University of Sana’a Analog Control System

MT311
Faculty of Engineering

Mechatronics Department

Lab11:
PID Controller and Auto-Tuning
Eng Mohammed Daba
 Quiz-3
Questions:
For the transfer function that shown in the figure, using root-
locus method, design the controller with the following design
criteria:
- Overshoot less than 10%
- Rise time less than 2 seconds
- Settling time less than 10 seconds
- Steady-state error less than 2%

Note:
- Use a lead-lag Compensator
- Or use PID Controller (pole , two zeros)
PID Controller and Auto-Tuning
 PID Control

 A PID controller continuously calculates an error value e(t) as the difference between a
desired setpoint (SP) and a measured process variable (PV) and applies a correction
based on proportional, integral, and derivative terms (denoted P, I, and D respectively)
which give the controller its name.
 A PID controller is a control loop feedback mechanism widely used in industrial control
systems and a variety of other applications requiring continuously modulated control.
 PID Control in MATLAB

 PID Controller implement a continuous- or discrete-time controller (PID, PI, PD, P, or I)

in your Simulink model.
 PID controller gains are tunable either manually or automatically.
 Automatic tuning requires Simulink Control Design software (PID Tuner or Control
System Designer).
 PID Control in LABVIEW
 PID VIs Implements a PID controller using a PID algorithm for simple PID applications
or high speed control applications that require an efficient algorithm.
 PID Control in LABVIEW
 A PID model in transfer function form.
PID Tuning
 PID Tuning
 The process of selecting the controller parameters to meet given
performance specifications is known as controller tuning.
 If a mathematical model of the plant can be derived, then it is possible to
apply various analytical techniques for determining parameters of the
controller that will meet the transient and steady-state specifications of the
closed-loop system.
 However, if the plant is so complicated that its mathematical model cannot
be easily obtained, Then we must resort to experimental approaches to the
tuning of PID controllers.
 Analytical Techniques
 Control Systems Design by the Root-Locus Method
 Control Systems Design by Frequency Response
 Experimental Approaches for The Tuning of PID Controllers
 Ziegler-Nichols Rules for Tuning PID Controllers
 Cohen-Coon tuning rules
 Relay and Augmented Relay methods
 Ziegler-Nichols Rules for Tuning PID Controllers
 Ziegler and Nichols proposed rules for determining values of the proportional
gain K, integral time Ti and derivative time Td, 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.
 There are two methods called Ziegler-Nichols tuning rules.
 Ziegler-Nichols Rules for Tuning PID Controllers
First Method
 In the first method, we obtain experimentally the response of the plant to a unit-step input.

 This method applies if the response to a step input exhibits an S-shaped curve.
 The S-shaped curve may be characterized by two constants, delay time (L) and time
constant (T).
 Ziegler-Nichols Rules for Tuning PID Controllers
First Method
 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
 Ziegler-Nichols Rules for Tuning PID Controllers - MATLAB

First Method
- Example
 Ziegler-Nichols Rules for Tuning PID Controllers
Second Method
 In the second method, we first set Ti = oo and Td = 0. Using the proportional control action
only increase K, from 0 to a critical value Kcr at which the output first exhibits sustained
oscillations.
 If the output does not exhibit sustained oscillations for whatever value K, may take, then this
method does not apply.
 Ziegler-Nichols Rules for Tuning PID Controllers
Second Method
 The critical gain Kcr, and the corresponding period Pcr, are experimentally determined.
 Ziegler and Nichols suggested that we set the values of the parameters K,Ti and Td
according to the formula shown in Table.
 Ziegler-Nichols Rules for Tuning PID Controllers - MATLAB
Second Method
- Example
 Control System Designer App

 Other auto-tuning methods.

 Computational Approach To Obtain Optimal Sets of Parameter Values.
 Design controllers using numerical optimization techniques.
 PID Auto-tuning using LABVIEW
 Built-in examples.
Hardware Implementation
 Hardware in Loop - MATLAB
 One of the options is Serial Library
 ARDUINO library in Simulink “ARDUINO IO”
 This package allows using an ARDUINO connected to the computer to perform
Analog and Digital Input and Output, (and command motors) from MATLAB.
 For more details go to:
http://ctms.engin.umich.edu/CTMS/index.php?aux=Activities_IOpack

 PWM output.
 Low pass filter.
Hardware in Loop - LABVIEW
 ARDUINO library in LABVIEW
 Arduino
 PID library in Arduino
 Arduino PID Autotune Library
 References

File associated with lab:

- ARDUINO library in Simulink “ARDUINO IO”
- Control Tutorials for MATLAB and Simulink - Simulink ArduinoIO Package.pdf

References:
- https://www.mathworks.com/help/index.html
- http://ctms.engin.umich.edu/CTMS/index.php
- Modern Control Engineering, Katsuhiko Ogata
Any Questions ?!

By: Mohammed Daba

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