PID Control & Compensators

• In first part, you’ll learn

• What's the PID controller
• How PID improves system performance
• How to do basic tuning for PID parameters

EENG 381 Dr. Ayman AL-KHAZRAJI 1

 PID Control
Feedback Control Properties
 Review: A feedback control system seeks to bring the measured quantity to its
required value or set-point.
 There are two possible causes a disparity:
1. The system has been disturbed.
2. The set point has changed. In the absence of external disturbance, a change in
set point will introduce an error.
 The control system will act until the measured quantity reach its new set point.

The PID algorithm is the most popular feedback controller algorithm used. It is a
robust easily understood algorithm that can provide excellent control performance
despite the varied dynamic characteristics of processes.
As the name suggests, the PID algorithm consists of three basic modes:
1. Proportional mode,
2. Integral mode,
3. Derivative mode.

Generally, three basic algorithms are used: P, PI or PID.

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PID Control

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 PID Control

• (P) reduces error responses to disturbances, but still allows a steady-state error.
• When the controller includes (I), then the steady state error to step input is eliminated, although
typically at the cost of deterioration in the dynamic response.
• A derivative control typically makes the system better damped and more stable.

Closed-loop Response

Note: Above correlations may not be accurate since

P, I and D gains are dependent of each other.

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 PID Control

Example of PID effect Solution

1. No controller

1. Fast rise time,

2. Minimum overshoot,
3. No steady-state error.

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 PID Control

2. P controller 3. PD controller

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 PID Control

4. PI controller 5. PID controller

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 PID Control

%== written by Dr. Ayman AL-KHAZRAJI %=== PI controller

%== normal system Kp=30;
close all, clear all, clc; Ki=70;
num=[1]; num=[Kp Ki];
den=[1 10 20]; den=[1 10 20+Kp Ki];
t=0:0.01:2; t=0:0.01:2;
hold on, hold on,
step(num,den,t) step(num,den,t)
%=== P controller %=== PID controller
num=1; Kp=350;
den=[1 10 20]; Ki=300;
Kp=300; Kd=50;
[numCL,denCL]=cloop(Kp*num,den); num=[Kd Kp Ki];
t=0:0.01:2; den=[1 10+Kd 20+Kp Ki];
hold on, t=0:0.01:2;
step(numCL, denCL,t) hold on,
%=== PD controller step(num,den,t)
Kp=300; grid
Kd=10; legend('OL','P','PD','PI','PID')
num=[Kd Kp];
den=[1 10+Kd 20+Kp];
t=0:0.01:2;
hold on,
step(num,den,t)

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PID Control

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 PID Control

PID Tuning
 Controller tuning: selecting controller parameters to meet a given performance
PID tuning rules: selecting controller parameter values based on experimental
step responses of the controlled plant.

 The first PID tuning rules proposed by Ziegler and Nichols in 1942

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PID Tuning using Ziegler-Nichols method PID Control

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PID Tuning example PID Control

Ziegler-Nichols tuning rules have been widely used

to tune PID controllers in process control systems
where the plant dynamics are not precisely known.

If the plant dynamics are known, many analytical

and graphical approaches are available, in addition
to Ziegler- Nichols tuning rules.

Ex1: Design a PID controller for the below system using Ziegler-Nichols method.

PID controller

Solution: Since TF is known, we can use analytical method instead of experimental.

The PID controller has the transfer function

Set K I  K D  0, 12
PID Tuning example PID Control

The value of Kp that makes the system marginally stable (sustained oscillation) can be
obtained by use of Routh’s stability criterion.
The Ch. Eq. of CL is s3  6s2  5s  K  0
When Kp=30, the closed-loop system is marginally stable.
Thus, critical gain Kcr=30
To find the frequency of the sustained oscillation, we solve aux. eq.
6S2+30 = 0

Hence the period of the sustained oscillation is

Now, we determine the parameters of the PID controller as follows:

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Summary
PID Control

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 PID Control

Click to see the animated image

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 PID Control
Summary

CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR

Increase Kp Decrease Increase Small Increase Decrease
Small Eliminate or
Increase Ki Increase Increase
Decrease Large Decrease

Increase Kd Small Change Decrease Decrease Small Change

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Active-Circuit Realization PID Control

𝑉𝑜 𝑍2
𝐺𝐶 𝑠 = =−
𝑉𝑖 𝑍1

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 PID Control
Implementing a PID Controller using active circuit

Ex: Implement the PID controller

solution

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 compensators
In this part, you’ll learn
 What’s compensation
 Phase Lead Compensation
 Phase Lag Compensation

What is system compensation?

In control plant, the procedure of controller design to satisfy the requirement is called
system compensation.

Why to compensate?
In closed-loop system, some single performance requirement can be obtainedvby selecting a
particular value of the gain K,.

Is it possible to obtain more than one performance requirement?

Sometimes, it is not possible.
Something we add compensator to the system in order to get the required performancerequired.

Cascade compensation
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Phase Lag Compensation compensators
R1
1. Transfer function：
R2
Ei
Eo
C

𝑆 + 𝑍𝐶
𝐺𝐶 𝑠 = 𝐾 ; 𝑍𝐶 > 𝑃𝐶 Passive phase lag network
𝑆 + 𝑃𝐶

2. Root locations：
−𝑍𝐶 − 𝑃𝐶
3. Bode & polar plot: ?

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Phase Lag Compensation effect compensators

Example

for step input

uncompensated error = 0.108
compensated error = 0.0108

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Phase Lag Compensation effect compensators

Check your learning

45.8415

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Phase Lead Compensation compensators

1. Transfer function：
R1

Eo  s  1 1   Ts C
Gc  s     Ei Eo
Ei  s   1  Ts
R2

Passive Phase Lead Network

𝑆 + 𝑍𝐶
𝐺𝐶 𝑠 = 𝐾 ; 𝑍𝐶 < 𝑃𝐶
𝑆 + 𝑃𝐶

2. Root locations：

−𝑃𝐶 − 𝑍𝐶
3. Bode & polar plot: ?

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Phase Lead Compensation effect compensators

% increase PM using Lead compensator (By Dr. Ayman)

s=tf('s');
G=20/(s*(0.5*s+1))
GLead=(s+4.4)/(s+18.4) %Lead compensator
margin(G);grid, hold on
margin(GLead*G);grid,
legend('sys PM=18 (Wgc=6.17 rad/s)','sys+lead PM=58.4 (Wgc=3.12 rad/s)')
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Active-Circuit Realization compensators

Lag-lead compensator

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Passive-Circuit Realization compensators

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 compensators
Implementing a compensator using passive circuit

Ex: Realize the lead compensator using passive circuit

solution

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 PID Control & compensators
Check your learning

Answer

For practice, refer to Q31 & Q32 page 521 in Control Systems Engineering, by
Norman S. Nise, 6th Edition

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 Summary on Lead/Lag Compensators
𝑆 + 𝑍𝐶 𝑍𝐶 < 𝑃𝐶 (𝐿𝑒𝑎𝑑)
𝐺𝐶 𝑠 = 𝐾 ;
𝑆 + 𝑃𝐶 𝑍𝐶 > 𝑃𝐶 (𝐿𝑎𝑔)

𝑆+1 𝑆 + 10
𝐺𝐶 𝑠 = 𝐺𝐶 𝑠 =
𝑆 + 10 𝑆+1

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 compensators

Phase lead compensation Phase lag compensation

Main Idea Improve transient performance by using phase Improve the steady-state performance by using
lead characteristics magnitude attenuation at the high-frequency part
(1) Around ωc, the absolute value of slope is (1) Keep relative stability unchanged, but reduce
reduced. Phase margin PM and gain margin GM the steady-state error.
are increased. (2) Reduce ωc and then closed-loop bandwidth
Effect (2) Increase the bandwidth (3) For specific open-loop gain, PM and GM are all
(3) With bigger PM, overshoot is reduced. improved due to magnitude attenuation around
(4) Take no effect on the steady-state ωc
performance.

Weakness (1) Broad bandwidth reduces the filtering for Narrow Bandwidth increase the response time.
noise.
(1) Extra phase lead compensation is less than (1) The phase lag of the uncompensated system is
550. fast around ωc.
(2) Require broad bandwidth and fast (2) Bandwidth and transient response are
Application response satisfactory.
(3) No matter the noise at high-frequency part. (3) Require attenuation of noise
(4) The phase margin can be satisfied at the low
frequency.

Bandwidth (BW) is the band of frequencies to which a system can respond satisfactorily.
So, if the frequency of reference signal is within BW then output will be able to track it else
tracking will be very slow.
High bandwidth systems provide good performance but they are prone to noise.
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 PID Control & compensators
Review Questions

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 PID Control & compensators
Answer to Review Questions

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