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    Sayaf Khan
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    This document analyzes and compares the step response of different controller types (P, PI, PD, PID, lead-lag) for three transfer functions: 1) G(s) = 1/(s+5)(s+15)(s+20) 2) G(s) = 1/s(s+5)(s+15)(s+20) 3) G(s) = 1/s^2(s+5)(s+15)(s+20) For each transfer function, the poles and zeros are identified, controllers are designed using pidtune, and step responses are plotted and compared. Across the three transfer functions, the PID controller provides the fastest

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    This document analyzes and compares the step response of different controller types (P, PI, PD, PID, lead-lag) for three transfer functions: 1) G(s) = 1/(s+5)(s+15)(s+20) 2) G(s) = 1/s(s+5)(s+15)(s+20) 3) G(s) = 1/s^2(s+5)(s+15)(s+20) For each transfer function, the poles and zeros are identified, controllers are designed using pidtune, and step responses are plotted and compared. Across the three transfer functions, the PID controller provides the fastest

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    © All Rights Reserved
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    2 views12 pages

    Egypt

    Uploaded by

    Sayaf Khan
    This document analyzes and compares the step response of different controller types (P, PI, PD, PID, lead-lag) for three transfer functions: 1) G(s) = 1/(s+5)(s+15)(s+20) 2) G(s) = 1/s(s+5)(s+15)(s+20) 3) G(s) = 1/s^2(s+5)(s+15)(s+20) For each transfer function, the poles and zeros are identified, controllers are designed using pidtune, and step responses are plotted and compared. Across the three transfer functions, the PID controller provides the fastest

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    © All Rights Reserved
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    of 12

    1

    a. G(s) =
    (𝑠+5)(𝑠+15)(𝑠+20)

    1.
    Poles Zeros Gain Type Minimum Phase
    (-5, -15, -20) No 1 0 Stable

    2.
    1
    For G(s) =
    (𝑠+5)(𝑠+15)(𝑠+20)

    P Controller
    sys =zpk([],[-5,-15,-20],1)
    sys =tf(sys)
    kp = 15000
    system = feedback(kp*sys,1)
    step(system)

    PI Controller:
    sys =zpk([],[-5,-15,-20],1)
    C = pidtune(sys,'PI')
    system = feedback(C*sys,1)
    step(system)
    PD Controller:
    sys =zpk([],[-5,-15,-20],1)
    C = pidtune(sys,'PD')
    system = feedback(C*sys,1)
    step(system)
    PID Controller:
    sys =zpk([],[-5,-15,-20],1)
    C = pidtune(sys,'PID')
    system = feedback(C*sys,1)
    step(system)

    Lead-Lag Controller:
    sys =zpk([],[-5,-15,-20],1)
    sisotool(sys)
    Results
    1
    For G(s) = (𝑠+5)(𝑠+15)(𝑠+20)

    a. The step response error is 1-0.90=0.1 as shown in figure 1


    b. The ramp response error is 0
    c. The stable and fast transient response is obtained as shown in figures
    d. Comparison of different controllers

    e. I will recommend PID controller because it combines the functionality of all the controllers
    and provide the fast transient response and better steady state response. It provides the zero
    steady state error, less overshoot, and less settling time.
    1
    b. G(s) =
    𝑠(𝑠+5)(𝑠+15)(𝑠+20)

    1.
    Poles Zeros Gain Type Minimum Phase
    (0, -5, -15, -20) No 1 1 Stable

    2.
    1
    For G(s) =
    (𝑠+5)(𝑠+15)(𝑠+20)

    P Controller
    sys =zpk([],[0, -5,-15,-20],1)
    sys =tf(sys)
    kp = 15000
    system = feedback(kp*sys,1)
    step(system)

    PI Controller:
    sys =zpk([],[0, -5,-15,-20],1)
    C = pidtune(sys,'PI')
    system = feedback(C*sys,1)
    step(system)

    PD Controller:
    sys =zpk([],[0, -5,-15,-20],1)
    C = pidtune(sys,'PD')
    system = feedback(C*sys,1)
    step(system)

    PID Controller:
    sys =zpk([],[0, -5,-15,-20],1)
    C = pidtune(sys,'PID')
    system = feedback(C*sys,1)
    step(system)
    Lead-Lag Controller:
    sys =zpk([],[0,-5,-15,-20],1)
    sisotool(sys)
    Results
    1
    For G(s) = 𝑠(𝑠+5)(𝑠+15)(𝑠+20)

    a. The step response error is 1-1=0


    b. The ramp response error is 0
    c. The stable and fast transient response is obtained as shown in figures
    d. Comparison of different controllers

    e. I will recommend PID controller because it combines the functionality of all the controllers
    and provide the fast transient response and better steady state response. It provides the zero
    steady state error, less overshoot, and less settling time. We can tune more the parameters
    of PID from settings
    1
    c. G(s) =
    𝑠2 (𝑠+5)(𝑠+15)(𝑠+20)
    Poles Zeros Gain Type Minimum Phase
    (0,0, -5, -15, -20) No 1 2 Stable

    P Controller
    sys =zpk([],[0, 0, -5,-15,-20],1)
    C = pidtune(sys,'P')
    system1 = feedback(C*sys,1)
    step(system)

    PI Controller:
    sys =zpk([],[0,0, -5,-15,-20],1)
    C = pidtune(sys,'PI')
    system = feedback(C*sys,1)
    step(system)
    PD Controller:
    sys =zpk([],[0,0, -5,-15,-20],1)
    C = pidtune(sys,'PD')
    system = feedback(C*sys,1)
    step(system)
    PID Controller:
    sys =zpk([],[0,0-5,-15,-20],1)
    C = pidtune(sys,'PID')
    system = feedback(C*sys,1)
    step(system)

    Lead-Lag Controller:
    sys =zpk([],[0,0,-5,-15,-20],1)
    sisotool(sys)
    Results
    1
    For G(s) = 𝑠2 (𝑠+5)(𝑠+15)(𝑠+20)

    a. The step response error is 1-1=0


    b. The ramp response error is 0
    c. The stable and fast transient response is obtained as shown in figures
    d. Comparison of different controllers
    The system is very unstable and we cant get all the responses in single window. So we will
    compare from each separate window. The response for only PID controller is valid.

    e. I will recommend PID controller because it combines the functionality of all the controllers
    and provide the fast transient response and better steady state response. It provides the zero
    steady state error, less overshoot, and less settling time. We can tune more the parameters
    of PID from settings

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