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Feedback and Control Systems

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Feedback and Control Systems

DESIGN OF CASCADE COMPENSATORS USING ROOT LOCUS TECHNIQUES: PID CONTROL


Activity No. 5

I. ACTIVITY OBJECTIVES
This activity aims to
1. demonstrate the operation of proportional-integral (PI), proportional-derivative (PD) and
proportional-integral-derivative control.
2. equip the students with the skills and knowledge in using root locus techniques to design a
cascade compensator to improve the transient and steady-state response of a system.

II. INTENDED LEARNING OUTCOME


At the end of this activity, the students shall be able to design PI, PD and PID cascade compensators, as
applicable, to improve the transient response and steady-state error performance of feedback control
systems.

III. BACKGROUND INFORMATION


The transient response and steady-state error performance of a given control system can be improved by
compensating the system, either in cascade or in feedback. This activity focuses on the cascade
compensation of the system.

In the discussion, a constant gain cascaded to the plant provides faster transient response and improved
steady-state error performance. This is called proportional control or proportional compensator. This is
because the constant gain amplifies the error or actuating signal which drives the plant faster, making its
output follow the input faster. However, further improvements in the transient response and steady-state
error can be achieved when differentiators and integrators are used.

To drive the error to zero, a pure integral term can be multiplied to the plant, which increases its system
type. Such can be accomplished via a cascade compensator which is a parallel combination of a pure gain
and an integrator. This compensator is called a proportional-integral (PI) controller. It drives the steady-
state error to zero but does not generally improve the transient response of the system.

Improvement in the transient response of the system can be achieved by cascading a parallel connected
pure gain and a differentiator. The differentiator causes the error between the input and the output, whose
difference is largest at the start, to be differentiated. The process of differentiation produces the slope of the
function, which is very large when the error is also large. Thus the output of the differentiator is large when
the error is large, which, in addition to the proportional gain, drives the plant faster than when there is only a
pure gain in the loop. This method of control used to improve the transient response is called a

Activity No. 5 – Design of Cascade Compensators Using Root Locus Techniques: PID Control Page 1
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proportional-derivative (PD) control. This method of control does not generally, although in most cases it
does, improve the steady-state error performance of the system.

To improve the steady-state error and the transient response performance of the feedback system, both
methods are used simultaneously. This leads to a method of control called the proportional-integral-
derivative (PID) control.

The use of PI, PD and PID controller changes the root locus of the system. This allows more flexibility in
choosing the operating points of the system compared to the use of a pure proportional gain as controller,
which limits the operating point within the root locus of the system.

This activity first demonstrates the effect of proportional, PI, PD and PID controllers in a feedback system
then proceed with the computer aided design of cascade compensators.

IV. RESOURCES NEEDED


To perform this activity, a computer workstation with MATLAB R2012a or higher and LabVIEW 8.6 or
higher installed is required. For MATLAB, the control systems toolbox is required and for LabVIEW, the
control design and simulation and the MathScript modules.

V. LEARNING ACTIVITIES
Activity 5.1 – Proportional, PI, PD and PID controllers.
1. LabVIEW. Build the front panel and the block diagram as follows. Name this VI as act05-01.vi.

Activity No. 5 – Design of Cascade Compensators Using Root Locus Techniques: PID Control Page 2
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 Set the Configure Simulation Parameters as shown.

 Set the Pulse Signal Configuration parameters to start time to 0, amplitude to 2, offset to -1,
duty cycle to 50 and period to 200.
 Set the default values of Kp, Ki and Kd as 1, 0, and 0 respectively.
 Configure the Waveform Chart so that you can clearly see the input, output response and the
error plots.

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MATLAB. Setup the system as shown in the VI above. In MATLAB, you will check the stability and
transient response information of the system first before implementing it in LabVIEW.

2. The proportional control will be explored in this step. Run the act05-01.vi. Set the Switch button to
True. Determine the error and the step response parameters of the system when Kp = 1 and Ki and
Kd are zero. Record the results below.
Kp = 1, Ki = 0, Kd = 0
Dominant complex closed-loop
poles
Higher-ordered closed-loop
pole/s
Closed-loop zero/s
Second-order approximation
ok?
Percent overshoot
Settling time
Peak time
Rise time
Static error constant
Error

Q1.2(a) Adjust the proportional gain while maintaining Ki and Kd to zero. What happens to the
transient response and steady-state error of the system? Make sure that the system is still stable
when you record your observations.
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Q1.2(b) Using the root locus of the system, determine the value of the gain when the system
operates with a damping ratio of = . for its dominant complex conjugate poles. Also
determine the rest of the time response and steady-state error performance. Sketch the step
response below.
= . , Ki = 0, Kd = 0
Dominant complex closed-loop
poles
Higher-ordered closed-loop
pole/s
Closed-loop zero/s

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= . , Ki = 0, Kd = 0
Second-order approximation
ok?
Proportional Gain
Percent overshoot
Settling time
Peak time
Rise time
Static error constant
Error

Step response plot

Q1.2(c) Discuss the effects of proportional gain to the transient response and steady-state error
performance of the system.
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3. The proportional-integral (PI) control can be accomplished by adding a pole at the origin and a zero
nearby. The transfer function of the PI controller is
Ki s+
G (s) = Kp + = Kp
s s

.
Q1.3(a) If the transfer function of the PI controller to be used in the system is ( )= ,
determine the value of and so that the system has a damping ratio of = . .
Complete the table below and sketch the step response of the system.

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= . , Kd = 0
Dominant complex closed-loop
poles
Higher-ordered closed-loop
pole/s
Closed-loop zero/s
Second-order approximation
ok?
Proportional Gain
Integral Gain
Percent overshoot
Settling time
Peak time
Rise time
Static error constant
Error

Step response plot

Q1.3(b) What was the effect of PI control to the steady-state error of the system? How was it
possible?
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Q1.3(c) What was the effect of PI control to the transient response of the system? Are these
observations generally true?
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Q1.3(d) Place the Switch button to False to control the input manually. Turn the Input Position knob
and observe the Output Position knob, as well as the plot of the response. Take note of the time
response parameters such as overshoot and settling time, as well as the error. Comment on your
observations. Place the Switch button back to True after drawing your observations.
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4. Set the Ki to zero. The proportional-derivative (PD) controller has the transfer function
Kp
G (s) = Kds + Kp = Kd s +
Kd
The PD control will be applied to the unity feedback system whose forward transfer function is G(s) =

( )( )( )
. Change the parameters in the VI accordingly.

Q1.4(a) Determine the required so that the system will have a = . . At this , determine
the transient response and steady-state error performance of the system. Also sketch the step
response of the system.
= . , Ki = 0, Kd = 0
Dominant complex closed-loop
poles
Higher-ordered closed-loop
pole/s
Closed-loop zero/s
Second-order approximation
ok?
Proportional Gain
Percent overshoot
Settling time
Peak time
Rise time

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= . , Ki = 0, Kd = 0
Static error constant
Error

Step response plot

5. Compute the required Kd’s and Kp’s when a compensator zero is to be placed at −2, −3 and −4.
Then adjust the value of Kd accordingly.

Q1.5(a) Complete the table below, which corresponds to the performance of the PD compensated
system.
= . , Ki = 0, = . , Ki = 0, = . , Ki = 0,
=− =− =−
Dominant complex closed-
loop poles
Higher-ordered closed-
loop pole/s
Closed-loop zero/s
Second-order
approximation ok?
Proportional Gain
Derivative gain
Percent overshoot
Settling time
Peak time
Rise time
Static error constant
Error

Q1.5(b) Discuss the effects of PD control to the system to the transient response and steady-state
error performance of the system based on the data gathered above.
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6. The PID controller has the transfer function


Ki Kd s + s +
G (s) = Kp + + Kds =
s s
which puts two zeros and a pole at the origin. In this step, the effect of PID control on the unity
feedback system whose forward transfer function is G(s) = ( )( )( )
is to be explored.

Q1.6(a) Determine the value of the proportional gain so that the system above has an overshoot of
%. From here, determine the step response and steady-state error performance of the system
with just the proportional gain.
% = , Ki = 0, Kd = 0
Dominant complex closed-loop
poles
Higher-ordered closed-loop
pole/s
Closed-loop zero/s
Second-order approximation
ok?
Proportional Gain
Percent overshoot
Settling time
Peak time
Rise time
Static error constant
Error

Step response plot

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7. A PID compensator is to be cascaded to the plant having the transfer function G (s) =
( . )( . )
. Determine the values of Kp, Ki and Kd to implement such controller.

Q1.7(a) Adjust the values of , and accordingly. Evaluate the PID compensated system
performance and complete the table below.
% =
Dominant complex closed-loop
poles
Higher-ordered closed-loop
pole/s
Closed-loop zero/s
Second-order approximation
ok?
Proportional gain
Integral gain
Derivative gain
Percent overshoot
Settling time
Peak time
Rise time
Static error constant
Error

Step response plot

Q1.7(b) Observe the effects of the PID compensator to the feedback system. Is there an
improvement in the transient response and steady-state error performance of the system with only
the proportional gain? Discuss.
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Activity 5.2 – Design of a PID compensator


1. A PID controller is to be designed for the unity feedback system shown below. The desired operating
point of the compensated system should be two-thirds of the peak time of the uncompensated system
with 20% overshoot and zero steady-state error for a step input.

MATLAB. Use the variable G to define the forward transfer function.

Then open the SISO Design GUI of MATLAB by typing in

>> sisotool

in the command window. In the Control and Estimation Tool Manager, set the Control Architecture
to the default as shown,

In the System Data menu, select the system G to be imported from the workspace (you should have
defined G as a transfer function prior to this step), by clicking the Browse button and choosing the
available transfer function model for G. Set the rest of the parameters to unity.

In the Graphical Tuning tab, set the options to the ones shown below.

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then click the Show Design Plot button. This will now show the root locus of the system. To determine
the required gain so that the system will exhibit an overshoot of 20%, right-click on the root locus then
choose Design Requirements >> New. Choose the Design requirement type as Percent overshoot
and type in 20 under the Design requirement parameters. Click OK. The 20% overshoot line
appears on the root locus. Drag the closed-loop poles towards the intersection of the line and the root
locus (you may need to adjust the limits of the axis to see the intersection – right-click on the graph
then choose Properties, then adjust the limits on the Limits tab; you may also want to zoom into the
intersection so that you can pinpoint it more accurately – just use the Zoom In and Zoom Out tools on
the tool bar).

Store the design by clicking on Store Design button. Export the design to the workspace by clicking on
File >> Export. Choose all the variables, choose the correct design to be exported in the Design
pulldown then click Export to Workspace. Just click OK when a prompt to overwrite a model appears.
Notice that there are now objects C, F, and H in the workspace.

Q2.1(a) Determine the required proportional gain so that the system operates with % overshoot.
Determine the rest of the parameters and record the results below.
Uncompensated System
Dominant complex closed-loop
poles
Higher-ordered closed-loop
pole/s
Closed-loop zero/s
Second-order approximation
ok?
Gain
Percent overshoot
Settling time
Peak time
Rise time

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Uncompensated System
Static error constant
Error

2. A PD controller is to be designed to meet transient response specifications. The design must include
the zero location and the loop gain. The compensator zero is to be added so that the PD compensated
root locus intersects the required operating point.

Q2.2(a) What will be the new complex dominant poles of the PD compensated system to meet the
transient response requirements?

Q2.2(b) Locate the compensator zero so that the root locus of the compensated system passes
through this new operating point.

3. Add this compensator zero to the root locus by right-clicking on the root locus, then choose Edit
Compensator. On the Compensator Editor window, right-click on the Dynamics pane and choose Add
Pole/Zero >> Real Zero. Choose the location of the zero as specified above. Take note of the change
in the root locus.

Q2.3(a) What is the transfer function of the PD compensator?

Q2.3(b) Simulate the compensated system. Determine the time response parameters of the
compensated system. Were the objectives of the design met? ________________________________
Uncompensated System PD Compensated System
Dominant complex closed-loop
poles
Higher-ordered closed-loop
pole/s
Closed-loop zero/s
Second-order approximation
ok?
Gain
Percent overshoot
Settling time

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Uncompensated System PD Compensated System


Peak time
Rise time
Static error constant
Error

4. After designing the PD compensator and meeting the transient response requirements, the PI
compensator is to be designed. Add a pole at the origin and a zero near the origin so that the steady-
state error will become zero because of an increase in system type.

Q2.4(a) Write down the transfer function of the PI controller you will deploy for the given system.

Q2.4(b) Simulate the PID compensated system and complete the table below. Were the
requirements met? ____________________________________________________________________
Uncompensated PD Compensated PID Compensated
System System System
Dominant complex
closed-loop poles
Higher-ordered
closed-loop pole/s
Closed-loop zero/s
Second-order
approximation ok?
Gain
Percent overshoot
Settling time
Peak time
Rise time
Static error
constant
Error

Q2.4(c) What is the transfer function of the PID compensator used to achieve the requirements set?
From there, determine the value of the proportional, integral and derivative gains of the controller.
PID Controller Transfer
Function
Proportional Gain Kp
Integral Gain Ki
Derivative Gain Kd
Q2.5(c) Plot the step responses of the uncompensated, PD compensated and PID compensated
systems on a separate sheet of paper. Put the plots on a single graph and then compare.

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VI. CONCLUSIONS

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VII. ASSESSMENT TASKS - MACHINE PROBLEMS


1. The block diagram below shows the droop control of an ac/dc conversion and power distribution
system to stabilize the dc-bus voltage. Here, G (s) is the transfer function of the controller, G (s) is
the transfer function of the controlled plant, which is a conversion and power distribution unit and H(s)
is the feedback low-pass filter. Evaluate the performance of the uncompensated system when the
controller is a simple gain block, i.e. G (s) = K, at 4.4% overshoot. Then design a cascade
compensator so that the compensated system will operate with a percent overshoot of at most 4.4%, a
peak time 20% smaller than that of the uncompensated system and zero steady-state error.
Summarize the transient response and steady-state error performance of the uncompensated and the
compensated systems, as well as produce a plot of the time response of both systems. (Nise, 2008)

2. The transfer function for an AFTI/F-16 aircraft relating angle of attack, α(t), to elevator deflection,
δ (t), is given by (Monahemi, 1992)

Activity No. 5 – Design of Cascade Compensators Using Root Locus Techniques: PID Control Page 15
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α(s) (s + 23)(s + 0.05s + 0.04)


G(s) = =
δ (s) (s − 0.7)(s + 1.7)(s + 0.08s + 0.04)
Assume the block diagram shown above for controlling the angle of attack α, design a cascade
compensator to yield zero steady-state error, a settling time of about 0.05 sec and a percent
overshoot not greater than 20%.

VIII. REFERENCES
N. Nise. (2011). Control Systems Engineering 6th Edition. United States of America: John Wiley & Sons.

R. Dorf& R. Bishop. (2011). Modern Control Systems 12th Edition. New Jersey: Prentice Hall.

IX. ASSESSMENT RUBRIC

A. Assessment rubric for the activity’s intended learning outcomes (70%)

INTENDED LEARNING
1 2 3 4 Points
OUTCOMES

The student was able


Design PI, PD and PID to design a PID
The student was able
cascade compensators, as The student was able compensator which
to obtain some of the
applicable, to improve the The student was not to design a PID meets the required
parameters of the PD
transient response and able to design compensator but was improvements in the
or PI but cannot design
steady-state error anything. not able to meet the transient response and
the PID compensator
performance of feedback design objectives steady-state error
as a whole.
control systems. (MP 1) performance of the
system.

The student was able


Design PI, PD and PID to design a PID
The student was able
cascade compensators, as The student was able compensator which
to obtain some of the
applicable, to improve the The student was not to design a PID meets the required
parameters of the PD
transient response and able to design compensator but was improvements in the
or PI but cannot design
steady-state error anything. not able to meet the transient response and
the PID compensator
performance of feedback design objectives steady-state error
as a whole.
control systems. (MP 2) performance of the
system.

Total Score

Mean Score = (Total Score /2)

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INTENDED LEARNING
1 2 3 4 Points
OUTCOMES

Percentage Score = (Total Score / 6) x 100%

A = 70% of the Percentage Score

B. Assessment rubric for the conduct of laboratory experiments (30%)

Performance Indicators 1 2 3 Points

Members follow good


Members do not follow Members follow good
and safe laboratory
Conduct experiments in accordance with good and safe laboratory and safe laboratory
practice most of the time
good and safe laboratory practice. practice in the conduct of practice at all times in the
in the conduct of
experiments. conduct of experiments.
experiments.
Members are able to
Members are able to
Members are unable to operate the equipment
Operate equipment and instruments with operate equipment and
operate the equipment and instruments with
ease instrument with
and instruments. ease and with minimum
supervision.
supervision.
The group has complete
Analyze data, validate experimental values data, validates
The group has complete
against theoretical values to determine The group has experimental values
data but has no analysis
possible experimental errors, and provide incomplete data. against theoretical
and valid conclusion.
valid conclusions. values, and provides
valid conclusion.
Total Score

Mean Score = (Total Score /3)

Percentage Score = (Total Score / 9) x 100%

B = 30% of the Percentage Score

Laboratory Rating

A B Total

Activity No. 5 – Design of Cascade Compensators Using Root Locus Techniques: PID Control Page 17

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