Control Engineering 2

Tuning digital PID controllers using

“via s” methods

Dr. Eng. Cristina I. Muresan 1

 Outline and objectives
• Introduction: direct methods vs indirect methods
• Guillemin-Truxal example
• Tuning controllers using phase margin criteria and
gain crossover frequency
– Time domain and frequency domain equivalence
• Main Objectives:
– review of indirect methods
– importance of the sampling period in control loops
– tuning of discrete time controllers using “via s” methods

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 Direct methods vs “via s” methods

Indirect way:
using CE1
methods
design first C(s)
using P(s) and
then compute
the discrete-
Direct way: we start time
from the process equivalent of
transfer function C(z)
-denoted here with
P(s)- compute its
discrete-time
equivalent P(z) and
then design the
controller C(z) 3
 Discrete-Time Controller Design
Using Indirect Techniques
• Why are indirect tuning methods used?
– Greater knowledge and experience in designing
continuous-time than discrete-time controllers

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 Discrete-Time Controller Design
Using Indirect Techniques
• Why are indirect tuning methods used?
– Greater knowledge and experience in designing
continuous-time than discrete-time controllers
– Many practical systems already incorporate a
continuous-time controller that we desire to
replace with a discrete-time controller

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 Guillemin-Truxal example
10
• Given the process transfer function: H f (s) 
s 5s  1

• Design a digital controller such that the closed loop system will
exhibit 15% overshoot and 10 seconds settling time.

• Guillemin-Truxal: 2n
H 0 (s)  2
s  2n s  2n
4 4
  15%  0.15    0.517 ts   n   0.7737
n t s

1 H 0 (s) s(5s  1) 0.5986 (5s  1)

H R (s)    0.05986 Controller transfer function
H f (s) 1  H 0 (s) 10 s(s  0.8) (s  0.8)

1 T
Tmin   1.25  TE  min  0.625
0.8 2

Sampling period! Shannon’s Theorem 6

 Guillemin-Truxal example
(5s  1)
1.4
HR(z -1)
H R (s)  0.05986
(s  0.8)
HR(s)
1.2

TE  0.5 1

1 0.2993  0.2746z 1
H R (z )  0.8
1  0.6703z 1
0.6

0.4

0.2

0
0 2 4 6 8 10 12 14 16 18 20

TE  0.1
1 0.2993  0.2935z 1
H R (z ) 
1  0.9231z 1
Observe the results with a smaller sampling period
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Tuning controllers using phase margin criteria
and gain crossover frequency
• Time domain performance specifications:
– Settling time
– Overshoot
– Steady state errors
– Peak time
– Rise time
• Frequency domain performance specifications:
– Phase margin
– Gain crossover frequency

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Tuning controllers using phase margin criteria
and gain crossover frequency
• Imposing phase margin = ensuring a certain
overshoot

 1  
 k  arccos e 1  2
 2 2  1  4 4 
 

• Imposing gain crossover frequency = ensuring

a certain settling time
2
c  t s 
 2 c

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Tuning controllers using phase margin criteria
and gain crossover frequency
•• Designing a PI controller such that the open loop system has a
 
certain phase margin and cutting frequency:

• Phase equation:

• Modulus equation: Imposed phase margin

Imposed cutting frequency

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Tuning controllers using phase margin criteria
and gain crossover frequency
•  
• Phase equation: ∠ 𝑜
  𝐻 𝑂𝐿 ( 𝑗 𝜔 𝑐 ) =−180 +𝛾 𝑘

In this case the cutting frequency is imposed. The process phase

can be easily computed, either analitically or using Matlab Bode
plots. Then, the right hand side of the phase equation above can
be easily determined.
• Controller phase:

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Tuning controllers using phase margin criteria
and gain crossover frequency
•  
• Then replace the general phase equation of the controller:

into

• It follows that:

• Apply the tangent function:

• The integral time constant is then:

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Tuning controllers using phase margin criteria
and gain crossover frequency
•  
• Use now the modulus equation to determine the proportional gain:

or
=1
In this case the cutting frequency is imposed (so known!). The
process modulus can be easily computed, either analitically or
using Matlab Bode plots.

• What is the controller modulus equation, for the general case?

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Tuning controllers using phase margin criteria
and gain crossover frequency
•• Replace then the general equation for the PI controller modulus
 
into the modulus condition:
=1
yielding

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Tuning controllers using phase margin criteria
and gain crossover frequency
• Tuning example:
– For the process described by the following transfer
function 10
Hf(s)
( 5s  1 )( 3s  1 )
design a PI controller such that the open loop
system has a cutting frequency c  0.1 rad/s and a
phase margin k  60 o
. Compute the discrete time
equivalent of the previously designed PI controller.

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 Tuning example PI controller
•
• Process
 
modulus at the cutting frequency:

• Process phase at the cutting frequency:

• The integral time constant is then:

• The proportional gain is:

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 Tuning example PI controller
• The resulting PI controller transfer function is:
•  
• Determining the discrete-time PI controller:
– We will use Tustin
– PI controller time constant: 1.32 (just one! The integral time constant!)
– Process time constants: 5 and 3
– Shannon: (sampling time). Select Ts=0.5
– Discrete-time transfer function obtained as:

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 Tuning example PI controller
•• Recurrent
  relation for the control signal

u
u

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Tuning controllers using phase margin criteria
and gain crossover frequency
•• Designing a PD controller such that the open loop system has a
 
certain phase margin and cutting frequency:

• Phase equation:

• Modulus equation: Imposed phase margin

Imposed cutting frequency

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Tuning controllers using phase margin criteria
and gain crossover frequency
•  
• Phase equation: ∠ 𝑜
  𝐻 𝑂𝐿 ( 𝑗 𝜔 𝑐 ) =−180 +𝛾 𝑘

In this case the cutting frequency is imposed. The process phase

can be easily computed, either analitically or using Matlab Bode
plots. Then, the right hand side of the phase equation above can
be easily determined.
• Controller phase:

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Tuning controllers using phase margin criteria
and gain crossover frequency
• Then replace the general phase equation of the controller:
•  
into

• It follows that:

• Apply the tangent function:

• Let’s rewrite this:

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Tuning controllers using phase margin criteria
and gain crossover frequency
•  
• Solve this equation with Td the unknown parameter

Then:

• The derivative time constant is:

  Select

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Tuning controllers using phase margin criteria
and gain crossover frequency
•  
• Use now the modulus equation to determine the proportional gain:

or
=1
In this case the cutting frequency is imposed (so known!). The
process modulus can be easily computed, either analitically or
using Matlab Bode plots.

• What is the controller modulus equation, for the general case?

23
Tuning controllers using phase margin criteria
and gain crossover frequency
•• Replace then the general equation for the PI controller modulus
 
into the modulus condition:
=1
yielding

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 Homework 1
•  Tuning example:
– For the process described by the following transfer
function

design a PD controller such that the open loop

system has a cutting frequency of 0.5rad/s and a
phase margin of 50o. Compute the discrete time
equivalent of the previously designed PD controller.

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 Homework 1
• Requirements:
 
– Select the filter weighting factor (and determine the proportional gain and
derivative time constant of the PD controller (either analytically or using
Matlab)
– Plot the frequency response (Bode plot) of the open loop system with the
analog PD controller (check that the performance specifications are met:
cutting frequency and phase margin)
– Choose a sampling period according to Shannon’s theorem and a
discretization method
– Determine the discrete-time approximation of your PD controller
– Determine the recurrence relation for the control signal u(k)
– Plot the reference tracking results (step reference for the closed loop system
both when the analog and the digital PD controllers are used)
– Compare your results in terms of overshoot and settling time.

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 Homework 1
• Hints:
– Be careful! There is a time delay associated to the process!
– While solving the mathematical equations two different PD controllers
will be obtained. Verify both if they meet the performance
specifications
– Select one of the PD controller to go further (discretization, recurrence
relation)
– Use Matlab Simulink for closed loop simulations

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 Homework 1
• Your report should include:
– The Matlab code or the analytical solution for the controller parameters.
– Matlab Bode plot of the open loop system
– The time constants of the controller and process transfer functions
– The sampling period, the discretization method used and the discrete-
time approximation of your PD controller
– The recurrence relation for the control signal u(k)
– Matlab plots for the the reference tracking results (step reference for
the closed loop system both when the analog and the digital PD
controllers are used)
– Comparison of the resulting overshoot and settling time (with analog PD
vs digital PD controller)

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 At the end of the lecture
• You should be able to…
– Design discrete-time controllers using “via s”
methods
• Time domain tuning
• Frequency domain tuning
– Choose the sampling period in order to meet
performance specifications

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