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American International University-Bangladesh (AIUB) Faculty of Engineering

This document summarizes an experiment on designing PI, PD, and PID controllers. A group of 5 engineering students from American International University-Bangladesh designed controllers for two systems - a unity negative feedback system with a transfer function and 58% overshoot, and another unity negative feedback system with a specified transfer function. For the first system, they designed a PI controller to eliminate steady state error. For the second system, they designed a PD controller to reduce overshoot to 16% and settling time by 3x. Simulation results showed the controllers achieving their design objectives. The document discusses the practical approach and references several sources on control systems.

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saikat ghosh
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30 views

American International University-Bangladesh (AIUB) Faculty of Engineering

This document summarizes an experiment on designing PI, PD, and PID controllers. A group of 5 engineering students from American International University-Bangladesh designed controllers for two systems - a unity negative feedback system with a transfer function and 58% overshoot, and another unity negative feedback system with a specified transfer function. For the first system, they designed a PI controller to eliminate steady state error. For the second system, they designed a PD controller to reduce overshoot to 16% and settling time by 3x. Simulation results showed the controllers achieving their design objectives. The document discusses the practical approach and references several sources on control systems.

Uploaded by

saikat ghosh
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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American International University- Bangladesh (AIUB)

Faculty of Engineering

Course Name: Modern Control System Lab Course Code: EEE4102


Semester: Spring, 2019-20 Sec: C

Faculty: Md. Abid Hasan

Experiment Design of a PI, PD controller and tuning of PID Controller. Report 09


Name: No:

Group Members: Student ID Student Name Dept


1. 17-35470-3 Sarkar,Shubhashis EEE
2. 16-31956-2 Faiazur Rahman EEE
3. 17-35407-3 Nobonita sen EEE
4. 17-35956-3 Abedin Zahid EEE
5. 17-35297-2 Sadia afrin sara EEE

Title: Design of a PI, PD controller and tuning of PID Controller.


Abstract:
A model-based PI-PD controller design, where the PD feedback is used to change the poles of
the plant transfer function to more desirable locations for control by a PI controller, is
proposed. Several procedures for obtaining the parameters of the PI-PD controller are possible
but one of the simplest approaches, is to employ integral squared time error standard forms as
this enables the design to be completed using simple algebra.

Theory:
Proportional integral derivative (PID) controllers are widely used in industrial applications to
provide optimal and robust performance for stable, unstable, and nonlinear processes. It can be
easily implementable in analog or digital form. Further, it supports tuning and online retuning
based on the performance requirement of the process to be controlled.

Open-loop unstable systems are mostly observed in chemical process industries and for
economical and/or safety reasons, the chemical process loops to be operated in unstable steady
state . For unstable systems, there exist a minimum and maximum values of controller gain, and
the average of this limiting value is considered to design the controller to stabilize the system. The
increase in time delay in the process narrows down the limiting value and it restricts the
performance of the closed-loop system under control. In addition, these systems show unusual
overshoot or inverse response due to the presence of negative or positive zeros . The literature
gives details about various theoretical studies on fine tuning of PID controllers for open-loop
unstable system . Most of the controller tuning approaches proposed for unstable system may
require an approximate first or second order transfer function model with delay. Further, for real
time application, the model may not be readily available in practice or may be changing due to
uncertainty . The model-based controller tuning requires complex computations to identify the
controller parameters. To overcome this, it is necessary to use soft computing-based model
independent controller autotuning methods.

Simulation and Measurement :

Problem Statement 1:

A unity negative feedback system which is operating with a closed loop response that has 58%
overshoot and the following transfer function:

Now-
a) Find the steady state error for a unit step input
b) Design a PI controller to make the steady state error to zero.
c) By using both theoretically and MATLAB codes show that steady state error becomes
zero?

Solution:

It is a type – 0 system,

Thus,

Arbitrarily selecting, − =−0.1

Finally, transfer function of PI compensator,


Generalized transfer function for PI controller is
( )= + /s
Comparing the above two equation,
KP = 1; Ki = 0.1
Fig. 5. Root locus for the designed system
Fig. 6. Comparison of Input command and output values for compensated
and uncompensated system

Fig. 7. Error signal as an input of PI controller for compensated and uncompensated


system
Problem Statement 2:
A unity negative feedback system has forward transfer function,

Find the location of compensating zero for designing a PD compensator to yield a 16%
overshoot, with a threefold reduction in settling time. [Uncompensated System has ω n=
2.391 rad/s].

Solution:

Old settling time, =4/ξ =3.33


sec For compensated system:

=3.33/3=1.11

New

Find dominant pole (new),


Now,

Now,
= 3.006 and − = −3.006
Fig. 8. Root locus for the uncompensated system

Fig. 9. Root locus for the designed system


Fig. 10. Close loop feedback system with PD controller in Simulink

Fig. 11. Error signal as an input of PD controller for compensated and


uncompensated system

Fig. 12. Comparison of Input command and output values for compensated
and uncompensated system
Discussion:
In this experiment, a practical PI-PD controller parameter tuning method is proposed, which uses
the incenter of the triangle and the Fermat point of the convex polygon to optimize the PI-PD
controller. Combined with the stability boundary locus method, the PI-PD controller parameters
that can ensure stability for the unstable fractional-order system with time delay are obtained.
Firstly, the parameters of the inner-loop PD controller are determined by the centre coordinates of
the CSR in the plane. Secondly, a new graphical method is used to calculate the parameters of the
PI controller, in which Fermat points in the CSR of () plane are selected. Furthermore, the method
is extended to uncertain systems, and the PI-PD controller parameters are obtained by using the
proposed method through common stable region of all stable regions. The proposed graphical
method not only ensures the stability of the closed-loop system but also avoids the complicated
optimization calculations. The superior control performance of this method is illustrated by
simulation.

Reference:
[1] Norman S. Nise, “Control Systems Engineering”, available Edition, John Wiley & Sons Inc.

[2] Farid Golnaraghi, Benjamin C. Kuo, “Automatic Control Systems”, 9th Edition, Prentice- Hall, 1982

[3] https://www.hindawi.com/journals/isrn/2012/693545/

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