‫بسم هللا الرحمن الرحيم‬

Faulty of Engineering
Mechatronics Engineering Dept.

Automatic Control & Applications Course

Lec 10

DR. M. Arafa 8/5/2024

Common Classification of Controllers
 Common Structure of Controller-Plant

reference
error control output
signal
signal signal signal
r(t) + Controller /
e(t) u(t) y(t)
Compensator Plant / System
Actuators
_ GC(s) G(s)

H(s)
Sensors

A Common Structure of continuous-time Controller-Plant

 Common Structure of Controller-Plant

reference
output
signal
signal
r(t) + Digital
Plant/System y(t)
A/D Controller D/A Actuators
(Computer) G(s)
_
Microprocessor /
Microcontroller
H(s)
Sensor

A Common Structure of discrete-time Controller-Plant

 Example of An Industrial Process: Temperature Control Process

➢ It is desired to maintain a working fluid at a constant temperature.

 Example of An Industrial Process: Temperature Control Process

➢ It is desired to maintain a working fluid at a constant temperature.

 Example of An Industrial Process: Level Control Process

➢ It is desired to maintain the level of a liquid in the tank at a desired setting point of level.

Controller
 Regulation Control Problem Vs. Servo Control Problem

➢ Control problems can be classified into regulation Control problems and servo Control
problems.
➢ The objective of the regulation problems is to control (or reject) disturbances , while objective
of the servo problems (tracking problems) is to keep the output close to a given reference
trajectory, e.g., minimize the difference between the output and the reference trajectory.
➢ The main difference between regulation problems and servo problems is the existence of the
reference signal 𝑟(𝑡) , when 𝑟(𝑡) ≠ 0 this is a servo problem and when 𝑟 𝑡 = 0 this is a
regulation problem.
 Common Classification of Controllers

Controllers can be classified to :

1. Classical (or traditional) Controllers

2. Modern Controllers

3. Computational Intelligence Controllers

4. ON-OFF Controllers (sequential controllers) or two position controllers

 1- Classical / traditional Controllers

➢ PI (Proportional-Integral) Controller (improves the steady-state error)

➢ PD (Proportional-Derivative) Controller (speeds up the system response and reduces the

system overshot and rise time, i.e., it improves the transient state)

➢ PID (Proportional-Integral-Derivative) Controller (improves both of transient and steady

states)

➢ Phase Lead Controller (As PD)

➢ Phase Lag Controller (As PI)

➢ Phase Lead-Lag Controller (As PID)

 2- Modern Controllers

➢ State Feedback Control (Pole placement Design)

u (t) = -K x (t)

➢ State Estimator (observer) Design

 3- Computational Intelligence Controllers

Controllers that used the following Fields :

1. Fuzzy Logic (FL) / Fuzzy Control (FC)

2. Neural Networks (NN)

3. Adaptive Neuro Fuzzy Inference System or,

Adaptive Network-based Fuzzy Inference System or,

ANFIS.
 3- Computational Intelligence Controllers

4. Evolutionary Computation Algorithms:

Heuristic Algorithms Based on the principles of Darwinian evolution observed in nature. Example of
these algorithms:

➢ Genetic algorithm (GA)

➢ Differential Evolution Algorithm (DE)

➢ Particle swarm optimization (PSO)

➢ Fish Swarm Algorithm (FSA)

➢ Ant Colony Optimization Algorithm (ACO)

➢ Artificial Bee Colony Algorithm (ABC)

➢ Shuffled frog-leaping algorithm (SFLA)

 4- ON-OFF Controllers (Sequential Controllers)

Sometimes, the control element has only two position either it is fully closed or fully open (1 or

0) (energized or de energized). This control element does not operate at any intermediate

position, i.e., partly open or partly closed position. This type of controllers is known as on-off

controllers or two position controllers.

As an Examples of these controllers:

➢ Programmable Logic Controllers (PLCs)

➢ Microcontrollers
Classical Controllers
(PI – PD - PID)
 PID Controller
➢ The basic idea of a PID controller is to choose the control law by considering the error e, change of error Δe and
𝑡
integral of error ‫׬‬0 𝑒 . 𝑑𝑡 :

𝑡
𝑑𝑒(𝑡)
𝑢𝑃𝐼𝐷 (𝑡) = 𝐾𝑃 . 𝑒(𝑡) + 𝐾𝐷 . + 𝐾𝐼 . න 𝑒 . 𝑑𝑡
𝑑𝑡 0

𝐾𝐼 Take Laplace Transform

𝑈𝑃𝐼𝐷 𝑆 = 𝐾𝑃 𝐸 𝑆 + 𝐾𝐷 𝑆 𝐸 𝑆 + 𝐸 𝑆
𝑆

𝑬(𝑺) 𝑼𝑷𝑰𝑫 (𝑺)

𝐾𝐼
𝐾𝑃 + + 𝐾𝐷 𝑆
𝑆

➢ A PID controller is used to obtain a better performance in terms of rise time, settling time, overshoot and steady-
state error.
❑ The proportional control (𝐾𝑃 𝐸(𝑆)) improves the rise time.
❑ The derivative control (𝐾𝐷 𝑆𝐸(𝑆)) improves the overshoot.
𝐾
❑ The integral control ( 𝑆𝐼 𝐸(𝑆)) eliminates the steady-state error.
 PID Controller

➢ Note that you do not need to implement all three control terms (proportional, derivative, and

integral) into a single system, if not necessary. For example, if a PI controller gives a good

enough response, then you don't need to implement derivative controller to the system. Keep

the controller as simple as possible.

 𝐾𝐼
𝐾𝑃 + + 𝐾𝐷 𝑆
𝑆

KP

+
𝑹(𝑺) 𝑬(𝑺) + 𝑼𝑷𝑰𝑫 (𝑺) 𝒀(𝑺)
KD S Plant
𝒓(𝒕) 𝒆(𝒕) 𝒚(𝒕)
− +
𝑲𝑰
𝑺
PID Controller

A closed loop system with PID controller

➢ The PID controller can also implemented in terms of the integral time constant (𝑇𝑖 ) and derivative time
constant (𝑇𝑑 ):

𝑬(𝑺) 1 𝑼𝑷𝑰𝑫 (𝑺)

𝐾𝑃 ( 1 + + 𝑇𝑑 𝑆)
𝑇𝑖 𝑆

𝑈𝑃𝐼𝐷 (𝑆) 1
= 𝐾𝑃 ( 1 + + 𝑇𝑑 𝑆)
𝐸(𝑆) 𝑇𝑖 𝑆

𝐾𝑃
❑ 𝐾𝐼 =
𝑇𝑖

❑ 𝐾𝐷 = 𝐾𝑃 𝑇𝑑
Where:

➢ 𝐾𝑃 → Proportional gain, 𝐾𝐼 → Integral gain and 𝐾𝐷 → derivative gain

 Tuning the parameters of the PID controller

➢ The process of adjusting (or selecting suitable values) the controller parameters (𝐾𝑃 , 𝐾𝐷 and
𝐾𝐼 ) to achieve the desired system response is known as the tuning process.

𝑟
The parameters effects on the system response characteristics

Parameter Settling Steady-state

Rise Time Overshoot Stability
Increase Time error

𝑲𝑷 Small
change Degrade

𝑲𝑰 Large
decrease Degrade

𝑲𝑫 Small Small
change change Improve
 Example

➢ The following unity feedback control system represents the flow of liquid to a unit step input:

𝑹(𝑺) 𝑬(𝑺) 0.036 𝒀(𝑺)

36.942 𝑆 2 + 12.1568 𝑆 + 0.451 𝒚(𝒕)
𝒓(𝒕) −
Plant

Using MATLAB program, show the system response 𝑦 𝑡 and then add the following controllers to improve
its response (in the case of unit step input):
• PD controller (𝐾𝑃 = 99 , 𝐾𝐷 = 1 )
• PI controller (𝐾𝑃 = 90 , 𝐾𝐼 = 4 )
• PID controller (𝐾𝑃 = 144.88 , 𝐾𝐷 = 250.38 , 𝐾𝐼 = 5.65)
Also show the system responses after adding these controllers.
 KP

+
𝑹(𝑺) 𝑬(𝑺) + 𝑼𝑷𝑫 (𝑺) 𝒀(𝑺)
KD S 0.036
36.942 𝑆 2 + 12.1568 𝑆 + 0.451
−

Plant

The control system with PD controller

 KP

+
𝑹(𝑺) 𝑬(𝑺) + 𝑼𝑷𝑰 (𝑺) 0.036 𝒀(𝑺)
𝑲𝑰
𝑺 36.942 𝑆 2 + 12.1568 𝑆 + 0.451
−
Plant

The control system with PI controller

 KP
+
𝑹(𝑺) 𝑬(𝑺) + 𝑼𝑷𝑰𝑫 (𝑺) 0.036 𝒀(𝑺)
KD S
36.942 𝑆 2 + 12.1568 𝑆 + 0.451
− +
𝑲𝑰 Plant
𝑺

The control system with PID controller

System response without using any controller
PID PI Reference Signal

PD

System responses for PD, PI and PID controllers

 Quiz
➢ The following figure shows three responses of a system in case of using PD, PI and PID
controllers. Determine on the figure the response of each controller.

y(t)
1 2
r(t)
3

t
Solution

y(t)
1 2
r(t)
3

1) PID controller
2) PI controller
3) PD controller