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PID Controller PDF
PID Controller PDF
CONTROL SYSTEM
HERMINARTO NUGROHO
TEKNIK ELEKTRO – UNIVERSITAS PERTAMINA
2018
Lecture Objectives
▷ System Modeling
Students will be able to derive mathematical system modeling
and state-space modeling
▷ Controller Design
Students will be able to design controller to achieve stability
and desired performance
What will we learn?
WEEK 15 Review.
NO
WEEK 7, 10-12, 14
Controller
Design
11.
PID CONTROLLER
PID Controller Design
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
Overview
1. PID Controller: A Brief Introduction
5. MATLAB Exercise
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
PID Controllers
▷ Brief Introduction
𝑒(𝑠) PID Controller Plant
𝑅(𝑠) 𝑌(𝑠)
− 𝐶(𝑠) 𝐺(𝑠)
Sensor
𝐻(𝑠)
PID Controllers
▷ Brief Introduction
𝑒(𝑠) PID Controller Plant
𝑅(𝑠) 𝑌(𝑠)
− 𝐶(𝑠) 𝐺(𝑠)
Sensor
𝐻(𝑠)
PID Controllers
▷ PID Controller Facts
1. PID Controllers are the most used controller in industry.
2. PID Controllers are very flexible, since they can be designed using
time response as well as frequency response approach.
3. PID Controllers are arguably easier to design rather than any other
controller.
4. Most PID Controllers are tuned on-site!
5. PID Controllers have general applicability to most control systems,
even if there are not model of the system available!
6. We can still tune PID controller even if there is no analytical process.
So, If PID Controllers are this powerful, why
should we learn all other complicated and
difficult control methods?
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
PID Controllers
▷ PID Controller
𝐿 ∶ Delay time
𝑇 ∶ Time constant
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
6.25
5.63 1.33
5.63 1.33
Find a value of 𝐾𝑝 in which the system is critically stable (almost unstable), this 𝐾𝑝 = 𝐾𝑐𝑟
Characteristic equation:
𝐾𝑝 = 𝐾𝑐𝑟 = 30
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
PID Controller :
1
𝐺𝑐 𝑠 = 𝐾𝑝 1 + + 𝑇𝑑 𝑠
𝑇𝑖 𝑠
0.71
𝐺𝑐 (𝑠) = 18 1 + + 0.35𝑠
𝑠
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
1.2
P-Controller
0.8
PD-Controller
PI-Controller
Displacement [m]
0.6
PID-Controller
0.4
0.2
0
0 0.5 1 1.5 2
Time[s]
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
Answer: 𝑅 𝑠
1 1 2
𝑠 + 10𝑠 + 20
𝐸 𝑠 = = 𝑠 = s2
1 + 𝐾𝑝 𝐺(𝑠) 𝐾𝑝 𝑠 + 10𝑠 + 20 + 𝐾𝑝
1+
𝑠 2 + 10𝑠 + 20
20
lim 𝑒 𝑡 = lim 𝑠 𝐸 𝑠 lim 𝑠 𝐸 𝑠 = = 10% 𝐾𝑝 = 180
𝑡→∞ 𝑠→0 𝑠→0 20 + 𝐾𝑝
Now, If we want the steady-state error to be less than 0.1%. Design the P-
Controller!
Can we achieve steady state error = 0 using P-Controller? Why?
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
Answer: 𝑅 𝑠
1 1 2
𝑠 + 10𝑠 + 20
𝐸 𝑠 = = 𝑠 = 2 s
1 + (𝐾𝑝 +𝐾𝑑 𝑠)𝐺(𝑠) (𝐾𝑝 +𝐾𝑑 𝑠) 𝑠 + (10 + 𝐾𝑑 )𝑠 + 20 + 𝐾𝑝
1+ 2
𝑠 + 10𝑠 + 20
20 𝐾𝑝 = 180
lim 𝑒 𝑡 = lim 𝑠 𝐸 𝑠 lim 𝑠 𝐸 𝑠 = = 10%
𝑡→∞ 𝑠→0 𝑠→0 20 + 𝐾𝑝 𝐾𝑑 = any number
Error: 𝐸 𝑠 =𝑅 𝑠 −𝑌 𝑠 𝑠2 +
𝐵
𝑠
𝐸 𝑠 = 𝑀 𝑅(𝑠)
𝐵 𝑘𝑝
𝑠2 + 𝑀 𝑠 + 𝑀
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
𝐵
𝑠2 + 𝑀 𝑠
𝐸 𝑠 = 𝑅(𝑠)
𝐵 𝑘𝑝
𝑠2 + 𝑀 𝑠 + 𝑀
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
𝑘𝑝
𝜔𝑛 =
𝑀
𝐵
𝜁=
2 𝑘𝑝 𝑀
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
𝐵 + 𝑘𝑑
𝜁=
2 𝑘𝑝 𝑀
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
The error:
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
𝐵
𝑠2 + 𝑀 𝑠
𝐸 𝑠 = 𝑅(𝑠)
(𝐵 + 𝑘𝑑 ) 𝑘𝑝
𝑠2 + 𝑠 +
𝑀 𝑀
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
𝑘𝑝
𝜔𝑛 =
𝑀
𝐵 + 𝑘𝑑
𝜁=
2 𝑘𝑝 𝑀
𝜋
𝑇𝑝 =
𝜔𝑛 1 − 𝜁 2
𝜁𝜋
−
𝑀𝑝 = 𝑒 1−𝜁 2
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
Assignment
MATLAB Exercises
1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise
MATLAB Exercise
MATLAB Exercise
MATLAB Exercise
MATLAB Exercise
MATLAB Exercise