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Example 2 (PID, Nise): Given the system below,
design a PID controller so that the system operates
with 2/3 of the uncompensated peak time at 20%
overshoot and zero steady-state error:
R( s)
K1
K2
K3s
s
K s 8
s 3 s 6 s 10
C (s)
Step 1: Evaluate performance of uncompensated
system
t
operating
ti att 20% overshoot
h t ( = 0.456).
0 456)
Obtain the root-locus plot and draw the 20%
overshoot line to determine the closed-loop dominant
poles:
MAAE 4500: Feedback Control
Step 2: Design a PD
compensator to meet
the transient response
specs (determine the
zero location and the
PD controller gain).
The real and imaginary
parts of the dominant
pole must be:
tp
0.297
d 10.569
MAAE 4500: Feedback Control
2 3 0.297
tan 117.129
15.867
8.13
2
s 8
s 3 s 6 s 10 s 8.13 j15.867
198.371
Next, design the PD
compensator. The
contribution from the
compensator zero must
be:
180 (198.371 ) 360 18.371
From the Figure:
15.867
tan 18.371
zc 8.13
zc 55.909
G1 ( s ) K s 55.909
MAAE 4500: Feedback Control
G1 ( s )G ( s )
K s 55.909 s 8
s 3 s 6 s 10
Draw the root-locus of
the PD-compensated
system to determine the
gain and the static
di l
displacement
t error ((and
d
the steady-state error):
K p G1 (0)G (0)
5.339 8 55.909
13.267
3 6 10
1
1
ess
0.070
0 070
1 K p 1 13.267
MAAE 4500: Feedback Control
G2 ( s )G1 ( s )G ( s )
K s 55.909 s 0.5 s 8
s s 3 s 6 s 10
Step 3: Design a PI
compensator to meet
the steady-state error
(determine the zero
location arbitrarilyy near
the origin [e.g. 0.5]
and place the pole at
the origin):
G2 ( s )
s zc s 0.5
s
s
Re-draw
R
d
th
the roott llocus
to determine the final
gain and the static
displacement error (and
the steady-state error)
K p lim G2 (0)G1 (0)G (0)
s 0
ess 0 (type 1)
MAAE 4500: Feedback Control
Step 4 Check the specs:
uncompensated
PD
PID
5.415 j10.569
8.13 j15.867
7.519 j14.676
121 510
121.510
5 339
5.339
4 604
4.604
Damping ratio,
0.456
0.456
0.456
Natural freq., n
11.875
17.829
16.49
0.2
0.2
0.2
0.267
0.198
(=2/3* 0.267)
0.214
(~4/5 * 0.267)
Static displ. error, Kp
5.4
13.267
Steady-state error, ess
0.156
0.070
Dominant poles
Gain K
Gain,
Max. overshoot, Mp
Peak time, tp
If not satisfactory redesign the PI controller
MAAE 4500: Feedback Control
Unit step response
PID compensated
uncompensated
Compensation yields the original system
faster and with no steady-state error; the
peak time is still a little large for the specs
(overshoot not altered).
MAAE 4500: Feedback Control
Step 5 Determine the PID controller gains:
R(s)
K1
G2 ( s )G1 ( s )
K s 8
K2
K3s
s
s 3 s 6 s 10
4.604 s 55.909 s 0.5
s
4.604 s 2 56.409 s 27.954
s
C (s)
K1 259.7
K 2 128.7
K 3 4.604
(One pole at the origin, one zero at 0.5 and one zero at
55.909)
MAAE 4500: Feedback Control
Summary of Controllers and Their Usage
MAAE 4500: Feedback Control
MAAE 4500: Feedback Control
10