Experiment No.

05
DESIGN OF CASCADE COMPENSATORS USING ROOT LOCUS TECHNIQUES: PID CONTROL

1. Objective(s):
This activity aims to
1. demonstrate the operation of proportional-integral (PI), proportional-derivative (PD) and
proportional-integral-derivative (PID) 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.
2. Intended Learning Outcomes (ILOs):
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.
3. Discussion
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
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.
4. Resources:
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 module.
5. Procedure:
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.

 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.
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.
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 d r =0.174 for its dominant complex conjugate poles. Also determine the rest of the time
response and steady-state error performance. Sketch the step response below.
Q1.2(c) Discuss the effects of proportional gain Kp to the transient response and steady-state error
performance of the system.
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+
Ki Kp
G PI ( s )=Kp+ =Kp
s s

s+ 0.1
Q1.3(a) If the transfer function of the PI controller to be used in the system is G PI ( s )=Kp ,
s
determine the value of Kp and Ki so that the system has a damping ratio of d r =0.174 . Complete the
table below and sketch the step response of the system.
Q1.3(b) What was the effect of PI control to the steady-state error of the system? How was it possible?
Q1.3(c) What was the effect of PI control to the transient response of the system? Are these observations
generally true?
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.
4. Set the Ki to zero. The proportional-derivative (PD) controller has the transfer function
Kp
(
G PD ( s ) =Kds+ Kp=Kd s + ) Kd
The PD control will be applied to the unity feedback system whose forward transfer function is
1
G ( s )= . Change the parameters in the VI accordingly.
( s +1 )( s+2 ) ( s+5 )
Q1.4(a) Determine the required Kp so that the system will have a d r =0.4 . At this Kp, determine the
transient response and steady-state error performance of the system. Also sketch the step response of the
system.
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.
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.
6. The PID controller has the transfer function
Kp Ki
Ki
G PID ( s )=Kp+ + Kds=
( Kd s2 +
Kd )
s+
Kd
s s
which puts two zeros and a pole at the origin. In this step, the effect of PID control on the unity
 s+ 8
feedback system whose forward transfer function is G ( s )= is to be explored.
( s +3 ) ( s+ 6 ) ( s+ 10 )
Q1.6(a) Determine the value of the proportional gain so that the system above has an overshoot of 20 %.
From here, determine the step response and steady-state error performance of the system with just the
proportional gain.
7. A PID compensator is to be cascaded to the plant having the transfer function
Kd ( s+ 55.92 )( s+0.5 )
G PID ( s )= . Determine the values of Kp, Ki and Kd to implement such
s
controller.
Q1.7(a) Adjust the values of Kp, Ki and Kd accordingly. Evaluate the PID compensated system
performance and complete the table below.
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.
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.

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 20 % overshoot.
Determine the rest of the parameters and record the results below.
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?
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?
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.
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.
Course: Experiment No.:
Group No.: Section:
Group Members: Date Performed:
Date Submitted:
Instructor:

6. Data and Results:

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 d r =0.174 for its dominant complex conjugate poles. Also determine the rest of the time
response and steady-state error performance. Sketch the step response below.
d r =0.174 , 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 Kp
Percent overshoot
Settling time
Peak time
 Rise time
Static error constant
Error

Step response plot

Q1.2(c) Discuss the effects of proportional gain Kp to the transient response and steady-state error
performance of the system.
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s+ 0.1
Q1.3(a) If the transfer function of the PI controller to be used in the system is G PI ( s )=Kp ,
s
determine the value of Kp and Ki so that the system has a damping ratio of d r =0.174 . Complete the
table below and sketch the step response of the system.
d r =0.174 , Kd = 0
Dominant complex closed-loop
poles
Higher-ordered closed-loop pole/s
Closed-loop zero/s
Second-order approximation ok?
Proportional Gain Kp
Integral Gain Ki
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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_____________________________________________________________________________________
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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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Q1.4(a) Determine the required Kp so that the system will have a d r =0.4 . At this Kp, determine the
transient response and steady-state error performance of the system. Also sketch the step response of the
system.
d r =0.4 , 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 Kp
Percent overshoot
Settling time
Peak time
Rise time
Static error constant
Error

Step response plot

Q1.5(a) Complete the table below, which corresponds to the performance of the PD compensated system.
d r =0.4 , Ki = 0, d r =0.4 , Ki = 0, d r =0.4 , Ki = 0,
z c =−2 z c =−3 z c =−4
Dominant complex closed-
loop poles
Higher-ordered closed-loop
pole/s
Closed-loop zero/s
Second-order approximation
ok?
Proportional Gain Kp
Derivative gain Kd
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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Q1.6(a) Determine the value of the proportional gain so that the system above has an overshoot of 20 %.
From here, determine the step response and steady-state error performance of the system with just the
proportional gain.
% OS=20, 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 Kp
Percent overshoot
Settling time
Peak time
Rise time
Static error constant
Error

Step response plot

Q1.7(a) Adjust the values of Kp, Ki and Kd accordingly. Evaluate the PID compensated system
performance and complete the table below.
% OS=20
Dominant complex closed-loop
poles
Higher-ordered closed-loop pole/s
 Closed-loop zero/s
Second-order approximation ok?
Proportional gain Kp
Integral gain Ki
Derivative gain Kd
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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_____________________________________________________________________________________
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Q2.1(a) Determine the required proportional gain so that the system operates with 20 % 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
Static error constant
Error
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.

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
Peak time
Rise time
Static error constant
Error
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?
____________________________________________________________________
PD Compensated PID Compensated
Uncompensated System
System System
Dominant complex
closed-loop poles
Higher-ordered
 PD Compensated PID Compensated
Uncompensated System
System System
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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7. Conclusion:

8. Assessment:
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 c ( s ) is the transfer function of the controller, G P ( 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 c ( 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 e ( t ),
is given by (Monahemi, 1992)
α (s ) ( s +23 ) ( s 2+ 0.05 s+ 0.04 )
G ( s )= =
δ e ( s ) ( s−0.7 ) ( s +1.7 ) ( s2 +0.08 s+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 %.
Assessment rubric for the activity’s intended learning outcomes

INTENDED
LEARNING 1 2 3 4 Points
OUTCOMES
Design PI, PD The student was
and PID cascade able to design a
The student was
compensators, as PID compensator
able to obtain The student was
applicable, to which meets the
some of the able to design a
improve the The student was required
parameters of the PID compensator
transient not able to design improvements in
PD or PI but but was not able
response and anything. the transient
cannot design the to meet the
steady-state error response and
PID compensator design objectives
performance of steady-state error
as a whole.
feedback control performance of
systems. (MP 1) the system.
Design PI, PD The student was
and PID cascade able to design a
The student was
compensators, as PID compensator
able to obtain The student was
applicable, to which meets the
some of the able to design a
improve the The student was required
parameters of the PID compensator
transient not able to design improvements in
PD or PI but but was not able
response and anything. the transient
cannot design the to meet the
steady-state error response and
PID compensator design objectives
performance of steady-state error
as a whole.
feedback control performance of
systems. (MP 2) the system.
Total Score
Mean Score = (Total Score /2)

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

Assessment rubric for the conduct of laboratory experiments

Performance Indicators 1 2 3 Points

Members follow good Members follow good
Members do not follow
Conduct experiments in and safe laboratory and safe laboratory
good and safe
accordance with good and safe practice most of the time practice at all times in
laboratory practice in the
laboratory practice. in the conduct of the conduct of
conduct of experiments.
experiments. experiments.
 Performance Indicators 1 2 3 Points
Members are able to
Members are able to
Members are unable to operate the equipment
Operate equipment and operate equipment and
operate the equipment and instruments with
instruments with ease instrument with
and instruments. ease and with minimum
supervision.
supervision.
The group has complete
Analyze data, validate
data, validates
experimental values against The group has complete
The group has experimental values
theoretical values to determine data but has no analysis
incomplete data. against theoretical
possible experimental errors, and valid conclusion.
values, and provides
and provide valid conclusions.
valid conclusion.
Total Score
Mean Score = (Total Score /3)

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