AMME3500/9501 System Dynamics and Control

Problem Set 11

Instructions:
• Answers to be hand-written on one side of one a4 sheet.
• Clearly indicate in the top right-hand corner your name and SID.

• Answers to be submitted to your tutor at the beginning of your first

tutorial/lab session in Week 12.
• This is an individual assignment, and the answer you submit must reflect
your own work and understanding.

PID control
1. Describe the effect of each component in PID controller in your own words.
Write at most 1/3rd of a page. (3 marks)
Answer: Various possible correct answers here.
Proportional component: it can be considered as a virtual spring. A large
proportional gain usually results in reduced rise time and steady-state
error but it could also make the system overshoot and oscillate.
Integral component: it ensures zero steady state error. A large integral
gain will also make the system react faster to some constant error or
disturbance, but can result in overshoot.
Derivative component: it should behave like a virtual damper. Increasing
the derivative gain generally will reduce overshoot/oscillation. No effect
on steady-state error.
(1 mark for each)

PI control via Bode plot

2. Below is a Bode plot for the open-loop response of a system G(s).

1
 Bode Diagram
-26.5

-27

-27.5
Magnitude (dB)

-28

-28.5

-29

-29.5

-30
0
-45
-90
Phase (deg)

-135
-180
-225
-270
-315
-360
10 -1 10 0 10 1
Frequency (rad/s)

Suppose the Ziegler Nichols frequency-response test was run on this sys-
tem.
(a) Give the resulting kp and ki gains for a PI controller designed using
Ziegler Nichols rules (4 marks).
Answer:
The system has a gain margin of about 28dB at a frequency of about
5 rad/s (1 mark)
This leads to a kc = 10(28/20) ≈ 25 and Tc = 2π/5 ≈ 1.25 (1 mark)
Hence we have kp = 0.4kc = 10 and Ti = 0.8Tc = 1, which gives
ki = kp /Ti = 10 (2 marks)
(b) Give a rough sketch of the Bode plot of the resulting loop transfer
function G(s)C(s) where C(s) is your PI controller (3 marks).
Answer:
Be generous: full marks for right process even if exact numbers are
a bit off
The PI controller is C(s) = 20(s + 1)/s. The high-frequency gain
boost is 20 log10 (10) ≈ 20 (1 mark).
At frequencies below ω = 1 there is a increasing gain at lower fre-
quencies (slope -20) and a phase shift to -90 between 101 and 10−1
(1 mark)
The sketch should look something like the red line below (1 mark):

2
 Bode Diagram
20

10

Magnitude (dB)
0

-10

-20

-30
0
-45
-90
Phase (deg)

-135
-180
-225
-270
-315
-360
10 -1 10 0 10 1
Frequency (rad/s)