Introduction: PID Controller Design

TKM415 Control Systems

Teknik Pengaturan

Mochammad Ariyanto, M. Eng.

 Contents
 PID Overview
 The Characteristics of P, I, and D Controllers
 Example Problem
 Open-Loop Step Response
 Proportional Control
 Proportional-Derivative Control
 Proportional-Integral Control
 Proportional-Integral-Derivative Control
 General Tips for Designing a PID Controller

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 PID Overview

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The Characteristics of P, I, and D Controllers

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 Example Problem

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 Open-Loop Step Response

 The DC gain of the plant

transfer function is 1/20, so
the final steady state is 0.05.
 This corresponds to the
steady-state error of 0.95,
quite large indeed.
 The rise time is about one
second, and the settling time
is about 1.5 seconds.
 Let's design a controller that
will reduce the rise time,
reduce the settling time, and
eliminate the steady-state
error.

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 Proportional Control

Kp = 300;
C = pid(Kp)
T = feedback(C*P,1)

t = 0:0.01:2;
step(T,t)

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Proportional-Derivative Control

Kp = 300;
Kd = 10;
C = pid(Kp,0,Kd)
T = feedback(C*P,1)

t = 0:0.01:2;
step(T,t)

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 Proportional-Integral Control

Kp = 30;
Ki = 70;
C = pid(Kp,Ki)
T = feedback(C*P,1)

t = 0:0.01:2;
step(T,t)

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 Proportional-Integral-Derivative Control

Kp = 350;
Ki = 300;
Kd = 50;
C = pid(Kp,Ki,Kd)
T = feedback(C*P,1);

t = 0:0.01:2;
step(T,t)

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 General Tips for Designing a PID Controller

 Obtain an open-loop response and determine what

needs to be improved
 Add a proportional control to improve the rise time
 Add a derivative control to improve the overshoot
 Add an integral control to eliminate the steady-state
error
 Adjust each of Kp, Ki, and Kd until you obtain a
desired overall response. You can always refer to the
table shown in this "PID Tutorial" page to find out
which controller controls what characteristics.

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 PID Simulink

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 Sisotool MATLAB

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 Sisotool MATLAB

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 Sisotool MATLAB

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 Homework

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 Homework

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