Outline

Root Locus Design • PI control system design.

• PD control system design.
• PID control system design.
M. Sami Fadali
Professor of Electrical Engineering
University of Nevada

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PI Control
Block Diagram
• Add integral control to improve steady-state
error, (increases type number one)  worse
 E(s) C(s)
R(s)
Compensator Plant transient response or instability.

• Add a proportional control  controller has pole
at origin and zero.
Cascade Compensation

R(s)
• Cascade compensation: integral term in feedback
 Plant
C(s)
path is equivalent to a differentiator in the
 forward path.
Compensator

Feedback Compensation
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 PI Design Procedure Example: PI Design
1. Design a proportional controller to meet the
Design a controller for the system for
transient response specifications, i.e. place
percentage overshoot less than 5% and zero
the dominant closed-loop system poles at a
steady-state error due to step.
desired location
2. Add a PI controller with a zero at /10
3. Tune the gain of the system to move the
closed-loop pole closer to .
4. Check the time response and modify the
design until it is acceptable.
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Step 1: Proportional Control Root Locus for PI Example

Design proportional control to meet transient response
specifications.
Percentage overshoot less than 5%

c.l. characteristic polynomial

Equate coefficients
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 Step 2: Add PI Compensator RL for PI Compensated System

• For this example, an easier design

canceling the pole at –3 may be superior.

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Time Response for PI Example Increase gain for faster response

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 PD Design
PD Control
• Obtain the desired dominant pair from the
• Can be used in cascade or feedback control. design specifications.
• Zero pulls RL to left: improves the transient • Angle of PD controller
j
response. scl

• Transfer Function of PD Controller Compensator

d
c

n
a

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PD Design Procedure PD Design Procedure (cont.)

3. Calculate the new loop gain function including
1. Calculate   angle[ L( scl ) ] using a
the compensator then calculate the gain
calculator or MATLAB (magnitude condition) with a calculator or
» scl=-zeta*wn+j*wd; » L = g*tf( [1, a],1)
» thetac= piangle(evalfr(g, scl) )
» K = 1/abs( evalfr( L, scl) )
2. Calculate the zero location using
4. Check the time response of the PD compensated
system and modify the design to meet the
desired specifications if necessary.

» a=wd/tan(thetac)+zeta*wn
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 Example P-Control
• Percentage overshoot less than 10%
• Design a P-controller for % OS < 10%
• Design a PD controller to reduce to 1 s.

• Find the intersection of constant line with the root

locus using the angle condition by trial and error.

• The intersection is easy to find with MATLAB.

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PD Design
Root Locus for P-Control • Reduce to 1 s

• Find the c.l. pole location

• Angle of PD controller

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 PD Controller Modified PD Design
• Compensator zero
We need to speed up the time response.
1. Move zero closer to the j-axis.
. 2. Increase the gain.
Loop gain
• Calculate the gain

Simulation results show that the system is too slow

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Compensated Root Locus Step Response K = 38.8

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 Step Response K = 70 PID Control zeros can be
complex conjugate

Procedure
1- Design a PD controller to meet the transient
response specifications.
2- Add a PI controller to meet the steady-state
specifications without appreciably affecting the
transient response.
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Example: PID Design PID Design

• PD specifications met with earlier PD design
•Design a PID controller for the system to meet
the PD specifications (
• PI design
with zero steady-state error due to ramp.

• Combine for PID

.

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 Root Locus with PID PID Design with K = 38

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PID with K=70, zero at 0.2 PD Design: Pole-Zero Cancellation

• Cancel pole with PD zero.
• Do not cancel RHP poles.
• Do not cancel pole at origin.
• Cancel closest real pole to the j-axis.
• Imperfect implementation: almost cancel.

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 RHP Pole Example
• Zeros do not change the response due to the
ICs. For the closed-loop system with unity
feedback, design a controller to reduce the
• Imperfect cancellation: RHP closed-loop pole.
percentage overshoot to less than 5% and
Example the settling time to less than 1.5 second.

• Form of complete step response

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Step Response
Root Locus: Uncompensated
• Uncompensated closed-loop system
With 10 included in MATLAB transfer function
Step Response
1.4
Root Locus System: untitled1
8 Peak amplitude: 1.39
1.2 Overshoot (%): 39.3
At time (sec): 2.69
6 System: untitled1
System: g Settling Time (sec): 11.1
Gain: 1
1
4 Pole: -0.348 + 1.21i
Damping: 0.276
Overshoot (%): 40.5
2 Frequency (rad/sec): 1.26
0.8
Imaginary Axis

Amplitude
0
0.6
-2

0.4
>> step(feedback(g,1))
-4

-6
0.2

-8
-8 -7 -6 -5 -4 -3 -2 -1 0 1 2
0
Real Axis 0 2 4 6 8 10 12 14 16 18 20
Time (sec)
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 Design
Equating Coefficients
• Loop gain
• Cancel pole at 1 with a zero

• C.l. characteristic polynomial

• Choose K for (gives <5% overshoot)

• 10 not included in compensator gain.
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Root Locus Design Algorithm

Root Locus
4 Transient
response OK?
3
System: l
Yes No
Gain: 1.83
Pole: -3 + 3.05i
2 Damping: 0.701
Imaginary Axis

Overshoot (%): 4.55

SS Error
Frequency (rad/sec): 4.28
Add PD
1 Yes OK?
No
0

-1 Stop Add PI SS Error

OK?
-2 Yes No
-7 -6 -5 -4 -3 -2 -1 0
Real Axis
Stop Add PI

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