Lecture 4

Example about PID controller

Dr. Sadeq Al-Majidi

Dept. Of Electrical Engineering/ College

of engineering/ Misan University
Control Engineering
Fourth Year
Example1:liquid level process control system is shown in
Figure below. The parameter of this system are :

And tank transfer function :

Find:
a. The integral action time (Ti)
b. Damping ratio (ζ) when ꞷn=0.1 red/s.

2
Solution:

• The transfer function of PI controller is given by :

• The block diagram of this system is explained by Figure below:

• Now, the forward transfer function of this system is given by :

3
• Now, the close loop transfer function is given by :

• Which simplifies to :

• The standard transfer function equation of second order system :

• By comparing between The standard transfer function equation and the actual equation,
we get :

4
Now :

5
H.W solution

How to make the armature-controlled DC servo works as

ideal integrator?
• Answer: by making time constant close to zero and that
made by reducing armature resistance.