Control Systems
Lab Instructor : Hussain Asif
Lab : 12
PID Controller Design
References
Control Systems Engineering (6th edition) by Norman S. Nise.
Objective:
To perform a trade-off study for lead compensation.
To design a PI controller and see its effect upon steady-state error
Software Required:
MATLAB
SISO Toolbox
Control System Toolbox
Introduction:
SISO Toolbox:
The Control System Designer app lets you design single-input, single-output (SISO) controllers
for feedback systems modeled in MATLAB or Simulink.
Using this toolbox, you can design controllers using:
Interactive Bode, root locus, and graphical editors for adding, modifying, and removing
controller poles, zeros, and gains.
Automated PID tuning.
Optimization-based tuning
Analyze control system designs using time-domain and frequency-domain responses,
such as step responses and pole-zero maps.
PID Controller:
A PID controller is actually a three part system:
Proportional compensation: the main function of the proportional compensator is to introduce
a gain that is proportional to the error reading which is produced by comparing the system's
output and input
Derivative compensation: in a unitary feedback system, the derivative compensator will
introduce the derivative of the error signal multiplied by a gain KD. In other words, the slope of
the error signal's waveform is what will be introduced to the output. Its main purpose is that of
improving the transient response of the overall closed-loop system.
Integral compensation: in a unitary feedback system, the integral compensator will introduce
the integral of the error signal multiplied by a gain KI. This means that the area under the error
signal's curve will be affecting the output signal. This facet of the controller will improve the
steady-state error of overall closed-loop system.
Compensation Time Domain S-Domain
Proportional 𝐾𝑃 e(t) 𝐾𝑃
d
Derivative K 𝐷 e(t) 𝐾𝐷 𝑠
dt
𝑡
𝐾𝐼
Integral 𝐾𝐼 ∫ e(x)d(x)
0 𝑠
Compensation Time Domain S-Domain
𝑡
d 𝐾𝐼
PID Controller 𝐾𝑃 e(t) + K 𝐷 e(t) + 𝐾𝐼 ∫ e(x)d(x) 𝐾𝑃 + 𝐾𝐷 𝑠 +
dt 0 𝑠
Procedure:
Use MATLAB, the Control System Toolbox, and the following steps to use SISOTOOL to perform
the design PID Controller
1. Type SISOTOOL in the MATLAB Command Window.
2. Select Import in the File menu of the SISO Design for SISO Design Task Window.
3. In the Data field for G, enter the transfer function and hit ENTER on the keyboard. Click
OK.
4. On the Edit menu choose SISO Tool Preferences and select Zero/pole/gain: under the
Options tab. Click OK.
5. Right-click on the root locus white space and choose Design Requirements/ New . . .
6. Choose Percent overshoot and type in required Percentage overshoot. Click OK.
7. Right-click on the root locus white space and choose Design Requirements/ New . . .
8. Choose Settling time and type in required Settling time. Click OK
9. Click on a red zero icon in the menu bar. Place the zero on the root locus real axis by
clicking again on the real axis.
10. Left-click on the real-axis zero and drag it along the real axis until the root locus
intersects the settling time and percent overshoot lines.
11. Drag a red square along the root locus until it is at the intersection of the root locus,
settling time line, and the percent overshoot line.
12. Click the Compensator Editor tab of the Control and Estimation Tools Manager window
to see the resulting compensator, including the gain.
Prelab:
1. How many lead compensator designs will meet the transient response specifications of
a system?
2. What differences do the lead compensators of Prelab 1 make?
3. Design a lead compensator for a unity negative feedback system with a forward transfer
K
function of G(s) = to meet the following specifications: percent
s(s+3)(s+6)
overshoot = 20%; settling time = 2 seconds. Specify the required gain, K. Estimate
the validity of the second-order approximation.
4. What is the total angular contribution of the lead compensator of Prelab 3?
5. Determine the pole and zero of two more lead compensators that will meet the
requirements of Prelab 3.
6. What is the expected steady-state error for a step input for each of the lead-
compensated systems?
7. What is the expected steady-state error for a ramp input for each of the lead-
compensated systems?
8. Select one of the lead compensator designs and specify a PI controller that can be
cascaded with the lead compensator that will produce a system with zero steady-state
error for both step and ramp inputs.
Lab:
1. Using the SISO Design Tool, create the design in Prelab 3 and plot the root locus, step
response, and ramp response. Take data to determine the percent overshoot, settling
time, and step and ramp steady-state errors. Record the gain, K.
2. Repeat Lab 1 for each of the designs in Prelab 5.
3. For the design selected in Prelab 8, use the SISO Design Tool and insert the PI
controller. Plot the step response and measure the percent overshoot, settling time,
and steady-state error. Also, plot the ramp response for the design and measure the
steady-state error.
4. Plot the step and ramp responses for two more values of the PI controller zero.
