E352 Lecture 18: RL-based cascade steady/transient-states compensation: PID spring 2014

4 Steady and transient state analog cascade compensation

Consider the Unity feedback system with the following FP TF:
5
G(s) =
(s + 1)(s + 2)

Design an analog compensator so that P O ≤ 5%, Ts ≤ 2s, and the steady state error for unit step
is zero.
5
Tu (s) = 2
s + 3s + 7
√ 3
ωn = 7 ⇒ ζ = √ ⇒ P O = 11.5% > 5% Ts = 4/1.5 = 2.66s(real2.22s) ess = 1/3.5 = 28.57%
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4.1 PID controller

a PID controller merges a PI controller (for steady-state) with a PD controller (for transient state),
it has the following structure:

(s − z2 )(s − z1 ) KI
Gc (s) = Kc = KP + KD s +
s s

Design attempt 1:

1. design the steady-state error ignoring the transient response using the pole at origin

2. Using the two zeros, design the transient state response.

First we add the PID’s pole to increase the system type ⇒ steady-state error will be zero. the
desired pole location: is

ζ = 0.707 Ts = 2s ⇒ σd = 2 ⇒ ωn = σd /ζ = 2.8289 ⇒ pd , p∗d = −2 ± 2j

Determine the phase deficiency at ps

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θz = 180 − ∠ = 180 − 18.4349 = 161.5651◦
pd (pd + 1)pd + 2)

This angle cannot be supplied by one zero, fortunately we have two, θz = θz1 + θz2
If we place z1 at −1, the two will cancel, z1 will not appear in Tc (s) and the number of branches
is reduced:
θz1 = ∠(pd + z1 ) = 116.5651◦
θz2 = θz − θz1 = 45◦ ⇒ z2 = −2 − 2/tand(θz2 ) = −4
Using the magnitude formula:
1
Kc =   = 0.4
5(pd +1)(pd +4) 
 pd (pd +1)(pd +2) 

(s + 1)(s + 4) 1.6
Gc (s) = 0.4 = 0.4s + 2 +
s s

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E352 Lecture 18: RL-based cascade steady/transient-states compensation: PID spring 2014

2(s + 4)
Tc (s) =
s2 + 4s + 7.98
P O = 6.69 > 5% Ts = 1.87 < 2s ess = 0 Almost!

How to fix the design?

2nd attempt Trying to reduce Kc will move the dominant pair down the rL branch, although
this reduces the damping ratio, it also reduces the damping factor, this latter leads to an increase
in Ts

3rd attempt Since the zero increases the P O, we can try to compensate this effect by designing
for a smaller overshoot

ζ = 0.75(P O = 2.84%), Ts = 2s ⇒ σd = 2 ⇒ ωn = σd /ζ = 2.6667 ⇒ pd , p∗d = −2 ± 1.7638j

Determine the phase deficiency at pd

5
θz = 180 − ∠ = 180 − 11.8587 = 168.1413◦
pd (pd + 1)pd + 2)

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E352 Lecture 18: RL-based cascade steady/transient-states compensation: PID spring 2014

This angle cannot be supplied by one zero, fortunately we have two, θz = θz1 + θz2
If we place z1 at −1, the two will cancel, z1 will not appear in Tc (s) and the number of branches
is reduced:
θz1 = ∠(pd + z1 ) = 119.5509◦
θz2 = θz − θz1 = 48.5904◦ ⇒ z2 = −2 − 2/tand(θz2 ) = −3.5556
Using the magnitude formula:
1
Kc =   = 0.4
5(p +1)(pd +3.5556) 
 pdd (pd +1)(p d +2)


(s + 1)(s + 3.5556)
Gc (s) = 0.4
s

2(s + 3.5556)
Tc (s) =
s2 + 4.003s + 7.121)
P O = 4.91 < 5% Ts = 1.94 < 2s ess = 0 Design satisfactory

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