1.

Introduction
Control Systems: A control system is one that modifies the output to produce the
intended result. The basic control system block diagram is displayed in the
following figure.

In this case, a single block represents the control system. The name "control
system" comes from the fact that the output is determined by changing the input.
We will use a mechanism to change this input. We will delve deeper into the
components of the control system and learn how to adjust the input to achieve
the intended response in the upcoming section on open loop and closed loop
control systems.
2. Type of the Control system:
1. Open loop control system.
2. closed loop control system.
2.1. Open loop control system:
The output of an open loop control system is not fed back into the input.
Therefore, the intended output has no bearing on the control action.
The open loop control system's block diagram is displayed in the following figure.

In this case, a controller receives an input and outputs an actuating or controlling

signal. This signal is supplied to a plant or controlled process as an input. Thus, the
plant generates a controlled output. One example of an open loop control system
is the traffic light and many more.
2.2. Closed loop control system:
the system that feeds its output back into its input. Therefore, the intended
output determines the control action.
The block diagram for a closed-loop negative feedback control system is displayed
in the following figure.

The difference between the input and feedback signals is the error signal that the
error detector generates. By treating the system's output as an input to the
system, the feedback signal is derived from the block (feedback elements). The
error signal is applied as an input to a controller in place of the direct input.
Thus, the plant is controlled by an actuating signal generated by the controller. With
this configuration, the system's output is automatically adjusted until the desired
response is obtained. As a result, automatic control systems are another name for
this type of control systems. One type of closed loop control system is a traffic light
control system with a sensor at the input.

In the control system, there is a lot of feedback control methodology which is used
to control the system response and remove the error, among all of controller the
PID and I-PD is very famous in the regards.
 3. Proportional Integrator Derivative Controller (PID):
Introduction: The PID controller, or proportional-integral-derivative. Due to its high
level of effectiveness and ease of understanding, PID controllers are commonly
used. One benefit of the PID controller is that, even without a thorough
understanding of control theory, engineers can implement the control system
because they can conceptually understand differentiation and integration.
Furthermore, despite its simplicity, the compensator is highly sophisticated because
it uses differentiation to predict the system's future behaviors and integration to
capture the system's history. We will go over how each PID parameter affects a
closed-loop system's dynamics and show you how to use a PID controller to boost
a system's efficiency.
3.1. Block Diagram of the PID Controller:
A feedback control system is a part of a closed-loop system, such as a PID controller.
To produce an error signal, this system uses a fixed point to evaluate the feedback
variable. It modifies the system output in light of that. The feedback variable's value
will equal a fixed point if the process is not stopped until the error approaches zero.

The basic advantages and disadvantages of the PID controller with its individual
parameters are summarized in the below table:
 4. Integral- Proportional Derivative (I-PD):
An ideal PID controller is mostly taken into consideration in academic studies
because of its unrealizable nature, which presents practical challenges. Industries
use parallel PID controllers extensively because they are simple to implement in
analogue or digital form. The effects of derivative and proportional kick are the
main shortcomings of the fundamental parallel PID controllers. Modified versions
of parallel controller structures like ID-P and I-PD are frequently taken into
consideration in an effort to reduce these effects.

The PI-PD control configuration and I-PD control share a similar structure. In
contrast to I-PD control, which has an I-only controller on the forward path, PI-PD
control configuration has a PI controller. The design process is made simpler by the
fact that there are just three tuning parameters to compute.
Furthermore, I-PD controllers can produce closed-loop responses that are strikingly
similar to those obtained with PI-PD controllers.
5. Calculations
- System modeling
The system electrical and mechanical diagram give below:

The terminal of the system is give below

 ➢ R = winding resistance
➢ L = winding inductance
➢ e = back emf of the DC motor
➢ v = supply voltage
➢ TL = load torque
➢ T = Motor torque
➢ w = angular velocity of shaft
➢ b = Motor viscous friction constant
Some important equation also give in the assignment module:
𝑒 = 𝐾𝑒 𝜔, 𝑇 = 𝐾𝑡 𝑖 𝑎𝑛𝑑 𝑇𝐿 = 𝐾𝑡 𝑖𝐿
For the derivation of these formulas refer to the control system book give in the
reference section.
In the given context, Ke and Kt represent the back electromotive force and torque
constants of the motor, respectively. The variable iL signifies the equivalent load
current, which is reflected by the load torque TL onto the motor armature.
The diagram above depicts a combination of both the electrical and mechanical
systems, giving rise to two distinct equations—one governing the mechanical
aspect and the other the electrical aspect.
First, we derive the Electrical equation:
Applying the KVL on the electrical circuit we gets the equation.
𝑑𝑖
𝑣 − 𝑖𝑅 − 𝐿 ( )−𝑒 =0
𝑑𝑡
Rearranging this equation
𝑑𝑖
𝑣 = 𝑖𝑅 + 𝐿 ( )+𝑒
𝑑𝑡
After Taking the Laplace transform
𝑉(𝑠) = 𝐼(𝑠)𝑅 + 𝑠𝐿𝐼(𝑠) + 𝑒(𝑠) − − − − − 1
Note
The Load related to the current is :
 𝑇
𝑖=
𝐾𝑡
Laplace transform is
𝑇(𝑠)
𝐼(𝑠) =
𝐾𝑡
Now:
𝑒(𝑠) = 𝐾𝑒 𝑤(𝑠) = 𝐾𝑒 𝑠𝛳(𝑠)
Putting the value of e(s) and I(s) in the equation 1;
𝑇(𝑠) 𝑇(𝑠)
𝑉(𝑠) = ( ) 𝑅 + 𝑠2𝐿 ( ) + 𝐾𝑒 𝑠𝛳(𝑠) − − − −2
𝐾𝑡 𝐾𝑡
This electrical equation is in the term of angular displacement and torque that
motor applied.
Now for the mechanical Equations:
Using the free body diagram of the mechanical load to get the mechanical equation:

Now the equation become:

𝑇(𝑠) = (𝐽𝑠 2 + 𝑏𝑠)𝛳(𝑠) − − − − − −3
Now we have both electrical and mechanical equations.
Therefore, we put the equation 3 to equation 2 and we get the equation is
𝑅 𝑠𝐿
𝑉(𝑠) = [( + ) (𝐽𝑠 2 + 𝑏𝑠) + 𝐾𝑒 𝑠] 𝛳(𝑠)
𝐾𝑡 𝐾𝑡
If we assume that the armature inductance, La, is small compared to the armature
resistance, Ra, which is usual for a dc motor, Equation becomes,
𝑅
𝑉(𝑠) = [( ) (𝐽𝑠 2 + 𝑏𝑠) + 𝐾𝑒 𝑠] 𝛳(𝑠)
𝐾𝑡
Now after the solving the equation for the transfer function of 𝛳(𝑠) 𝑎𝑛𝑑 𝑉(𝑠) we
gets,
𝛳(𝑠) 1
=
𝑉(𝑠) 𝑅
[( ) (𝐽𝑠 2 + 𝑏𝑠) + 𝐾𝑒 𝑠]
𝐾𝑡
Solving this equation we gets
𝐾𝑡
𝛳(𝑠) 𝐽𝑅
= − − − − − −( 𝑎
𝑉(𝑠) 𝐾𝑡 𝐾𝑒
𝑠 [𝑠 + 𝐽(𝑏 + ]
𝑅
in the simplified for we can write this equation as
𝛳(𝑠) 𝐾
=
𝑉(𝑠) 𝑠[𝑠 + 𝛼]
For the transfer function of the w(s) and V(s) we get
As we know that ϴ(s) = w(s)/s

w(s) K
=
V(s) [s + α]
Now the equation become,
Kt
w(s) JR
= − − − − − − − (a
V(s) KtKe
[s + J(b + ]
R
Putting the value of the physical parameter we get the both equation as
The physical parameters given in the assignment are given below:
➢ Moment of inertia of the rotor J=0.01 kg.m2
➢ Motor viscous friction constant b=0.1 N.m.s
➢ Electromotive force constant Ke=0.01 V/rad/sec
➢ Motor torque constant Kt=0.01 N.m/Amp
➢ Electric resistance R=1 Ohm
Equation 1:
𝛳(𝑠) 1
=
𝑉(𝑠) 𝑠[𝑠 + 0.001001]
Equation 2:
𝑤(𝑠) 1
=
𝑉(𝑠) [𝑠 + 0.001001]
Closed loop system:

Now the derive the equation for the above closed loop system
𝐺(𝑠) 𝐾𝑡
𝑇(𝑠) = ( + 𝐾𝑝 + 𝐾𝑑 𝑠) ( )
𝑠 𝑠
𝐺(𝑠)𝐾𝑡 + 𝐾𝑝 𝐾𝑡 𝑠 + 𝐾𝑡 𝐾𝑑 𝑠 2
𝑇(𝑠) =
𝑠2
After putting the value of G(s) we get the simplified equation :
 𝐾𝑡 𝐾𝑝 𝐾𝑡
𝑇(𝑠) = + + 𝐾𝑡 𝐾𝑑
𝑠 2 (𝑠 + 0.001) 𝑠

6. Determining gains for P, I and D:

we determine the gain using the pole position methods:
here
𝑇(𝑠) = 𝐺(𝑠)𝐻(𝑠)
For closed loop system the characteristic equation will be like this
1 + 𝐺(𝑠)𝐻(𝑠) = 1 + 𝑇(𝑠) = 0
Let’s we want the pole at the position of -3 and -5, then the characteristic equation
become,
(𝑠 + 3)(𝑠 + 5) + 𝑇(𝑠) = 0
(𝑠 + 8𝑠 + 15) + 𝑇(𝑠) = 0
Now putting the equation of the T(s)
𝐾𝑡 𝐾𝑝 𝐾𝑡
(𝑠 2 + 8𝑠 + 15) + + + 𝐾𝑡 𝐾𝑑 = 0
𝑠 2 (𝑠 + 0.001) 𝑠
Match Coefficients:
Equate coefficients to determine the PID gains:
𝑲𝒑 = 𝟖, 𝑲𝒕 = 𝟏, 𝑲𝒅 = 𝟏𝟓

7. Simulation of the Electromechanical system in the MATLAB Simulink

Simulation model of the system in the MATLAB Simulink with I-PD controller
With IPD controller system Response:

This outcome is obtained by applying the computed value from the computation
sections above. The system in question is a critical damped system with a high rise
time and a longer settling time; there is no overshoot in the system.
We increase the Ki's gain to speed up the system's response, but as the figure below
illustrates, the system has an overshoot.
As a result of the increase in Ki, the system overshot, but the system's response also
increased. Thus, there is a trade-off between the overshot and the system response.
These days, the application determines which characteristic you must give up.
Note: In order to achieve the given values, the integrator gain needs to be increased
by taking into account the given values for the settling time, rise time, and system
overshot. As depicted in the figures

Trial-error rules for PID tuning --- Ziegler-Nichols approaches:

Here, in this case we convert our I-PD controller to the PID controller and we will
calculate the tuning parameters of the PID controller using the Ziegler-Nichols
Approaches.
Now first we learn the procedure for the finding the Kp, Ki, And Kd.
➢ Start with a small value for Kp and gradually increase it, while keeping KI
and Kd equal to 0.
➢ Increase Kp until you achieve neutral stability.
➢ Record the critical or ultimate value of Kp, denoted as Ku.
➢ Note the ultimate value of oscillation, referred to as Tu.
➢ Refer to the provided table to find the corresponding values for Kp, Ti, and
Td based on the obtained Ku and Tu.
Advantages;
- Does not required expert knowledge.
- Dose Not Required model/Simulation of system.
- Often produce good initial Kp, Ki, Kd.
Disadvantage:
- Not mathematically rigorous.
- Require a stable system.
- If you do not have a model, real experiments could be costly.
- Require A system that can be drive unstable with increase proportional Gain.
Calculation for the tuning Parameter. Of PID.
Following the above procedure we calculated the Kp, Ki, and Kp value.
For stable oscillation of the system.
The stable oscillation for the Kp value of 7, and the oscillation time period is 2
seconds.
Thus 𝐾𝑢 = 7 𝑎𝑛𝑑 𝑇𝑢 = 2𝑠𝑒𝑐
Now according to the above table we find the Kp, Ki and Kd.
𝐾𝑝 = 0.6𝐾𝑢 = 0.6 ∗ 7 = 4.2
𝑇𝑢 2
𝑇𝑖 = = =1
2 2
𝐾𝑝 1.2 ∗ 𝐾𝑢
𝐾𝑖 = = = 7.2
𝑇𝑖 𝑇𝑖
𝐾𝑑 = 0.075 ∗ 𝐾𝑢 ∗ 𝑇𝑢 = 1.05
Simulation Model for the PID controller:

PID system Simulation results

The optimal system response is obtained when the PID controller is implemented
using the Zigel-Nicol Holl method; however, oscillation occurs when the Ki gain is
decreased, and overshoots occur when the Ki value is increased. However the
system has very high Response.
All things considered, the PID controller is the best when it comes to system
response, and the I-PD controller is the best option when it comes to overshot in
the system response.
Conclusion:
The best tool for implementing any controlled system in MATLAB is Simulink.
Implementing and verifying the results to the calculated values, Pid and i-PD
controllers show that I-PD has the lowest overshoot but the lowest system
response. There is a trade-off between system response and overshot when
compared to a PID controller. The system responds quickly, but as the Ki value
increases, the system experiences overshot.
References
1. tutorialspoint.com, “Control system – Introduction”, link:
https://www.tutorialspoint.com/control_systems/control_systems_introduc
tion.htm
2. CONTROL TUTORIAL FOR MATLAB and SIMULINK, “Introduction to PID
controller”, Link:
https://ctms.engin.umich.edu/CTMS/index.php?example=Introduction&sec
tion=ControlPID
3. KAYA, “I-PD Controller Design Based on Analytical Rules for Stable Processes
with Inverse Response”, BALKAN JOURNAL OF ELECTRICAL & COMPUTER
ENGINEERING, Vol. 8, No. 3, July 2020.
4. Norman S. nise, book “CONTROL SYSTEM ENGINEERING” 5th edition
5. Brian R Copeland, “The Design of PID Controllers using Ziegler Nichols
Tuning”, March 2008.
6. Krishnarayalu Movva, “PID controller Tuning using Simulink for Multi Area
Power Systems”, September 2012.