Ferhat Abbas University - Tecnológico de Monterrey

Control Systems Design

Collaborative activity.
Ferhat Abbas University, Sétif 1 and Tecnológico de Monterrey, campus Sonora Norte

Design of Control Systems - Simulation activity. Part 2

Automatic Control Loop with a PID controller

OBJECTIVE
Implement a controller with Op-Amps to have a loop that automatically controls the voltage at the output of the plant.

INTRODUCTION
The practical activities help to reinforce the theoretical and simulation topics reviewed in the courses. In this sense,
operational amplifiers (Op-Amps) are electronic elements that allow the construction of plants that can be applied in
automatic control. These devices are used intensively in electronic systems, and more specifically in blocks/materials
where their characteristics and a series of applications around them are analyzed.

This practice is the continuation of the identification and validation of the test plant. The next step is to implement a
conventional controller (P / PI / PID) with an ideal structure and other elements to close the analog control loop and
automatically control the process variable; see Figure 1.

Figure 1. Closed-loop system to simulate

In Figure 1, R(s) stands for the setpoint, E(s) represents the error signal, while M(s) is the controller’s output. Besides, C(s)
is the process variable, i.e., an output voltage.

The deliverable of this practice reinforces the theoretical topics reviewed in the sessions to improve the acquisition of skills
related analysis, implementation and evaluation of control systems.

DESCRIPTION

Simulate a PID controller with an ideal(academic) structure whose equation is presented in (1).

(1)

To tune the controller, apply two different approaches from the options reviewed in class.

By inserting the controller (1) in Figure 1, the control loop in more detail is that of Figure 2, and the electronic circuit to
implement the analog controller is included in Figure 3. Observe the relationships between the conceptual elements and
the simulated ones. The red line represents the sum point that receives the reference and the process variable and
subtracts them to generate the error. The green circle illustrates how the error signal feeds the three components of the
ideal PID controller structure (in parallel). Finally, the blue circle is an adder that receives the three control signals and
adds them to generate M(s) which is the output of the controller, also called the manipulation signal. Identify the colored
circles in Figures 2 and 3.

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 Ferhat Abbas University - Tecnológico de Monterrey
Control Systems Design

Figure 2. Control loop with the parallel PID (ideal structure, without having Kc common to all terms)

Figure 3. Proposed schematic for building the signal controller, subtractor, and adder.
Image modified from: I. Lázaro, “Continuous Control Systems Engineering,” COECYT, Mexico, 2008.

The reference r(t) will be entered into the subtractor in Figure 3. Vc is the feedback process variable c(t). The output of the
controller m(t) is Vo. Similarly, it can be seen how e(t) feeds the three subsystems of the PID controller. Refer to your Op-
Amps module lecture notes to get Kp, Ki, Kd. The teacher will also be available for any questions about it.

DELIVERABLES

1- Design different controllers: (P, P+I for Z-N and pole compensator) → for the first order plant, and for the second
order plant: P+I (Z-N) and P+I+D (pole compensator). Include mathematical work and simulations in MATLAB.
2- Tune de controllers (as required by the instructors). Ziegler-Nichols, and pole compensation
3- Use FALSTAD to simulate a closed loop simulation test.
4- For each of the asked controllers and the tuning approaches, and under the same testing conditions, measure the
performance criteria:
a) %OV (max overshoot),
b) ts (settling time),
c) Ess (steady state error, absolute amount),
d) %deviation due to the disturbance,
e) time to recover the setpoint after a disturbance.
Generate a comparative table.
Select the same testing conditions for all closed-loop systems.

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Control Systems Design

5- The disturbance must be applied after the plant and emulates interference that intermittently impacts the sensor
reading causing the reading to rise by 1 volt. The tests must be carried out, always within the operating range
defined for the plant (Asynchronous work)
6- Video with the explanation of points 1 to 5. To be defined.
7- Each team must deliver a written report and all the files required for the simulation effort.

ABOUT THE REPORT

1. The report does not have a specific format, but includes the following: title, abstract, development, problems
presented during the practice and how they were solved.
2. The development section must include the procedure to carry out points 1 to 6.
3. Grading policy: presentation, writing and format (10%); content: abstract, and development (points 1 to 7) (80%);
and problems-solutions (10%).

ABOUT THE VIDEO

To be defined

Versions control

Version Modified by Actions

3.0 Bilal Sari, Chouaba Seif,
Félix-Herrán, Luis C.
2.0 L.C. Félix-Herrán
1.2 L.C. Félix-Herrán
1.1 L.C. Félix-Herrán
1.0 L.C. Félix-Herrán and
Alejandro García-Juárez
(September/October 2022) Adapt for joint collaboration
Ferhat Abbas University (Sétif, Algeria), and Tecnológico de Monterrey,
(Hermosillo, México)
(October 2021) Adapt to MR2025 Design of Control Systems
(February 2019) Modify the introduction and the evaluation rubric
(February 2018) Add a rubric
First draft

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