Kuis 1 (13/11/2015) = part 1

Kuis 2 (24/11/2015) = part 1 + part 2

Kuis 3 (04/12/2015) = part 1 + part 2 + part 3
part 1

: Fundamental of Control Theory (Basic Understanding)

Brian Videos
a1 - Why Learn Control Theory
a2 - Control Systems Lectures - Closed Loop Control
a3 - Control Systems Lectures - Time and Frequency Domain
a4 - Control Systems Lectures - LTI Systems
a5 - Modeling Physical Systems, An Overview
a6 - System Identification Methods
a7 - Introduction to System Stability and Control
a8 - Stability of Closed Loop Control Systems

part 2

: Root locus ( Concept and Hand Drawing)

Brian Videos
b1 - The Root Locus Method Introduction
b2 - Sketching Root Locus Part 1
b3 - Sketching Root Locus Part 2
b4- Root Locus Plot- Common Questions and Answers
: PID ( Gain estimation/adjustment)
Brian Videos
c1 - PID Control - A brief introduction
c2 - Simple Examples of PID Control
c3 - Standard HW Problem #1_ PID and Root Locus

part 3

Final Score = best of part 1 + best of part 2 + best of part 3 + UAS

 Try sketching root locus plot for following open-loop TF

PID controller
PID: proportional,
integral and derivative
Most commonly found in
industry
>90% controller in
industry is PID controller
Simple to use, can
perform various control
tasks

The effect of Kp, Ki, and Kd

Effects of Ki with others held constant

Effects of Kp with others held constant

Kp is a dominant quantity that normally has

some nonzero value
Ki helps eliminate steady state error but too
high value could introduce overshoot and
oscillation.
Kd could help the response to reach steady
state faster but could amplify high frequency
noise, and could affect stability if set too high.

Effects of Kd with others held constant

6

PID summary

Effects of increasing a parameter independently

Parameter

Rise time

Overshoot

Steady-state error

Kp

Decrease

Increase

Decrease

Ki

Decrease

Increase

Eliminate

Kd

Minor change

Decrease

No effect in theory

PID tuning with xcos/Scilab

Call xcos from the console

Construct the following block diagram
Simulation > setup >final integration time: 10
Setting CSCOPE:
- Refresh period: 10
- Ymin and Ymax accordingly

PID tuning with xcos/Scilab (2)

3

2.5

1.5

0.5

-0.5

-1
0

10

15

20

25

30

35

40

45

50

55

60

65

70

75

80

85

90

95

100

Can you manually tune Kp, Ki, and Kd to get the

optimum shape?
- Not easy, without proper experience
- One way to aid the tuning: Ziegler-Nichols
Frequency Domain (ZNFD) method

Ziegler-Nichols method
Turn off both Ki, and Kd. So now the PID is left only
with the proportional gain Kp. We adjust Kp up to the
point that the closed-loop system starts to oscillate. At
this point, the output will swing in a constant sinusoid
motion, not growing and not dying out. Write this
value down on a paper as Ku.
Measure the period of oscillation. Write it down as Tu.
Use Table below to tune the controller parameters
Controller form

Kp

Ki

Kd

o.5Ku

PI

o.4Ku

o.5Ku/Tu

PID

o.6Ku

1.2Ku/Tu

0.075KuTu

10

Ziegler-Nichols method (2)

Obtained Ku = 333
which gives: ->
Tu= 1 sec
From the table:

Kp = 200
Ki = 400
Kd = 42

With Kp = 200; Ki = 400; Kd = 42

11
Can still adjust Ki to decrease overshoot

Industrial PID Controller

A box, not an algorithm
Auto-tuning functionality:
pre-tune
self-tune

Manual/cascade mode
switch
Bumpless transfer between
different modes, setpoint
ramp
Loop alarms
Networked or serial port

12

PID and root locus: sample problem

A diesel engine is controlled by a PID controller. It has following block
diagram. Determine the range of A for which the system is stable

Characteristic equation:

BUT not in a typical format of root locus equation -> need to rearrange

13

PID and root locus: sample problem

An open loop TF with 3 zeros

s = 0, -20.5 9.5j

Asymptotes:
r=3 -> 3 asymptotes
intersection: -13.7
Breakaway points?
Can calculate stability requirement of A
with Routh-Hurwitz

14

PID and Routh Hurwitz sample problem

Use the Zeigler Nichols method to tune a PID-controller for a
cruise control system applied in a road vehicle. Assume the
road vehicle has a unity feedback with TF as follows. And
assume that when the system oscillates with Kp only, the
period is 1 second.

Controller form

Kp

Ki

Kd

o.5Ku

PI

o.4Ku

o.5Ku/Tu

PID

o.6Ku

1.2Ku/Tu

0.075KuTu

15

PID and Routh Hurwitz sample problem

Since we need to first tune Kp so that the system oscillates, Ki
and Kd = 0

With Routh-Hurwitz:
Row 1:

82

Row 2:

10

10+40K

Row 3:

80-8K

Row 4:

10+40K

Hence we get that Ku=10 will get

the system to start oscillates

Then finally we can

get Kp, Ki, and Kd
from the table

16

Transient response analysis

Time response specs
Maximum
overshoot
ymax(t) - yss

Settling time
Time for y(t) to
settle within 5%
of yss

Rise time
Delay time
17

Routh-Hurwitz
Why we need it? because most of the time,
finding the roots of a TF is not an easy task
Purpose: to evaluate the stability of a system
by determining the location of the roots (of a
given transfer function)
It does NOT explicitly compute the roots
This method is strictly for LTI (linear timeinvariant) system with a polynomial
denominator (without sin, cos, exponential,
etc)
More useful for design purpose
18

Routh-Hurwitz (2)
Given a TF with characteristic equation/denominator

We can construct a table:

The number of sign changes in the
first column of Routh array =
the number of roots in the right
half-plane

19

Routh-Hurwitz (3)
Example #1:
TF:

Denominator: 5s3 - 10s2 + 7s + 20

Routh-Hurwitz table:
Row 1:

Row 2:

-10

20

Row 3:

17

Row 4:

20

Change of signs: 2 times

2 poles on RHP
Unstable

Evaluate the stability of characteristic

equation s4+10s3+35s2+50s+24 with
Routh-Hurwitz method
20

Routh-Hurwitz (4)
Example #2: Routh-Hurwitz for parameter design
Characteristic equation: s3+3Ks2+(K+2)s+4
Determine range of K for which the system is stable
Row 1:

K+2

Row 2:

3K

Row 3:

[3K(K+2)-4]/3K

Row 4:

For the system to be stable, the first column has

to be all positive:
3K > 0
3K(K+2)-4 > 0
21

Routh-Hurwitz (5)
Try for yourself!
Example #3: find the range of K that stabilizes
the system

Answer: 0 < K < 35

22

Sample problem: finding stable K with Routh-Hurwitz

Let's take another example:

Plot open-loop poles (and zeros)

Intersection of asymptote:

With r=3 -> 3 lines go to infinity

23

Sample problem: finding stable K with Routh-Hurwitz (2)

Compute breakaway point

For each s, check the positivity of K

24

Sample problem: finding stable K with

Routh-Hurwitz (3)

Evans root locus

25

asymptotic directions
open loop poles

20

15

10

Imaginary axis

-5

-10

-15

-20

-25

-30

-25

-20

-15

-10
Real axis

-5

10

15

25

Sample problem: finding stable K with Routh-Hurwitz (4)

Row 1:

Row 2:

Row 3:

(30-K)/6

Row 4:

Stability condition:
0<K<30

Can you calculate the s value when K is 30?

26

Trick of scilab to determine K

Click any spot on the root

locus and the K value will be
determined

27

With complex poles

For poles/zeros at real axis, angle of departure must be

0o or 180o

28

Additional rule: angle of departure

Evans root locus

asymptotic directions
open loop poles
open loop zeroes

Imaginary axis

0.5

-0.5

-1

-1.4

-1.2

-1

-0.8

-0.6

-0.4

-0.2

0.2

0.4

0.6

0.8

1.2

1.4

Real axis

29

Recap
-

L(s)

With Scilab:
evans(L)
plzr(L) -> for K=0 (no K or
open loop TF)
plzr(KL/1+KL) -> for K>0
Can you plot root locus for
following system with Scilab?

characteristic equation: used for

most root locus calculation

L(s)
F(s)
30