( s )
s ( s 1)(0.5s 1)
Draw the Bode diagram of G1(s)
-20dB/dec
14 -40dB/dec
-60dB/dec
60dB/dec
1 2

Step 3: Determine the new gain crossover frequency:

1 (C ) 1800 M *
1 (C ) 1800 400 50
1 ( C ) 1350
According to the Bode diagram: C 0.5 (rad/sec)
St 4:
Step C l l t using
4 Calculate i the
th condition:
diti
L1 ( C ) 20 lg
According the Bode diagram:L1 ( C ) 18 (dB)
( )
18 20 lg lg 0,9 10 0,9
0,126
Step 5: Chose the zero of the lag compensator:

1
C 0.5
T
1
Chose 0.05 T 20
T
Step 6: Calculate the time constant T
1 1
0,126 0,05 0,0063 T 159
T T
Step 7: It can be verified in the Bode diagram that the
compensated system satisfies the gain margin requirement.
(20 s 1)
Conclusion GC ( s ) 5
(159 s 1)
-20dB/dec
L1(c)
14 -40dB/dec GM*
L(()
-60dB/dec
60dB/dec
0.0067 0.05 c=0.5 1 2
-135

Design lag compensator in frequency domain Example 2
R(s)
( ) Y(s)
+ GC(s) G(s)
16e 0.02 s
G( s)
( s 2)( s 2 10 s 25)
Objective: Design the compensator GC(s) so that the

compensated system has: M * 50 0 ; GM * 10dB and
state error to unit step input ess* 0.05;
steady-state
steady
Solution:

Comparison of phase lead and phase lag compensator
(Dorf and Bishop (2008), Modern control system p.729)

D i off PID controllers
Design t ll

Zeigler Nichols method 1
Determine the PID parameters based on the step response of
the open-loop system.
u(t) y(t)
Plant
y(t)
T1 T2
Zeigler Nichols method 1 (cont)
R( )
R(s) Y(s)
+ PID Plant
1
PID controller: GC ( s ) K P 1 TD s
TI s
Controller KP TI TD
P T2/(T1K) 0
PI 0.9T2/(T1K) 0.3T1 0
PID 1.2T2/(T1K) 2T1 0.5T1

Zeigler Nichols method 1 Example
Problem: Design a PID y(t)
controller to control a furnace
providing the open-loop
characteristic
h t i ti off th
the ffurnace 150
obtained from a experiment
beside. t (min)
( )
K 150
8 24
T1 8 min 480 sec
T2 24 min 1440 sec
T2 1440 1
K P 1.2 1.2 0.024 GPID ( s ) 0.0241 240s
T1K 480 150 960s
TI 2T1 2 480 960 sec
TD 0.5T1 0.5 480 240 sec

Zeigler Nichols method 2
Determine the PID parameters based on the response of the
closed-loop system at the stability boundary.
+ KKcr Plant
y(t)
Tcr
t

Zeigler Nichols method 2 (cont)
R(s) Y(s)
+ PID Plant
1
PID controller: GC ( s ) K P 1 TD s
TI s
Controller KP TI TD
P 0 5Kcr
0.5K 0
PI 0.45Kcr 0.83Tcr 0
PID 0.6Kcr 0.5Tcr 0.125Tcr

Zeigler Nichols method 2 Example
Problem: Design a PID controller to control the angle position
of a DC motor, providing that by experiment the critical gain of
the system is 20 and the critical cycle is T= 1 sec.
Solution:
According
g to the g
given data:
K cr 20
Tcr 1 sec
Applying Zeigler Nichols method 2:
K P 0.6 K cr 0.6 20 12
1
GPID ( s ) 121 0.5s
TI 0.5Tcr 0.5 1 0.5 sec 0.125s
TD 0.125Tcr 0.125 1 0.125 sec

Analytical method for designing PID controller
Step 1:
St 1 Establish
E t bli h equation(s)
ti ( ) representing
ti ththe relationship
l ti hi
between the controller to be designed and the desired
performances.
Step 2: Solve the equation(s) obtained in step 1 for the

parameter(s)
t ( ) off the
th controller.
t ll

Analytical method for designing PID controller
Example: Design PID controller so that the control system

satisfies the following requirements:
Closed-loop complex poles with =0.5 and n=8.
Velocity constant KV = 100.
R(s)
( ) 100 Y(s)
( )
+ GPID(s)
s 2 10s 100
Solution: The transfer function of the PID controller to be

designed
KI
GC ( s ) K P KDs
s

Analytical method for designing PID controller (cont)
Velocity constant of the controlled system:

K 100
KV lim sGC ( s )G ( s ) lim s K P I K D s 2
s 0 s 0 s s 10 s 100
KV K I
According to the design requirement: KV = 100
K I 100
The characteristic equation of the controlled system:

KI 100
1 KP K D s 2 0
s s 10 s 100
s 3 (10 100 K D ) s 2 (100 100 K P ) s 100 K I 0 (1)

Analytical method for designing PID controller (cont)
The desired characteristic equation:

( s a )( s 2 2 n s n2 ) 0
( s a )( s 2 8s 64) 0
s 3 (a 8) s 2 (8a 64) s 64a 0 (2)
Balancing the coefficients of the equations (1) and (2), we have:
10 100 K D a 8 a 156.25

100 100 K P 8a 64 K P 12,14
100 K 64a K 1,54
I D
100
Conclusion: GC ( s ) 12,64 1,54 s
s
Manual tuning of PID controllers
Effect of increasing a parameter of PID controller independently

on closed-loop performance:
Steady-
Para- Settling
Rise time POT state Stability
meter time
error
Small
KP Decrease Increase Decrease Degrade
change
KI Decrease Increase Increase Eliminate Degrade
Minor Improve if
KD Decrease Decrease No effect
change KD small

Manual tuning of PID controllers (cont.)
A procedure
d ffor manuall ttuning
i off PID controllers:
t ll
1. Set KI and KD to 0, gradually increase KP to the critical
gain
i Kcr (i.e.
(i th the gain
i makes
k ththe closed-loop
l dl system
t
oscilate)
2. Set KP Kcr /2
3. Gradually increase KI until the steady-state error is
eliminated in a sufficient time for the process (Note that
too much KI will cause instability).
4. Increase KD if needed to reduce POT and settling time
(Note that too much KD will cause excessive response
and overshoot)
Control systems design in state-
state-space
using pole placement method

Controllability
x (t ) Ax(t ) Bu (t )
C
Consider
id a system:
t
y (t ) Cx(t )
The system is complete state controllable if there exists an
unconstrained control law u(t) that can drive the system from
an initial state x(t0) to a arbitrarily final state x(tf) in a finite
time interval t0 t tf . Qualitatively, the system is state
controllable if each state variable can be influenced by the
input.
y(t)
Signal flow graph of an incomplete state controllable system

Controllability condition
System: x (t ) Ax(t ) Bu (t )

y (t ) Cx (t )
Controllability matrix
C [ B AB A2 B An1 B]
The necessary and sufficient condition for the controllability is:

rank ( C ) n
Note:
N t we use theth term
t controllable
t ll bl iinstead
t d off complete
l t
state controllable for short.

Controllability Example
x (t ) Ax(t ) Bu (t )
Consider a system
y (t ) Cx(t )
where: 0 1 5
A B C 1 3
2 3 2
E l
Evaluate the
h controllability
ll bili off the
h system.
Solution: Controllability matrix:

5 2
C B AB C
2 16
Because:
det( C ) 84 rank ( C ) 2
The system is controllable

State feedback control
r(t) u(t) x(t) y(t)
+
x (t ) Ax (t ) Bu (t ) C
Consider a system described by the state-space equation:

x (t ) Ax(t ) Bu (t )

y (t ) Cx(t )
The state feedback controller: u (t ) r (t ) Kx (t )
The characteristic equation of the closed-loop system:
x (t ) [ A BK ] x(t ) Br (t )

y(t ) Cx(t )
Pole placement method
If the system is controllable,
controllable then it is possible to determine
the feedback gain K so that the closed-loop system has the
poles at any location.
Step 1: Write the characteristic equation of the closed-loop
system
det[ sI A BK ] 0 ((1))
Step 2: Write the desired characteristic equation:

n
( s pi ) 0 (2)
i 1
pi , (i 1, n) are the
th desired
d i d poles
l
Step 3: Balance the coefficients of the equations (1) and (2),

we can find the state feedback gain K.
Pole placement method Example
Problem: Given a system described by the state
state-state
state
equation:
x (t ) Ax(t ) Bu (t )

y (t ) Cx(t )
0 1 0 0

A 0 0 1 B 3 C 0 0 1

4 7 3 1
Determine the state feedback controller u (t ) r (t ) Kx(t )
so that the closed-loop system has complex poles with
0,6;n 10 and the third pole at 20.

Pole placement method Example (cont)
Solution
The characteristic equation of the closed-loop system:
det[ sI A BK ] 0
1 0 0 0 1 0 0

d t s 0 1 0 0
det 0 1 3k1 k2 k3 0

0 0 1 4 7 3 1

s 3 (3 3k 2 k3 ) s 2 (7 3k1 10k 2 21k3 ) s (4 10k1 12k3 ) 0 (1)

( s 20)( s 2 2 n s n2 ) 0
s 3 32 s 2 340 s 2000 0 (2)

Pole placement method Example (cont)
B l
Balance th coefficients
the ffi i t off the
th equations
ti (1) and
d (2),
(2) we have:
h
3 3k 2 k3 32

7 3k1 10k 2 21k3 340
4 10k 12k 2000
1 2
Solve the above set of equations, we have:

k1 220,578

k 2 3,839
k 17,482
3
Conclusion: K 220,578 3,839 17,482

D i off state
Design t t estimators
ti t

The concept of state estimation
To be able to implement state feedback control system,
system it is
required to measure all the states of the system.
However,
However in some application,
application we can only measure the
output, but cannot measure the states of the system.
The p
problem is to estimate the states of the system
y from the
output measurement.
State estimator (or state observer)

Observability
x (t ) Ax(t ) Bu (t )
Consider a system:
y (t ) Cx(t )
The system
y is complete
p state observable if g given the control
law u(t) and the output signal y(t) in a finite time interval
t0 t tf , it is possible to determine the initial states x(t0).
Qualitatively the system is state observable if all state variable
Qualitatively,
x(t) influences the output y(t).
y(t)
Signal flow graph of an incomplete state observable system

Observability condition
S t
System x (t ) Ax(t ) Bu (t )

y (t ) Cx(t )
It is necessaryy to estimate the state x (t ) from mathematical
model of the system and the input-output data.
Observability matrix: C
CA

O CA
2

CAn 1
The necessary and sufficient condition for the observability is:

rank (O ) n
Observability Example
x (t ) Ax(t ) Bu (t )
Consider the system
y (t ) Cx(t )
0 1 1
where: A B C 1 3
2 3 2
Evaluate the observability of the system.
Solution: Observability matrix:
C 1 3
O O
CA 6 8
Because det(O ) 10 rank (O ) 2
The system is observable

State estimator
r(t) u(t) x(t) y(t)
x (t ) Ax (t ) Bu (t )
C
+
L
x (t )
B ++
+ C
y (t )
x (t ) Ax (t ) Bu (t ) L( y (t ) y (t ))
State estimator:
y (t ) Cx (t )
L [l1 l2 ln ]
T
where:
Design of state estimators
Requirements:
The state estimator must be stable, estimation error
should approach to zero.
Dynamic response of the state estimator should be fast
enough in comparison with the dynamic response of the
control loop.
It is required to chose L satisfying:
All the roots of the equation det( sI A LC ) 0 locates
i the
in th hhalf-left
lf l ft s-plane.
l
The roots of the equation det( sI A LC ) 0 are further
from the imaginary axis than the roots of the equation
det( sI A BK ) 0
Depending on the design of L, we have different state estimator:
Luenberger state observer
Kalman filter
Procedure for designing the Luenberger state observer
St 1:
Step 1 Write
W it the
th characteristic
h t i ti equation
ti off the
th state
t t observer
b
det[ sI A LC ] 0 (1)
Step 1: Write the desired characteristic equation:
n
( s pi ) 0
(2)
i 1
pi , (i 1, n) are the desired poles of the state estimator
Step 3: Balance the coefficients of the characteristic
equations (1) and (2), we can find the gain L.

Design of state estimators Example
Problem: Given a system described by the state equation:
x (t ) Ax(t ) Bu(t )

y (t ) Cx
C (t )
0 1 0 0

A 0 0 1 B 3 C 1 0 0

4 7 3 1
Assuming that the states of the system cannot be directly
measured. Design the Luenberger state estimator so that the
y g at 20,, 20 and 50.
poles of the state estimator lying
p

Design of state estimators Example (cont)
Solution
The characteristic equation of the Luenberger state estimator:
det[ sI A LC ] 0
1 0 0 0 1 0 l1

d t s 0 1 0 0
det 0 1 l2 1 0 0 0
0 0 1 4 7 3 l
3
s 3 (l1 3) s 2 (3l1 l2 7) s (7l1 5l2 l3 4) 0 (1)

( s 20) 2 ( s 50) 0
s 3 90s 2 2400s 20000 0 (2)

Design of state estimators Example (cont)
B l
Balancing
i the
th coefficients
ffi i t off the
th equ. (1) and
d (2) leads
l d to:
t
l1 3 90

3l1 l2 7 2400
7l 3l l 4 20000
1 2 3
Solve the above set of equations, we have:

l1 87

l2 2132
l 12991
3
L 87 2132 12991
T
Conclusion

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Lecture Notes

Introduction to Control Systems

Instructor: Dr. Huynh Thai Hoang

9 November 2012 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 2

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 3

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 4

Design is a process of adding/configuring hardware as well as

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 5

Controllers: phase lead, phase lag, lead-lag compensator, P,

Design method: root locus,

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 6

r(t) u(t) x(t) y(t)

State feedback controller: u (t ) r (t ) Kx (t )

Design method: pole placement,

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 7

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 8

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 9

The addition of a zero (in the left

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 10

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 12

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 14

Transfer function: Bode diagram

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 18

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 19

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 20

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 21

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 22

Effects of PID controllers:

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 23

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 24

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 25

where pi and zi are poles & zeros of G(s) before compensation.

Step 3: Determine the pole & zero of the lead compensator

Step 4: Calculate the gain KC using the formula:

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 27

s1*, 2 10,5 j10,5

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 29

Step 2: Determine the deficiency angle:

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 30

Step 3: Determine the pole and the zero of the compensator

Step 4: Determine the gain of the compensator:

Root locus of the Root locus of the

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 33

Transient response of the system

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 34

Step 4: Calculate KC satisfying the condition: GC ( s)G ( s) s s* 1

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 35

The desired velocity constant:

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 37

Step 2: Chose the zero of the lag compensator

Step 4: Determine the gain of the compensator

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 39

Root locus of the Root locus of the

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 40

Transient response of the system

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 41

The compensator to be designed

Step 2: Let G1(s)= G (s). GC1(s)

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 42

9 November 2012 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 43

Step 1: Design the lead compensator GC1(s)

s1*, 2 2,5 j 4,33