Lecture 10

PID Control

and its Design

PID Control
R(s) + E U Y(s)
Proportional, Integral and Derivative Control Gc(s) GP(s)
-
de(t )
u (t )  GC (t )e(t )  K P e(t )  K I  e(t )dt  K D
dt H(s)
 K 
GC ( s )   K P  I  K D s 
 s 

KP The controller is implemented as

P
E(s) KI + + U(s) PD
+ PI
s
PID
KDs
 In addition to the gain, PD control is like adding
PD  K P  K D s  K s  b a zero at ‘–b’

 K  s  a  In addition to the gain, PI control is like adding a

PI   K P  I   K 
 s   s  zero at ‘–a’ and a pole at the origin
PID Control KP
Proportional, Integral and Derivative Control
E(s) KI + + U(s)
 1  s +
GC ( s )  K P 1   sTd 
 sTi 
Ti  Reset time KDs
Td  Rate time

P – Proportion  U, actuator input, is increased/decreased depending on the error,

E  a very “reactive” type of response.

D – Derivative  Taking the Gradient of a curve  Looking at the FUTURE from

the present time instant  Predicting what would take place in the future and
making corrections now

I – Integration  Summation  All errors at each time instant is added together.

It is like having a memory with all PAST/HISTORICAL information. Hence, I
has the effect of correcting the error, E(s), based on the history.
e(t)

1. Filter out noise  Frequency domain

2. Connect the derivative part a

Next time instant

t
Present time

short while after beginning

the operation

R(s) + E U Y(s)
Gc(s) GP(s)
-

H(s)
PID Control
What it means Problems Practical
Actuator I/P is merely
Takes decisions merely based Used to vary the
P proportional to the
on the error Rise time
error e(t)
If the information provided
for estimation is wrong the Used in changing
Predicts the actuator D-controller gives a false the overall
I/P by estimating what actuator prediction. performance of
it should be in the • like when there is a spike the system such as
D future by looking at the settling time,
(e.g. due to noise) or
gradient overshoot,
• at the beginning of the
excessive
(Futuristic) operation where there is no
oscillations etc.
feedback signal)
(Derivative Kick)
Takes into account the
If e(t) is always (+)ve or (-)ve Used in changing
past historical
information of the then the integrator keeps only the STEADY-
I error to generate the increasing and produces an STATE ACCURACY
actuator I/P ever increasing actuator I/P without affecting
(Integral Windup) the performance
(Historical)
 Actuator
output Saturation
𝐾𝐼 𝑒 𝑡 dt

e(t)

Actuator
input

0
t
𝐾𝐼 𝑒 𝑡 dt Clamping

Reference:
MatLAB Tech Talks – Brian Douglas
Understanding PID Control, Part 2 –
Expanding Beyond a Simple Integral
 When to use

• Not happy with the overall

performance
PD
• Need to change the overall
performance of the system

• Happy with overall

performance but unhappy with
the steady-state error
PI • Change steady-state error steady state error  Lt sR( s)  Y ( s)
s 0
without affecting the existing
 Lt sR( s)1  G ( s)
performance of the system s 0
 Ideal PD Practical PD (Lead Compensator)

Adds ‘Strong’ ZERO and a

(s  zD ) ‘weak’ POLE (overall effect is
K P (1  sTd ) Adds a ZERO to the system K like adding only a zero like in
( s  pD )
pure D-control)

Td : Rate time Lead

DDP
Compensator x
PD Controller o
x o

Done so that the angle contributed by the

zero and the pole (included angle from
desired dominant pole location) would make
the Root Locus traverse through the
desired dominant pole (DDP) location/s.

There can be infinite positions of the zero-

pole combination.
The zero is added taking into consideration
other factors such as canceling an
unwanted CL pole
 Ideal PI Practical PI (Lag Compensator)

( s  a) Adds to the system a ZERO (s  zI ) Adds a POLE close to the

KP and a POLE at the origin
K
Ti s ( s  pI ) Origin and a ZERO close to
the pole.
Ti : Reset
time DDP
Lag x
Compensator
PI 5o
Controller o x o x

Done so that the angle contributed by the

pole and zero to the point of interest
(included angle from desired dominant pole
location) is approximately ≤ 5o
PID Control Design Specs
System
Find DDP
Design
approach Obtain RL with proportional controller

Yes Change gain

RL go through DDP?

No

Design PD controller for the RL to go through DDP

Change gain to obtain DDP

st.st.error Yes
End
is acceptable

No
Design PI controller to obtain desired st.st.error
End
without affecting the overall performance