AH

Automatic Control
• Types of automatic control according to:
1. Feedback signal
I. Open loop system

II. Closed loop system

2. Order of the system

A
I. First order system T .F =
1 +TS
n 2
II. Higher order system such as second order T .F =
S 2 + 2n  S + n 2
3. Roots of characteristics equation
I. Undamped system (imaginary roots)
II. Critically system (real and equal roots)
III. Overdamped system (real and unequal roots)
IV. Underdamped system (complex roots)
The closed loop automatic control system in case first and second order will be explained
.‫الهدف بقى من الجزء دا ازاى اختار الكنترول المناسب اللى يحسن من اداه السيستم بتاعى‬
‫لو الحمل اللى على المولد قل فجاة دا معناه ان السرعه هتزيد وبالتالى التردد هيزيد وبالتالى الجهد هيزيد واحنا مصصمين‬
‫ لكل‬damage ‫ كيلو فولت وبالتالى هيعمل‬15 ‫ كيلو فولت وفجاه الجهد بقى‬12 ‫اجهزه الحماية والكابالت عند جهد معين مثال‬
‫ يكون قليل والوقت‬overvoltage ‫مكونات السيستم وبالتالى وانا بصمم الكنترول الزم ناخد فى االعتبار شويه حاجات منها ال‬
‫ تكون قريبه‬disturbance ‫اللى هياخده السيستم يكون قليل علشان يوصل لالستقرار والقيمه اللى هيثبت عندها بعد ازاله ال‬
.‫ قليل‬steady state error ‫ عشان يكون ال‬reference value ‫جدا من ال‬
.)ts, ess, m.p( ‫ حاجات اللى بياثره على السيستم واحنا بنختار الكنترولر‬3 ‫دلوقتى‬

• Types of automatic controller:

I. Proportional controller T .F = K P
KI
II. Integral controller T .F =
S

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III. Differential controller T .F = K d S

IV. PI controller T .F = K P +
KI
S
V. PD controller T .F = K P + K d S

VI. PID controller T .F = K P + K d S +

KI
S
• Proportional controller in case first order and closed loop system

G K / (1 + S ) KP K / (1 + K P )
T .F = = P = = P
1 + GH 1 + K P  1 1 + S + K P 1 + ( 1 )S
1+ S 1+ K P
1 5 1
time constant t c = ( ) → t s (setlling time)=5t c = ( ) → ts 
1+ K P 1+ K P KP
R (S ) 1/ S 1 1
e ss = lim S  = lim S  = → e ss 
S →0 1 + GH S →0 K
1+ P 1+ K P KP
1+ S
C
T .F = → C = R T .F
R
1 KP
initial value of o/p signal C(t=0)= lim S  C (S ) = lim S   =0
S → S 1+ S + K P
S →

1 KP KP
final value of o/p signal C(t=)= lim S  C (S ) = lim S   =
S →0 S 1+ S + K P 1+ K P
S →0

From this figure the settling time and steady state error decreases by increasing the
gain value.

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• Integral controller in case first order and closed loop system

KI 1

G S (1 + S ) KI
T .F = = = 2
1 + GH 1 + I 
K 1 S +S + KI
S (1 + S )
undamped natural frequency (n ) → n 2 = K I → n = K I → n  K I
1 1 1
2n  = 1 →  = = → 
2n 2 KI KI
R (S ) 1/ S
e ss = lim S  = lim S  =0
S →0 1 + GH S → 0
1+
KI
S (1 + S )
C
T .F = → C = R T .F
R
1 KI
initial value of o/p signal C(t=0)= lim S C (S ) = lim S   2 =0
S → S S +S + KI
S →

1 KI
final value of o/p signal C(t=)= lim S  C (S ) = lim S   2 =1
S →0 S S +S + KI
S →0

→ setlling time t s depends upon the type of system in case

1) undamped system ( =0) → t s = 
5
2) critically damped system ( =1) → t s =
n
4 3
3) underdamped system (0<  1) → t s = for 2% or for 5% tolerance
n n
−5
4) overdamped system ( >1) → t s =
 (small root value)

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From this figure the settling time does not change, overshoot and oscillation
increase by increasing gain value and steady state error is equal zero.

• PI controller in case first order and closed loop system

KI 1
(K P + )
G S (1 + S ) K PS + K I
T .F = = = 2
1 + GH 1 + (K + K I )  1 S + (1 + K P )S + K I
(1 + S )
P
S
in case (K P → constant, K I → variable)
undamped natural frequency (n ) → n 2 = K I → n = K I → n  K I
1+ K P 1
2n  = 1 + K P →  = → 
2 KI KI
R (S ) 1/ S
e ss = lim S  = lim S  =0
S →0 1 + GH S → 0 K
1 + (K P + I )
1
S (1 + S )
C
T .F = → C = R T .F
R
1 K PS + K I
initial value of o/p signal C(t=0)= lim S C (S ) = lim S   2 =0
S → S S + (1 + K P )S + K I
S →

1 K PS + K I
final value of o/p signal C(t=)= lim S  C (S ) = lim S   2 =1
S →0 S S + (1 + K P )S + K I
S →0

in case (K I → constant, K P → variable)

undamped natural frequency (n ) → n 2 = K I → n = K I → n = constant
1+ K P
2n  = 1 + K P →  = →  KP
2 KI
R (S ) 1/ S
e ss = lim S  = lim S  =0
S →0 1 + GH S → 0 K
1 + (K P + I )
1
S (1 + S )
→ setlling time t s depends upon the value of K P

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From this figure the settling time does not change, overshoot and oscillation
increase by increasing gain value (Ki) and steady state error is equal zero.

From this figure the settling time increases by increasing gain value (Kp) and steady
state error is equal zero.

• PID controller in case first order and closed loop system

KI 1
(K P + K d S +
)
G S (1 + S ) 1 K d S 2 + K PS + K I
T .F = = = 
1 + GH 1 + (K + K S + K I )  1 (1 + K d ) S 2 + (1 + K P ) S + K I
(1 + S ) (1 + K d ) (1 + K d )
P d
S
C
T .F = → C = R T .F
R
initial value of o/p signal C(t=0)= lim S C (S ) = 0
S →

final value of o/p signal C(t=)= lim S C (S ) = 1

S →0

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R (S ) 1/ S
e ss = lim S  = lim S  =0
S →0 1 + GH S →0 1 + (K P + K d S +
KI
)
1
S (1 + S )

From this figure the settling time, overshoot and oscillation decreases by increasing
gain value (Kp) and steady state error is equal zero.

From this figure the settling time does not change, overshoot and oscillation increase
by increasing gain value (Ki) and steady state error is equal zero.

• P controller in case second order and closed loop system

1
KP 
G (1 + S + S 2 ) KP
T .F = = = 2
1 + GH 1 + K  1 S + S +1+ K P
(1 + S + S )
P 2

undamped natural frequency (n ) → n 2 = 1 + K P → n = 1 + K P → n  K P

1 1 1
2n  = 1 →  = = → 
2n 2 K P +1 KP
R (S ) 1 1
e ss = lim S  = → e ss 
S →0 1 + GH 1 + K P KP

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From this figure the settling time does not change, overshoot and oscillation increase
by increasing gain value (Kp) and steady state error is decreased.