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Control Systems
PART 1:
ON/OFF Control
PID Control
Different Types of Feedback Control
On-Off Control
Lastly, please keep in mind that you do not need to implement all three controllers
(proportional, derivative, and integral) into a single system, if not necessary. For
example, if a PI controller gives a good enough response (like the above
example), then you don't need to implement derivative controller to the system.
Keep the controller as simple as possible.
Open-Loop Control - Example
1
G( s )
2
s 10s 20
num=1;
den=[1 10 20];
step(num,den)
Proportional Control - Example
The proportional controller (Kp) reduces the rise time, increases the
overshoot, and reduces the steady-state error.
Kp
T( s )
MATLAB Example 2
s 10 s ( 20 Kp)
Step Response
From: U(1)
1.4
num=[Kp]; 1
0.9
Amplitude
0.8 0.8
To: Y(1)
0.6
t=0:0.01:2;
Amplitude
To: Y(1)
0.4
0.5
step(num,den,t) 0.2
K=300 0.4 K=100
0.3
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.2
Time (sec.)
0.1
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec.)
Proportional - Derivative - Example
The derivative controller (Kd) reduces both the overshoot and the
settling time.
Kd s Kp
T( s )
MATLAB Example 2
s ( 10 Kd) s ( 20 Kp)
Step Response
From: U(1)
1.4
1.2
Kd=10; 0.8
To: Y(1)
0.9
0.6 0.8
Kd=10 0.6
Amplitude
den=[1 10+Kd 20+Kp];
To: Y(1)
0.2 0.5
0.4
0
Time (sec.)
1.2 1.4 1.6 1.8
0.3
2
0.2
Kd=20
step(num,den,t) 0.1
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec.)
Proportional - Integral - Example
The integral controller (Ki) decreases the rise time, increases both
the overshoot and the settling time, and eliminates the steady-state
error Kp s Ki
T( s )
3 2
MATLAB Example s 10 s ( 20 Kp) s Ki
Step Response
From: U(1)
1.4
1.2
Kp=30; Step Response
From: U(1)
1 1.4
Ki=70; 1.2
Amplitude
0.8
To: Y(1)
1
0.6
num=[Kp Ki];
Ki=70
Amplitude
0.8
To: Y(1)
0.4
0.4
0
Time (sec.)
1.2 1.4 1.6 1.8
0.2
2
Ki=100
0
step(num,den,t) 0 0.2 0.4 0.6 0.8 1
Time (sec.)
1.2 1.4 1.6 1.8 2
RLTOOL
Syntax
rltool
rltool(sys)
rltool(sys,comp)
RLTOOL
RLTOOL
RLTOOL
RLTOOL
Example - Practice