Control Actions

Consider the antenna positioning system shown below.

Controller
Power Amplifier
R4
R2
Summing Amplifier R3
R1 - Va
-
R
+
Vs + U
- Angular
Position
+
Vref R
e=Vref- Vm
R

Position
Sensor
Vm

θ
E Motor

Antenna

ELE353 – Control Systems

 Closed Loop Control System

Controller Power Amplifier Dc motor & Load

Position Reference
V θ ( s) θ
+ G (s) =
K(s) Ka
Vref V ( s)
−
Vm Position Sensor

Ks

Objective:
Design a controller to achieve the following Performance Measures
− Desired behavior of the output (over-damped / under-damped response)
− Time required to reach a new reference value r
− Accuracy (error in steady state)

ELE353 – Control Systems

 1. Proportional Controller (P):
A control technique which multiplies the error signal (the difference between actual and desired
position) by a user-specified gain factor Kp and uses it as a corrective signal to the motion system. The
effective result is to exaggerate the error and react immediately to correct it.

u = K p e → U ( s ) = K p E( s )

→ K (s) = K p

r + e u
Kp
−

2. Integral Controller (I):

A control technique which accumulates the error signal over time, multiplies the sum by a user-
specified gain factor Ki, and uses the result as a corrective signal to the motion system. Since this
technique also acts upon past errors, the correction factor does not go to zero as the following error, e,
approaches zero allowing steady-state errors to be eliminated.

ELE353 – Control Systems

 E (s)
u = K i ∫ e dt → U ( s ) = K i
s
Ki
→ K (s) =
s

r + e u R(s) + E(s)
Ki
U(s)

−
∫ Ki
−
s

y Y(s)

3. Derivative Controller (D):

A control technique which multiples the rate of change of the error signal by a user-specified gain Kd
and uses the result as a corrective signal to the motion system. This type of control acts to stabilize the
transient response of a system and may be thought of as electronic damping.

Increasing the value of Kd increases the stability of the system. The steady-state error, however, is
unaffected since the derivative of the steady-state error is zero.

ELE353 – Control Systems

 de
u = Ki → U (s) = Ki s E (s)
dt
→ K ( s) = K d s
r + e
d
u R(s) + E(s) U(s)
Kd Kd s
dt
− −

y Y(s)

4. PI Controller:
Ki
K( s ) = K p +
s
The combination of Proportional plus Integral control.

R(s) + E(s)
K
U(s)
Kp + i
s
−

Y(s)

ELE353 – Control Systems

 5. PD Controller:
K( s ) = K p + Kd s
The combination of Proportional plus Derivative control.

R(s) + E(s) U(s)

K p + Kd s
−

Y(s)

6. PID Controller:
Ki
K ( s) = K p + + Kd s
s
The combination of Proportional plus Integral plus Derivative control. For motion systems, the PID
loop has become a very popular control algorithm. The feedback elements are interactive and knowing
how they interact is essential for tuning a motion system. Optimum system performance requires that
the coefficients, Kp, Ki, and Kd be tuned for a given combination of motion mechanics and payload
inertias.

ELE353 – Control Systems

 R(s) + E(s)
K
U(s)
K p + i + Kd s
s
−

Y(s)

Case studies:

Controller System

r + e u V θ (s)
θ y
K(s) Ka G (s) = Ks
V (s)
−

Gp(s)

Closed Loop Control System

ELE353 – Control Systems

 System Equivalent Steady state error
Controller Closed Loop T.F Design parameter(s) Step response
Transfer Function for a step input r=A

1st order Proportional 1st order A Select Kp

1 K (s) = K p K1 e ss = to set the steady state
G (s) = GCL ( s ) = 1+ K p
1+τ s error
1+τ1 s
Kp τ
K1 = , τ1 =
1+ K p 1+ K p

ELE353 – Control Systems

 System Equivalent Steady state error
Controller Closed Loop T.F Design parameter(s) Step response
Transfer Function for a step input r=A

1st order Integral 2nd order ess = 0 Select Ki

1 K Ki to set the transient
G (s) = K (s) = i response (Max
1+τ s s τ
GCL ( s ) = overshoot only)
1 Ki
s2 + s+ Ki
τ τ ω n2 =
τ
1
2ςω n =
τ

ELE353 – Control Systems

 System Equivalent Steady state error
Controller Closed Loop T.F Design parameter(s) Step response
Transfer Function for a step input r=A

2nd order Proportional 2nd order ess = 0 Select Kp

1 K (s) = K p Kp to set the transient
G (s) = GCL ( s ) = response (Max
s ( s + 2) s2 + 2 s + K p overshoot only)
ω n2 = K p
2ςω n = 2

ELE353 – Control Systems

 System Equivalent Steady state error
Controller Closed Loop T.F Design parameter(s) Step response
Transfer Function for a step input r=A

2nd order Proportional 2nd order 4A Select Kp

1 K (s) = K p Kp ess = to set the Maximum
G (s) = 2 GCL ( s ) = 4 + Kp
s + 3s + 4 overshoot or
s2 + 3 s + 4 + K p the steady state error
ω n2 = K p
2ςω n = 2

ELE353 – Control Systems

 System Equivalent Steady state error
Controller Closed Loop T.F Design parameter(s) Step response
Transfer Function for a step input r=A

2nd order Integral 3rd order ess = 0 Select Ki

to set the transient
?
1 K Ki
G (s) = 2 K (s) = i GCL ( s ) = 3 response
s + 3s + 4 s
2
s + 3s + 4 s + K i

ELE353 – Control Systems

Step Response of a 3rd Order System

Example:
Consider the closed loop control system

r e y
+

a) Steady state error

First, draw the block diagram as a unity feedback system. The internal loop is replaced with the
equivalent transfer function
r + e y
K(s)G(s
̄

4 10 40 𝑁𝑁
𝐾𝐾 (𝑠𝑠)𝐺𝐺 (𝑠𝑠) = × = =
𝑠𝑠 0.1𝑠𝑠 2 + 𝑠𝑠 + 10 𝑠𝑠(0.1𝑠𝑠 2 + 𝑠𝑠 + 10) 𝐷𝐷

 The system is type 1

ELE353 – Control Systems

 Steady state error to a step reference:

The system is type 1  𝑒𝑒(∞) = 𝑧𝑧𝑧𝑧𝑧𝑧𝑧𝑧 for a step reference

1 1 𝐷𝐷
𝑒𝑒(∞) = lim 𝑠𝑠 × 𝑅𝑅(𝑠𝑠) � � = lim 𝑠𝑠 × � �
𝑠𝑠→0 1 + 𝐾𝐾 (𝑠𝑠)𝐺𝐺(𝑠𝑠) 𝑠𝑠→0 𝑠𝑠 𝐷𝐷 + 𝑁𝑁
𝑠𝑠(0.1𝑠𝑠 2 + 𝑠𝑠 + 10)
= lim � �=0
𝑠𝑠→0 𝑠𝑠(0.1𝑠𝑠 2 + 𝑠𝑠 + 10) + 40

Steady state error to a ramp reference:

The system is type 1  𝑒𝑒(∞) = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 for a ramp reference

1 1 𝐷𝐷
𝑒𝑒(∞) = lim 𝑠𝑠 × 𝑅𝑅(𝑠𝑠) � � = lim 𝑠𝑠 × 2 � �
𝑠𝑠→0 1 + 𝐾𝐾 (𝑠𝑠)𝐺𝐺(𝑠𝑠) 𝑠𝑠→0 𝑠𝑠 𝐷𝐷 + 𝑁𝑁
1 𝑠𝑠(0.1𝑠𝑠 2 + 𝑠𝑠 + 10) 10
= lim × � � = = 0.25
𝑠𝑠→0 𝑠𝑠 0.1𝑠𝑠 3 + 𝑠𝑠 2 + 10𝑠𝑠 + 40 40

b) Step response:

Closed loop transfer function:

ELE353 – Control Systems

 40
𝐾𝐾 (𝑠𝑠)𝐺𝐺 (𝑠𝑠) =
𝑠𝑠(0.1𝑠𝑠 2 + 𝑠𝑠 + 10)

40
𝑠𝑠(0.1𝑠𝑠 2 + 𝑠𝑠 + 10) 40
( )
𝐺𝐺𝑐𝑐𝑐𝑐 𝑠𝑠 = =
40 0.1𝑠𝑠 3 + 𝑠𝑠 2 + 10𝑠𝑠 + 40
1+
𝑠𝑠(0.1𝑠𝑠 2 + 𝑠𝑠 + 10)

The poles of the closed loop transfer function are:

s1 = -2.337 + 8.345i
s2 = -2.337 - 8.345i
s3 = -5.326

Method 1:
Find directly Y(s) and next find the inverse Laplace transform using the partial fraction method.
r + e y
K(s)G(s
̄

1 40
𝑌𝑌(𝑠𝑠) = 𝑅𝑅(𝑠𝑠) × 𝐺𝐺𝑐𝑐𝑐𝑐 (𝑠𝑠) = ×
𝑠𝑠 0.1𝑠𝑠 3 + 𝑠𝑠 2 + 10𝑠𝑠 + 40

ELE353 – Control Systems

 1 400 1 400
𝑌𝑌(𝑠𝑠) = × 3 = ×
𝑠𝑠 𝑠𝑠 + 10𝑠𝑠 2 + 100𝑠𝑠 + 400 𝑠𝑠 (𝑠𝑠 + 5.326)(𝑠𝑠 2 + 4.674𝑠𝑠 + 75.11)

𝑎𝑎 𝑏𝑏 𝑐𝑐𝑐𝑐 + 𝑑𝑑
𝑌𝑌(𝑠𝑠) = + + 2
𝑠𝑠 𝑠𝑠 + 5.326 𝑠𝑠 + 4.674𝑠𝑠 + 75.11

a=1
b = -0.9558
c = -0.0442
d = -5.2972

𝑎𝑎 𝑏𝑏 𝑐𝑐𝑐𝑐 + 𝑑𝑑
𝑌𝑌(𝑠𝑠) = + +
𝑠𝑠 𝑠𝑠 + 5.326 (𝑠𝑠 + 2.337)2 + 8.3452

𝑎𝑎 𝑏𝑏 𝑐𝑐(𝑠𝑠+2.337)+𝑑𝑑−2.337𝑐𝑐
𝑌𝑌(𝑠𝑠) = + +
𝑠𝑠 𝑠𝑠+5.326 (𝑠𝑠+2.337)2 +8.3452

𝑎𝑎 𝑏𝑏 (𝑠𝑠+2.337) 𝑑𝑑−2.337𝑐𝑐 8.345

𝑌𝑌(𝑠𝑠) = + + 𝑐𝑐 × 2 +� � × (𝑠𝑠+2.337)2 +8.3452
𝑠𝑠 𝑠𝑠+5.326 (𝑠𝑠+2.337)2 +8.345 8.345

1 −0.9558 (𝑠𝑠+2.337) 8.345

𝑌𝑌(𝑠𝑠) = + − 0.0442 × − 0.6224 ×
𝑠𝑠 𝑠𝑠+5.326 (𝑠𝑠+2.337)2 +8.3452 (𝑠𝑠+2.337)2 +8.3452

𝑦𝑦(𝑡𝑡) = 1 − 0.9558 𝑒𝑒 −5.326 𝑡𝑡 − 0.0442 𝑒𝑒 −2.337 𝑡𝑡 cos (8.345𝑡𝑡) − 0.6224 𝑒𝑒 −2.337 𝑡𝑡 sin (8.345𝑡𝑡)

ELE353 – Control Systems

Method 2:
Use partial fraction expansion to decompose the closed loop transfer function into the sum of a 1st order
system and a 2nd order system. Next, compute the step response of each subsystem to find the total step
response

40 400
𝐺𝐺𝑐𝑐𝑐𝑐 (𝑠𝑠) = =
0.1𝑠𝑠 3 + 𝑠𝑠 2 + 10𝑠𝑠 + 40 𝑠𝑠 3 + 10𝑠𝑠 2 + 100𝑠𝑠 + 400
400
=
(𝑠𝑠 + 5.326)(𝑠𝑠 2 + 4.674𝑠𝑠 + 75.11)

𝑎𝑎 𝑏𝑏𝑏𝑏 + 𝑐𝑐
𝐺𝐺𝑐𝑐𝑐𝑐 (𝑠𝑠) = + 2
𝑠𝑠 + 5.326 𝑠𝑠 + 4.674𝑠𝑠 + 75.11

𝑎𝑎 𝑏𝑏𝑏𝑏 𝑐𝑐
𝐺𝐺𝑐𝑐𝑐𝑐 (𝑠𝑠) = + 2 + 2
𝑠𝑠 + 5.326 𝑠𝑠 + 4.674𝑠𝑠 + 75.11 𝑠𝑠 + 4.674𝑠𝑠 + 75.11

= 𝐺𝐺1 (𝑠𝑠) + 𝐺𝐺2 (𝑠𝑠) + 𝐺𝐺1 (𝑠𝑠)

a = 5.0906
b = -5.0906
c = 3.3188

ELE353 – Control Systems

 r y1
G1(s)

y2 + +
G2(s) y
+

y3
G3(s)

𝑎𝑎 𝑎𝑎/5.326 0.9558
𝐺𝐺1 (𝑠𝑠) = = =
𝑠𝑠 + 5.326 1 + 𝑠𝑠 1+
𝑠𝑠
5.326 5.326

This is a 1st order system with gain K0=0.9558 and time constant τ=5.326. Therefore, the unit-step
response is

𝑦𝑦1 (𝑡𝑡) = 0.9558(1 − 𝑒𝑒 −5.326 𝑡𝑡 )

𝑏𝑏𝑏𝑏
𝐺𝐺2 (𝑠𝑠) =
𝑠𝑠 2 + 4.674𝑠𝑠 + 75.11

This is a 2nd order system with a factor s in the numerator. Therefore, the unit-step response is
1 𝑏𝑏𝑏𝑏 𝑏𝑏 −5.0906
𝑌𝑌2 (𝑠𝑠) = × 2 = 2 =
𝑠𝑠 𝑠𝑠 + 4.674𝑠𝑠 + 75.11 𝑠𝑠 + 4.674𝑠𝑠 + 75.11 (𝑠𝑠 + 2.337)2 + 8.3452

ELE353 – Control Systems

 5.0906 −2.337 𝑡𝑡
𝑦𝑦2 (𝑡𝑡) = − � � 𝑒𝑒 sin (8.345𝑡𝑡) = −0.61 𝑒𝑒 −2.337 𝑡𝑡 sin (8.345𝑡𝑡)
8.345
𝑐𝑐
𝐺𝐺3 (𝑠𝑠) =
𝑠𝑠 2 + 4.674𝑠𝑠 + 75.11

This is a 2nd order system with 𝜔𝜔𝑛𝑛 2 = 75.11 and 2ξ 𝜔𝜔𝑛𝑛 = 4.674

 𝐾𝐾0 = 0.0442, 𝜔𝜔𝑛𝑛 = 8.6666, ξ = 0.2697

𝜎𝜎 = ξ 𝜔𝜔𝑛𝑛 = 2.337, 𝜔𝜔𝑑𝑑 = 𝜔𝜔𝑛𝑛 �1 − ξ2 = 8.3456

𝑦𝑦3 (𝑡𝑡) = 0.0442 × [ 1 − 𝑒𝑒 −2.337 𝑡𝑡 cos(8.345𝑡𝑡) − 0.28 𝑒𝑒 −2.337 𝑡𝑡 sin (8.345𝑡𝑡)]

Therefore, the total unit-step response is

𝑦𝑦(𝑡𝑡) = 𝑦𝑦1 (𝑡𝑡) + 𝑦𝑦2 (𝑡𝑡) + 𝑦𝑦3 (𝑡𝑡)

= 0.9558(1 − 𝑒𝑒 −5.326 𝑡𝑡 )

−0.61 𝑒𝑒 −2.337 𝑡𝑡 sin(8.345𝑡𝑡)

+0.0442 × [ 1 − 𝑒𝑒 −2.337 𝑡𝑡 cos(8.345𝑡𝑡) − 0.28 𝑒𝑒 −2.337 𝑡𝑡 sin (8.345𝑡𝑡)]

ELE353 – Control Systems

 𝑦𝑦(𝑡𝑡) = 1 − 0.9558 𝑒𝑒 −5.326 𝑡𝑡 − 0.0442 𝑒𝑒 −2.337 𝑡𝑡 cos (8.345𝑡𝑡) − 0.6224 𝑒𝑒 −2.337 𝑡𝑡 sin (8.345𝑡𝑡)

ELE353 – Control Systems