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PID Handout 2014

This document describes how to design PI, PD, and PID controllers for first and second order systems. It shows that a PI controller can be used for a first order plant, a PD controller for a second order plant with an integrator, and a PID controller for a general second order plant. Equations are provided to calculate the controller gain parameters based on the desired closed loop time constant and plant parameters.

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Marko Petković
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49 views

PID Handout 2014

This document describes how to design PI, PD, and PID controllers for first and second order systems. It shows that a PI controller can be used for a first order plant, a PD controller for a second order plant with an integrator, and a PID controller for a general second order plant. Equations are provided to calculate the controller gain parameters based on the desired closed loop time constant and plant parameters.

Uploaded by

Marko Petković
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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How to design a PI, PD, or PID controller for a first or second order system:

For first and second order systems, we can design PI, PD and PID controllers by imposing a
reference transfer function to the closed loop system:

Yc (s)

E(s)

K(s)

U(s)

G(s)

Y(s)

From the above diagram we can see that:


E(s) = Yc (s) ! Y (s)
Y (s) = K (s)G(s)E(s)

(1)

If we eliminate E(s) from the equation we have:


Y (s) = K (s)G(s)(Yc (s) ! Y (s))

(2)

so the transfer function of the closed loop system is:


Y (s)
K (s)G(s)
=
= T (s)
Yc (s) 1+ K (s)G(s)

(3)

having T(s) we can get K(s):


! ! =!

!(!)
!(!)(1 !(!))

(4)

Assume that the desired closed loop is a first order system with a time constant !! :
! ! =

1
1 + !! !

PI Controller
If the Plant (G(s)) is a first order system with the gain ! and time constant !:
! ! =

!
1 + !"

Then combining equations 4 and 5 with this Plant we have a controller:

(5)

! ! =

1
1 + !! !

!
1
(1
)
1 + !"
1 + !! !

!" + 1
!
1
=
(1 + )
!!! !
!!!
!"

This is a PI transfer function with:


!! =

!
!!!

!! = !

PD Controller
We can consider then a second order system with an integrator term:
! ! =

!
!(1 + !")

In order to have a first order system as the closed loop, the controller is:
! ! =

1
(1 + !")
!!!

which means the controller is a PD with:


!! =

1
!!!

!! = !

PID controller
Finally, we can consider a second order system with two poles:
! ! =

!
(1 + !! !)(1 + !! !)

the controller for such a system is:


! ! =

!! + !!
1
!! !!
(1 +
+
!)
!!!
!! + !! ! !! + !!

which is clearly a PID controller with:


!! =

!! + !!
!!!

!! = !! + !!
!! =

!! !!
!! + !!

PID$controller$could$be$represented$with$a$parallel$structure:$
$

PID$transfer$function:$! ! = !! +
$
Or$with$a$serial$structure:$

!!
!

$
+ !! !$

!!

!!

PID$transfer$function:$! ! = !! (1 + ! ! + !! ! +

$
)$

The$serial$PID$can$be$translated$to$a$parallel$structure$by$transforming$the$gains:$
$
!! + !!
!!! = !!
$
!!
!!! =$!! + !! $
!!! = !

!! !!
$
!! + !!

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