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Documente Cultură
1
Department of Electronics and Communication Engineering, Shahbad Daulatpur, Delhi Technological
University, Bawana Road, DL - 42, Delhi, India
2
Department of Electronics Engineering, Indian School of Mines,
Dhanbad 826004, Jharkhand, India
DOI: 10.15598/aeee.v13i2.1164
Abstract. This paper presents Operational transresis- ical examples of conventional controllers, and neuro-
tance amplifier (OTRA) based proportional-integral- fuzzy controllers are representatives of the unconven-
derivative (PID) controller with independent electronic tional class. The controllers based on proportional-
tuning of proportional, integral, and derivative con- integral-derivative (PID) algorithm are most popularly
stants. The configuration can be made fully integrated used in the process industries. These are used to con-
by implementing the resistors using matched transistors trol various processes satisfactorily with proper tuning
operating in the linear region. Theoretical propositions of controller parameters. Generally operational ampli-
are verified through SPICE simulations using 0.18 m fiers (OPAMPs) are used to design classical analog con-
process parameters from MOSIS (AGILENT). In or- trollers [1], [2]. However the OPAMPs, being voltage
der to demonstrate the workability of the proposed con- mode circuit, have their limitations of constant gain
troller, its effect on step response of an OTRA based bandwidth product (fT ) and low slew rate. This in-
second order system is analyzed and presented. accurately limits the speed of the OPAMP-based con-
trollers and might influence the dynamics of the system
[3]. It is well known that inherent wide bandwidth al-
most independent of closed loop gain; greater linearity
Keywords and large dynamic range are the key performance fea-
tures of current mode technique [4]. Therefore, the
OTRA, PD, PI, PID, second order system. current mode building blocks would be a good alter-
native of OPAMP for designing the analog controllers.
Literature survey reveals that number of current mode
circuits have been reported relating to PID controllers
1. Introduction [3], [5], [6], [7], [8]. Operational transconductance am-
plifier (OTA) based controllers are proposed in [5] and
A controller monitors and modifies the operational con- are electronically tunable. However, these provide volt-
ditions of a given dynamical system. These opera- age output at high impedance making a buffer nec-
tional conditions are referred to as measured output essary to drive the voltage input circuits. The cur-
variables and can be modified by adjusting certain in- rent difference buffered amplifier (CDBA) based PID
put variables. The controller calculates the difference controller presented in [6] uses an excessively large
between a measured output variable and a desired set number of active and passive components. References
point as an error value and attempts to minimize the [3], [7], [8] present current conveyor II (CCII) based
error by adjusting the process control inputs. In gen- PID controllers. Two different structures are proposed
eral controllers can be classified as (i) conventional and for voltage and current outputs respectively in [7], [8]
(ii) non-conventional controllers. For conventional con- whereas [3] presents only voltage output configuration.
trollers, such as PID controller, a prior knowledge of All the CCII based voltage mode designs deliver output
the mathematical model of the process to be controlled voltage at high impedance and are thus not suitable for
is required in order to design a controller whereas for driving voltage input circuits. The OTRA is yet an-
unconventional controllers this information is gener- other, relatively recently proposed current mode build-
ally not needed. P, PI, PD, and PID are few typ-
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No. of
Active Passive Output Electronic
Reference Active Outputs
block used elements Impedance Tunability
block used
[1] Opamp 4 8R, 2C Voltage Low No
[3] Opamp 1 3R, 3C Voltage Low No
[5] OTA 8 2C Voltage High Yes
[6] CDBA 4 8R, 2C Voltage Low No
Fig. 2: Current High No
[7] CCII 3 4R, 2C
Fig. 3: Voltage High No
Fig. 2: Current High No
[8] CCII 3 4R, 2C
Fig. 3: Voltage High No
Proposed
OTRA 2 4R, 3C Voltage Low Yes
work
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1) Proposed PI Controller
Rf
Kp = , Kd = s C R. (8)
The PI controller comprises of proportional and in- R
tegral actions and can be derived from the controller
From Eq. (8) it is clear that by varying R, Kp value
block of Fig. 2 if the derivative block is excluded. The
can be adjusted independently of Kd and by simulta-
transfer function GP I (s), of the PI controller so ob-
neous variation of Rf and R such that Rf /R remains
tained is given by:
constant, Kd can be independently controlled.
Ki
GP I (s) = Kp + . (3)
s
Figure 4 shows the proposed PD controller circuit 2.2. MOS-C Implementation and
and the transfer function of this controller is obtained Electronic Tuning of the
as: Proposed Controllers
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(a)
1 (b)
R= , (11)
W
n Cox (Va Vb ) Fig. 6: MOS implementation of (a) linear resistance, (b) pro-
L posed PID controller.
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R0
Rm = , (16)
1 + s0
1
Rm (s) . (17)
s Cp
Vo R4 R4 C 1
GP ID (s)N I = = +
Vi R2 (1 + s Cp2 R4 ) R3 (C3 + Cp1 ) (1 + s Cp2 R4 )
(18)
R4 s C 2 R4
+ + ,
s R1 R3 (C3 + Cp1 ) (1 + s Cp2 R4 ) (1 + s Cp2 R4 )
Vo R4 R4 C 1
= +
Vi R2 (1 + s (Cp2 Y ) R4 ) R3 (C3 + Cp1 ) (1 + s (Cp2 Y ) R4 )
(19)
R4 s C2 R4
+ + .
s R1 R3 (C3 + Cp1 ) (1 + s (Cp2 Y ) R4 ) (1 + s (Cp2 Y ) R4 )
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V1 0 (1 + s C1 R1 ) (1 + s C3 Rm1 )
= , (26)
Vi 1
R1 (1 + s C1 Rp1 ) Rm1 + s C3
(1 + s C1 R1 ) (1 + s C3 Rm1 ) Vi
Vi 0 = , (27)
R1 (1 + s C1 Rp1 ) (s C3 )
V1 0 R2 + Vi R3 (1 + sC2 R2 ) V1 0 R2 + Vi R3 (1 + sC2 R2 )
Ip2 = =
R2 Rp2 + R2 R3 + Rp2 R3 (1 + sC2 R2 ) R2 (Rp2 + R3 ) + Rp2 R3 (1 + sC2 R2 )
V1 0 R2 + Vi R3 (1 + sC2 R2 ) V1 0 R2 + Vi R3 (1 + sC2 R2 )
= (28)
R2 R3 + Rp2 R3 (1 + sC2 R2 ) R3 (R2 + Rp2 ) + sC2 R2 R3 Rp2
V1 0 Vi (1 + sC2 R2 )
+ ,
R3 (1 + sC2 Rp2 ) R2 (1 + sC2 Rp2 )
(1 + sC1 R1 )(1 + sC3 Rm1 )Vi Vi (1 + sC2 R2 )
Ip2 = + . (29)
R1 R3 (1 + sC2 Rp2 )(1 + sC1 Rp1 )(sC3 ) R2 (1 + sC2 Rp2 )
Substituting Ip1 and In1 , Eq. (24) results in Eq. (25). It is observed from Eq. (34) that the nonzero val-
As R1 >> Rp1 and Rm1 >> Rn1 , Eq. (25) yields to ues of input resistances at n and p terminal of OTRAs
Eq. (26). It can be further simplified to Eq. (27) since result in introduction of parasitic pole and zero in pro-
1/Rm1 << 1. portional and integral terms and the derivative term
consists of a parasitic pole. The numerical values of
From Fig. 8 Ip2 , the p terminal current of OTRA2,
poles and zeros are very high as parasitic resistances
can be written as Eq. (28), where Rp2 is the p terminal
of OTRA are very small. Thus, the parasitic zero and
resistance of OTRA2. Substituting for from Eq. (27)
pole frequencies would not practically influence the sys-
Ip2 can be expressed as Eq. (29)
tem performance.
Similarly considering Rn2 to be the n terminal resis-
tance of OTRA2 the In2 can be represented as Eq. (30)
shown bellow:
Vo 4. Simulation Results
In2 = , (30)
R4 + Rn2
and the output voltage of OTRA2, can be computed The theoretical propositions are verified through
as: SPICE simulations using 0.18 m CMOS process pa-
Vo = Rm2 (Ip2 In2 ) Ro2 In2 , (31) rameters provided by MOSIS. The CMOS implemen-
tation of the OTRA, proposed in [13] with supply
where Rm2 and Ro2 are transresistance gain and output voltages 1.5 V was used for simulation. For per-
resistance of OTRA2 respectively. Since Rm2 >> R2 , formance evaluation of the proposed controllers, their
so Rm2 + Ro2 Rm2 and hence time domain responses are obtained. The ideal and
Vo Rm2 (Ip2 In2 ) , (32) simulated time domain responses of the proposed PI
controller of Fig. 3, for a 50 mV step input voltage
R4 (1 + sC1 R1 )(1 + sC3 Rn1 )Vi with 20 ns rise time, are shown in Fig. 9(a). The
Vo =
R1 R3 sC3 (1 + sC1 Rp1 )(1 + sC2 Rp2 ) passive component values of the PI controller are cho-
(33) sen as R = 50 k, C = 4 pF and Cf = 2 pF and
R4 (1 + sC2 R2 )Vi the corresponding controller parameters are computed
+ ,
R2 (1 + sC2 Rp2 ) to be Kp = 2, Ki = 107 s1 . For transient analy-
and the transfer function Vo /Vi modifies to: sis of PD controller of Fig. 4, a 50 mV peak trian-
gular input voltage is applied. The ideal and sim-
Vo 1 R4 C1 (1 + sC3 Rn1 ) R4 ulated transient responses are depicted in Fig. 9(b).
= +
Vi (1 + sC2 Rp2 ) R3 C3 (1 + sC1 Rp1 ) R2 The component values for the PD controller are cho-
sen as R = 10 k, Rf = 20 k and C = 20 pF and
R4 (1 + sC3 Rn1 ) the controller parameters are computed to be Kp = 2,
+
R1 R3 sC3 (1 + sC1 Rp1 ) (1 + sC2 Rp2 ) Kd = 0.4 s. For the PID controller of Fig. 5, values
of the capacitors are taken as C1 = C3 = 10 pF and
sC2 R4 C2 = 0.05 pF. The resistive component values are cho-
+ .
(1 + C2 Rp2 ) sen as R1 = R2 = R3 = R4 = 50 k. Using these
(34) passive component values various controller parame-
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(a) PI (b) PD
(c) PID
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ters are computed as Kp = 2, Ki = 2 106 s1 and The standard characteristic polynomial, D(s), of sec-
Kd = 2.5 ns. For time domain analysis, a 50 mV step ond order system [12] is given by:
signal with 10 ns rise time is applied. The transient re-
sponse of proposed PID controller is shown in Fig. 9(c). D(s) = s2 + 2n s + 2 n , (37)
It is observed that for all the controllers the simulated
where n is the natural frequency of oscillations and
and ideal responses are in close agreement.
represents the damping factor. Comparing the denom-
inator of Eq. (35) with Eq. (37) the n and for the
LPF can be computed as:
5. Performance Evaluation of
K 1
the Proposed Controllers n =
RC
and = . (38)
2 K
To evaluate the effect of various controllers, the per- In the study that follows, the step response of the
formance of a second order plant is analyzed by form- open loop second order system (LPF) is analysed first
ing a closed loop system as shown in Fig. 10(a) where and then the effect of various proposed controllers on
GP (s) represents the open loop transfer function of a this second order system is observed by forming closed
unity feedback system. For OTRA based realization loop with controllers.
of the closed loop system the low-pass filter (LPF)
presented in [14] is used and is modified as shown For the second order system shown in Fig. 10(b),
in Fig. 10(b). The OTRA1, resistors R1 , R2 , along the passive component values are chosen as
with capacitors C1 and C2 form the second order plant Ra = Rb = 20 k, R1 = R2 = R3 = 2 k, and
whereas OTRA2 along with resistors Ra and Rb is used C1 = C2 = 20 pF. The fn and for the LPF can be
as subtractor thereby forming the error signal. The cir- computed as 3.98 MHz and 0.5 respectively.
cuit of Fig. 10 can also be made electronically tunable
by implementing all the related resistors using MOS
transistors operating in the linear region.
The transfer function of the circuit of Fig. 10(b) us- (b) with varying
ing equal component design with R1 = R2 = R and
C1 = C2 = C can be derived as: Fig. 11: Step Response of LPF.
K
Vo (s) R2 C 2
= 2 s K
, (35) To observe the step response of the LPF a step in-
Vi (s) s + CR + R2 C 2 put of 50 mV is applied, and the simulated response is
shown in Fig. 11(a). The effect of damping ratio, on
where
Rb the step response of the second order LPF is shown in
K= . (36) Fig. 11(b). To change , Rb is kept constant while Ra
Ra
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6. Conclusion
(c) with variable Kd for PD controller. Operational transresistance amplifier based PI, PD and
PID controllers have been presented which possess the
feature of independent tuning of proportional (Kp ),
derivative (Kd ) and integral (Ki ) constants. By imple-
menting the resistors using MOS transistors operating
in linear region MOS-C equivalent of the controllers
can be obtained which are suitable for full integration.
This also results in reduced chip area and power con-
sumption as compared to passive resistors. To verify
the functionality of the proposed controllers their ef-
(d) PID controller. fect on a second order closed loop system was analyzed
through simulations. The simulated results are in line
Fig. 12: Response of a second order system. with the proposed theory. The performance analysis
reveals that PD controller improves percentage over-
shoot, PI controller refines settling time while PID as
is varied electronically by changing gate voltages of the a combination of the two, enhances transient as well as
transistors used for implementing it. It is observed that the steady-state response of the system.
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[3] MICHAL, V., C. PREMONT, G. PILLONET and [12] GOLNARAGHI, M. and B. C. KUO. Automatic
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4. ISBN 978-1-4244-6318-3. DOI: 10.1109/RA- modified CMOS differential operational transre-
DIOELEK.2010.5478563. sistance amplifier (OTRA). AEU - International
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[4] TOUMAZOU, C., F. J. LIDGEY and D. G.
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HAIGH. Analogue IC Design the Current Mode
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Approach. 1st ed. London: Peter Peregrinus on
behalf of the Institution of Electrical Engineers, [14] GOKCEN, A., S. KILINC and U. CAM. Sec-
1990. ISBN 08-634-1297-1. ond Order Analog Filter Design Using a Single
OTRA Suitable for Integration. In: 15th Signal
[5] EDRAL, C., A. TOKER and C. ACAR. OTA-
Processing and Communications Applications. Es-
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About Authors
[6] KESKIN, A. U. Design of a PID Controller
Circuit Employing CDBAs. International Jour- Rajeshwari PANDEY did B.Tech. (Electronics and
nal of Electrical Engineering Education. 2006, Telecommunication) from University of Allahabad,
vol. 43, no. 1, pp. 4856. ISSN 0020-7209. India, M.E. (Electronics and Control) from Birla In-
DOI: 10.7227/IJEEE.43.1.5 stitute of Technology and Sciences, Pilani, Rajasthan,
and Ph.D. from Delhi University, India.Currently, she
[7] MINAEI, S., E. YUCE, S. TOKAT and O.
is Associate Professor in Department of Electronics
CICEKOGLU. Simple Realizations of Current-
and Communication Engineering, Delhi Technological
Mode and Voltage-Mode PID, PI and PD Con-
University, Delhi. Her research interests include
trollers. In: Proceedings of the IEEE International
Analog Integrated Circuits, and Microelectronics.
Symposium on Industrial Electronics. Dubrovnik:
IEEE, 2005, pp. 195198. ISBN 0-7803-8738-4.
Neeta PANDEY did M.E. in Microelectronics
DOI: 10.1109/ISIE.2005.1528911
from Birla Institute of Technology and Sciences,
[8] YUCE, E., S. TOKAT, S. MINAEI and O. Pilani, Rajasthan, India and Ph.D. from Guru Gobind
CICEKOGLU. Low-Component-Count In- Singh Indraprastha University Delhi, India. At
sensitive Current-Mode and Voltage-Mode present she is Associate Professor in Department of
PID, PI and PD Controllers. Frequenz. 2006, Electronics and Communication Engineering, Delhi
vol. 60, no. 34, pp. 6570. ISSN 2191-6349. Technological University, Delhi. A life member of
DOI: 10.1515/FREQ.2006.60.3-4.65. ISTE, and member of IEEE, USA, she has published
papers in International, National Journals of repute
[9] CHEN, J. J., H. W. TSAO and C. C. and conferences. Her research interests are in Analog
CHEN. Operational transresistance amplifier us- and Digital VLSI Design.
ing CMOS technology. Electronics Letters. 1992,
vol. 28, no. 22, pp. 20872088. ISSN 0013-5194. Saurabh CHITRANSI did B.Tech. (Electronics
DOI: 10.1049/el:19921338. and Communication) from Uttar Pradesh Technical
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THEORETICAL AND APPLIED ELECTRICAL ENGINEERING VOLUME: 13 | NUMBER: 2 | 2015 | JUNE
University of Lucknow, India and M.Tech. (VLSI De- (IGNOU), Kolkata; Advanced Training Institute for
sign and Embedded System) from Delhi Technological Electronics and Process Instrumentation(ATI-EPI),
University, Delhi, India. Currently, he is Executive Hyderabad; North Eastern Regional Institute of Sci-
Engineer in Diffusion and CVD Department, SITAR, ence Technology(NERIST), Nirjuli and Delhi College
DRDO, Bangalore, India. His research interests of Engineering(DCE), Delhi in various capacities. He
include Analog Integrated Circuits, MEMS and Silicon has served the Department of Electronics Engineering,
process integration. Indian School of Mines, Dhanbad as Head of the
Department and at present Professor of the same
Sajal K. PAUL did B.Tech., M.Tech., and Ph.D. in department. His research interest includes Microelec-
Radio Physics and Electronics from the Institute of toncic Devices, Electronic Properties of Semiconductor
Radio Physics and Electronics, University of Calcutta. and Bipolar and MOS Analog Integrated Circuits. He
He has served Webel Telecommunication Industries, has more than 60 research publications in International
Kolkata; Indira Gandhi National Open University and National journals of repute and conferences.
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