EE2214 - BASIC

CONTROL SYSTEM
HERMINARTO NUGROHO
TEKNIK ELEKTRO – UNIVERSITAS PERTAMINA
2018
Lecture Objectives

▷ Feedback Control System

Students will be able to understand the concept of feedback
control system

▷ System Modeling
Students will be able to derive mathematical system modeling
and state-space modeling

▷ Stability and Performance Analysis

Students will be able to analyze system stability and
performance

▷ Controller Design
Students will be able to design controller to achieve stability
and desired performance
What will we learn?

WEEK 9 Nyquist and Bode Stability & Performance Analysis.

WEEK 10 Control System Design: Frequency Response Method.

WEEK 11 PID Controller (Part I).

WEEK 12 PID Controller (Part II).

WEEK 13 State-space Control System.

WEEK 14 Pole Placement and Observer Control.

WEEK 15 Review.

WEEK 16 Final Exam.

 Control Design Process

WEEK 1 WEEK 2-3 WEEK 4-6, 9, 13

Stability & YES
System System
Performance OK? DONE
Requirement Modeling
Analysis

NO
WEEK 7, 10-12, 14

Controller
Design
 11.
PID CONTROLLER
PID Controller Design
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Overview
1. PID Controller: A Brief Introduction

2. Ziegler-Nichols Rules for Tuning PID Controller

3. Effect of Changing P,I, and D Parameters

4. Example: PID Controller Design

5. MATLAB Exercise
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

PID Controller: A Brief

Introduction
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

PID Controllers
▷ Brief Introduction
𝑒(𝑠) PID Controller Plant
𝑅(𝑠) 𝑌(𝑠)
− 𝐶(𝑠) 𝐺(𝑠)

Sensor
𝐻(𝑠)

PID Controller PID Controller:

𝐾𝑖
𝐾𝑝 + + 𝐾𝑑 𝑠
𝐾𝑝 𝑠
Or
Plant 1
𝑒(𝑡) 𝐾𝑖 න 𝑒 𝑡 𝑑𝑡 + 𝐾𝑝 1 + + 𝑇𝑑 𝑠
𝐺(𝑠) 𝑇𝑖 𝑠
Where
𝑑𝑒(𝑡) 𝐾𝑝
𝐾𝑑 𝐾𝑖 = and 𝐾𝑑 = 𝐾𝑝 𝑇𝑑
𝑑𝑡 𝑇𝑖
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

PID Controllers
▷ Brief Introduction
𝑒(𝑠) PID Controller Plant
𝑅(𝑠) 𝑌(𝑠)
− 𝐶(𝑠) 𝐺(𝑠)

Sensor
𝐻(𝑠)

PID Controller PID Controller:

𝐾𝑖
𝐾𝑝 + + 𝐾𝑑 𝑠
𝐾𝑝 𝑠
Or
𝐾𝑖 Plant 1
𝑒(𝑠) + 𝐾𝑝 1 + + 𝑇𝑑 𝑠
𝑠 𝐺(𝑠) 𝑇𝑖 𝑠
Where
𝐾𝑑 𝑠 𝐾𝑝 𝐾𝑑 = 𝐾𝑝 𝑇𝑑
𝐾𝑖 = and
𝑇𝑖
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

PID Controllers
▷ PID Controller Facts
1. PID Controllers are the most used controller in industry.
2. PID Controllers are very flexible, since they can be designed using
time response as well as frequency response approach.
3. PID Controllers are arguably easier to design rather than any other
controller.
4. Most PID Controllers are tuned on-site!
5. PID Controllers have general applicability to most control systems,
even if there are not model of the system available!
6. We can still tune PID controller even if there is no analytical process.
So, If PID Controllers are this powerful, why
should we learn all other complicated and
difficult control methods?
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

PID Controllers
▷ PID Controller

You will study this later in Operational Amplifier (Op-Amp)

 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules

When we can not obtain system plant (transfer function/state-space), it is

difficult to design a suitable controller to achieve certain specs.

However, using Ziegler-Nichols Rules, we can tune PID Controller to achieve

the system specs without knowing system plant.

Ziegler-Nichols Rules is used to find the parameters 𝐾𝑝 , 𝑇𝑖 and 𝑇𝑑 of the PID

Controller.
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: First Method
▷ Ziegler – Nichols suggested a rule for tuning PID parameters
based on experimental results.
▷ Ziegler – Nichols tuning rules are very useful when we have no
information of system plant (transfer function / state-space).
▷ The value of 𝐾𝑝 , 𝑇𝑖 and 𝑇𝑑 from Ziegler – Nichols rules will give
stable closed-loop system.
▷ However, system performance can not be directly achieved by
these rules.
▷ To achieve the desired performance, we need a series of fine
tuning.
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: First Method
Suppose we have a unknown system
plant.
We give unit step input to our system plant.

For example, the system output will

look like this.

Draw a tangent line as approximation

of the real output. From this tangent
line, we got parameters: 𝐿 and 𝑇.

𝐿 ∶ Delay time
𝑇 ∶ Time constant
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: First Method
Then, we can find PID Controller which will ensure stability:
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: First Method

Advantages of this first method:

1. Very easy to use.
2. We don’t need to know system transfer function.

Problem with this first method:

1. Not every system plant is initially stable.
2. Even if the system plant is initially stable, when being given step input, the
output does not look like the figure we want.
3. It is not trivial to determine the tangent line.
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: First Method
Example: 𝑢(𝑡) 𝐺 𝑠 =
1
𝑦(𝑡)
(𝑠 + 1)(𝑠 + 2)(𝑠 + 3)

6.25

5.63 1.33

𝐿 = 0.4 𝑇 = 2.5 7.50 0.8 0.2

 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: First Method
Example: 𝑢(𝑡) 𝐺 𝑠 = 𝑢𝑛𝑘𝑛𝑜𝑤𝑛 𝑦(𝑡)

5.63 1.33

𝐿 = 0.3 𝑇 = 2.7 7.50 0.8 0.2

 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: First Method
Example: 𝑢(𝑡) 𝐺 𝑠 =
1
𝑦(𝑡)
(𝑠)(𝑠 + 2)(𝑠 + 3)

How about this case?

 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: Second Method
Suppose we cannot use the first method,
because the output does not look like what
we want.
We give unit step input to our closed-loop
system plant.

Setting 𝑇𝑖 = ∞ and 𝑇𝑑 = 0, find a

value of 𝐾𝑝 in which the system is
critically stable (almost unstable), this
𝐾𝑝 = 𝐾𝑐𝑟

The output will oscillates, like the

figure. We got the parameter 𝑃𝑐𝑟

𝐾𝑐𝑟 : Oscillation gain

𝑃𝑐𝑟 ∶ Oscillation period
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: Second Method
Then, we can find PID Controller which will ensure stability:
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: Second Method

Closed-loop transfer function after setting

𝑇𝑖 = ∞ and 𝑇𝑑 = 0:

Find a value of 𝐾𝑝 in which the system is critically stable (almost unstable), this 𝐾𝑝 = 𝐾𝑐𝑟
Characteristic equation:

𝐾𝑝 = 𝐾𝑐𝑟 = 30
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: Second Method
To find the frequency of the oscillation (𝜔𝑐𝑟 ), substitute 𝑠 with 𝑗𝜔 into characteristic
equation.
𝑠 3 + 6𝑠 2 + 5𝑠 + 𝐾𝑝 = 0
(𝑗𝜔)3 +6(𝑗𝜔)2 +5(𝑗𝜔) + 30 = 0
6 5 − 𝜔2 + 𝑗𝜔 5 − 𝜔2 = 0
Then, 𝜔𝑐𝑟 = 𝜔 which satisfies the above equation. Therefore:
𝜔𝑐𝑟 = 5
Then, we can find the period of oscillation (𝑃𝑐𝑟 ) as follows:
2𝜋 2𝜋
𝑃𝑐𝑟 = = = 2.8
𝜔𝑐𝑟 5
So, we got:
𝐾𝑐𝑟 = 30 and 𝑃𝑐𝑟 = 2.8
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: Second Method
𝐾𝑐𝑟 = 30 and 𝑃𝑐𝑟 = 2.8

𝐾𝑝 = 0.6𝐾𝑐𝑟 = 18 𝑇𝑖 = 0.5𝑃𝑐𝑟 = 1.4 𝑇𝑑 = 0.125𝑃𝑐𝑟 = 0.35

 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: Second Method

𝐾𝑝 = 0.6𝐾𝑐𝑟 = 18 𝑇𝑖 = 0.5𝑃𝑐𝑟 = 1.4 𝑇𝑑 = 0.125𝑃𝑐𝑟 = 0.35

PID Controller :

1
𝐺𝑐 𝑠 = 𝐾𝑝 1 + + 𝑇𝑑 𝑠
𝑇𝑖 𝑠

0.71
𝐺𝑐 (𝑠) = 18 1 + + 0.35𝑠
𝑠
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Ziegler-Nichols Rules for

Tuning PID Controller
▷ Ziegler-Nichols Rules: Insight

▷ This Ziegler-Nichols method can only be used as the rule of

thumb, for a good initial guest of PID Controller.
▷ Sometimes, the desired specifications can not be achieved from
this Ziegler-Nichols method.
▷ We have to fine tune the PID Controller after using Ziegler-
Nichols method.
▷ To perform good fine tuning, we have to understand the effect of
each P, I, and C parameters to the system specs.
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Effect of Changing P, I, and D

Parameters
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Effect of Changing P, I, and D

Parameters
▷ Effect of Parameter P
The proportional (P) parameters:
1. The response of the system faster,
2. Makes error due to disturbance smaller by increasing
the overall gain of the system,
3. May still allow a steady-state error (If we only use P
Controller).
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Effect of Changing P, I, and D

Parameters
▷ Effect of Parameter I
The Integral (I) parameters:
1. Can eliminate the steady-state error to a constant
reference input,
2. Makes the system response slower,
3. Makes the overshoot bigger.
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Effect of Changing P, I, and D

Parameters
▷ Effect of Parameter D
The Derivative (D) parameters:
1. Makes the system response faster,
2. Makes the system response better damped,
3. May results in increasing stability level,
4. Be careful, since it is sensitive to noise and
disturbance.
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Effect of Changing P, I, and D

Parameters
1.4

1.2

P-Controller
0.8
PD-Controller
PI-Controller
Displacement [m]

0.6
PID-Controller

0.4

0.2

0
0 0.5 1 1.5 2
Time[s]
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Effect of Changing P, I, and D

Parameters
▷ Fine Tuning PID Controller: Insight
 Proportional control can reduce steady-state errors, but
the high gains almost always destabilize the system.
 Integral control provides total reduction in steady-state
errors, but often makes the system less stable.
 Derivative control usually increases damping and
improves stability, but has almost no effect on the steady-
state error.
 These 3 kinds of control combine to form the classical
PID-Controllers which provide reasonable control for most
industrial processes, provided that the performance
demand is not too high.
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Example: PID Controller

Design
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

PID Controller Design

▷ Example
Design a P-Controller such that the closed-loop of following system has
steady state error less than 10%! Consider a unit step input for this case.
1
𝐺 𝑠 =
𝑠 2 + 10𝑠 + 20

Answer: 𝑅 𝑠
1 1 2
𝑠 + 10𝑠 + 20
𝐸 𝑠 = = 𝑠 = s2
1 + 𝐾𝑝 𝐺(𝑠) 𝐾𝑝 𝑠 + 10𝑠 + 20 + 𝐾𝑝
1+
𝑠 2 + 10𝑠 + 20

20
lim 𝑒 𝑡 = lim 𝑠 𝐸 𝑠 lim 𝑠 𝐸 𝑠 = = 10% 𝐾𝑝 = 180
𝑡→∞ 𝑠→0 𝑠→0 20 + 𝐾𝑝

Now, If we want the steady-state error to be less than 0.1%. Design the P-
Controller!
Can we achieve steady state error = 0 using P-Controller? Why?
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

PID Controller Design

▷ Example
Design a PD-Controller such that the closed-loop of following system has
steady state error less than 10%! Consider a unit step input for this case.
1
𝐺 𝑠 =
𝑠 2 + 10𝑠 + 20

Answer: 𝑅 𝑠
1 1 2
𝑠 + 10𝑠 + 20
𝐸 𝑠 = = 𝑠 = 2 s
1 + (𝐾𝑝 +𝐾𝑑 𝑠)𝐺(𝑠) (𝐾𝑝 +𝐾𝑑 𝑠) 𝑠 + (10 + 𝐾𝑑 )𝑠 + 20 + 𝐾𝑝
1+ 2
𝑠 + 10𝑠 + 20
20 𝐾𝑝 = 180
lim 𝑒 𝑡 = lim 𝑠 𝐸 𝑠 lim 𝑠 𝐸 𝑠 = = 10%
𝑡→∞ 𝑠→0 𝑠→0 20 + 𝐾𝑝 𝐾𝑑 = any number

D part of PD-controller does not contribute to steady-state error.

 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

PID Controller Design

▷ Example
Design a PI-Controller such that the closed-loop of following system has
steady state error less than 10%! Consider a unit step input for this case.
1
𝐺 𝑠 =
𝑠 2 + 10𝑠 + 20
1 1 2
Answer: 𝑅 𝑠 𝑠 s
𝑠 + 10𝑠 + 20 𝑠
𝐸 𝑠 = = = 3
𝐾𝑖 𝐾 𝑠 + 10𝑠 2 + 20 + 𝐾𝑝 𝑠 + 𝐾𝑖
1 + (𝐾𝑝 + 𝑠 )𝐺(𝑠) (𝐾𝑝 + 𝑖 )
1+ 𝑠
𝑠 2 + 10𝑠 + 20
𝑠 𝑠 2 + 10𝑠 + 20
lim 𝑒 𝑡 = lim 𝑠 𝐸 𝑠 lim 𝑠 𝐸 𝑠 = =0
𝑡→∞ 𝑠→0 𝑠→0 𝑠 3 + 10𝑠 2 + 20 + 𝐾𝑝 𝑠 + 𝐾𝑖

If there is an I part, the steady-state error will be 0.

 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Control of 2nd Order System

with P-Controller
▷ Control of 2nd Order System with P-Controller

The closed-loop transfer function:

1 1
𝑌 𝑠 𝑘𝑝 𝑘𝑝 𝑘𝑝 𝑘𝑝
𝑠 𝑀𝑠 + 𝐵 𝑠 𝑀𝑠 + 𝐵
= = = =
𝑅(𝑠) 1 + 𝑘 1 𝑠 𝑀𝑠 + 𝐵 + 𝑘𝑝 𝑠 𝑀𝑠 + 𝐵 + 𝑘𝑝 𝑀𝑠 2 + 𝐵𝑠 + 𝑘𝑝
𝑝 𝑠 𝑀𝑠 + 𝐵
𝑠 𝑀𝑠 + 𝐵
𝑘𝑝 𝐵
𝑌 𝑠 𝑀 𝜔𝑛2 𝑘𝑝 𝜁 =
= = 𝜔𝑛 = 2 𝑘𝑝 𝑀
𝑅(𝑠) 2 𝐵 𝑘𝑝 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 𝑀
𝑠 + 𝑀 𝑠+ 𝑀
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Control of 2nd Order System

with P-Controller
▷ Control of 2nd Order System with P-Controller

The closed-loop transfer function: 𝐵

𝑘𝑝 𝑘𝑝 𝜁=
𝑌 𝑠 𝜔𝑛2 𝜔𝑛 = 2 𝑘𝑝 𝑀
= 𝑀 = 𝑀
𝑅(𝑠) 2 𝐵 𝑘𝑝 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
𝑠 + 𝑀 𝑠+ 𝑀
𝜋 𝜁𝜋
𝑇𝑝 = −
Peak time and max overshoot: 𝜔𝑛 1 − 𝜁 2 𝑀𝑝 = 𝑒 1−𝜁 2

Error: 𝐸 𝑠 =𝑅 𝑠 −𝑌 𝑠 𝑠2 +
𝐵
𝑠
𝐸 𝑠 = 𝑀 𝑅(𝑠)
𝐵 𝑘𝑝
𝑠2 + 𝑀 𝑠 + 𝑀
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Control of 2nd Order System

with P-Controller
▷ Control of 2nd Order System with P-Controller

𝐵
𝑠2 + 𝑀 𝑠
𝐸 𝑠 = 𝑅(𝑠)
𝐵 𝑘𝑝
𝑠2 + 𝑀 𝑠 + 𝑀
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Control of 2nd Order System

with P-Controller
▷ Control of 2nd Order System with P-Controller

Problem of using only P-Controller

𝑘𝑝
𝜔𝑛 =
𝑀

𝐵
𝜁=
2 𝑘𝑝 𝑀
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Control of 2nd Order System

with PD-Controller
▷ Control of 2nd Order System with PD-Controller

The closed-loop transfer function:

𝑘𝑝
𝜔𝑛 =
𝑀

𝐵 + 𝑘𝑑
𝜁=
2 𝑘𝑝 𝑀
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Control of 2nd Order System

with PD-Controller
▷ Control of 2nd Order System with PD-Controller

The error:
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Control of 2nd Order System

with PD-Controller
▷ Control of 2nd Order System with PD-Controller

𝐵
𝑠2 + 𝑀 𝑠
𝐸 𝑠 = 𝑅(𝑠)
(𝐵 + 𝑘𝑑 ) 𝑘𝑝
𝑠2 + 𝑠 +
𝑀 𝑀
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Control of 2nd Order System

with PD-Controller
▷ Control of 2nd Order System with PD-Controller
𝐵
𝑠2 + 𝑀 𝑠
𝐸 𝑠 = 𝑅(𝑠)
(𝐵 + 𝑘𝑑 ) 𝑘𝑝
𝑠2 + 𝑀 𝑠 + 𝑀

𝑘𝑝
𝜔𝑛 =
𝑀

𝐵 + 𝑘𝑑
𝜁=
2 𝑘𝑝 𝑀

𝜋
𝑇𝑝 =
𝜔𝑛 1 − 𝜁 2

𝜁𝜋
−
𝑀𝑝 = 𝑒 1−𝜁 2
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

Control of 2nd Order System

with PI-Controller
▷ Control of 2nd Order System with PI-Controller

 Assignment

The performance of P- and PD-Controller to control

the 2nd order system are already analyzed on the
previous pages.

Now, conduct further analysis for PI-Controller.

Explain about its ability to reduce steady-state error in
the presence of step input and ramp input.
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

MATLAB Exercises
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

MATLAB Exercise

▷ PID Controller for Inverted Pendulum

Your task is to design Your PID controller
this PID Controller should work just fine for
any disturbance/noise

The input varies

You can see

the animation!

You will be given this

Inverted pendulum system
(unknown system model)
 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

MATLAB Exercise

▷ PID Controller for Inverted Pendulum

 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

MATLAB Exercise

▷ PID Controller for Inverted Pendulum

 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

MATLAB Exercise

▷ PID Controller for Inverted Pendulum

 1. PID 2. Ziegler- 5. MATLAB
3. Effect PID 4. Example - PID
Controller Nichols Rules Exercise

MATLAB Exercise

▷ PID Controller for Inverted Pendulum

References

▷ Katsuhiko Ogata, "Modern Control Engineering", Pearson, 2010.

▷ Gene F. Franklin, J. David Powell, Abbas Emami-Naeini “Feedback
Control of Dynamic Systems”, Pearson, 2015.
▷ Norman S. Nise, “Control System Engineering”, John Wiley, 2011.
▷ Erwin Sitompul, “Feedback Control Systems”, Lecture Slides, 2012.
https://zitompul.wordpress.com/
Thanks!
Any questions?