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DESIGN OF CONTINUOUS
CONTROL SYSTEMS
R(s) Y(s)
+ GC(s) G(s)
Im s Im s Im s
Re s Re s Re s
The addition
Th dditi off a zero (in
(i the
th left-half
l ft h lf s-plane)
l ) to
t the
th open-
loop transfer function has the effect of pulling the root locus to
the left,
left tending to make the system more stable and to speed
up the settling of the response.
Im s Im s Im s
Re s Re s Re s
E(s) U(s)
E(s) U(s)
The lead
lead-lag
lag compensators improve transient response and
reduces the steady-state error.
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 15
Effects of proportional controller (P)
Transfer function: GC ( s) K P
Increasing proportional gain leads to decreasing steady
steady-state
state
error, however, the system become less stable, and the POT
increases.
increases
y(t)
Ex: response of a
proportional control
system whose
plant has the
transfer function
below:
10
G ( s)
( s 2)( s 3)
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 16
Effects of proportional derivative controller (PD)
The PD controller is a
special
i l case off phase
h llead
d
compensator, the
maximum phase lead is
max=900 at the frequency
max=+.
The PD controller speed up
the response of the system,
however it also makes the
system more sensitive to
high frequency noise.
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 17
Effects of proportional derivative controller (PD)
Note:
N t Th larger
The l th derivative
the d i ti constant,
t t the
th faster
f t th
the
response of the system.
y(t)
(t)
unompensated
E(s)
U(s)
( )
PI controllers eliminate
steady state error to step
input, however it can
increase POT and settling
time
time.
uncompensated
E(s)
U(s)
y(t)
Uncompensated
s (1 / T )
Lead compensator: GC ( s ) K C ( 1)
s (1 / T )
*
s
Step 1: Determine the dominant poles 1, 2 from desired
transient response specification:
Overshoot (POT)
s1*, 2 n jn 1 2
Settling
g time ts n
Step 2: Determine the deficiency angle so that the dominant
poles s1*, 2 lie on the root locus of the compensated system:
n m
* 180 0 arg( s1* pi ) arg( s1* z i )
i 1 i 1
GC ( s )G ( s ) s s* 1
1
R(s) 50 Y(s)
+ GC(s)
( s 5)
s (s
Solution:
Because the design objective is to improve the transient
response we need to design a lead compensator:
response,
s (1 / T )
GC ( s ) K C ( 1)
s (1 / T )
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 28
Example of designing a lead compensator using RL (cont’)
4 4
t qñ 0,5 n n 11,4
n 0,5
Chose
C ose n 155
The dominant poles are:
s1*, 2 n j n 1 2 0,707 15 j15 1 0,707 2
S
Step 2 Determine the deficiency
2: f angle:
Method 1:
* 1800 arg[(10,5 j10,5) 0] arg[(10,5 j10,5) (5)]
10,5 10,5
180 arctan
0
arctan
10,5 5,5
1800 (135 117,6)
Im s
* 72,6 0 s*
j10,5
Method 2:
* 1800 ( 1 2 )
1800 (1350 117,60 ) 2 1 Re s
O
72,6
* 0 10 5
10,5 5
5
Step 3:
3 Determine the pole and the zero
ero of the compensator
(bisector method) Im s
x s* P
j10 5
j10,5
B A C 1 Re s
O
10,5 5
OPˆ x * OPˆ x *
i
sin sin
OB OP 2 2
28,12 2 2
OC OP 8,0
OPˆ x
*
OPˆ x
*
i
sin sin
2 2 2 2
s8
GC ( s ) K C
s 28
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 31
Example of designing a lead compensator using RL (cont’)
GC ( s )G ( s ) s s* 1
10,5 j10,5 8 50
KC . 1
10,5 j10,5 28 (10,5 j10,5)(10,5 j10,5 5)
10,79 50
KC 1
20,41 15 11,85
K C 6,7
C
Conclusion:
l i Th transfer
The t f function
f ti off the
th lead
l d compensator
t is:
i
s8
GC ( s ) 6,7
s 28
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 32
Root locus of the system
y(t)
uncompensated
t d
compensated
Transient response
p of the system
y
s (1 / T )
Lag compensator: GC ( s) KC ( 1)
s (1 / T )
Step 1: Determine to meet the steady-state error requirement:
KP KV Ka
* or * or *
KP KV Ka
1
Step 2: Chose the zero of the lag compensator: Re( s *
1, 2 )
T
1 1
Step 3: Calculate the pole of the compensator: .
T T
R(s) 10 Y(s)
+ GC(s)
s( s 3)( s 4)
Solution:
The compensator to be design is a lag compensator:
s (1 / T )
GC ( s) KC ( 1)
s (1 / T )
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 36
Example of designing a lag compensator using RL (cont’)
Step 1: Determine
The velocity constant of uncompensated system :
10
KV lim sG ( s) lim s 0.83
s 0 s 0 s ( s 3)( s 4)
0,017
GC ( s )G ( s ) s s* 1
s 0,1 10
KC . 1
s 0,0017 s( s 3)( s 4) s 1 j
( 1 j 0,1) 10
KC . 1
( 1 j 0,0017) ( 1 j )( 1 j 3)( 1 j 4)
KC 1,0042 1
s 0,1
GC ( s )
s 0,0017
y(t)
uncompensated
compensated
T
Transient
i t response off the
th system
t
phase phase
lead l
lag
Step 1: Design the lead compensator GC1(s) to satisfy the
transient response performances.
R(s) 4 Y(s)
+ GC(s)
s( s 0.5)
Solution
The compensator to be designed is a lead lag compensator
because the design objective is to improve the transient
response and to reduce the steady-state error.
GC ( s) GC1 ( s)GC 2 ( s)
Chose the
Ch th zero off the
th lead
l d compensator t so that
th t it eliminates
li i t
the pole at –0.5 of G(s) (pole elimination method)
1
0,5
T1
OA 0,5
sin APˆ B sin 550
AB PA 4.76 0
4.5
sin PAB sin 60
B A 1
OA AB 5
T1
–1/T
1/T1 –1/
1/T1
s 0,5
GC1 ( s ) K C1
s5
s 0,5 4
K C1 . 1
s 5 s ( s 0,5) s 2,5 j 4,33
K C1 6,25
s 0,5
GC1 ( s ) 6,25
s5
KV* 80
KV 5 1
*
KV 80 16
Calculate
C l l t KC2 using
i the
th gain
i condition:
diti GC 2 ( s )G1 ( s ) s s* 1
GC 2 (s) s s G1 (s) s s 1
*
*
( s 0,5)( s 0,16)
Final result: GC ( s ) GC1 ( s )GC 2 ( s ) 6,31
( s 5)( s 0,01)
Ts 1
The lead compensator: GC ( s ) KC ( 1)
Ts 1
Step 1: Determine KC to meet the steady-state error requirement:
K C K P* / K P or K C KV* / KV or K C K a* / K a
Step 2: Let G1(s)=KCG(s). Plot the Bode diagram of G1(s)
Step 3: Determine the gain crossover frequency of G1(s):
L1 (C ) 0 or G1 ( j C ) 1
Step 4: Determine the phase margin of G1(s) (phase margin
of uncompensated system): M 180 1 ( C )
Step 5: Determine the necessary phase lead angle to be
added to the system: M * M
max
M * is the desired phase margin, 50 200
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 51
Procedure for designing lead compensators in frequency domain
1 sin max
Step 6: Calculate :
1 sin max
Step 7: Determine the new gain crossover frequency (of
the compensated open-loop system) using the conditions:
L1 (C ) 10 lg or G1 ( jC ) 1 /
1
Step 8: Calculate the time constant T: T
C
Step 9: Check if the compensated system satisfies the gain
margin? If not, repeat the design procedure from step 5.
Note: It is possible to determine C (step 3), M (step 4) and
’C (step 7) by using Bode diagram instead of using analytic
calculation.
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 52
Design lead compensator in frequency domain - Example
R(s) 4 Y(s)
+ GC(s)
( s 2)
s(s
Step 1: Determine KC
The velocity constant of the uncompensated system:
4
KV lim sG ( s ) lim s 2
s 0 s 0 s ( s 2)
The desired velocity constant: KV* 20
KV* 20
KC K C 10
KV 2
4
Step 2: Denote G1 ( s ) K C G ( s ) 10.
s ( s 2)
20
G1 ( s )
s (0,5s 1)
Draw the Bode diagram of G1(s)
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 54
Design lead compensator in frequency domain – Example (cont’)
-20dB/dec
26
-40dB/dec
2 c=6
M
-160
S
Step 3 The gain crossover frequency
3: f off G1(s)
( )
According to the Bode diagram: C 6 (rad/sec)
St 5:
Step 5 The
Th necessary phase
h l d angle
lead l to
t be
b added:
dd d
max M * M (chose =7)
max 500 200 70
max 37 0
Step 6: Calculate
1 sin max 1 sin 37 0
4
1 sin max 1 sin 37 0
Step
p 7: Determine the new g gain crossover frequency
q y using
g
Bode plot L ( ) 10 lg 10 lg 4 6dB
1 C
-20dB/dec
-40dB/dec
+20dB/dec
-20dB/dec
-6
-40dB/dec
-40dB/dec
M *
M
-160
C
Conclusion:
l i Th designed
The d i d lead
l d compensator
t is:
i
1 0,224 s
GC ( s ) 10
1 0,056s
R(s) Y(s)
+ GC(s) G(s)
20e-0.01s
G(s) =
s( s + 4)
Solution:
R(s) Y(s)
+ GC(s) G(s)
16e-0.01s
G ( s) =
( s + 2)( s 2 + 10 s + 25)
Solution:
Ts
T 1
The lag compensator: GC ( s ) K C ( 1)
Ts 1
Step 1: Determine KC to meet the steady-state error requirement:
K C K P* / K P or KC KV* / KV or K C K a* / K a
Step 2: Let G1(s)=KCG(s). Plot the Bode diagram of G1(s)
Step 3: Determine the new gain crossover frequency C
satisfying the following condition:
1 (C ) 180 0 M *
M * is the desired phase margin, 50 20 0
Step 4: Calculate using the condition:
1
L1 ( C ) 20 lg or G1 ( j C )
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 62
Procedure for designing lag compensators in frequency domain
R(s) 1 Y(s)
+ GC(s)
s( s 1)(0.5s 1)
St 1:
Step 1 Determine
D t i KC
The velocity constant of the uncompensated system:
1
KV lim sG ( s ) lim s 1
s 0 s 0 s( s 1)(0.5s 1)
The desired velocity constant: KV* 5
KV*
KC 5
KV
Step 2: Denote G1 ( s ) K C G ( s )
5
G1 ( s )
s ( s 1)(0.5s 1)
D
Draw th
the B
Bode
d di
diagram off G1(s)
( )
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 65
Design lag compensator in frequency domain – Example (cont’)
-20dB/dec
14 -40dB/dec
-60dB/dec
1 2
St 5:
Step 5 Chose
Ch th zero off the
the th lag
l compensator:
t
1
C 0.5
T
1
Chose 0.05 T 20
T
Step
p 6: Calculate the time constant T
1 1
0,126 0,05 0,0063 T 159
T T
Step 7: It can be verified in the Bode diagram that the
compensated system satisfies the gain margin requirement.
requirement
(20 s 1)
Conclusion GC ( s ) 5
(159 s 1)
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 68
Design lag compensator in frequency domain – Example (cont’)
-20dB/dec
L1(’c)
14 -40dB/dec GM*
L’(’)
-60dB/dec
-135
R(s) Y(s)
+ GC(s) G(s)
20e-0.2 s
G(s) =
s( s + 4)
Solution:
R(s) Y(s)
+ GC(s) G(s)
16e 0.02 s
G( s)
( s 2)( s 2 10 s 25)
Solution:
u(t) y(t)
Plant
y(t)
T1 T2
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Zeigler Nichols method 1 (cont’)
R(s) Y(s)
+ PID Plant
1
PID controller: GC ( s ) K P 1 TD s
TI s
C t ll
Controller KP TI TD
P T2/(T1K) 0
PI 0.9T2/(T1K) 0.3T1 0
PID 1 2T2/(T1K)
1.2T 2T1 0 5T1
0.5T
+ KKcr Plant
y(t)
Tcr
t
R(s) Y(s)
+ PID Plant
1
PID controller: GC ( s ) K P 1 TD s
TI s
C t ll
Controller KP TI TD
P 0.5Kcr 0
PI 0.45Kcr 0.83Tcr 0
PID 0 6Kcr
0.6K 0 5Tcr
0.5T 0 125Tcr
0.125T
Step 2:
St 2 Solve
S l ththe equation(s)
ti ( ) obtained
bt i d iin step
t 1 ffor th
the
parameter(s) of the controller.
Example:
E l Design
D i PID controller
t ll so th
thatt th
the control
t l system
t
satisfies the following requirements:
Closed-loop
Closed loop comple ith =0.5
complex poles with 0 5 and n=8. 8
Velocity constant KV = 100.
R(s) 100 Y(s)
+ GPID(s)
s 2 10s 100
Balancing
g the coefficients of the equations
q ((1)) and ((2),
), we have:
100
Conclusion: GC ( s ) 12,64 1,54 s
s
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Manual tuning of PID controllers
Steady-
Para- Settling
g
Ri time
Rise ti POT state
t t St bilit
Stability
meter time
error
Small
KP Decrease Increase Decrease Degrade
change
KI Decrease Increase Increase Eliminate Degrade
g
Minor Improve if
KD Decrease Decrease No effect
change KD small
y(t)
System:
x (t ) Ax(t ) Bu (t )
y (t ) Cx (t )
Controllability matrix
C [ B AB A2 B An1 B]
S
Step 2: Write the desired characteristic equation:
n
( s pi ) 0 ((2))
i 1
pi , (i 1, n) are the desired poles
Step 3: Balance the coefficients of the equations (1) and (2),
we can find
fi d the
h state feedback
f db k gain i K.
K
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Pole placement method – Example
Problem: Given a system described by the state-state
equation:
x (t ) Ax(t ) Bu (t )
y (t ) Cx(t )
0 1 0 0
A 0 0 1 B 3 C 0 0 1
4 7 3 1
Determine the state feedback controller u (t ) r (t ) Kx(t )
so that
th t the
th closed-loop
l dl system
t h complex
has l poles l with ith
0,6;n 10 and the third pole at 20.
x (t ) Ax
A (t ) Bu (t )
Consider a system:
y (t ) Cx(t )
Th system
The t is
i complete
l t state t t observable
b bl if given
i th
the control
t l
law u(t) and the output signal y(t) in a finite time interval
t0 t tf , it is possible to determine the initial states x(t0). )
Qualitatively, the system is state observable if all state variable
x(t)
( ) influences the output y( y(t).
)
y(t)
System x (t ) Ax
A (t ) Bu (t )
y (t ) Cx(t )
It is necessary to estimate the state xˆ (t ) from mathematical
model of the system and the input-output data.
Observability matrix: C
CA
O CA2
CAn 1
+
L
xˆ (t
(t )
B ++
+ C
yˆ (t )
xˆ (t ) Axˆ (t ) Bu (t ) L( y (t ) yˆ (t ))
State estimator:
yˆ (t ) Cxˆ (t )
L [l1 l2 ln ]
T
where:
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Design of state estimators
Requirements:
The state estimator must be stable, estimation error
should approach to zero.
Dynamic response of the state estimator should be fast
enough in comparison with the dynamic response of the
control loop.
It is required to chose L satisfying:
All the roots of the equation det( sI A LC ) 0 locates
in the half-left s-plane.
The roots of the equation d t( sII A LC ) 0 are further
eq ation det( f rther
from the imaginary axis than the roots of the equation
det( sI A BK ) 0
Depending on the design of L, we have different state estimator:
Luenberger
ue be ge state obse
observere
Kalman filter
12 January 2016 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 101
Procedure for designing the Luenberger state observer
0 1 0 0
A 0 0 1 B 3 C 1 0 0
4 7 3 1
Assuming that the states of the system cannot be directly
measured. Design the Luenberger state estimator so that the
poles of the state estimator lying at 20, 20 and 50.
Balancing the coefficients of the equ. (1) and (2) leads to:
l1 3 90
3l1 l2 7 2400
7l 3l l 4 20000
1 2 3