TABLE I: Typical values for parameters

Parameter Typical value Nominal value

TG 1 -2 1.5 s
KG 0.7 -1 0.8
KA 10 - 400 10
TA 0.02-0.1 0.05S
KE 10 - 400 10
TE 0.5 - 1 0.5 s
KS 0.02 - 0.1 0.1 Fig. 2. The signal flow graph of the AVR system
TS 0.35 2.2 - 0.4 S
TC 0.01 - 0.06 0.05 s
C and D for AVR system with PID controller will be given as
follows:
A A VR system with stabilizer
One of the prime reasons for the utilization of a stabilizer in 0 1 0 0 0

AVR system is to increase the relative stability. By choosing 0 0 1 0 0

Y=[VTI], U=[vR] and X= [VT VF VA VS VM], matrices A, B, C and A= 0 0 0 1 0 (13)

D for AVR system with stabilizer will be given as follows: 0 0 00 1
1 KG 0 0 0 -aO al -a2 -a3 - a4
TG TG
0 1 KE 0 0 B= [0 0 0 0 1] (14)
TE TE C = [b. b1 b2 b3 o]T (15)
A= 0 0 1 KA KA (3)
TA TA TA a + + + (16)
0 Ks
TSTE
KSKE
TETS Ts
1 0 4TG TC TA TE
Kc 0
0 0 a3 TT+ + + + + (17)
Tc Tc TGTC TATE TETC TGTE TATC TGTA
B =[ 0 K A /TA 0 °] (4) a a2 TA +TE +TG +TC +KDKAK EKGKC (18)
(1)
c = [1 o o o 0o (5)
TATETGTC
The characteristic equation is as follows: KKA KEKGKC (09)
AS(S) = S++ cs4 + cs3+ 2s2 + c1s + c0 (6) a1 TATETGTC
where: a KIKAKEKGC (20)
1
+
1
+
1
+
1
+
1
(7)
TATETGTC
c44TA
TS TE TG TC
b
KAKEKGKD (21)
c3 ( + )( + + )+ + + +
TG TC TE TS TA TGTC TSTA TETS TATE b KA EK G(KPT CKRD)
K

(22)
KSK EKA (8)
2
TATETGTC
TATETS
b KAPK)EKG
(KITc + K P) S (23)
~+
c2 (-TG + TC )( TATS + TETA )+ ~(- + -)
TSTE TGTC TA TS
bo KIK AKE K C
TATETGTC
(24)
KSK AKE ( + )+
TATETS TE TG TATETS when a PID controller is used for the AVR system, the closed-
1
+ (
KCKGKEKA 1 ~( 1 ~+ 1 ~~+ ~)
I
-) +
1
C E +
loop transfer function from VT(S) to VR(S) is given by:
TATSTE TG TC TGTATCTE TGTC TATS TETA TSTE T(s) 1 KAKEK G[KT 3+ + KpTc)S3 + (KITc + Kp)s +K ] 5
AT (S) TATCTETG,
+ KSKEKA (10) where AT(S) is the closed loop characteristic polynomial and
TGTSTATCTE
given by:
A1(S) =S5 + a4s4 + a3s3 + a2s2 + als + aO (26)
TGTATCTET (11)
The closed-loop transfer function for AVR system with III. EIGENVALUES ANALYSIS
stabilizer is given by:
1 K AKEK G S2 1
T(s) [[s )s+ (12) The transient response and closed-loop feedback control
AS (s) TGTETA T +
TC TSTC 1 system can be described in terms of the location of the poles of
the transfer function. In the simplified AVR system without
B A VR system with PID controller stabilizer and PID controller, the steady-state response is:
The signal flow graph of the AVR system with a PID V(°°)= KCAKEKG (27)
controller is shown in Fig. 2. It is a fifth-order system and by
choosing five state variables (X1, X2, X3, X4, X5), matrices A, B,

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