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Abstract
This paper deals with the design of PI controllers which achieve the desired frequency and time domain specifications
simultaneously. A systematic method, which is effective and simple to apply, is proposed. The required values of the
frequency domain performance measures namely the gain and phase margins and the time domain performance
measures such as settling time and overshoot are defined prior to the design. Then, to meet these desired performance
values, a method which presents a graphical relation between the required performance values and the parameters of the
PI controller is given. Thus, a set of PI controllers which attain desired performances can be found using the graphical
relations. Illustrative examples are given to demonstrate the benefits of the method presented. 2006 ISAThe
Instrumentation, Systems, and Automation Society.
Keywords: Frequency and time domain performancesmap; PI control; Control system design; Gain margin; Phase margin; Overshoot;
Settling time
1. Introduction
PID controllers are used extensively in the process industries because of their robust performance and simplicity. Indeed, more than 90% of
the control loops are PID and most loops are in
fact PI since derivative action is not used very
often 1. Several methods see Refs. 26 and
references therein for determining the parameters
of these controllers have been developed during
past 60 years. Although most of these methods
provide acceptable performances for some transfer
functions of the systems, there is not a general
method for tuning the parameters of these controllers. For example, the Ziegler-Nichols method
which is still widely used in industries for tuning
*Corresponding
author.
shamamci@inonu.edu.tr, ntan@inonu.edu.tr
address:
0019-0578/2006/$ - see front matter 2006 ISAThe Instrumentation, Systems, and Automation Society.
530
bilizing P, PI, and PID controllers 710. However, beyond stabilization it is important to design
controllers that guarantee specified performance
measures such as gain and phase margins, settling
time, and overshoot. Although there are some classical formulas that exist which link frequency and
time domain performances such as PM/ 100,
these approximate formulas do not work for time
delay systems or high order control systems. It
seems that the coefficient diagram method CDM
combined with the methods for the computation of
stabilizing controllers can be a good candidate for
designing controllers which attain the time and
frequency domain specifications simultaneously.
CDM is a polynomial approach which was developed and introduced for a good transient response
of the control systems by Manabe 11. The most
important properties of this method are the adaptation of the polynomial representation for both
the plant and controller, the use of the two-degreeof-freedom 2DOF control system structure, the
nonexistence or very small of the overshoot in
the step response of the closed-loop system, the
determination of the desired settling time and the
maximum overshoot at the start and to continue
the design accordingly, and good robustness of the
control system with respect to the parameter
changes.
In this paper, a new method is proposed for the
computation of a set of PI controllers which give
the prescribed frequency and time domain performance criteria such as gain margin, phase margin,
overshoot, and settling time simultaneously. In this
method, using the stability boundary locus approach of Refs. 10,12, all the stabilizing values
of the parameters of the PI controller are first obtained. This stability region is called the global
stability region. In addition to this, all the stabilizing PI controllers within the global stability region
which provide desired frequency domain performance measures are identified. These subsets of
the global stability region are called the local stability region. Then, the settling time and overshoot
which are very important time domain performance measures are chosen for time domain
specifications. Using the CDM, some explicit formulations are obtained between the PI controller
parameters and the time domain specifications.
For this, a method is given for removing errors
due to approximation used for the time delay term.
Finally, a graphical relation on GM, PM, MO, and
A s = l is i ,
i=0
q
B s = k is i
i=0
in the polynomial forms while prefilter Fs is determined as the zero order polynomial and used to
provide the steady-state gain. Better performance
531
Fig. 2. a The effect of the equivalent time constant on the rate of the closed-loop time response. b The effect of the stability
index, 1 on the time response shape.
y=
N p s F s
A s N p s
r+
d,
Ps
Ps
ai 0.
i=0
3
In the literature, it is reported that there are some
certain relations between characteristic polynomial
coefficients and important time domain measures
such as settling time and overshoot 1315.
Manabe integrated these studies with the basic
principles of his method and determined two important design parameters. These parameters are
equivalent time constant and stability indices
i which are defined as
= a1/a0,
i = a2i /ai+1ai1 ,
i = 1 n 1,
0 = n = .
Ptargets = a0
i=2
P s = A s D p s + B s N p s = a is i,
the target characteristic polynomial of the closedloop system. From Eq. 4, the characteristic polynomial in Eq. 3 can be expressed in terms of
and i as
i1
1
si + s + 1 .
j
j=1 ij
5
The equivalent time constant specifies the time response speed settling time, especially. The stability indices affect the stability and the shape of
the time response overshoot, especially. For example, consider a characteristic polynomial whose
degree is chosen as n = 2. According to this polynomial, choosing 1 = 3 as constants and changing
the equivalent time constant in the interval of 1
4, the unit step responses of the control system
are shown in Fig. 2a. It is seen in this figure that
is very effective on the settling time of the unitstep response. If the equivalent time constant is
increased, the settling time is also increased. On
the contrary, if is reduced, the system time response can be accelerated as desired. When the
choice = 1 is considered and 1 is changed in the
interval of 0.55, the change of the time response shapes are shown in Fig. 2b. This figure
indicates that the stability index 1 is much effective on the response shape and stability. If 1 is
made bigger, the stability of the control system is
increased and the overshoot is zero. But 1 is of a
the small size, the stability decreases and overshoot is nonzero in this case.
532
s0
s0
If Cs includes an integrator then these conditions can be satisfied. Thus, Cs can be chosen as
Cs = k p +
Fig. 3. A 2DOF control system structure.
For a special case, it is recommended that standard Manabe values for the time response without
overshoot and with the smallest settling time are
used for the CDM design. Stability indices are
chosen as i = 2.5, 2 , 2 , . . . , 2 for i = 1 n 1n
3 in this form. For a third order system i
= 2.7, 2 and 1 = 3 in a second order system,
overshoot is zero. When the standard Manabe values are chosen, the settling time is about
2.5 3. The selection of the standard values can
be relaxed according to the various performance
requirements.
3. Controller design
The proposed method which is used to design a
PI controller satisfying the required time and frequency domain specifications consists of two
steps. In the first step, a method is proposed to
compute the global and the local stability regions
using the stability boundary locus approach
10,12. In the second step, the CDM method is
used to design PI controllers for which the step
responses have a required overshoot and an acceptable settling time. As a result of combining
these two steps, the FTDP map is obtained. The
FTDP map, which is a graphical tool, shows the
relation between the stabilizing parameters of the
PI controllers and the chosen frequency and time
domain performance criteria on the same k p , ki
plane. Thus, one can choose a PI controller providing all of the desired GM, PM, MO, and ts
specification values together.
A general schema of the 2DOF control system is
shown in Fig. 3. This representation is the rational
equivalence of the control system given in Fig. 1.
Here, Cs = Bs / As is the main controller and
C f s = Fs / Bs is the set point filter 16. It can
be shown that the steady-state error to the unit step
change and the unit step disturbance become zero
robustly if
k i k ps + k i
=
s
s
G a s = G s e s =
N s s
e
Ds
Ps = sDs + k ps + kiNses
= ansn + an1sn1 + + a1s + a0 ,
G j =
N e 2 + j N o 2
.
D e 2 + j D o 2
10
For simplicity 2 will be dropped in the following equations. Thus, the closed-loop characteristic polynomial of Eq. 9 can be written as
P j = kiNe k p2Nocos
13b
Y =
De .
+ kiNo + k pNesin Do
2
k pS + k iU = Y .
14
ki =
2
Y Q XS
.
QU RS
15
16
17
kp =
ki =
533
534
tan1
No
Do
tan1
=
Ne
De
18
or
N oD e N eD o
= f .
N eD e + 2N oD o
19
20
21
kp =
ki =
tan =
G m s =
N m s s
K s
e =
e ,
D m s
Ts + 1
22
535
Fig. 4. Time delay approximation for corrected and uncorrected cases: a selection of k p and ki parameters and b the step
responses for selected k p and ki values.
of Eq. 22. If the Taylor denominator approximation or Pade approximation is used, theirs denominators lead to a higher order of the approximate
transfer function of the plant and consequently to
more complex resulting controllers. The results
obtained in Section 4 show that the first-order Taylor numerator approximation is acceptable and
gives good results. Thus, for the model transfer
function of Eq. 22, plant polynomials are
N ps = Ks + K,
D ps = Ts + 1.
23
As = l1s,
B s = k 1s + k 0 .
24
by Eq. 24 are replaced in Eq. 3. Hence, a polynomial depending on the parameters k p and ki is
obtained. For the FOPDT model transfer function,
the characteristic polynomial of the control system
is determined as
1 = 1 + Kk p Kki2/KkiT Kk p ,
26a
= 1 + Kk p Kki/Kki .
26b
MO
%
1 values
k values ts k
20
10
5
0a
0
0.8
1.4
1.9
3a
5
11.2
6
5.2
3a
3.9
536
Fig. 5. For K = 1, T = 1, and = 2 in Eq. 22: a ki-k p curves of 1 and , b the step responses for = 4 and different values
of 1 selected from Table 1.
ki = K2 + 2Kk p + 1T 1Kk p
/2K22
for 1 ,
27a
where
= K22 + 2Kk p + 1T 1Kk p2
421 + Kk p2 and
ki = 1 + Kk p/K + K
for .
27b
may not be exactly obtained since an approximation for time delay has been used. Therefore, a
correction process should be implemented. To do
this, a second order Taylor numerator approximation, es 1 s + 0.52s2 is used for the same
controller of Eq. 24. Repeating the same mathematical derivations for and 1, it can be seen
that Eq. 26b remains same but Eq. 26a is
changed to the form
1 = 1 + Kk p Kki2/KkiT Kk p + 0.5K2ki .
28
Using the higher order approximations for correction does not effect the relations for and 1. ki
Fig. 6. For K = 1, T = 1, and = 2 in Eq. 22: a ki-k p curves of 1 and , b the step responses for 1 = 3 and different values
of .
Fig. 7. The global stability region including all of the stabilizing PI parameters for the given plant in Eq. 32.
Fs = Ps/Nmss=0 = ki .
values for this case can be obtained as
ki = K2 + 2Kk p + 1T 1Kk p
/K222 1
for 1 ,
29a
where
= K22 + 2Kk p + 1T 1Kk p2
2
+ 2 2 11 + Kk p2 and
ki = 1 + Kk p/K + K
for .
29b
537
30
C f s =
Fs
ki
=
.
B s k ps + k i
31
Fig. 8. Local stability regions: a for some GM values and b for some PM values.
538
Fig. 9. a ki-k p curves for different 1 values in Table 1. b The step responses of these 1 values.
posed method is that the settling time and overshoot information of the control system are determined at the beginning before starting to design. It
is generally aimed that the time response of the
control system must have no overshoot and desired settling time. Table 1 shows the relation between ts and for the desired settling time for the
various overshoot properties. These values of the
general relation are obtained by normalizing the
characteristic polynomial of Eq. 5 for n = 2 and
= 1. For a transfer function with K = 1, T = 1, and
= 2 in Eq. 22, the step responses for = 4 and
different values of 1 selected from Table 1 are
shown in Fig. 5 where it can be seen that the maximum overshoot values given in Table 1 are exactly
met. Similarly, the step responses for 1 = 3 and
Fig. 10. a Four different PI controllers in the GM 2 region and on the 1 = 3 curve. b The unit step responses without
overshoot for the selected PI controllers.
539
Table 2
The time domain and frequency domain specifications correspond to selected four points.
kp
ki
MO %
ts s
GM
PM
3.0941
1.1573
0
6.2
2.3
38.8
2.5002
0.8216
0
8.8
2.95
47.7
2.0601
0.6142
0
10.8
3.6
54.6
1.7201
0.4768
0
12.7
4.4
60
2 finding ki = gk p , curves which have different values of settling time using Eq.
29b.
Step 3. Plotting the frequency domain performance regions together with the time domain
performance curves, thus, obtaining the FTDP
map and finding the desired PI controllers from
this map.
4. Simulation examples
4.1. Example 1
A first order process with a time delay is chosen
as
G a s =
1
es ,
5s + 1
32
540
Fig. 12. a Global and desired local stability regions. b Time domain curves related to the overshoot and settling time.
bined, the intersection local regions can be obtained satisfying both the GM and PM together.
Now, it is important that how the PI parameters
which provide the desired frequency domain performances in the local region will exhibit time domain performances. Using Eq. 29a to get the
overshoot information of the control system for
different 1 values in Table 1, Fig. 9a is obtained. According to this 1 values, the step responses are shown in Fig. 9b for k p = 1 and corresponding ki values which are computed from the
1 curves. From the step responses, one can see
that the values of the resultant overshoots are
equal to the results given in Table 1. For example,
for 1 = 1.4, the expected value of the overshoot
from Table 1 is about 10% and this value is exactly obtained as shown in Fig. 9b. Similarly, for
1 = 3 a response without an overshoot is expected
and it can be seen that which is also met.
It is vital to point out that all the values of k p
and ki obtained over any 1 curve do not necessarily give a response having its overshoot property given in Table 1. For satisfactory performance, the gain margin should be greater than 2,
and the phase margin should be between 30 and
60 18. However, the simulation results showed
that especially the gain margin is very effective on
the overshoot property. The part of any 1 curves
within the stability region for GM 2 gives k p
and ki values for which the step responses have the
overshoot values given in Table 1. Note that GM
= 2 is a boundary value and causes a time response
with a little overshoot. For example, the PI controllers which correspond to points 1, 2, 3, and 4
541
Fig. 14. Set point and disturbance responses for a points 1, b 2 and c 3.
G a s =
1
e4s .
s + 10.5s + 10.25s + 10.125s + 1
33
542
Table 3
The time domain and frequency domain specifications correspond to the selected three points.
kp
ki
MO %
ts s
GM
PM
0.2463
0.1317
5
25.2
2.6
57
0.1295
0.1194
10
29.3
2.8
58.5
0.1034
0.1055
5
31
3.1
60
iii
iv
12
13
14
15
16
17
18
19
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