Design and Tuning in Control Systems GATE Study Material in PDF

In these GATE Study Notes, we discuss about the Designing and Tuning in Control Systems.
These free GATE Study Material can be downloaded in PDF. This topic forms an important
part of Controllers & Compensators chapter of Control Systems. Get familiar with concepts
such as Proportional Controllers, Derivative Controllers, Integral Controllers and
combinations thereof (Proportional Derivative Controllers, Proportional Integral
Controllers & Proportional Integral Derivative Controllers). These GATE Notes are useful
for GATE EE and GATE EC. Also useful for other exams such as BARC, IES, DRDO, BSNL etc.

Recommended Reading
Routh Hurwitz Stability Criteria
Stability of Control Systems
Time Response of Second Order Systems
Polar Plot and its Analysis
Nyquist Plot & Its Stability Criteria
Bode Plot & Relative Stability

Design & Tuning in Control Systems

Previously, we studied about system characteristics, response and properties. Now, we
will deal with the ways of tuning the system parameters. A control system is generally
required to meet three-time response specifications. These are steady state accuracy
(defined in terms of steady state error ess), damping factor (or peak overshoot to steps
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input MP) and setting time ts. For setting these values to our choice, we make use of
controllers. The controller consists of an amplifier and an error detector.
They are of two types, discontinuous and continuous type controllers.
A discontinuous Controller can be of two types, ON/OFF controller and Multi Position
Controller.
Our focus is on continuous type controllers which are classified as Proportional, Integral,
Derivative controller and combinations of these three. The combinations which are used
are Proportional + Derivative (PD), Proportional + Integral (PI) and Proportional +
Integral + Derivative (PID) Controllers. We will discuss them here one by one.

Proportional Controller
In this controller, the error is amplified using a proportional gain. It can be seen as

Now, to discuss the effect of it on the system, suppose we provide step input.
R(s) =

1
s

Steady state error without controller,

sR(s)

ess = lt

s0 1+G(s)H(s)

ess = lt

1+sT

s0 1+sT+1

1
s
1
s0 1+1+sT

= lt

s( )

1
2

Steady state error if proportional controller is included

ess

= lt

1
s
Kp

s( )

s0 1+

1+sT

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= lt

1+sT

s0 1+sT+Kp

ess =

1
1+Kp

If Kp > 1, the steady state error is reduced. However, it is not completely removed. That
unclear error is called residual error or offset error.

Integral controller
The block diagram when integral controller is applied is shown as

Ki
s

1
Ti s

Where Ti is called integral time and also defined as time of change of output caused by a
unit change of error signal.
In integral controller, the output of the controller is changed at the rate which is
proportional to the rate which is proportional to the error signal. This controller alone is
sluggish is nature, hence it decreases the overall speed of system. It improves the steady
state response.
Now, we know that steady state error for given system without controller is ess =
Now, steady state error with integral controller,

ess = lt

sR(s)

s0 1+G(s)H(s)

ess

1
s
Ki
s0 1+(
)
s(1+sT)

= lt

s( )

= lt

s(1+sT)

s0 s2 T+s+Ki

=0

Thus the steady state error for first order system gets eliminated using Integral controller.
Now, if we talk about stability, consider a second order system with integral controller.
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Characteristic equation for the above system is

1 + G(s)H(s) = 0

1+

Ki

2n

s s2 +2n s

=0

s 3 + 2n s2 + K i 2n = 0
Forming the Routh array, we get
s3

s 2 2n K i 2n
s1

K i n
2

s0

K i 2n

Since there is change of sign in first column, hence the system after integral controller
becomes unstable as the value of constants used are greater than zero.
Thus an integral error increases the type and order of the system by one, makes system
less stable, reduces steady state error and improves steady state response.

Derivative Controller
It is known as tachometer controller or rate controller. This controller is anticipative in
nature and anticipates the output even before it changes.

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Open loop transfer function after applying derivative controller,

G (s) =

KD 2n
s+2n

Hence Derivative controller reduces the system type and order by 1. It increases the steady
state error, reduces the oscillation and hence improves the transient response.
Since it is anticipating in nature hence the speed of response is very fast.

Derivative Feedback Controller

It is represented in a standard second order system as follows

Transfer function is

C
R

2n
s2 +(2n +2n KD )s +2n

(Try to derive it yourself)

If we compare to the system without Derivative feedback, then

2 n = 2n + 2n K D
= +

n KD

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Thus damping is increased in derivative feedback, hence maximum overshoot is decreased.

If we look into steady state error, suppose the system is provided with ramp input.
Steady state error without derivative feedback,

ess =

2
n

With derivation feedback, ess = lt

sR(s)

s0 1+G(s)H(s)

ess = lt s.
s0

s2 +(2n +2n KD )s

[
s2 s2 +(2

2
2
n +n KD )s+n

2n +2n KD

ess =

2n
2
n

+ KD

Hence the steady state error is increased in this case.

Proportional + Derivative (PD) Controller

The system can be represented as

Transfer function is

C
R

(1+KD )2n
s2 +(2n +KD 2n )s+2n

If we compare with standard second order system equation, then we get

2 n = 2n + K D 2n
= +

n KD

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Hence PD controller increases damping ratio. Now, if we look into steady state error
(assuming Ramp Input)
1

R(s) = s2
sR(s)

ess = lt

s0 1+G(s)H(s)
1

s(s+2n )

= lt s ( 2) [ 2
s
s +(2

2
2
n +KD n )s+n

s0

ess = , which is same as the one without PD controller.

n

Hence PD controller does not affect steady state error.

Due to increase in damping ratio, stability is increased ( phase Margin stability).
Maximum overshoot is decreased due to increase in damping ratio. Peak time increases
hence oscillations are less which leads to improved transient response. Due to decrease in
settling time also stability increases.

Proportional + Integral Controller (PI Controller)

The block diagram with PI controller is being represented as follows

Transfer function is given as

C
R

(s+Ki )2n
s3 +2n s2 +2n s+Ki 2n

(Try to derive)

For parabolic input (R(s) = 3) , steady state error is given as

s

ess = lt

sR(s)

s0 1+G(s)H(s)

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= lt

s0 s

3.s[

1
2

s+K
n
1+ s i s(s+2
n)

s+2n
2
s0 s2 (s+2n )+(s+Ki )n

= lt
ess =

2
Ki n

Since Ki > 1, by using PI Controller steady state error is reduced.

For stability, we look at characteristic equation which is
q(s) = s3 + 2n s 2 + 2n s + K i 2n = 0
Forming Routh Array, we get
s 3 1 2n
s 2 2n K i 2n
s1

23n Ki 2n
2n

s 0 K i 2n
For the system to be stable,

23n ki2n
2n

>0

2n > K i
, Ki needs to be managed such that Ki < 2n
Thus, a PI Controller increase the system type by 1, decrease steady state error. It increases
the order of the system by 1 which leads to increase in oscillations. It improves steady state
response.

Proportional + Integral + Derivative (PID) Controller

It is considered as cascade combination of PI and PD controller. It improves the overall
response using both transient and steady state response. It has the advantages of both PD
and PI controllers thus enhancing the system performance better than them.
We discussed controllers till now which are used in fine tuning of the system. In same
category we have compensators which are used for performance improvement. They will
be discussed in the next article.

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