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Automatic Control Systems Lecture 12

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Automatic Control Systems Lecture 12

Uploaded by

Radmila Koleva
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© © All Rights Reserved
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Automatic Control Systems

Lecture-12
Describe Types of System Controllers

Lecturer: Eng. Jean Felix Manirakiza (M.Eng)


Rwanda Polytechnic/IPRC Gishari
Session Objectives
By the end of this session, learners will be able to:
 Define a system controller
 Classify system controllers based on control action
 Explain advantages of each type of controller
 Find the transfer function of each type of controller
Definition of a System Controller
A controller compares controlled values with the desired values and
has a function to correct the deviation produced.

Comparison of the actual value of plant output with the desired value
is carried out by an automatic controller. It determines the deviation
and generate a control signal to reduce the deviation to zero or a small
value.
The system block diagram with a controller

https://www.youtube.com/watch?v=wkfEZmsQqiA
Types of Controllers
Industrial controllers are classified based on the control action as follow:
• Proportional controllers [P]
• Integral Controllers [I]
• Derivative Controllers [D]
• Proportional plus Integral Controllers [PI]
• Proportional plus Derivative Controllers [PD]
• Proportional plus Integral plus derivative Controllers [PID]

Smarajit Gosh (2007), Control systems, Pearson Education, page 284


Use of Controllers
• Controllers improve steady state accuracy by reducing the steady
state errors
• As the steady state accuracy improves, the stability also improves
• They also help in reducing the offsets in the system
• Maximum overshoot of the system can be controlled
• Also, they help in reducing the noise signals produced in the system
• Slow response can be made faster
Proportional Controllers
The actuating signal is proportional to the error signal.
The error signal e(t) is the difference between the reference input r(t)
and the feedback signal.

Proportional controller is used where the error signal is weak and need
some amplification. Offset can be tolerated and load changes are small.
Transfer function of Proportional Controller
Let us consider u(t)actuating signal (output of the controller)
e(t) error signal (input to the controller)

𝑢 𝑡 ∝𝑒 𝑡
𝑢 𝑡 = 𝐾𝑝 𝑒(𝑡)
By applying Laplace transform on both sides, we get
𝑈 𝑠 = 𝐾𝑝 𝐸 𝑠 ∴ 𝐾𝑝 → 𝑃𝑟𝑜𝑝𝑜𝑟𝑡𝑖𝑜𝑛𝑎𝑙 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑈(𝑠)
The transfer function = 𝐾𝑝
𝐸(𝑠)
Advantages of Proportional Controller
• Reduce steady state error
• Makes the response of the system faster by increasing forward path
gain
• Maximum overshoot can be reduced to some extent
A system block diagram with Proportional
Controller

https://www.youtube.com/watch?v=vzajydHWqrE&t=233s
Integral Controller
Integral controller produces an output which is integral of the error
signal.

It decreases steady state error but stability is low.


Transfer function of Integral Controller
Let us consider u(t)actuating signal (output of the controller)
e(t) error signal (input to the controller)
𝑢(𝑡) ∝ න 𝑒(𝑡)

𝑢 𝑡 = 𝐾𝑖 න 𝑒(𝑡)

By applying Laplace transform on both sides, we get


𝐸(𝑠)
𝑈 𝑠 = 𝐾𝑖 ∴ 𝐾𝑖 → 𝐼𝑛𝑡𝑒𝑔𝑟𝑎𝑙 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑠
𝑈(𝑠) 𝐾𝑖
The transfer function =
𝐸(𝑠) 𝑠
A system block diagram with Integral
Controller

https://www.youtube.com/watch?v=vzajydHWqrE&t=233s
Derivative Controller
Derivative controller produces an output which is derivative of error
signal.

Advantage

It increases the stability of the control system


Transfer function of Derivative Controller
Let us consider u(t)actuating signal (output of the controller)
e(t) error signal (input to the controller)
𝑑𝑒(𝑡)
𝑢(𝑡) ∝
𝑑𝑠
𝑑𝑒(𝑡)
𝑢 𝑡 = 𝐾𝑑
𝑑𝑠
By applying Laplace transform on both sides, we get
𝑈 𝑠 = 𝐾𝑑 𝑠𝐸 𝑠 ∴ 𝐾𝑑 → 𝐷𝑒𝑟𝑖𝑣𝑎𝑡𝑖𝑣𝑒 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑈(𝑠)
The transfer function = 𝐾𝑑 𝑠
𝐸(𝑠)
A system block diagram with Derivative
Controller

https://www.youtube.com/watch?v=vzajydHWqrE&t=233s
Proportional plus Integral (PI) Controller
It produces an output which is the combination of outputs of
proportional and integral controller

Advantage

To decrease steady state error without affecting the system stability


Transfer function of Proportional plus Integral
Controller
Let us consider u(t)actuating signal (output of the controller)
e(t) error signal (input to the controller)
𝑢 𝑡 ∝ 𝑒 𝑡 + න 𝑒(𝑡)

𝑢 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 න 𝑒(𝑡)

By applying Laplace transform on both sides, we get


𝐸(𝑠)
𝑈 𝑠 = 𝐾𝑝 𝐸 𝑠 + 𝐾𝑖
𝑠
𝑈(𝑠) 𝐾𝑖
The transfer function = 𝐾𝑝 + 𝐸 𝑠
𝐸(𝑠) 𝑠
𝐾𝑖
= 𝐾𝑝 1+ 𝐸(𝑠)
𝐾𝑝 𝑠
1 𝐾𝑝
= 𝐾𝑝 1+ 𝐸 𝑠 ∴ 𝑇𝑖 =
𝑇𝑖 𝑠 𝐾𝑖
A system block diagram with Proportional plus
Integral (PI) Controller
Proportional plus Derivative (PD) Controller
It produces an output which is the combination of the outputs of
proportional and derivative controllers

Advantage
To increase the stability of the system without affecting steady state
error.
Transfer function of Proportional plus Integral
Controller
Let us consider u(t)actuating signal (output of the controller)
e(t) error signal (input to the controller)
𝑑𝑒(𝑡)
𝑢 𝑡 ∝𝑒 𝑡 +
𝑑𝑠
𝑑𝑒(𝑡)
𝑢 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑑
𝑑𝑠
By applying Laplace transform on both sides, we get
𝑈 𝑠 = 𝐾𝑝 𝑈 𝑠 + 𝐾𝑑 𝑠𝑈(𝑠)
𝑈 𝑠 = 𝐾𝑝 + 𝐾𝑑 𝑠 𝑈(𝑠)
𝑈(𝑠)
The transfer function = 𝐾𝑝 + 𝐾𝑑 𝑠
𝐸(𝑠)
𝐾𝑑
= 𝐾𝑝 1 + s
𝐾𝑝
𝐾𝑑
= 𝐾𝑝 1 + 𝑇𝑑 𝑠 ∴ 𝑇𝑑 =
𝐾𝑝
A system block diagram with Proportional plus
Derivative (PD) Controller

https://www.youtube.com/watch?v=vzajydHWqrE&t=233s
Proportional plus Integral plus Derivative (PID)
Controller
It produces an output which is the combination of the outputs of
proportional, integral and derivative controllers

Advantage

To decrease steady state error and increase the system stability


Transfer function of Proportional plus Integral
plus Derivative Controller
Let us consider u(t)actuating signal (output of the controller)
e(t) error signal (input to the controller)
𝑑𝑒(𝑡)
𝑢 𝑡 ∝ 𝑒 𝑡 + න𝑒 𝑡 +
𝑑𝑠
𝑑𝑒(𝑡)
𝑢 𝑡 = 𝐾𝑝 𝑒 𝑡 + 𝐾𝑖 න 𝑒 𝑡 + 𝐾𝑑
𝑑𝑠
By applying Laplace transform on both sides, we get
𝐸(𝑠)
𝑈 𝑠 = 𝐾𝑝 𝐸 𝑠 + 𝐾𝑖 + 𝐾𝑑 𝑠𝐸(𝑠)
𝑠
𝐾𝑖
𝑈 𝑠 = 𝐾𝑝 + + 𝐾𝑑 𝑠 𝐸(𝑠)
𝑠
𝑈(𝑠) 𝐾𝑖
The transfer function = 𝐾𝑝 + + 𝐾𝑑 𝑠
𝐸(𝑠) 𝑠
𝐾𝑖 𝐾𝑑
= 𝐾𝑝 1 + + 𝑠
𝐾𝑝 𝑠 𝐾𝑝

1 𝐾𝑝 𝐾𝑑
= 𝐾𝑝 1 + + 𝐾𝑑 𝑠 ∴ 𝑇𝑖 = 𝑎𝑛𝑑 𝑇𝑑 =
𝑇𝑖 𝑠 𝐾𝑖 𝐾𝑝
A system block diagram with Proportional plus
Integral plus Derivative (PID) Controller

https://www.youtube.com/watch?v=vzajydHWqrE&t=233s
References
1. Katsuhiko Ogata (1997), Modern Control Engineering, Prentice Hall.
2. Benjamin C. Kuo (1975), Automatic Control Systems, 3rd Edition,
Prentice Hall.
3. Smarajit Gosh (2007), Control systems, Pearson Education.
4. https://www.youtube.com/watch?v=vzajydHWqrE&t=233s
5. https://www.youtube.com/watch?v=wkfEZmsQqiA
THANK YOU FOR YOUR ATTENTION!!

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