5. Feedback Control Systems - 1.

Types of Feedback - PID Controllers (1/3)

► Control Systems ‐ General

Open-loop system showing reference, R, control, U,

disturbance, W, and output Y [Franklin]
Closed-loop system showing the reference, R, control, U, disturbance,
W, output, Y , and sensor noise, V [Franklin]

Filtered open-loop system [Franklin]

Filtered closed-loop. R = reference, u = control, Y = output, and V = sensor noise [Franklin]

► Types of Controllers Disturbance

Error Signal Control Input
Output

Reference Controller
Input Plant
Sensor

[cf. Ogata, Chapter 5]

Root‐Locus Plot

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5. Feedback Control Systems - 1. Types of Feedback - PID Controllers (2/3)

[e.g., Ziegler‐Nichols Rules]

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5. Feedback Control Systems - 1. Types of Feedback - PID Controllers (3/3)
► Example: Comparison of P‐, PD‐ and PID Controls

The plant itself is 
originally stable.
Zero ref. input

There are various controller options,

including P, I, PI, PD, and PID.

With a sufficiently large value of N,

P=K this expression approaches 's'.
I=K/TI
D=K*TD

Output response with respect to the unit-

step disturbance = The error signal,
because the output per zero reference
input must be zero as well.

PID Controller can help the influence of the 
noise on the output response!! ‐> Zero 
steady‐state error!

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5. Feedback Control Systems - 1. Types of Feedback - PID Controllers (3a/3)
► Example: PID Controller of an Unstable 2nd‐Order System

The plant itself is 
originally UNSTABLE.

PID Controller: Kp=20, Ki=5, Kd=2 under unit step input

PID Controller renders unstable system stable with 
zero steady‐state error!!

P‐Control Only

I‐Control Only: Not successful 
in stabilization

PI‐Control PD‐Control

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