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Part I
Improving steady-state error:
PI and lag compensators
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kp
We get a
ki
u ( t ) = kp e ( t ) + ki
k
e ()d U (s ) = kp + i E (s )
s
0
Gc (s ) =
kp s + ki
U (s )
s + zc
k
=
=K
, K = kp , zc = i
E (s )
s
s
kp
ki / kp .
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kp
is xed
low value of
high value of
e (0),
Z0
u (0) = kp e (0) + ki
u (0)
will be equal to
e ()d = kp e (0)
From time 0, the PI controller will start taking into account the integral of the
error: in practice, it will considerably increase the control amplitude if the error
does not decrease quickly enough
If no saturation is present on
an innite increase of
u (t ):
u (t )
e (t )
will lead to
system
The integral action will never give up until the error is steered to zero
Now, let's see what are the benets of such a controller using the root locus
4 / 39
Gc (s ),
system dynamics
In this way, if
Gp ( s )
L(s )
Type-1,
9.3
A is:
e root
thout
sator;
n the
us with
sator
ded;
ontinues)
Typically, adding a pole will change the root locus, and decrease the maximum
value of the controller gain for which the closed-loop system is stable.
Tohid Alizadeh (NU)
5 / 39
Figure 9.3
(continued)
c. approximately on the root locus with compensator
pole and zero added
Control Systems Engineering, Fourth Edition by Norman S. Nise
6 / 39
PI controller: example
Consider the system
Gp ( s ) =
e = 0
for a constant
reference, and a damping ratio for the dominant complex poles equal to 0.174
Procedure (let's do it with
rltool):
s 0
20
7 / 39
Figure 9.7
PI
controller:
example (cont'ed)
Ideal
integral compensated
K,
i.e.
K = 15.81,
8 / 39
uncompensated system
response of Example 9.1
t =3
c (t ),
after
constant reference
almost
T (s )
consequence, the term of the step response associated to this pole will be:
with a small amplitude (small residue, due to the presence of the zero)
9 / 39
Lag compensator
In order to slightly reduce this eect, we can place the pole very near to the
imaginary axis (but not at the origin) and a zero with a slightly smaller time
constant
igure 9.9
. Type 1
ncompensated
ystem;
. Type 1
ompensated
ystem;
. compensator
ole-zero plot
lag compensator
10 / 39
Kv = ,
Gc (s )
Instead, we add to the proportional term
kp
Gc ( s ) = K
In this way, we don't make
Kv = ,
s + zc
s + pc
u (0)
will be equal to
Ke (0),
zc /pc
and then
u (t )
will
e (t ) = e
lim
u (t ) = K
zc
e
pc
Placing the pair pole-zero not too near to the imaginary axis will reduce the slow
convergence eect, but given a previously-determined
zc /pc
increase (= no cancellation)
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Gp ( s ) =
the closed-loop system has a damping ratio for the dominant poles equal to
0.174
rltool):
zc /pc
kp
kp = 164.6
e = 0.108
Setting
Kp = 8.23
and
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means
e =
Therefore
e =
The improvement in
1
1 + Kp
Kp
0.108
10
= 0.0108 Kp =
1 e
= 91.59
zc /pc ,
Kpnew
zc
= old =
pc
Kp
If we arbitrarily choose
= 0.0108
pc = 0.01,
then
i.e.
91.95
8.23
= 11.13
zc = 11.13pc = 0.1113
pc = 0.001,
and then
zc = 11.13pc = 0.01113
compensator) in order to place the poles of the closed-loop system at the desired
position
13 / 39
of
and
d
Let us compare the step responses of the uncompensated system, and the two
compensated systems
Figure 9.14
Step responses of the
system for Example 9.2
using different lag
compensators
We can see here that if the pair pole-zero is placed closer to the imaginary axis,
then a longer transient response is obtained
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright 2004 by John Wiley & Sons. All rights reserved.
Engineering,
Edition
Normanas
S. Nise
As a consequence, it is good practice to place Control
the Systems
pole
and Fourth
zero
asbyfar
Copyright 2004 by John Wiley & Sons. All rights reserved.
14 / 39
Part II
Improving transient response:
PD and lead compensators
15 / 39
kp
We get an ideal
kd
Gc (s ) =
which has a zero at
Tohid Alizadeh (NU)
kp
U (s )
= kp + kd s = K (s + zc ), K = kd , zc =
E (s )
kd
zc = kp /kd .
ROBT303 Linear Control Theory with Lab
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kp
is xed
low value of
high value of
Notice that the derivative action gives an anticipative action: if the error is
growing fast, the controller tends to make it decrease immediately
This kind of controller has three big problems:
1
First, it is not realizable in practice, since any physical system cannot have
more zeros than poles
e (t ))
3
u (t )
every time
r (t )
(and therefore
For the moment though, let's assume that we can implement it, and let's
analyze its benet using the root locus
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Eect of PD controller
We have already seen that an additional zero has an anticipative action on the
step response
A zero in
Gc (s ),
and therefore in
L(s ),
T (s )
also appears in
T (s )
Mp ,
More precisely, we can decrease the settling time maintaing the same
can decrease
Mp ,
or we
In general, a zero on the negative real axis tends to move the root locus
branches to the left, so we can even stabilize an unstable system
Root Locus
Root Locus
1.5
1.5
1
Imaginary Axis
Imaginary Axis
1
0.5
0
0.5
0.5
0
0.5
1.5
1.5
2
4
1
Real Axis
2
4
1
Real Axis
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Gp ( s ) =
(s + 1)(s + 2)(s + 5)
= 0.4,
i.e.
Gc (s ) = 23.72
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Mp = 25.4%),
kp ,
so we add a zero
4, 3, 2,
Gc (s ) = K (s + zc ), where
K to get = 0.4
we move
zc
at
9.15
ed)
Figure 9.15
ensator Using ideal derivative
3;
compensation:
ensatora. uncompensated;
b. compensator
4
zero at 2;
(figure continues)
20 / 39
Lead compensator
Given the zero at
Condition
pc zc
zc ,
pc ,
with
pc zc
by the zero, at the same time adding a natural low-pass ltering of the control
action
In this way, we can practically realize the controller, at the same time avoiding
spikes and noise amplication
This practical implementation of the PD controller is also called
compensator,
lead
Gc (s ) = K
s + zc
, K = kd , zc = kp /K
s + pc
e (t )
with bounded
e (t ),
will remain bounded, which did not happen for the ideal PD controller
Now let's see how to design practical PD controllers (i.e., lead compensators)
using the root locus
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Gp ( s ) =
s (s + 4)(s + 6)
Ts ,2%
Mp
equal to 30%
for a step reference is improved twice (i.e. it's twice smaller) with
Mp = 30%
Procedure for ideal PD controller (let's do it with
rltool):
Mp = 30%
graphically compute Ts ,2% , and drag the new vertical line corresponding to
half of the previous value of Ts ,2%
add the zero of the ideal PD controller such that the root locus branches
intersect at a point with the required Mp and the new value of Ts ,2%
adjust the controller gain such that the poles are placed as required
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to the imaginary
axis, since the additive pole will partially compensate the anticipative eect
of the zero
then, place the pole at high frequency, such that the root locus branches
intersect at a point with the required Mp and the new value of Ts ,2%
adjust the controller gain such that the poles are placed as required
Setting
kp = 63.2
Mp ,
which corresponded to
Ts ,2% = 3.97
s.
We move the vertical line corresponding to the settling time requisite to the left
until we reach the value equal to 3.97/2
= 1.99
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To make the root locus branches pass at the desired points by adding a zero, we
see that this latter must be placed at
s = 6,
31.2
To design the lead compensator, we can make dierent choices, in any case
moving the zero to values to the right of
(a) if
(b) if
(c) if
zc = 5,
zc = 4,
zc = 2,
then
then
then
pc = 42.96
pc = 20.09
pc = 8.97 (second
6:
Figure 9.29
Uncompensated
system and lead
compensation
responses for
Example 9.4
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