Outline

PI control system design.

PD control system design.
PID control system design.

Root Locus Design

M. Sami Fadali
Professor of Electrical Engineering
University of Nevada

PI Control

Block Diagram

R(s)

E(s)

Add integral control to improve steady-state

error, (increases type number one) worse
transient response or instability.
Add a proportional control controller has pole
at origin and zero.
Cascade compensation: integral term in feedback
path is equivalent to a differentiator in the
forward path.

C(s)
Compensator

Plant

Cascade Compensation

R(s)

C(s)
Plant

Compensator
Feedback Compensation
3

PI Design Procedure

Example: PI Design
Design a controller for the system for
percentage overshoot less than 5% and zero
steady-state error due to step.

1. Design a proportional controller to meet the

transient response specifications, i.e. place
the dominant closed-loop system poles at a
desired location
2. Add a PI controller with a zero at
/10
3. Tune the gain of the system to move the
closed-loop pole closer to .
5

Step 1: Proportional Control

Root Locus for PI Example

Design proportional control to meet transient response

specifications.
Percentage overshoot less than 5%

c.l. characteristic polynomial

Equate coefficients
7

Step 2: Add PI Compensator

RL for PI Compensated System

For this example, an easier design

canceling the pole at 3 may be superior.
9

10

Increase gain for faster response

Time Response for PI Example

11

12

PD Design

PD Control
Can be used in cascade or feedback control.
Zero pulls RL to left: improves the transient
response.
Transfer Function of PD Controller

Obtain the desired dominant pair from the

design specifications.
Angle of PD controller

scl

Compensator

d
c

n
a

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PD Design Procedure

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PD Design Procedure (cont.)

1. Calculate angle[ L( scl ) ] using a

calculator or MATLAB

3. Calculate the new loop gain function including

the compensator then calculate the gain
(magnitude condition) with a calculator or

theta= piangle(evalfr(g, scl) )

L = g*tf( [1, a],1)

2. Calculate the zero location using

K = 1/abs( evalfr( L, scl) )

4. Check the time response of the PD compensated
system and modify the design to meet the
desired specifications if necessary.
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P-Control

Example

Percentage overshoot less than 10%

Design a P-controller for % OS < 10%

Design a PD controller to reduce to 1 s.

Find intersection of constant line with root locus

using the angle condition by trial and error.
17

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PD Design

Root Locus for P-Control

Reduce

to 1 s

Find c.l. pole location

Angle of PD controller
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PD Controller

Modified PD Design

Compensator zero

Loop gain

We need to speed up the time response.

1. Move zero closer to the j-axis.
2. Increase the gain.

Calculate the gain

Simulation results show that the system is too slow

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22

Step Response K = 38.8

Compensated Root Locus

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PID Control

Step Response K = 70

zeros can be
complex conjugate

Procedure
1- Design a PD controller to meet the transient
response specifications.
2- Add a PI controller to meet the steady-state
specifications without appreciably affecting the
transient response.
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PID Design

Example: PID Design

Design a PID controller for the system to meet
the PD specifications (
with zero steady-state error due to ramp.

PD specifications met with earlier PD design

PI design

Combine for PID

.

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Root Locus with PID

PID Design with K = 38

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PID with K=70, zero at 0.2

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PD Design: Pole-Zero Cancellation

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Cancel pole with PD zero.

Do not cancel RHP poles.
Do not cancel pole at origin.
Cancel closest real pole to the j-axis.
Imperfect implementation: almost cancel.

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RHP Pole

Example

Zeros do not change the response due to the

ICs.
Imperfect cancellation: RHP closed-loop pole.
Example

For the closed-loop system with unity

feedback, design a controller to reduce the
percentage overshoot to less than 5% and
the settling time to less than 1.5 second.

Form of complete step response

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Step Response

Root Locus: Uncompensated

Uncompensated closed-loop system

With 10 included in MATLAB transfer function

Step Response

1.4
System: untitled1
Peak amplitude: 1.39
Overshoot (%): 39.3
At time (sec): 2.69

Root Locus
8

1.2
6

System: g
Gain: 1
Pole: -0.348 + 1.21i
Damping: 0.276
Overshoot (%): 40.5
Frequency (rad/sec): 1.26

System: untitled1
Settling Time (sec): 11.1

Amplitude

Imaginary Axis

0.8

0.6

-2

-6
-8
-8

>> step(feedback(g,1))

0.4

-4

0.2
-7

-6

-5

-4

-3

-2

-1

Real Axis

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10
Time (sec)

12

14

16

18

20

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Design

Equating Coefficients
Loop gain

Cancel pole at 1 with a zero

C.l. characteristic polynomial

Choose K for

(gives <5% overshoot)

10 not included in compensator gain.

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Design Algorithm

Root Locus
Root Locus

Imaginary Axis

Yes

System: l
Gain: 1.83
Pole: -3 + 3.05i
Damping: 0.701
Overshoot (%): 4.55
Frequency (rad/sec): 4.28

2
1

Yes

Transient
response OK?

SS Error
OK?

No

Add PD

No

Stop

-1
-2
-7

-6

-5

-4

-3
Real Axis

-2

-1

SS Error
OK?

Add PI

Yes
Stop

39

No
Add PI
40