Analyze the RLC series circuit with the help of PID Controller

1. Fundamental of PID Controller

A control system comprises interconnected subsystems and processes, orchestrated to
achieve a desired output with specified performance, given a designated input. PID
Controller is the main sub part of Closed loop control system.
PID termed as proportional Integral Derivative that is used to achieved the desired
output of the given system. PID controller is in many industrial control process
applications. PID easily control the temperature, flow rate, speed, pressure and other
industrial variables. Within a closed-loop system like a PID controller, an integral
feedback control mechanism operates. This configuration continuously compares the
feedback variable with a reference point to generate an error signal. Based on this
signal, modifications are applied to the system's output. This iterative cycle continues
until the error diminishes close to zero or the feedback variable aligns with the reference
point. Block diagram of PID controller is showing in figure 1.

Figure 1: Block Diagram

During manual operation of a PID controller, operators intermittently analyze process
variables and manually adjust control variables, such as motor inputs, heating
components, and flow valves, to maintain them within specified limits. Conversely, in
automatic operation, these analyses and adjustments occur continuously and
automatically.
Automatic PID controllers are often referred to as closed-loop systems. They produce
one or more control actions, typically including
• Proportional
• Integral
• Derivative
 1.1.Proportional

The Proportional controller, also known as the P controller, generates an output that is directly
proportional to the current error. This error represents the difference between the process variable
and the setpoint. The output is determined by multiplying the error by the proportional gain. The
block diagram of P controller is illustrated in figure 2.

Figure 2: Block Diagram of Proportional Controller

Consider an example where the error magnitude is 40 and the proportional gain is set at 5. In this
case, the output would be calculated as 200. Conversely, when the error is zero, the controller
response would also be zero. Increasing the proportional gain tends to enhance the transient
response speed. However, if the proportional gain surpasses its typical value, the process variable
may begin oscillating at a higher frequency, potentially compromising the stability of the system.
System response is illustrated in figure 3.

Figure 3: Proportional Response of system

 1.2.Integral:

Utilizing the integral factor aids in reducing the steady-state error within the system. It
continuously accumulates the error until it diminishes to zero, ensuring even minor errors trigger
a substantial integral response. However, if the error turns negative, the integral output diminishes
accordingly. While using the integral factor alone may slow down response speed, it enhances the
system's steady-state response. Decreasing the integral gain can boost response speed while
potentially sacrificing steady-state performance.

Figure 4: Block Diagram of Integral Controller

1.3.Derivative

This controller effectively monitors the velocity at which the process variable changes and
generates an output proportional to this rate of change. The derivative controller computes its
output by multiplying the rate of change of the error with the derivative constant. The derivative
controller action is beneficial for improving response speed by promptly initiating output
adjustments, thus providing insight into the anticipated behavior of the error. A larger derivative
term, achievable through an increased derivative constant, enables the derivative controller to
swiftly respond to changes in the process variable. The block diagram of the derivative controller
shown in figure 5.

Figure 5: Block Diagram of Derivative Controller

 1.4.Application of PID Controller
The primary application of PID controllers lies in adjusting various physical parameters
within control systems, such as pressure, flow rate, and temperature, ensuring they remain at
desired setpoints. Beyond these fundamental applications, PID controllers find utility in several
other domains:

• Industrial Furnaces: In industrial settings with large furnaces for heating and
melting multiple components, PID controllers are vital. They continuously monitor
temperature values to maintain furnace temperatures at the required constant level.
• Power Point Tracking: PID controllers serve as high-level controllers for power
point tracking, ensuring efficient energy conversion and optimization in systems
like solar power setups.
• Power Conversion Devices: PID controllers are integral to power conversion
devices, regulating voltage, current, and other parameters to optimize performance
and ensure stability.
• Environmental Control: In diverse fields such as pharmaceuticals, research,
chemical processing, and engineering, PID controllers play a crucial role in
maintaining precise levels of humidity and temperature in controlled environments.
This ensures optimal conditions for processes and experiments [1].

2. On-Off Controller
On-off control represents the most basic form of feedback control, where the manipulated variable
is toggled between fully closed and fully open based on the position of the controlled variable in
relation to the setpoint. For instance, in a household heating system, when the temperature falls
below the thermostat setpoint, the heating activates, and it turns off once the temperature exceeds
the setpoint.

However, practical on-off systems incorporate a level of nuance to prevent rapid cycling, which
could damage equipment. If the system were to switch on and off immediately as the measured
temperature crossed the setpoint, it would lead to rapid cycling known as "chattering," detrimental
to the equipment's longevity.

To mitigate this, practical on-off controllers typically feature a dead band around the setpoint.
Within this dead band, the controller remains inactive; action is only taken when the value moves
outside of this range. Consequently, this introduces a continuous oscillation in the controlled
variable's value, with the dead band’s size influencing the oscillation's amplitude and frequency
[2].
 3. Design Process
Consider a RLC series circuit illustrated in figure 6. This circuit is time domain.

Figure 6: Time domain RLC circuit

Circuit is Converted into frequency domain is illustrated in figure 7 for the evaluation of transfer
function.

Figure 7: Frequency domain RLC circuit

Let suppose that the circuit current is I(S) Apply the KVL on the circuit

1
𝑉o (𝑆) = 𝐼(𝑆) ( )------(3.1)
𝑆𝐶

Apply the KVL on the circuit

1
𝑉𝑖 (𝑆) = 𝐼(𝑆)𝑅 + 𝐼(𝑆)𝑆𝐿 + 𝐼(𝑆) ( )
𝑆𝐶
1
𝑉𝑖 (𝑆) = 𝐼(𝑆) (𝑅 + 𝑆𝐿 + )
𝑆𝐶
Put above eq. in eq (3.1)
𝑉𝑖 (𝑆) 1
𝑉𝐶 (𝑆) = 1 (𝑆𝐶)
(𝑅+𝑆𝐿+ )
𝑆𝐶

𝑉𝐶 (𝑆) 1
=
𝑉𝑖 (𝑆) (𝑆𝑅𝐶 + 𝑆 2 𝐿𝐶 + 1)

1
G(S) =
(𝑆 2 𝐿𝐶 + 𝑆𝑅𝐶 + 1)
 4. Simulation
MATLAB Code
L = 0.3;
C = 15e-6;
R = 50;
num_plant = 1;
den_plant = [L*C R*C 1];
plant_tf = tf(num_plant, den_plant);
Kp = 0.1;
Ki = 1;
Kd = 1.5;
P = pid(Kp, 0, 0);
PD = pid(Kp, 0, Kd);
PI = pid(Kp, Ki,0);
PID = pid(Kp, Ki, Kd);
sys_P = feedback(P * plant_tf, 1);
sys_PD = feedback(PD * plant_tf, 1);
sys_PI = feedback(PI * plant_tf, 1);
sys_PID = feedback(PID * plant_tf, 1);
Ts=0.01;
t = 0:Ts:10;
T1=feedback(plant_tf*sys_PID,1);
figure;
step(plant_tf)
title("system response")
u = ones(size(t));
[y1, t] = lsim(sys_P,u, t);
[y2, t] = lsim(sys_PD,u, t);
[y3, t] = lsim(sys_PI,u, t);
[y, t] = lsim(sys_PID,u, t);
figure;
subplot(2,2,1);
plot(t, y1);
title('Proportional Response');
xlabel("Amplitude")
ylabel("Time")
grid on;
subplot(2,2,2);
plot(t, y2);
title('PD Response');
xlabel("Amplitude")
ylabel("Time")
grid on;
subplot(2,2,3);
plot(t, y3);
title('PI Response');
xlabel("Amplitude")
ylabel("Time")
grid on;
subplot(2,2,4);
plot(t, y);
title('PID Response');
xlabel("Amplitude")
ylabel("Time")
grid on;

5. Simulation Results

Figure 8: System Response

Figure 9: PID Characteristics of the system

From the figure 8, represent that the steady error of the given transfer function is high, it is need
to decrease the steady state error of the system by using PID controller.

5.1.Proportional Response (P): We chose Kp=0.1 and observed the system's

response, which revealed unsatisfactory behavior. Proportional control action
modifies the output signal directly in relation to the difference between the desired
setpoint and the actual process variable. While it's intended to minimize steady-
state error, it may induce oscillations near the setpoint.
5.2.PD-Response: When implementing Proportional-Derivative control with Kp=0.1
and Kd=1.5, the system's response indicated a downward trend and was deemed
unsatisfactory. Proportional-Derivative control integrates proportional control with
derivative control, considering not only the current error but also its rate of change.
This approach aids in damping oscillations and enhancing the transient response.
5.3.PI Response: Implementing Proportional-Derivative control with Kp=0.1 and
Ki=1, the system successfully reached the desired position, and the response
indicated satisfactory results compared to the P and PD controllers. Proportional-
Integral control supplements proportional control with integral control, which
integrates the error signal over time and adjusts the output based on the accumulated
error. This effectively eliminates steady-state error but may introduce oscillations
or instability if not tuned properly.
5.4.Proportional-Integral-Derivative Action (PID): When applying PID control
with Kp=0.1, Ki=1, and Kd=1.5, the system achieved the desired position, but it
exhibited oscillations and overshoot, resulting in satisfactory but inferior
performance compared to the PI controller. PID control integrates proportional,
integral, and derivative actions, adjusting the output based on the current error, the
error's rate of change, and the accumulated error over time. While PID control is
widely used for its precise and stable control, the overshoot observed indicates that
this PID controller isn't optimally tuned to the plant dynamics. Fine-tuning may be
necessary to improve performance.
 6. Conclusion
The analysis highlights the importance of selecting appropriate control strategies and tuning
parameters to achieve desired system behavior. While PI control offers precise and stable
control, careful tuning is crucial to balance performance objectives and avoid issues such as
overshoot and oscillations. Additionally, understanding the behavior of each control
component (P, I, D) helps in designing effective control systems for RLC series circuit.

• Effectiveness of Control Strategies: The study demonstrates the varying effectiveness of

different control strategies in achieving desired system behavior. While Proportional (P)
control alone showed unsatisfactory performance due to oscillations, integrating Derivative
(D) control with Proportional (PD) control improved transient response but didn't fully
address the system's behavior. Conversely, adding Integral (I) control to Proportional (PI)
control significantly improved performance, eliminating steady-state error and achieving
the desired position.
• Challenges with PID Control: Although the complete PID control strategy (PID) enabled
the system to reach the desired position, it exhibited oscillations and overshoot. This
indicates that the PID controller wasn't optimally tuned to the plant dynamics. The
overshoot observed suggests that the controller's parameters need adjustment to balance
the trade-off between response speed and stability.
• Importance of Tuning: The study underscores the critical role of controller tuning in
achieving desired system performance. Fine-tuning of PID parameters is necessary to
optimize control action and minimize undesirable effects such as oscillations and
overshoot. This process involves iterative adjustment of proportional, integral, and
derivative gains to strike a balance between response speed, stability, and steady-state
accuracy.
• Further Investigation: The conclusion suggests the need for further investigation and
experimentation to fine-tune the PID controller parameters and improve system
performance. Iterative tuning methods, such as Ziegler-Nichols or trial-and-error
approaches, can be employed to systematically adjust controller gains and observe their
effects on system behavior. Additionally, advanced tuning techniques, such as model-
based control or robust control methods, may be explored for enhanced performance in
complex systems.

Reference

[1] https://www.watelectronics.com/pid-controller/

[2] https://instrumentationtools.com/onoff-control-principle/#google_vignette

[3] https://www.electrical4u.com/on-off-control-theory-controller/