This week’s goals

• Today
– Physical realization of compensators
• Wednesday
– Proportional-Derivative compensator
– Lead/Lag compensators
• Friday
– Introduction to state space

2.004 Fall ’07 Lecture 22 – Monday, Oct. 29

Differential amplifier as proportional controller
Controller gain
E (s)
R2
K= .
Vs (s) R1

Recall the differential amplifier

input—output relation

Error signal R2
Vs (s) = (Vref (s) − V (s))
R1
R2
E(s) = Vref (s) − V (s) =
R1
E(s).

Vref (s) Vs (s) 0.3162 V (s)

K s+2

2.004 Fall ’07 Lecture 22 – Monday, Oct. 29

 Differential amplifier as generic controller
Z2 Input—output relation
E (s) Z1 of differential amplifier
with general impedances

Vs (s) Z2 (s)
Vs (s) = (Vref (s) − V (s))
Z1 Z1 (s)
Z2 Z2 (s)
= E(s).
Z1 (s)

Controller transfer function

Z2 (s)
Gc (s) =
Z1 (s)

Vcontroller
E(s) = Vref (s) − Vout (s) Z2 controller plant

Vref + Vout
Z1 Gc (s) Gp (s)
output (transduced
to voltage) Vsense −
reference input
Vref Vcontroller
(i.e., desired output)
Z1 Vsense
Z2 H(s)
sensor /
/ transducer

2.004 Fall ’07 Lecture 22 – Monday, Oct. 29

 Example 1: Ideal integral controller
Vcontroller
E(s) = Vref (s) − Vout (s) Z2 controller plant
Vref + Vout
Z1 Gc (s) Gp (s)
output (transduced
to voltage) Vsense −
reference input
Vref Vcontroller
(i.e., desired output)
Z1 Vsense
Z2 H(s)
sensor /
/ transducer

R
Z1
= Controller transfer function
Z2 (s) 1/ (Cs) 1/ (RC)
C Gc (s) = = = .
Z2 Z1 (s) R s
=

2.004 Fall ’07 Lecture 22 – Monday, Oct. 29

 Example 2: Proportional-integral controller
Vcontroller
E(s) = Vref (s) − Vout (s) Z2 controller plant
Vref + Vout
Z1 Gc (s) Gp (s)
output (transduced
to voltage) Vsense −
reference input
Vref Vcontroller
(i.e., desired output)
Z1 Vsense
Z2 H(s)
sensor /
/ transducer

R1
Z1
= Controller transfer function
Z2 (s) R2 + 1/ (Cs) R2 s + 1/ (R2 C)
R2 C Gc (s) = = =
Z2 Z1 (s) R1 R1 s
= s+z R2 1
= Kp , where Kp = , z=
s R1 R2 C
Ki 1
= Kp + , where Ki = .
s R1 C

2.004 Fall ’07 Lecture 22 – Monday, Oct. 29

 Example 3: Proportional-derivative controller
Vcontroller
E(s) = Vref (s) − Vout (s) Z2 controller plant
Vref + Vout
Z1 Gc (s) Gp (s)
output (transduced
to voltage) Vsense −
reference input
Vref Vcontroller
(i.e., desired output)
Z1 Vsense
Z2 H(s)
sensor /
/ transducer

R1
Z1 Controller transfer function
= Z2 (s) R2 R2
Gc (s) = = = + R2 Cs
Z1 (s) R1 / (1 + R1 Cs) R1
C R2
= Kp + Kd s, where Kp = , Kd = R2 C.
R1
R2
Z2
=

2.004 Fall ’07 Lecture 22 – Monday, Oct. 29