Lecture 4

PID Control
PID Control
 Related Transfer-functions

if then
Proportional Controller
 Examples
Unstable for K > 8.
 Integral action & PI
Integral action.

PI or Proportional + Integral
 Derivative and PID
Derivative action

Proportional + Integral + Derivative

Example

Root locus-find K
 Practical PIDs

Tr Reset time
Td Derivative time

Usually chosen
Properties of PID
Zeigler Nicholas Oscillation
Method
PID Tuning.
Zeigler-Nicholas Oscillation Method
PID Tuning
Ziegler – Nicholas reaction curve
method
Example
 Anti-Windup
• In any control system the output of the
actuator can saturate as the dynamic range of
all actuators are limited.

For example: All power amplifiers can produce only

finite voltage outputs
Pole-placement
Pole Placement
Pole Placement
Pole-Placement
Pole Placement
Forcing Integrators
Forcing Integrators
Forcing Integrators
PID using pole placement
PID Using pole placement
Problems