Académique Documents
Professionnel Documents
Culture Documents
• RELATIVE STABILITY
..
• How is performance measured when the
system is of an order higher than the second
order?
K
G (s)
transfer function ( s 1)( s 2)( s 10)
• K=161
20
15
10
Imaginary Axis (seconds-1)
-5
-10
-15
-20
0.174
-25
-35 -30 -25 -20 -15 -10 -5 0 5 10 15
-1
Real Axis (seconds )
..
161
KP 8.05
1* 2 *10
1 1
ess 0.1105
1 K P 1 8.05
1
K Pnew 1 17.
0.0555
K 1* 2 *10 *17 340
Lets check again on the rlocus plot
Root Locus
25
0.174
20
System: G
Gain: 347
15 Pole: -0.113 + 5.36i
Damping: 0.0211
10 Overshoot (%): 93.6
Imaginary Axis (seconds-1)
-5
-10
-15
-20
0.174
-25
-35 -30 -25 -20 -15 -10 -5 0 5 10 15
-1
Real Axis (seconds )
..
Increasing the gain:
• Reduces the steady state error
• Speeds-up the system
• Reduces damping
-50
-100
-150
-200
-90
-135
Phase (deg)
-180
System: G1
-225 Frequency (rad/s): 61.1
Phase (deg): -181
-270
0 1 2 3 4
10 10 10 10 10
Frequency (rad/s)
INTEGRAL CONTROL
DERIVATIVE CONTROL
PI Design
CONTROLLER DESIGN VIA FREQUENCY-
BASED METHOD
Magnitude (dB)
-5 10
-10 5
-15 0
40 0
30 -10
Phase (deg)
Phase (deg)
20 -20
10 -30
0 -40
-1 0 1 2 -1 0 1 2
10 10 10 10 10 10 10 10
Frequency (rad/s) Frequency (rad/s)
s2
G1 ( s ) s 8
s 8 G2 ( s )
s2
THE ZEIGLER-NICHOLS TUNING
METHOD
• Can lead to the direct setting of P, PI, PD or
PID gains
Type of KP Ti Td
Controller
P T/L ∞ 0
PI 0.9T/L L/0.3 0
PID 1.2T/L 2L 0.5L
CLOSED LOOP METHOD
• Consider an open-loop transfer function G (s)
N (s)
D( s)
Controller 𝑲𝒑 𝑻𝒊 𝑻𝒅
P 0.5𝐾𝑢 − −
PI 0.45𝐾𝑢 𝑇𝑢 /1.2 −
PD 0.8𝐾𝑢 − 𝑇𝑢 /8
• Closed-loop:
C ( s) KP
R( s) s( s 1)( s 5) K P
Q ( s ) s 3 6 s 2 5s K P
..
• Routh-Hurwitz Table:
s3 1 5
s2 6 KP
s1 (30-KP)/6
s0 KP
• Ku=30
2
6 s 30 0 u 5 ; Tu
2
• Even polynomial: 5
…
1
Gc ( s ) K P (1 Td s );
Ti s
K P 0.6 K u 18, Ti Tu / 2 1.405, Td Tu / 4 0.35124
1 s 1.4235 2
Gc ( s ) 18(1 0.35124s ) 6.3223( )
1.405s s