Dynamic System and Control - Lecture 5

Dynamic Systems and Control, Chapter 5: PID control
Proportional Integral Derivative

(PID) Control
© 2015 Quoc Chi Nguyen, Head of Control & Automation Laboratory, nqchi@hcmut.edu.vn 5-1
Closed-loop Control System

Reference signal r
+
- Controller Plant
y e u
Feedback
Premature baby incubator

Desired
temperature Thermocouple
Microcontroller
Amplifier
On/Off Control
Reference signal r
+
- On/Off control Incubator
y
e u
Feedback
ery u
umax
umin , e  0
u umin
 umax , e  0
e
Proportional Control
Reference signal r
+ KP Incubator
y
-
e u
Feedback
Proportional control law:

u
 umax , e  e0 umax

u  u0  K P e, e0  e  e0
umin
 umin , e  e0
 e
Proportional + Integral Control

t
K I  e( s ) ds
0
Reference signal r
+ KP ++ Incubator
-
e u
y
Feedback
Proportional Integral
(PI) controller keeps 𝑡
adjusting the control 𝑢 𝑡 = 𝐾𝑃 𝑒 𝑡 +𝐾𝐼 𝑒 𝑠 𝑑𝑠

0
signal as long as there is
an error
Proportional + Integral + Derivative Control

t
K I  e( s ) ds
0
Reference signal r
+ KP ++ Incubator
-
e + u
y
K D det / dt
Feedbac
Add the prediction of the control k
error
e D
𝑡 𝑑𝑒
I P 𝑢 𝑡 = 𝐾𝑃 𝑒 𝑡 +𝐾𝐼 0 𝑒 𝑠 𝑑𝑠+𝐾𝐷
𝑑𝑡
t
The responses of the incubator with :

on/off control law
Oscillation!

on/off control law proportional control law
No oscillation but stationary

error

PI
control law
No stationary error but slow convergence

PI PID control law

control law
Faster convergence Reduced oscillation

Characteristics of P, I, and D controllers

CL SETTLING S-S
RISE TIME OVERSHOOT
RESPONSE TIME ERROR
Decreas Small Decreas

KP Increase
e Change e
Decreas
KI e
Increase Increase Eliminate
Small Small
KD Change
Decrease Decrease
Change
Conclusions
PID controller is the best because:
- High demand on precision
- High variation in desired outputs
However, it is:
- Expensive
- Complicated to tune
How to tune it?
PID control
- The magical three-term controller
t
K I  e( s ) ds
0
Reference signal r
+ KP ++ Incubator
-
e + u
y
K D det / dt
Feedbac
k
de  1 0 de(t ) 

t
u (t )  K P e(t )  K I  e( s )ds  K D  K p  e(t )  e( )d  Td 
 TI dt 
t
0 dt
PID Tuning
₋ Tuning is the choosing of the parameters KD, KI, and KP,
for a PID Controller
₋ The oldest and most used method of tuning are the
Ziegler-Nichols (ZN) methods developed in the 1940’s.
₋ The first method is based on the assumption that the
process without its feedback loop performs with a 1st
order transfer function
₋ The second method assumes that a higher order system
has dominant poles which can be excited by gain to the
point of steady oscillation
₋ In order to establish the constants for computing the
parameters, simple tests are performed of the process
We can build a PID controller that works well in practice in

most situations without knowing control theory
Ziegler-Nichols PID Tuning: Method 1 for First Order Systems
Rise Time T
Type Kp TI TD
T
P L
Lag L 0.9T
PI L
3.33L
1.2T
PID L
2L 0.5L
Ziegler-Nichols PID Tuning: Method 2 for Unknown

Oscillatory System
Increase gain K on closed loop system until the gain at steady

oscillation Kcr is found
Type Kp TI TD
Pcr P 0.5Kcr
1 PI 0.45Kcr Pcr
Cycl 1.2
e PID 0.6Kcr 0.5Pcr 0.125Pcr
PID tuning
Overview of PID control
Review the steady-state error

Steady-state error is the difference between the input and the output
for a prescribed test input (such as step, ramp, or parabola) as t →∞ .
Consider the following unity feedback system.
The error: The steady-state error:
Improving Steady-State Error – Using PI Controller

Objective: design a control system to eliminate the steady-state
error without affecting the transient response.
The steady-state error of P control system can be eliminated by
adding an integrator (i.e., 1/s) to the controller. The resultant
controller is called an integral (I) controller.

Problem: Using the I controller, Point A that represents the desired transient
response is no longer on the root locus, as shown in the following figures.
(a) No Compensation
(b) Only Integrator:
– Steady-state performance
improved.
– However, the transient
response in (a) can not be
achieved!

Solution: Add a zero that is close to the pole at the origin, as shown in following
figure, such that the new system has a root locus going through Point A.
The resultant controller is called an

proportional-plus-integral (PI) controller
or ideal integral compensator. It has the
transfer function
- In the design of PI controller, the zero

must be chosen to be close to the pole at
the origin so that the angular contributions
from the zero and the pole cancel out, i.e.,
θzc-θpc = 0
- Point A is still on the root locus;
meanwhile the steady-state error is
eliminated.
Ideal Derivative Compensation (PD)
Cascade compensator
Improving Steady-State Error and Transient Response – Using

PID Controller
A PID controller is combination of a PD controller and a PI controller
Gc(s) can also be expressed as
Various of PID control
Design Procedure
1. From the requirements figure out the desired pole

location to meet transient response specifications.
2. Design the PD controller.
3. Check validity of the design by simulation.
4. Design PI controller to yield steady state error
performance.
5. Combine PD and PI to obtain K1;K2;K3.
PID Controller: Example
Consider a control system with a type 0 process and a PID

controller. Design the controller parameters so that the
following specifications are satisfied
Ramp-error constant Kv = 100
Rise time tr < 0.01 sec
Maximum overshoot < 2%

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Dynamic Systems and Control, Chapter 5: PID control

Proportional Integral Derivative

Closed-loop Control System

Premature baby incubator

Proportional control law:

Proportional + Integral Control

adjusting the control 𝑢 𝑡 = 𝐾𝑃 𝑒 𝑡 +𝐾𝐼 𝑒 𝑠 𝑑𝑠

Proportional + Integral + Derivative Control

The responses of the incubator with :

The responses of the incubator with :

No oscillation but stationary

The responses of the incubator with :

No stationary error but slow convergence

The responses of the incubator with :

PI PID control law

Faster convergence Reduced oscillation

Characteristics of P, I, and D controllers

Decreas Small Decreas

How to tune it?

We can build a PID controller that works well in practice in

Ziegler-Nichols PID Tuning: Method 1 for First Order Systems

Ziegler-Nichols PID Tuning: Method 2 for Unknown

Increase gain K on closed loop system until the gain at steady

Overview of PID control

Review the steady-state error

The error: The steady-state error:

Improving Steady-State Error – Using PI Controller

Improving Steady-State Error – Using PI Controller

Improving Steady-State Error – Using PI Controller

The resultant controller is called an

- In the design of PI controller, the zero

Ideal Derivative Compensation (PD)

Ideal Derivative Compensation (PD)

Ideal Derivative Compensation (PD)

Ideal Derivative Compensation (PD)

Ideal Derivative Compensation (PD)

Improving Steady-State Error and Transient Response – Using

Gc(s) can also be expressed as

Various of PID control

1. From the requirements figure out the desired pole

PID Controller: Example

PID Controller: Example

PID Controller: Example

PID Controller: Example

Consider a control system with a type 0 process and a PID

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