Linear Control Theory (EE 326):
5.6 Design using Root Locus –
Design with PID
Krishnan C.M.C.
Dept. of Electrical and Electronics Engineering
NITK Surathkal
Comparison of different compensators
Steady state error improvement
PI Controller Lag Compensator
• Increases the system type. Requires • Does not increase the system type.
active devices. • Does not significantly affect the root locus
• Does not significantly affect the root shape.
locus shape. • Adds a real valued pole and zero close to
• Adds a real valued pole at origin and the origin to preserve r. locus shape.
add a zero (close to the origin) to • The error improves by a factor ≅ 𝒛𝒄Τ𝒑𝒄 .
preserve r. locus shape. • The proportional gain will be approximately
• The proportional gain will be same with and without compensation.
approximately same with and without
compensation. Improvement in transient performance
PD Controller Lead Compensator
• Does not change the system type. But • Does not increase the system type.
requires active devices. • Adds a real valued zero and pole and
• Adds a real valued zero and changes changes the shape of the r. locus to the
the shape of the r. locus to the desired desired location.
location. • Steady state error might be affected.
• Steady state error might be affected. • Less prone to noise in comparison with
• Might amplify noise to an extend. PD.
EE326 Dept. of E & E, NITK Surathkal 2
Improvement in steady state error and transient:
PID controller
Design PD controller for the
transients
Find the PD zero and loop gain
No
Transient
specs OK?
YES
Design PI controller for the
steady state
Find the PI zero and modify
the loop gain
Steady No
state specs
OK?
YES
Final PID Design EE326 Dept. of E & E, NITK Surathkal 3
Improvement in steady state error and transient:
PID controller
𝐾𝑖
𝐺𝑐 𝑠 = 𝐾𝑝𝑟 + + 𝐾𝑑 𝑠 𝐾𝑝𝑟 = 𝐾 𝑧𝑐 + 𝑎
𝑠
𝐺𝑐 𝑠 = 𝐺𝑃𝐷 𝑠 𝐺𝑃𝐼 (𝑠) 𝐾𝑖 = 𝐾𝑧𝑐 𝑎
𝑠+𝑎
= 𝐾 𝑠 + 𝑧𝑐
𝑠 𝐾𝐷 = 𝐾
𝐾𝑧𝑐 𝑎
= 𝐾𝑠 + + 𝐾 𝑧𝑐 + 𝑎
𝑠
EE326 Dept. of E & E, NITK Surathkal 4
Improvement in steady state error and transient:
PID controller
Problem 5: For the system, design a PID controller so that the system
can operate with a peak time that is two-thirds of the uncompensated
system at 20% overshoot and zero steady state error for step input.
Also, keep the PID controller zero at −𝟎. 𝟓.
Searching for the point and the K
𝑠 = 𝑟∠117.13° 𝐺 𝑠 𝐻(𝑠)
Root locus for the 12.0∠117.13 .0081∠179.45
uncompensated 11.5∠117.13 .0087∠ − 178.29
system
11.75∠117.13 .0084∠ − 178.43
11.9∠117.13 .0082∠ − 179.89
𝑠 = 11.9∠117.13 = −5.42 ± 𝑗10.59
1
𝐾= = 121.9
0.0082
EE326 Dept. of E & E, NITK Surathkal 5
Improvement in steady state error and transient:
PID controller
Problem 5: For the system, design a PID controller so that the system
can operate with a peak time that is two-thirds of the uncompensated
system at 20% overshoot and zero steady state error for step input.
Also, keep the PID controller zero at −𝟎. 𝟓. 1
𝐾= = 121.9
𝑠 = 11.9∠117.13 = −5.42 ± 𝑗10.59 0.0082
Compensator design: requirement of two-thirds reduction in peak time
2 2 π 3
𝑇𝑝 _𝑁𝑒𝑤 = 𝑇𝑝𝑜𝑙𝑑 = ⇒ (𝜔𝑑 )𝑁𝑒𝑤 = (𝜔𝑑 )𝑜𝑙𝑑
3 3 𝜔𝑑 2
We have from the dominant pole (𝜔𝑑 )𝑜𝑙𝑑 = 10.59 𝑟𝑎𝑑/𝑠𝑒𝑐
3
⇒ (𝜔𝑑 )𝑛𝑒𝑤 = × 10.59 = 15.89
2
× 𝑗15.89 Next step: Keep 𝑧𝑐 (for PD
𝑠𝑛𝑒𝑤 = −8.14 ± 𝑗15.89 compensation) such that it
satisfies the angle criterion
117.13°
−8.14
EE326 Dept. of E & E, NITK Surathkal 6
Improvement in steady state error and transient:
PID controller
× 𝑗15.89
𝑠𝑛𝑒𝑤 = −8.14 ± 𝑗15.89 Next step: Keep 𝑧𝑐 (for PD
117.13° compensation) such that it
18.41 satisfies the angle criterion
−𝑧𝑐 −8.14
𝑠𝑛𝑒𝑤 + 8
𝐺 𝑠𝑛𝑒𝑤 𝐻 𝑠𝑛𝑒𝑤 = = 0.0037∠161.5859
𝑠𝑛𝑒𝑤 + 3 𝑠𝑛𝑒𝑤 + 6 𝑠𝑛𝑒𝑤 + 10
180 − 161.5859 = 18.41 has to come from the added real valued zero
Applying trigonometric rules
15.89 ⇒ 𝑧𝑐 = 55.87
𝑧𝑐 − 8.14= tan 18.41
(𝑠 + 55.87) 𝑠 + 8
𝐺𝑃𝐷 𝑠 = (𝑠 + 55.87) ⇒ 𝐺𝑃𝐷 𝑠 𝐺 𝑠 𝐻 𝑠 =
𝑠 + 3 𝑠 + 6 𝑠 + 10
𝑠𝑛𝑒𝑤 + 3 𝑠𝑛𝑒𝑤 + 6 𝑠𝑛𝑒𝑤 + 10
⇒ 𝐾 @𝑠𝑛𝑒𝑤 = = 5.36
(𝑠𝑛𝑒𝑤 + 55.87) 𝑠𝑛𝑒𝑤 + 8
EE326 Dept. of E & E, NITK Surathkal 7
Improvement in steady state error and transient:
PID controller
𝑠+0.5
Next step (HW): is to add a PI compensator 𝐺𝑃𝐼 𝑠 = along
𝑠
with𝐺𝑃𝐷 𝑠 = 𝑠 + 55.87
This should not affect the [Link] shape (that we obtained after the PD)
adversely. Also, the gain change should not be drastic.
EE326 Dept. of E & E, NITK Surathkal 8
Improvement in steady state error and transient:
PID controller
Taken and reproduced from Nise, Norman S. CONTROL SYSTEMS ENGINEERING.
John Wiley & Sons, 2007.
EE326 Dept. of E & E, NITK Surathkal 9
Active circuits for implementation of the controller
Taken and reproduced from Nise, Norman S. CONTROL SYSTEMS ENGINEERING. EE326 Dept. of E & E, NITK Surathkal 10
Active circuits for implementation of the controller
Taken and reproduced from Nise, Norman S. CONTROL SYSTEMS ENGINEERING. EE326 Dept. of E & E, NITK Surathkal 11