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T-wk10.SystemPolesZerosPID

This tutorial covers the concepts of system poles and zeros, including the transfer function representation and its evaluation at complex frequencies. It also discusses PID control, detailing the effects of proportional, integral, and derivative gains on system response. Exercises are provided to apply these concepts to a second-order system and a mass-spring-damper system.

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Mazin Alsaedi
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16 views

T-wk10.SystemPolesZerosPID

This tutorial covers the concepts of system poles and zeros, including the transfer function representation and its evaluation at complex frequencies. It also discusses PID control, detailing the effects of proportional, integral, and derivative gains on system response. Exercises are provided to apply these concepts to a second-order system and a mass-spring-damper system.

Uploaded by

Mazin Alsaedi
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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TUTORIAL 5 POLES & ZEROS

 
ELEC 3004/7312: Digital Linear Systems: Signals & Control
Tutorial 5 (Week 10): System Poles Zeros and PID Control
By: Ye Tian

Review: System Poles and Zeros


A general system transfer function can be expressed in a poles-zeros form:
𝐵(𝑠) 𝑠 − 𝑧! 𝑠 − 𝑧! ∙∙∙ (𝑠 − 𝑧! )
𝐺 𝑠 = =𝑘
𝐴(𝑠) 𝑠 − 𝜆! 𝑠 − 𝜆! ∙∙∙ (𝑠 − 𝜆! )
The value of the transfer function at a complex frequency 𝑠 = 𝑝 is:
𝑝 − 𝑧! 𝑝 − 𝑧! ∙∙∙ (𝑝 − 𝑧! )
𝐺 𝑠 |!!! = 𝑘
𝑝 − 𝜆! 𝑝 − 𝜆! ∙∙∙ (𝑝 − 𝜆! )
Take the i th term of the numerator 𝑝 − 𝑧! for example, it is the vector subtraction between vector 𝑝 and vector 𝑧! .
This vector 𝑝 − 𝑧! can be illustrated graphically as:

Given the vector length 𝑟! and the angle Φ! , the expression in polar coordinates is:

𝑝 − 𝑧! = 𝑟! 𝑒 !!! .

The transfer function thus can be written as:

(𝑟! 𝑒 !!! )(𝑟! 𝑒 !!! ) ∙∙∙ (𝑟! 𝑒 !!! )


𝐺 𝑠 |!!! = 𝑘
(𝑑! 𝑒 !!! )(𝑑! 𝑒 !!! ) ∙∙∙ (𝑑! 𝑒 !!! )

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TUTORIAL 5 POLES & ZEROS
 
Therefore, when the complex frequency s is close to one of the zeros 𝑧! , the amplitude of 𝐺 is a small value due to
the small 𝑟! value; when the complex frequency s is close to one of the poles, the amplitude of 𝐺 is a large value
( tends to infinity) due to a 𝑑! value which tends to zero.

Exercise  1: A  second-­‐order  system  has  a  pair  of  complex  conjugate  poles  a  s  =  −2±j3  and  a  single  zero  at  the  origin  of  the  s-­‐
plane.  Find  the  transfer  function  and  use  the  pole-­‐zero  plot  to  evaluate  the  transfer  function  at  s  =0+  j5.    (The  phase  
response  can  be  ignored  in  this  question)  

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TUTORIAL 5 POLES & ZEROS
 
Basic Feedback Equations
Exercise  2:  Write  the  expression  of  𝑦  using  𝑟 ,  𝑑 and  𝑛.  (Hint:  It  may  be  helpful  to  define  intermediate  variables,  𝑥!,!,!  in  this  
case,  for  the  output  of  the  nodes  with  signal  addition/subtraction)a  

 
 

A short PID control review and a simple exercise


For a unity feedback system:

The output of a PID controller in the time domain is as follows:

The variable ( ) represents the tracking error, the difference between the desired input value ( ) and the actual
output ( ). This error signal ( ) will be sent to the PID controller, and the controller computes both the derivative
and the integral of this error signal. The control signal ( ) to the plant is equal to the proportional gain ( ) times
the magnitude of the error plus the integral gain ( ) times the integral of the error plus the derivative gain ( )
times the derivative of the error.
The transfer function of a PID controller is

= Proportional gain = Integral gain = Derivative gain.


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TUTORIAL 5 POLES & ZEROS
 
The Characteristics of P I D Controllers

A proportional controller ( ) will have the effect of reducing the rise time and will reduce but never eliminate
the steady-state error. An integral control ( ) will have the effect of eliminating the steady-state error for a
constant or step input, but it may make the transient response slower. A derivative control ( ) will have the effect
of increasing the stability of the system, reducing the overshoot, and improving the transient response.
The effects of each of controller parameters, , , and on a closed-loop system are summarized in the table
below.
CLOSE LOOP RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR
Kp Decrease Increase Small Change Decrease
Ki Decrease Increase Increase Eliminate
Kd Small Change Decrease Decrease No Change

Note that these correlations may not be exactly accurate, because , , and are dependent on each other. In
fact, changing one of these variables can change the effect of the other two. For this reason, the table should only
be used as a reference when you are determining the values for , and .
A simple exercise:
Consider a simple mass-spring-damper system with input F and output x (the displacement of the mass):

 
 

1. What is the transfer function between X(s) and F(s)?


2. Let m=1kg, b=10Ns/m, k=20N/m, what is the closed-loop transfer function with a proportional controller
(Kp), with a proportional-integral (PI) controller (Kp, Ki) and with a proportional-integral-derivative
controller (Kp, Ki, Kd)?

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TUTORIAL 5 POLES & ZEROS
 

Answer to the example above exercise:


1. The modeling equation of this system is

Taking the Laplace transform of the modeling equation, we get

The transfer function between the displacement and the input then becomes

2. Let
M = 1 kg
b = 10 N s/m
k = 20 N/m
F=1N
Plug these values into the above transfer function

The closed-loop transfer function of the above system with a proportional controller is:

the closed-loop transfer function with a PI control is:

The closed-loop transfer function of the given system with a PID controller is:

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