University of Tripoli

Faculty of Engineering
Department of Mechanical Engineering

Automatic Control II ME451

Fall 2019

Control System Design

Azeddien Kinsheel
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Design of Control Systems
 All the foundation analysis that we have laid in the preceding
chapters led to the ultimate goal of design of control systems.
 Control system design involves the following three steps:
1-Detrmine what the system should do and how to do it ( design
specification).
2-Determine the controller configuration, relative to how it is
connected to the controlled process.
3- determine the parameter values of the controller to achieve
the design goals.

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Design of Control Systems

Design Specifications:
- Steady state error,
- Transient response: rise time, settling
time, overshoot.
- Frequency response characteristics: Mr,
Bw
- Relative stability

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Controller Configuration

Series or cascade compensation

Feedback compensation
State-feedback compensation
Series-feedback compensation
Feedforward compensation
A Compensator is a an additional component or circuit that is
inserted in a control system to compensate for a deficient
performance.

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Series or cascade Compensation

Feedback Compensation

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State Feedback
Controller

Series -Feedback compensation

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Forward compensation with series compensation (prefilter

Feed forawrd compensation

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Fundamental design principles
 After the a controller configuration is chosen, the
designer must choose a controller type that, with proper
selection of its parameter values will satisfy all the
design requirements.
 Engineering practice usually dictates that one choose
the simplest controller that meets all the design
requirements.
 The more complex a controller is, the more it costs, the
less reliable it is, and the more difficult it is to design.
 The choice of the controller for a specific application
depends on the control engineer experience.
 After the controller is chosen, its parameter values are
determined using the approaches explained in the
previous chapters.
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Summery of T-D and F-D Characteristics
 Complex conjugate poles of the closed-loop transfer function leads to step
response that is underdamped. If all poles are real the response is
overdamped. However, zeros may cause overshoot even if the poles are
real.
 The response of a system is dominant by the poles closest to the origin in
the s-plane
 The farther to the left in the s-plane the system’s dominant poles are, the
faster the response and greater the bandwidth.
 The farther to the left in the s-plane the system’s dominant poles are, the
more expensive it will be and the larger its internal signal it will be.
 When a pole and zero of a system transfer function nearly cancel each
other the portion of the system response associated with pole will have a
small magnitude.
 T-D and F-D specifications are loosely associated with each other. Rise
time and BW are inversely proportional, Larger the PM, GM, and lower Mr
will improve damping.

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Commonly Used Controllers

On-Off
Proportional-Integral- Derivative “PID”
Lead, lag, lead-lag

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PID Controllers
 Most of the industrial control systems in operation today
use PID controllers or one of its forms. The reason for
this popularity of PID controllers is their simplicity in
design and tuning. In this technique, the actual output of
the plant is compared to the desired value and the
developed error, its integral and its derivative are
multiplied by the PID gains (Kp, Ki and Kd) respectively;
the sum of these values form the control law of the plant
actuation signal u(t) .

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PID Controllers
de(t )
 Mathematically: u (t )  Kpe(t )  Ki  e(t )dt  Kd
dt
U (s)
  Kp  Ki / s  Kds
E ( s)

 Another form:
 The effect of the proportional gain Kp is to produce an actuation
signal proportional to the system error. Higher Kp values may lead
to unwanted oscillations and saturation problems. On the other
hand, lower values may lead to slow response of the system and
reduce its stiffness. The integral gain Ki tends to minimise the
steady state error of the system , the derivative gain Kd increases
the damping ratio to slow down the system as the error approaches
zero

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PID Controllers

Common forms of PID

Controllers:
 P controller
 PD controller
 PI controller
 PID controller

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PID Controllers
 PID control consists of a proportional plus derivative (PD)
compensator cascaded with a proportional plus integral (PI)
compensator.

 The purpose of the PD compensator is to improve the transient

response while maintaining the stability.

 The purpose of the PI compensator is to improve the steady state

accuracy of the system without degrading the stability.

 Since speed of response, accuracy, and stability are what is needed

for satisfactory response, cascading PD and PI will suffice.

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The Characteristics of P, I, and D Controllers
Note that these correlations may not be exactly accurate, because Kp, Ki, and Kd are dependent
of each other. In fact, changing one of these variables can change the effect of the other two.
For this reason, the table should only be used as a reference when you are determining the
values for Ki, Kp and Kd.

Response Rise Time Overshoot Settling SS Error

Time
Small
KP Decrease Increase Change Decrease

KI Decrease Increase Increase Eliminate

Small Small
KD Change Decrease Decrease Change

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Example: Design with PI controller
Determine the suitable PI controller gains Kp and Ki for the
system response to show 5% percentage of overshoot and 4.0
seconds settling time .(2% criteria) under unit step input

R(s)
C(s)
+ 1
Kp+Ki/s
( s  2)
-

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Example: Design with PD controller
Determine the suitable PD controller gains Kp and
Kd for the system response to no overshoot and
2.0 seconds settling time ( 2%criteria) under unit
step input.

R(s)
C(s)
+ Kp+Kds
1
s ( s  2)
-

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Tuning of PID Controllers

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