AAE3004 Lecture 7 - Presentation On 18 Oct 2022

AAE3004
Dynamical Systems and Control

Lecture 7: PID Controller
Dr Bing XU
Research Assistant Professor
Department of Aeronautical and Aviation Engineering
The Hong Kong Polytechnic University
Office: QR832
Tel: 3400 8010
Email: pbing.xu@polyu.edu.hk
Contents
 Review on Lecture 6 (Root locus)

 A quick introduction of PID control
 Understand and design a PID controller from the perspective
of root locus
 Ziegler–Nichols Rules for Tuning PID Controllers (An
example of flight control system design)
2
Review on Lecture 6 (Root locus)
 Magnitude & Angle of a complex General closed-loop transfer function

function 𝑚𝑚
∏𝑖𝑖=1(𝑠𝑠 + 𝑧𝑧𝑖𝑖 ) 𝐾𝐾𝐺𝐺 𝑠𝑠
𝐹𝐹 𝑠𝑠 = 𝑇𝑇 𝑠𝑠 =
∏𝑛𝑛𝑗𝑗=1(𝑠𝑠 + 𝑝𝑝𝑗𝑗 ) 1 + 𝐾𝐾𝐺𝐺 𝑠𝑠 𝐻𝐻(𝑠𝑠)
Closed-loop poles, 𝑠𝑠, satisfy

Magnitude of 𝐹𝐹 𝑠𝑠 at any point of s:
𝐾𝐾𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 =1
∏𝑚𝑚
𝑖𝑖=1 (𝑠𝑠 + 𝑧𝑧𝑖𝑖 )
𝑀𝑀 = 𝑛𝑛
∏𝑛𝑛𝑗𝑗=1 (𝑠𝑠 + 𝑝𝑝𝑗𝑗 ) 1 1 ∏𝑗𝑗=1 (𝑠𝑠 + 𝑝𝑝𝑗𝑗 )
𝐾𝐾 = = = 𝑚𝑚
𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 𝑀𝑀 ∏𝑖𝑖=1 (𝑠𝑠 + 𝑧𝑧𝑖𝑖 )
Angle of 𝐹𝐹 𝑠𝑠 at any point of s:
∠𝐾𝐾𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 = 2𝑘𝑘 + 1 180°
𝑚𝑚 𝑛𝑛
𝑚𝑚 𝑛𝑛
𝜃𝜃 = � ∠ 𝑠𝑠 + 𝑧𝑧𝑖𝑖 − � ∠ 𝑠𝑠 + 𝑝𝑝𝑗𝑗
𝑖𝑖=1 𝑗𝑗=1
2𝑘𝑘 + 1 180° = � ∠ 𝑠𝑠 + 𝑧𝑧𝑖𝑖 − � ∠ 𝑠𝑠 + 𝑝𝑝𝑗𝑗
3
𝑖𝑖=1 𝑗𝑗=1
 Sketching of the Root Locus

Open-loop
𝑗𝑗𝑗𝑗
Rule 1: Number of branches zeros
The number of branches of the root locus equals Open-loop
poles
the number of closed-loop poles.
Rule 2: Symmetry −4 −2 0
𝜎𝜎
The root locus is symmetrical about the real

axis. (Complex poles exist in conjugate pairs.)
𝐾𝐾(𝑠𝑠 + 2)
𝐺𝐺 𝑠𝑠 =
Rule 3: Real-axis segments 𝑠𝑠 2
𝐶𝐶 𝑠𝑠 𝐾𝐾(𝑠𝑠 + 2)
On the real axis, for K > 0 the root locus exists to 𝑇𝑇 𝑠𝑠 = = 2
𝑅𝑅(𝑠𝑠) 𝑠𝑠 + 𝐾𝐾(𝑠𝑠 + 2)
the left of an odd number of real axis, finite open-
loop poles and/or finite open-loop zeros
4
 Sketching of the Root Locus

Open-loop
𝑗𝑗𝑗𝑗
Rule 4: Starting and ending points zeros
The root locus begins at the finite and infinite Open-loop
poles
poles of 𝐺𝐺 𝑠𝑠 𝐻𝐻(𝑠𝑠) and ends at the finite and
infinite zeros of 𝐺𝐺 𝑠𝑠 𝐻𝐻(𝑠𝑠). 𝜎𝜎
−4 −2 0
For the closed-loop transfer function:
𝐾𝐾𝑁𝑁𝐺𝐺 (𝑠𝑠)𝐷𝐷𝐻𝐻 (𝑠𝑠)
𝑇𝑇 𝑠𝑠 =
𝐷𝐷𝐺𝐺 𝑠𝑠 𝐷𝐷𝐻𝐻 𝑠𝑠 + 𝐾𝐾𝑁𝑁𝐺𝐺 (𝑠𝑠) 𝑁𝑁𝐻𝐻 (𝑠𝑠) 𝐾𝐾(𝑠𝑠 + 2)
𝐺𝐺 𝑠𝑠 =
𝑠𝑠 2
As K approaches zero (small gain), 𝑇𝑇 𝑠𝑠 ≈
𝐾𝐾𝑁𝑁𝐺𝐺 (𝑠𝑠)𝐷𝐷𝐻𝐻 (𝑠𝑠)
𝐶𝐶 𝑠𝑠 𝐾𝐾(𝑠𝑠 + 2)
𝐷𝐷𝐺𝐺 𝑠𝑠 𝐷𝐷𝐻𝐻 𝑠𝑠 + 𝜖𝜖 𝑇𝑇 𝑠𝑠 = = 2
𝑅𝑅(𝑠𝑠) 𝑠𝑠 + 𝐾𝐾(𝑠𝑠 + 2)
As K approaches infinity (high gain), 𝐾𝐾𝑁𝑁𝐺𝐺 (𝑠𝑠)𝐷𝐷𝐻𝐻 (𝑠𝑠)

𝑇𝑇 𝑠𝑠 ≈ 5
𝜖𝜖 + 𝐾𝐾𝑁𝑁𝐺𝐺 (𝑠𝑠) 𝑁𝑁𝐻𝐻 (𝑠𝑠)
 Sketching of the Root Locus Practice: Sketch the root locus and its
asymptotes for a unity feedback system
Rule 5: Behaviour at infinity that has the forward transfer function:
The root locus approaches straight lines as 𝐾𝐾
𝐺𝐺 𝑠𝑠 =
asymptotes as the locus approaches infinity. 𝑠𝑠 + 2 𝑠𝑠 + 4 𝑠𝑠 + 6
Further, the equation of the asymptotes is given
by the real-axis intercept, 𝜎𝜎𝑎𝑎 , and 𝜃𝜃𝑎𝑎 , as follows:
∑ finite poles − ∑ finite zeros
𝜎𝜎𝑎𝑎 =
#finite poles − #finite zeros
(2𝑘𝑘 + 1)𝜋𝜋
𝜃𝜃𝑎𝑎 =
#finite poles − #finite zeros
where 𝑘𝑘 = 0, ±1, ±2, ±3, ⋯ and the angle is given

in radians with respect to the positive extension of
6
the real axis.
 Refining the Root Locus Sketch
Key point: Real-axis breakaway and break-in points

The root locus breaks away from the real axis
where the gain is a (local) maximum on the real
axis and breaks into the real axis where it is a
local minimum.
Method 1:
1 𝑑𝑑𝑑𝑑
Differentiate 𝐾𝐾 = − and let =0
𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 𝑑𝑑𝑠𝑠
Method 2: 𝑚𝑚 𝑛𝑛
1 1
� =�
𝜎𝜎 + 𝑧𝑧𝑖𝑖 𝜎𝜎 + 𝑝𝑝𝑖𝑖
1 1 7
Key point:𝑗𝑗𝜔𝜔-axis crossings Example: 𝑇𝑇 𝑠𝑠 =

𝐾𝐾 𝑠𝑠 + 3
𝑠𝑠 4 + 7𝑠𝑠 3 + 14𝑠𝑠 2 + 8 + 𝐾𝐾 𝑠𝑠 + 3𝐾𝐾
Use Routh test to determine values of K Routh table: 𝑠𝑠 4 1 14 3𝐾𝐾

for which loci cross imaginary axis: 𝑠𝑠 3 7 8 + 𝐾𝐾 0
𝑠𝑠 2 90 − 𝐾𝐾 21𝐾𝐾 0
Step 1: Forcing a row of zeros in the 𝑠𝑠1 −𝐾𝐾 2 − 65𝐾𝐾 + 720 0 0
Routh table will yield the gain; 90 − 𝐾𝐾
𝑠𝑠 0 21K 0 0
Step 2: Going back one row to the even
polynomial equation and solving for the −𝐾𝐾 2 − 65𝐾𝐾 + 720 = 0 𝐾𝐾 = 9.65
roots yields the frequency at the 90 − 𝐾𝐾 𝑠𝑠 2 + 21𝐾𝐾 = 0 80.35𝑠𝑠 2 + 202.7 = 0
imaginary-axis crossing.
𝑠𝑠 = ±𝑗𝑗𝑗.59 8

Key point: Angles of Departure and Arrival
Taking a point (ε) close to a complex pole. Given the unity feedback system
Assuming this point lies on the root locus, the with a feedforward transfer
angles of the zeros minus the angles of the poles, function below:
all drawn to the selected point on the s-plane, add 𝐺𝐺 𝑠𝑠
up to 2𝑘𝑘 + 1 180°. 𝐾𝐾 𝑠𝑠 + 2
=
𝜃𝜃2 （s + 3)(𝑠𝑠 2 + 2𝑠𝑠 + 2)
𝑗𝑗𝑗𝑗
𝜖𝜖 𝜃𝜃1
𝜃𝜃6
𝜃𝜃3
𝜎𝜎
𝜃𝜃5
𝜃𝜃4
9
𝜃𝜃2 + 𝜃𝜃4 + 𝜃𝜃6 − 𝜃𝜃1 + 𝜃𝜃3 + 𝜃𝜃5 = 2𝑘𝑘 + 1 180°
Exercise
1. Given a DC Motor Position Control system shown below, sketch the root locus of the closed-
loop poles as the proportional gain 𝐾𝐾𝑃𝑃 varies from 0 to ∞.
θD θDV + 16 θ
0.03 KP s(0.0174 s + 1)
− Controller Plant G(s)
θV
0.03
10
Exercise
1. Given a DC Motor Position Control system shown below, sketch the root locus of the closed-
loop poles as the proportional gain 𝐾𝐾𝑃𝑃 varies from 0 to ∞.
Solution:
Forward transfer function (TF):
0.48𝐾𝐾𝑃𝑃
𝐺𝐺𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 (𝑠𝑠) =
𝑠𝑠(0.0174𝑠𝑠 + 1)
Open-loop (OL) TF :
0.48𝐾𝐾𝑃𝑃
𝐺𝐺𝑂𝑂𝑂𝑂 𝑠𝑠 = 𝐺𝐺𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 𝑠𝑠 × 1 =
𝑠𝑠(0.0174𝑠𝑠 + 1)
OL poles: -57.47 and 0. OL zeros: two infinities. 11
Exercise
2. Given a positioning feedback control system shown below, sketch the root locus of the closed-
loop poles as the proportional gain K varies from 0 to ∞.
R(s) + 16 C(s)
K(s+80) s(0.0174 s + 1)
− Controller Plant G(s)
12
Exercise
loop poles as the proportional gain K varies from 0 to ∞.
Solution:
Open-loop (OL) TF :
16𝐾𝐾(𝑠𝑠 + 80)
𝐺𝐺𝑂𝑂𝑂𝑂 𝑠𝑠 =
𝑠𝑠(0.0174𝑠𝑠 + 1)
OL poles: -57.47 and 0 OL zeros: -80 and infinity
𝑠𝑠(0.0174𝑠𝑠+1) 𝑑𝑑𝑑𝑑 𝑠𝑠1 = −122

𝐾𝐾 = =0
16(𝑠𝑠+80) 𝑑𝑑𝑠𝑠 𝑠𝑠2 = −37.6 13
Exercise
loop poles as the proportional gain K varies from 0 to ∞, and find the stability condition for K.
R(s) + s 2 + 2 s + 101 C(s)

K
( s + 2)( s 2 + 2 s + 26)
− Controller
Plant G(s)
14
14
Exercise
loop poles as the proportional gain K varies from 0 to ∞, and find the stability condition for K.
Solution:
OL TF :
K ( s 2 + 2 s + 101)
GOL ( s ) =
( s + 2)( s 2 + 2 s + 26)
OL poles: -1±j5, -2
OL zeros: -1±j10, infinity
15
What is a PID controller?
𝑅𝑅(𝑠𝑠) + 𝐸𝐸(𝑠𝑠) PID Process/ 𝐶𝐶 𝑠𝑠
− Controller Plant
Time domain s-domain
𝐾𝐾𝑃𝑃 𝐾𝐾𝑃𝑃
𝑡𝑡 + 𝑢𝑢𝑐𝑐 (𝑡𝑡) + 𝑈𝑈𝑐𝑐 (𝑠𝑠)

𝑒𝑒(𝑡𝑡) 𝐸𝐸(𝑠𝑠) 1
𝐾𝐾𝐼𝐼 � + 𝐾𝐾𝐼𝐼 +
0 𝑠𝑠
+ +
d
𝐾𝐾𝐷𝐷 𝐾𝐾𝐷𝐷 𝑠𝑠
d𝑡𝑡
16
 Demo of controlling a driverless car using PID
• 1st place of IEEE Control System
Society Video Clip Contest 2015
• A video introduction to controlling self-
driving cars, specifically using PID
control. Special emphasis is placed on
how the proportional, integral, and
derivative gains affect the
performance of the vehicle.
• Credits:
Script & Narration: Luke Johnson
Hardware & Control: Brett Lopez
Visualization: Shih-Yuan Liu
Editing & Overlays: Justin Miller
Lab footage courtesy of:
Aerospace Controls Laboratory @MIT
https://www.youtube.com/watch?v=4Y7zG48uHRo&t=136s
Jonathan P. How, Director 17
 What is the effect of each term– Proportional Term
𝑅𝑅 𝑠𝑠 + 𝐸𝐸(𝑠𝑠) 1
𝐶𝐶 𝑠𝑠
𝐾𝐾𝑃𝑃 𝐺𝐺 𝑠𝑠 = 2
𝑠𝑠 + 𝑎𝑎1 𝑠𝑠 + 𝑎𝑎2
−
What is the effect of increasing 𝐾𝐾𝑃𝑃

π
Closed-loop transfer function: on time response ( 𝑇𝑇𝑝𝑝 = , 𝑇𝑇𝑠𝑠 =
𝜔𝜔𝑑𝑑
4 − 𝜁𝜁 ⁄ 1−𝜁𝜁 2 π
𝐾𝐾𝑃𝑃 𝐺𝐺(𝑠𝑠) and 𝑀𝑀𝑝𝑝 = 𝑒𝑒 ),
𝑇𝑇 𝑠𝑠 = 𝜎𝜎𝑑𝑑
𝑗𝑗𝑗𝑗
1 + 𝐾𝐾𝑃𝑃 𝐺𝐺(𝑠𝑠) steady-state error and stability?
Characteristic equation: +𝑗𝑗𝜔𝜔𝑛𝑛 1 − 𝜁𝜁 2 = +𝑗𝑗𝜔𝜔𝑑𝑑
𝜔𝜔𝑛𝑛
𝑠𝑠 2 + 𝑎𝑎1 𝑠𝑠 + 𝑎𝑎2 + 𝐾𝐾𝑃𝑃 = 0 𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃 = 𝜁𝜁
𝜃𝜃
−𝜁𝜁𝜔𝜔𝑛𝑛 = −𝜎𝜎𝑑𝑑 𝜎𝜎
Natural frequency:
−𝑗𝑗𝜔𝜔𝑛𝑛 1 − 𝜁𝜁 2 = −𝑗𝑗𝜔𝜔𝑑𝑑
𝜔𝜔𝑛𝑛 = 𝑎𝑎2 + 𝐾𝐾𝑃𝑃 18
 What is the effect of each term – Proportional Term
1
𝑅𝑅 𝑠𝑠 = 𝐸𝐸(𝑠𝑠) 1 𝐶𝐶 𝑠𝑠
𝑠𝑠 +
𝐾𝐾𝑃𝑃
− 𝑠𝑠(0.1𝑠𝑠 + 1)
Step Response
2
System: Kp = 100
Time (seconds): 0.101 Kp = 1
Amplitude: 1.6 Kp = 10
Kp = 100
1.5 System: Kp = 10
Time (seconds): 0.359
tem: Kp = 100 System: Kp = 1
Amplitude: 1.16
e (seconds): 0.0553 Time (seconds): 5.93
plitude: 0.997 Amplitude: 0.999
Amplitude
System: Kp = 10 System: Kp = 1
Time (seconds): 0.212 Time (seconds): 2.16
Amplitude: 0.897 Amplitude: 0.899
0.5
0 19
0 1 2 3 4 5 6
Time (seconds)
 What is the effect of each term – Integral Term
𝑅𝑅 𝑠𝑠 + 𝐸𝐸(𝑠𝑠) 𝐾𝐾𝐼𝐼 1
𝐶𝐶 𝑠𝑠
𝐺𝐺 𝑠𝑠 =
𝑎𝑎1 𝑠𝑠 + 𝑎𝑎2
− 𝑠𝑠
Closed-loop transfer function: What is the effect of increasing 𝐾𝐾𝐼𝐼

𝐾𝐾𝐼𝐼
𝐺𝐺(𝑠𝑠) on transient response, steady-state
𝑇𝑇 𝑠𝑠 = 𝑠𝑠 error and stability?
𝐾𝐾
1 + 𝐼𝐼 𝐺𝐺(𝑠𝑠) 𝑗𝑗𝑗𝑗
𝑠𝑠
𝜔𝜔𝑛𝑛
𝑎𝑎1 𝑠𝑠 2 + 𝑎𝑎2 𝑠𝑠 + 𝐾𝐾𝐼𝐼 = 0 𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃 = 𝜁𝜁
𝜃𝜃
Natural frequency:
−𝑗𝑗𝜔𝜔𝑛𝑛 1 − 𝜁𝜁 2 = −𝑗𝑗𝜔𝜔𝑑𝑑
𝜔𝜔𝑛𝑛 = 𝐾𝐾𝐼𝐼 ⁄𝑎𝑎1 20
 What is the effect of each term – Integral Term
𝑅𝑅 𝑠𝑠 + 𝐸𝐸(𝑠𝑠) 𝐾𝐾𝐼𝐼 1
𝐶𝐶 𝑠𝑠
𝐺𝐺 𝑠𝑠 =
𝑎𝑎1 𝑠𝑠 + 𝑎𝑎2
− 𝑠𝑠
• In particular, adding integrator to controller helps drive steady-state error to zero.
21
 How does a PID work? – Derivative Term
𝑅𝑅 𝑠𝑠 + 𝐸𝐸(𝑠𝑠) 1
𝐶𝐶 𝑠𝑠
𝐾𝐾𝐷𝐷 𝑠𝑠 𝐺𝐺 𝑠𝑠 = 2
𝑠𝑠 + 𝑎𝑎1 𝑠𝑠 + 𝑎𝑎2
−
What is the effect of increasing 𝐾𝐾𝑃𝑃

π
Closed-loop transfer function: on transient response (𝑇𝑇𝑝𝑝 = ,
𝜔𝜔𝑑𝑑
4 − 𝜁𝜁 ⁄ 1−𝜁𝜁 2 π
𝐾𝐾𝐷𝐷 𝑠𝑠𝐺𝐺(𝑠𝑠) 𝑇𝑇𝑠𝑠 = and 𝑀𝑀𝑝𝑝 = 𝑒𝑒 ),
𝑇𝑇 𝑠𝑠 = 𝜎𝜎𝑑𝑑
𝑗𝑗𝑗𝑗
1 + 𝐾𝐾𝐷𝐷 𝑠𝑠𝐺𝐺(𝑠𝑠) steady-state error and stability?
𝜔𝜔𝑛𝑛
𝑠𝑠 2 + 𝑎𝑎1 + 𝐾𝐾𝐷𝐷 𝑠𝑠 + 𝑎𝑎2 = 0 𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃 = 𝜁𝜁
𝜃𝜃
Natural freq. and damping ratio:
𝑎𝑎1 + 𝐾𝐾𝐷𝐷 ⁄2 −𝑗𝑗𝜔𝜔𝑛𝑛 1 − 𝜁𝜁 2 = −𝑗𝑗𝜔𝜔𝑑𝑑
𝜔𝜔𝑛𝑛 = 𝑎𝑎2 , 𝜁𝜁 = 22
𝜔𝜔𝑛𝑛
 Summary
Effects of increasing a parameter independently
Effects of varying PID parameters (𝐾𝐾𝐼𝐼 , 𝐾𝐾𝐼𝐼 ,

𝐾𝐾𝐷𝐷 ) on the step response of a system
(Source: Wikipedia)
Ang, K.H. and Chong, G.C.Y. and Li, Y. (2005) PID control system analysis, design, and technology. IEEE
23
Transactions on Control Systems Technology 13(4):pp. 559-576.
From Perspective of Root Locus, …
 Improve transient response
𝑗𝑗𝑗𝑗
𝑗𝑗𝑗𝑗
+𝑗𝑗𝜔𝜔𝑛𝑛 1 − 𝜁𝜁 2 = +𝑗𝑗𝜔𝜔𝑑𝑑
𝜎𝜎 𝜔𝜔𝑛𝑛
𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃 = 𝜁𝜁
𝜃𝜃
𝑐𝑐(𝑡𝑡) −𝑗𝑗𝜔𝜔𝑛𝑛 1 − 𝜁𝜁 2 = −𝑗𝑗𝜔𝜔𝑑𝑑
π 4 − 𝜁𝜁 ⁄ 1−𝜁𝜁 2 π
𝑇𝑇𝑝𝑝 = , 𝑇𝑇 = and 𝑀𝑀𝑝𝑝 = 𝑒𝑒
𝜔𝜔𝑑𝑑 𝑠𝑠 𝜎𝜎𝑑𝑑
𝑡𝑡
24
 Improve steady-state response
𝑗𝑗𝑗𝑗 𝑗𝑗𝑗𝑗 𝑗𝑗𝑗𝑗
𝜎𝜎 𝜎𝜎 𝜎𝜎
𝑐𝑐(𝑡𝑡)
𝑐𝑐(𝑡𝑡)
𝑡𝑡 25
𝑡𝑡
𝑗𝑗𝑗𝑗
Typical objective: Design a response that has a
desirable percent overshoot and a shorter settling
time than the original system.
𝜎𝜎  If Pole B is on the original root locus, a simple

gain adjustment is enough.
 If not, reshape root locus to go through Pole B
by adding a zero to the forward path:
𝑐𝑐(𝑡𝑡) 𝐺𝐺𝑐𝑐 = 𝑠𝑠 + 𝑧𝑧𝑐𝑐
26
𝑡𝑡
Example: Design a PD controller to yield a 𝑅𝑅(𝑠𝑠) + 𝐸𝐸(𝑠𝑠) 𝐾𝐾 𝐶𝐶 𝑠𝑠
16% overshoot, with a threefold reduction in 𝑠𝑠(𝑠𝑠 + 4)(𝑠𝑠 + 6)
settling time. −
Desired
pole
4 4 3.32 27
𝑇𝑇𝑠𝑠 = = = 3.32 s 𝑇𝑇𝑠𝑠,new = = 1.107 s
𝜎𝜎𝑑𝑑 1.025 3
settling time. −
28
settling time. −
𝐸𝐸(𝑠𝑠) PD controller
𝑅𝑅(𝑠𝑠) + 47.45 𝐶𝐶 𝑠𝑠
(𝑠𝑠 + 3.006)
𝑠𝑠(𝑠𝑠 + 4)(𝑠𝑠 + 6)
−
29
𝑗𝑗𝑗𝑗
Typical objective: Design a response to improve
the steady-state error without appreciably
affecting the transient response.
𝜎𝜎  Use a pure integrator to place an open-loop,
forward-path pole at the origin, thus increasing
the system type and reducing the error to zero
𝐾𝐾(𝑠𝑠 + 𝑎𝑎)
𝐺𝐺𝑐𝑐 =
𝑐𝑐(𝑡𝑡) 𝑠𝑠
30
𝑡𝑡
Example: Given a system operating at a 𝐸𝐸(𝑠𝑠)
damping ratio of 0.174, reduce the steady- 𝑅𝑅(𝑠𝑠) + 1 𝐶𝐶 𝑠𝑠
𝐾𝐾
state error to zero for a step input without − (𝑠𝑠 + 1)(𝑠𝑠 + 2)(𝑠𝑠 + 10)
appreciably affecting transient response.
31
Example: Given a system operating at a 𝐸𝐸(𝑠𝑠)
𝑅𝑅(𝑠𝑠) + 1 𝐶𝐶 𝑠𝑠
damping ratio of 0.174, reduce the steady- 𝐾𝐾
state error to zero for a step input without (𝑠𝑠 + 1)(𝑠𝑠 + 2)(𝑠𝑠 + 10)
−
appreciably affecting transient response.
32
 Improve transient response & steady-state response
Proportional-integral-derivative Procedures:
(PID) controller
 Evaluate the performance of the uncompensated
system to determine how much improvement in
transient response is required.
 Design the PD controller to meet the transient
response specifications.
 Simulate the system to be sure all requirements
have been met. Redesign if necessary.
 Design the PI controller to yield the required
steady-state error.
 Determine K1, K2, and K3.
 Simulate the system to be sure all requirements
have been met. Redesign if necessary.
33
Example: Design a PID controller so that the
system can operate with a peak time that is
two-thirds that of the uncompensated system
at 20% overshoot and with zero steady-state
error for a step input.
34
Desired 𝑗𝑗𝑗𝑗
pole
𝜎𝜎
35
36
𝑗𝑗𝑗𝑗
0.456
𝜎𝜎
37
• PD compensation improved the transient

response by decreasing the time required to
reach the first peak as well as yielding some
improvement in the steady-state error.
• The complete PID controller further improved

the steady-state error without appreciably
changing the transient response designed with
the PD controller.
38
Example of Flight Control Systems
 Flight control systems
𝜙𝜙𝑒𝑒 , 𝜃𝜃𝑒𝑒 , 𝜓𝜓𝑒𝑒 , … 𝛿𝛿𝑎𝑎 , 𝛿𝛿𝑒𝑒 , 𝛿𝛿𝑟𝑟 …
𝜙𝜙, 𝜃𝜃, 𝜓𝜓 …
Actuator Aircraft
dynamics
Sensor 39
 Attitude control system – Example
𝜃𝜃ref + 𝑒𝑒 𝛿𝛿𝑐𝑐 𝛿𝛿𝑒𝑒

−0.1 3 𝜃𝜃
PID 0.1𝑠𝑠 + 1 2
𝑠𝑠 + 2𝑠𝑠 + 5
−
Pitch attitude autopilot
𝛿𝛿𝑐𝑐 𝑠𝑠 1
= 𝐾𝐾𝑝𝑝 1 + + 𝑇𝑇𝑑𝑑 𝑠𝑠 𝐾𝐾𝑝𝑝 =? , 𝑇𝑇𝑖𝑖 =? , 𝑇𝑇𝑑𝑑 =?
𝑒𝑒 𝑠𝑠 𝑇𝑇𝑖𝑖 𝑠𝑠
• Root locus
• Ziegler–Nichols Rules
40
 Ziegler–Nichols Rules for Tuning PID Controllers
1
𝐺𝐺𝑐𝑐 𝑠𝑠 = 𝐾𝐾𝑝𝑝 1 + + 𝑇𝑇𝑑𝑑 𝑠𝑠
𝑇𝑇𝑖𝑖 𝑠𝑠
Set 𝑇𝑇𝑖𝑖 = ∞ and 𝑇𝑇𝑑𝑑 = 0, and increase 𝐾𝐾𝑝𝑝 from 0 to a

critical value 𝐾𝐾𝑐𝑐𝑐𝑐 at which the output first exhibits
sustained oscillations. Then, 𝐾𝐾𝑐𝑐𝑐𝑐 and the corresponding
period 𝑃𝑃𝑐𝑐𝑐𝑐 (in unit of sec) can be determined.
Note: If the output does not exhibit sustained oscillations
for whatever value 𝐾𝐾𝑝𝑝 may take, then this method does
not apply.
• PID controller
Ziegler–Nichols Tuning Rule

41
Consider P controller only

3.0𝐾𝐾𝑝𝑝
𝐺𝐺 𝑠𝑠 =
(𝑠𝑠 + 10)(𝑠𝑠 2 + 2𝑠𝑠 + 5)
269
𝐾𝐾𝑐𝑐𝑐𝑐 = = 89.67
3.0
𝑃𝑃𝑐𝑐𝑐𝑐 = 2𝜋𝜋⁄5.13 = 1.22 sec
For different controllers

P 𝐾𝐾𝑝𝑝 = 0.5𝐾𝐾𝑐𝑐𝑐𝑐 = 44.835
𝐾𝐾𝑝𝑝 = 0.45𝐾𝐾𝑐𝑐𝑐𝑐 = 40.35

PI 1
𝑇𝑇𝑖𝑖 = 𝑃𝑃 = 1.017
1.2 𝑐𝑐𝑐𝑐
𝐾𝐾𝑝𝑝 = 0.6𝐾𝐾𝑐𝑐𝑐𝑐 = 53.80
PID 𝑇𝑇𝑖𝑖 = 0.5𝑃𝑃𝑐𝑐𝑐𝑐 = 0.61 42
𝑇𝑇𝑑𝑑 = 0.125𝑃𝑃𝑐𝑐𝑐𝑐 = 0.1525
P controller PI controller PID controller
43
Practice
Example: For a unity feedback system operating with a dominant-pole damping ratio of 0.707.
Design a PD controller so that the settling time is reduced by a factor of 2. Compare the transient
and steady-state performance of the uncompensated and compensated systems.
44
Reference
 Chapter 9 in Control Systems Engineering, 6th ed., N.S. Nise, 2011

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whole or in part in any form is permitted.
AAE3004 Dynamical Systems and Control
Dr. Bing XU
Research Assistant Professor
Department of Aeronautical and Aviation Engineering
The Hong Kong Polytechnic University
Office: QR832
Tel: 3400 8010
Email: pbing.xu@polyu.edu.hk

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AAE3004

Dynamical Systems and Control

 Review on Lecture 6 (Root locus)

 Magnitude & Angle of a complex General closed-loop transfer function

Closed-loop poles, 𝑠𝑠, satisfy

 Sketching of the Root Locus

The root locus is symmetrical about the real

 Sketching of the Root Locus

As K approaches infinity (high gain), 𝐾𝐾𝑁𝑁𝐺𝐺 (𝑠𝑠)𝐷𝐷𝐻𝐻 (𝑠𝑠)

where 𝑘𝑘 = 0, ±1, ±2, ±3, ⋯ and the angle is given

 Refining the Root Locus Sketch

Key point: Real-axis breakaway and break-in points

 Refining the Root Locus Sketch

Key point:𝑗𝑗𝜔𝜔-axis crossings Example: 𝑇𝑇 𝑠𝑠 =

Use Routh test to determine values of K Routh table: 𝑠𝑠 4 1 14 3𝐾𝐾

 Refining the Root Locus Sketch

OL poles: -57.47 and 0 OL zeros: -80 and infinity

𝑠𝑠(0.0174𝑠𝑠+1) 𝑑𝑑𝑑𝑑 𝑠𝑠1 = −122

R(s) + s 2 + 2 s + 101 C(s)

𝑅𝑅(𝑠𝑠) + 𝐸𝐸(𝑠𝑠) PID Process/ 𝐶𝐶 𝑠𝑠

Time domain s-domain

𝑡𝑡 + 𝑢𝑢𝑐𝑐 (𝑡𝑡) + 𝑈𝑈𝑐𝑐 (𝑠𝑠)

What is the effect of increasing 𝐾𝐾𝑃𝑃

Closed-loop transfer function: What is the effect of increasing 𝐾𝐾𝐼𝐼

• In particular, adding integrator to controller helps drive steady-state error to zero.

What is the effect of increasing 𝐾𝐾𝑃𝑃

Effects of increasing a parameter independently

Effects of varying PID parameters (𝐾𝐾𝐼𝐼 , 𝐾𝐾𝐼𝐼 ,

𝑐𝑐(𝑡𝑡) −𝑗𝑗𝜔𝜔𝑛𝑛 1 − 𝜁𝜁 2 = −𝑗𝑗𝜔𝜔𝑑𝑑

𝜎𝜎  If Pole B is on the original root locus, a simple

𝑐𝑐(𝑡𝑡) 𝐺𝐺𝑐𝑐 = 𝑠𝑠 + 𝑧𝑧𝑐𝑐

• PD compensation improved the transient

• The complete PID controller further improved

𝜙𝜙𝑒𝑒 , 𝜃𝜃𝑒𝑒 , 𝜓𝜓𝑒𝑒 , … 𝛿𝛿𝑎𝑎 , 𝛿𝛿𝑒𝑒 , 𝛿𝛿𝑟𝑟 …

𝜃𝜃ref + 𝑒𝑒 𝛿𝛿𝑐𝑐 𝛿𝛿𝑒𝑒

Set 𝑇𝑇𝑖𝑖 = ∞ and 𝑇𝑇𝑑𝑑 = 0, and increase 𝐾𝐾𝑝𝑝 from 0 to a

Ziegler–Nichols Tuning Rule

Consider P controller only

𝑃𝑃𝑐𝑐𝑐𝑐 = 2𝜋𝜋⁄5.13 = 1.22 sec

For different controllers

𝐾𝐾𝑝𝑝 = 0.45𝐾𝐾𝑐𝑐𝑐𝑐 = 40.35

P controller PI controller PID controller

 Chapter 9 in Control Systems Engineering, 6th ed., N.S. Nise, 2011

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