MEE30002 Control Engineering

Tutorial 4

Topics: PID Controller design, PID Controller Tuning

1. Given a feedback control system as shown below.

+ 2 Y(s)
R(s)
- (0.2s+1)

a. Determine the output response to unit step input.

b. If the system is required to produce an output response with maximum overshoot of 10%, settling
time of not more than 0.2s due to step input, design a P controller with appropriate gain Kp to
meet this requirement.
c. If the system is required to produce an output response with maximum overshoot of 10%, settling
time of not more than 0.2s and zero steady state error to step input, design a PID controller with
appropriate gains (K p , K i and K d ) to meet this requirement.

2. A robotic laser manipulator used for surgery requires high accuracy in position and dynamic response.
Consider a laser manipulator system that uses DC motor as the actuator below:

+ 100 Y(s)
R(s)
- (s + 5)(s + 7)

a) Design a PD controller to meet the requirements as listed below

• Percentage overshoot not more than 5%

• Settling time less than 0.15s

b) Design a PID controller to meet the requirements as listed below

• Percentage overshoot not more than 5%

• Settling time less than 0.15s
• Zero steady state error to step input
3. Given a system as shown in Figure (3a) with the plant’s transfer function unknown. The plant’s
response to unit step input is shown in Figure (3b). Select appropriate P, I and D controller gain based
on Ziegler Nichols rules for tuning PID controller.

PID Controller Plant

+  1 
R -
K p 1 +

+T s
d  G(s) C
 Ti s 

Figure (3a)

Figure(3b)
4. Given a system as shown in Figure (4a) with the plant’s transfer function unknown. Select appropriate
P, I and D controller gain based on Ziegler Nichols rules for tuning PID controller.

By setting Ti = ∞ and Td = 0, It is found that the critical gain that produces sustained oscillation K cr =
60, and the critical gain response is shown in Figure (4b).

PID Controller Plant

+  1 
R -
K p 1 +

+T s
d  G(s) C
 Ti s 

Figure (4a)

Figure (4b)