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Controller Plant
R(s) X(s)
+
- C(s) G(s)
E(s) F(s)
H(s) =1
This should reduce overshoot and speed up the convergence of the output
to the desired input. However, if the desired input drifts, this strategy will
not work.
bm ( s z1 )(s z2 ) ( s zm )
Open-loop transfer function G ( s)
an ( s p1 )(s p2 ) ( s pn )
R( s )
The error is E ( s ) R( s ) X ( s ) [1 T ( s)]R( s )
1 CG
an ( s p1 )( s p2 ) ( s pn ) sR ( s )
an ( s p1 )( s p2 ) ( s pn ) s bm ( s z1 )( s z 2 ) ( s z m )( k p s ki k d s 2 )
n
n pi
n
( 1) a
i 1
P or PD
n m
n i
n n
( 1) a p k b
p m ( 1) zi
i 1 i 1
0 I (PI or PID)
0.5 1
Example: A close-loop system has C ( s)
s
and G (s)
s 1
. Determine the
response under a unit-step input.
0.5 1
Solution: T ( s) . R( s) . The output is
s ( s 1) 0.5 s
0.5 1 1 s 1
X ( s ) T ( s) R( s ) 2
s ( s 1) 0.5 s s s s 0.5
1 s 1 1 s 0.5 0.5
s ( s 0.5) 0.25 s ( s 0.5) 0.25 ( s 0.5) 2 0.25
2 2
0.5
The final output value x() lim[ sT ( s ) R ( S )] lim[
s 0 s 0 s ( s 1) 0.5
] 1
k p kd s k p e k d e
improve may generate
PD
damping noise
kp
ki
k p e k i edt e (t ) 0
may cause
PI
s instability
requires no
plant model
kp
ki
kd s k p e ki edt k d e
may yield
PID for design,
s poor response
accurate,
more stable
most
k l (1 Ts ) kl e 1 more
T
Lag/Lead (k l e f )dt advantages
1 Ts complicated
of PI or PD