Figure 1: Diagrams for Design Requirements

The transfer functions of Gv (s) , G p (s ) and H (s ) are given by:

0.02
Gv ( s ) = (1)
4s  1

70
G p ( s) = (2)
50s  1

1
H (s) = (3)
12s  1

1 Open Loop Analysis

The open loop transfer function of G = Gv ( s)G p ( s) is given by:
0.02 70
G(s) = (4)
4s  1 50s  1
 1.1 Poles and Zeros of Open Loop System
System has two poles, one at s = 0.24 and the other one at s = 0.02 . Apparently,
the system has no zeros but in theory of control systems, the system has as many zeros as the
number of poles, so the open loop system has two zeros at z1,2 =  .

1.2 Transient Response of the Open Loop System

In order to analyze the transients of a system, there are many methods. First, we convert
the transfer function to the standard second order transfer function as:

n2
G( s) = 2 (5)
s  2n s  n2
So, converting the open loop transfer function in eq. 4 in standard form given by eq. 5 we get:

(0.0707) 2
G(s) = 1.4 2 (6)
s  2(1.9095)(0.0707)s  (0.0707) 2

Applying unit step to the system in eq. 6, we get:

(0.0707) 2 1
Gs ( s) = 1.4 (7)
s  2(1.9095)(0.0707)s  (0.0707) s
2

Simplifying eq. 7 to take inverse laplace of the system to study transients in time domain.
1.4 1.4( s  0.1315) 0.1315
Gs ( s) =   (8)
s ( s  0.1315)  (0.0674) ( s  0.1315) 2  (0.0674) 2
2 2

Taking inverse laplace of eq. 8, we get:

g s (t ) = 1.4  0.8606sin (0.115t  72.36o )e 0.1350t (9)

1.2.1 Rise Time

Rise time of the system can be found by the equation,
1 
tr = tan1 ( d ) (10)
d 
where,  = n . By calculating the rise time using eq. 10 we get tr = 109.8 sec .
1.2.2 Peak Time
Peak time can be found by:

tp = (11)
d
using this formula, we can found t p to be 273 sec .

1.2.3 Maximum Percent Peak Overshoot

Maximum percent overshoot for a system can be found by equation [?]:
 G(t p )  G()
Mp = (12)
G ( )

Using eq. 12, we found that the maximum % overshoot for the open loop system in eq.
6, when subjected to step input is 40% .
1.2.4 Settling Time
Settling time of any system can be found by the following equation [?]:

4
ts = (13)

Using the eq. 13, settling time of the system is found to be t s = 199.6 sec .

1.3 Steady State Error of Step Response

The steady state error of the system, when it is subjected to step input is given by:
ess (s) = lim sGs (s) (14)
s 0

We find the steady state error of eq. 7 using eq. 14 as:

(0.0707) 2 s 1
ess ( s) = 1.4 (15)
s  2(1.9095)(0.0707) s  (0.0707) s
2

and

(0.0707) 2 (0) 1
ess (0) = 1.4 (16)
(0)  2(1.9095)(0.0707)(0)  (0.0707) (0)
2

the steady state error was found to be ess (0) = 0.4 . These specifications can be analyzed from
the graph plotted using MATLAB.
 Figure 2: Open Loop Analysis of Plant using MATLAB

2 Constant Gain Controller Design

Controller, K is to be designed for the steady state error of the closed loop system is
desired to be:
100
ess (0) = = 0.9804 (17)
100  2
1
The input requirements for the controller design are such as Tsp ( s ) = and D(s ) = 0 . Hence
s
the closed loop plant simplifies to the block diagram given in figure 3.

Figure 3: Block Diagram for Constant Gain Controller Design

The close transfer function from fig. 3 can be found as:
 T KG
= (18)
Tsp 1  KGH

where H and G are given by eq. 3 and 4. Using this information and desired criteria
of the steady state error, the value of K can be found withe the help of eq. 16. The simplified
version is given as:

KG 1
0.9804 = lim s (19)
s 0 1  KGH s

the K can be the found by simplifying it to:

0.007 K
0.9804 = (20)
0.005  0.007 K
and solving above equation we get K = 0.0104 .
The step response of closed loop function with constant gain controller is shown in figure.

Figure 4: Step Response of Closed Loop System with constant Gain Controller

2.1 Transfer Functions

The transfer functions obtained in this section are formulated using ’MIMO transfer
function rules’.
 U o (s)
2.1.1 Transfer Function
Tsp ( s)

U o (s)
The transfer function is given as:
Tsp ( s)

U o ( s) Gv (s)Gc (s)
= (21)
Tsp (s) 1  Gv (s)Gc (s)G p (s) H (s)

U (s)
2.1.2 Transfer Function
Tsp ( s)

U (s)
The transfer function is given as:
Tsp ( s)

U ( s) Gc (s)
= (22)
Tsp (s) 1  Gv (s)Gc (s)G p (s) H (s)

E (s)
2.1.3 Transfer Function
D(s)

E (s)
The transfer function is given as:
D(s)

E ( s) H ( s )G p ( s )
= (23)
D( s ) 1  Gv ( s )Gc ( s )G p ( s )

T (s)
2.1.4 Transfer Function
D(s)

T (s)
The transfer function is given as:
D(s)

T ( s) G p ( s)
= (24)
D( s ) 1  Gv ( s )Gc ( s )G p ( s) H ( s )

Where transfer functions, G p (s ) , Gv (s) and H (s ) are given in eq. 1-3.

 2.1.5 Percent Overshoot

The maximum percent overshoot can be determined from eq. 12, which in this case is
0% as it can be seen from fig. 4.
3 PID Controller
3.1 PID Controller Design using Ziegler Nichols Method

Ziegler and Nichols proposed rules for determining values of the proportional gain
integral time and derivative time based on the transient response characteristics of a given plant.
Such determination of the parameters of PID controllers or tuning of PID controllers can be made
by engineers on-site by experiments on the plant. (Numerous tuning rules for PID controllers
have been proposed since the Ziegler–Nichols proposal. They are available in the literature and
from the manufacturers of such controllers.) we obtain experimentally the response of the plant
to a unit-step input. If the plant involves neither integrator(s) nor dominant complex-conjugate
poles, then such a unit-step response curve may look S-shaped. This method applies if the
response to a step input exhibits an S-shaped curve. Such step-response curves may be generated
experimentally or from a dynamic simulation of the plant.
The S-shaped curve may be characterized by two constants, delay time L and time
constant T . The delay time and time constant are determined by drawing a tangent line at the
inflection point of the S-shaped curve and determining the intersections of the tangent line with
the time axis and line c(t ) = K . The transfer function C ( s )/U ( s ) may then be approximated
by a first-order system with a transport lag as follows:

C ( s) Ke Ls
= (25)
U ( s) Ts  1

Table 1: Ziegler–Nichols Tuning Rule Based on Step Response of Plant

Type Kp Ti Td
of Controller
P T  0
L
PI T L 0
0.9
L 0.3
PID T 2L 0.5L
1.2
L

Ziegler and Nichols suggested to set the values of and according to the formula shown in
Table 1. Notice that the PID controller tuned by the first method of Ziegler–Nichols rules gives:
 T 1
Gc ( s ) = 1.2 (1   Td s) (26)
L Ti s

PID controller is designed using Ziegler Nichols tuning method for the plant using eq. 26,
the step response and the control input to the plant is shown in fig. 5 and 6 respectively. The
optimized tuning for Ziegler Nichols PID resulted in L = 25 and T = 25 and thus the PID
controller has the form:
1
(s  )2
Gc ( s) = 0.6(25) 25 (27)
s

Figure 5: Step Response of Closed Loop System with PID

 Figure 6: Control Input

3.2 PID Controller Design using Model based Approach

Model-Based Design (MBD) has been discussed for a decade’s but only in recent
years it has evolved into a complete design flow from model creation to complete end product.
With advanced simulation tools software nowadays, the introduction of graphical control
schematic entry tools and control design tools that greatly simplified the task of complex control
design and evaluation.

Model-Based Design is a process that enables fast and cost-effective development of

dynamic systems, including control systems, signal processing, and communications systems. In
Model-Based Design, a system model is at the center of the development process, from
requirements development through design, implementation, and testing.The simulation-based
approach offers a better understanding of design alternatives and trade-offs than traditional
hardware prototype-based design methodologies, enabling to optimize the design to meet
predefined performance criteria. Rather than using complex structures and extensive software
code, designers can define models with advanced functional characteristics using continuous
time and discrete time building blocks. Existing C code can be integrated with standard control
library blocks to maximize design efficiency.

The PID controller was designed using model based approach for overshoot less than
10% and settling time less than 120 sec . The step response and control input are shown in
fig. 7 and 8 respectively. The optimized tuning for model based PID resulted in K p = 1.300 ,
K d = 16 and Ki = 0.0350 thus the PID controller has the form:
0.0350
Gc ( s ) = 1.300  16s  (28)
s
 Figure 7: Step Response of Closed Loop System with PID

Figure 8: Control Input

3.3 Comparison of Ziegler Nichols based and Model based PID

Controllers
Two PID controllers, one using Zeigler Nichols and the other using model based tuning
method where designed for the plant in fig. 1. Fig. 9 shows the comparison between both of
them. It is clear from fig. 9 that Ziegler Nichols based PID controller has better transient and
steady state performance than the model based PID controller for the plant provided in fig. 1.
Figure 9: Comparison of Ziegler Nichols and Model based PID