Introduction

A proportional–integral–derivative controller (PID controller) is a control loop mechanism

that is vastly used in many application that requires constant modulated control such as

temperature,pressure or speed regulator/controller.The basic working of PID controller is by

reading a sensor then calculate and sum the proportional,integral, and derivative responses

to produce the desired output.The difference between the a desired ouput or setpoint and

the process variable is call error.It is the PID controller function to minimize or eliminate this

error

Proportional component

Proportional response is the product of the gain and error.This mean when the error is high

the ouput response is also high.the gain factor cannot be too large or the controller will
always overshoot the setpoint and oscillates.The disadvantages of the proportional response

is when the error become too low loop output becomes negligible. Therefore, even when

the proportional loop reaches steady state, there is still error.This condition on is called

steady state error.

Integral component

the integral components intergrates the error over time.This mean the the intergrating

component will still increase even when the error value become small.l The integral response

will continually increase over time unless the error is zero.This fixes the steady state error of

the the proportional component

Derivative component

The derivative component function to counteract the overshoot of proportional and integral

component by referring to the rate of change of error.The greater the error changes the

greater the derivative factor become.This component causes the error to change rapidly.

The transfer function of a PID controller is as such:

KI
G c ( s )=K p + +K D s
s
Problem statement

A DC motor is used as the actuator to move the pen.The feedback sensor will b a 500-line

optical encoder. By detecting allstate changes of the two-channel quadrature output of the

encoder,2000 encoder counts per revolution of the motor shaft can be detected.This yields

an encoder resolution of 0.001 inch at the pen tip.The encoder is mounted on the shaft of

the motor. Since the encoderprovides digital data, it is compared with the input signal by

using a microprocessor.Beside calculating the difference signal as the error signal, the

microprocessor will apply an algorithm to obtain the designed compensator. The output of

the compensator is then converted to an analog signal that will drive the motor.We assume

that the continuous signal model is very accurate because the microprocessor calculation is

very fast compared to the rate of change of the encoder and input signal.

The model for the motor and pen carriage is;

1
Gs =
s( s+ 10)( s+ 800)

Propose a PID design of compensator that has:

(1) a step response with an overshoot of less than 5% and a settling

time less than 0.5 s,

(2) a percentage steady-state error for a step equal to zero.

Calculation
1st design
2nd design