PID Controller
by
Dr. Ibrahim Mohamed Ibrahim
Fall 2024
PID Controller
PID stands for
P ➔ Proportional
I ➔ Integral
D ➔ Derivative
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PID Controller
The PID controller consists of three parts as described in the following equation:
P ➔ Proportional
I ➔ Integral
D ➔ Derivative
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PID Controller
The characteristics of different parts of the PID controller:
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PID Controller
In other words,
• Adding a proportional control to improve the rise time
Adjust each of
𝐾𝑝 , 𝐾𝑖 , 𝑎𝑛𝑑 𝐾𝑑 until
• Adding a derivative control to improve the overshoot you obtain the desired
overall response
• Adding an integral control to eliminate the steady-state error
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PID Controller
In s-domain,
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PID controller applications
PID can be used for
• Temperature control
• Velocity control
• Position control
• Flow control
• Pressure control
• Motor control
• Level control
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Ziegler-Nichols Rules for Tuning PID Controllers
• Ziegler-Nichols proposed rules for determining values of the proportional gain Kp, 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: the first method and the second
method
• We focus on the second method
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Ziegler-Nichols Rules for Tuning PID Controllers
Second Method
• In the second method, we first set Ti= ∞ and Td = 0. Using the proportional control action only as
shown in the figure, increase Kp 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 Kp may
take, then this method does not).
• Thus, the critical gain Kcr, and the corresponding period PCr, are experimentally determined
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Ziegler-Nichols Rules for Tuning PID Controllers
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Solved Example
Design a PID controller for the shown control system using Ziegler-Nichols second method
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Solved Example
Solution:
Step 1: By setting Ti= ∞ and Td = 0, we obtain the closed-loop transfer function as follows:
The characteristic equation for the closed-loop system is
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Solved Example
Solution:
Step 2: Finding Kcr and Pcr as follows:
The value of Kp that makes the system marginally stable so that sustained oscillation occurs can be
obtained by use of Routh's stability criterion
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Solved Example
Solution:
Step 2: Finding Kcr and Pcr as follows:
The characteristic equation becomes
To find the frequency of the sustained oscillation, we substitute s = j𝜔 into this characteristic equation as
follows:
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Solved Example
Solution:
Step 2: Finding Kcr and Pcr as follows:
from which we find the frequency of the sustained oscillation to be 𝜔2 = 5 or 𝜔 = 5. Hence, the period
of sustained oscillation is
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Solved Example
Solution:
Step 3: Determine Kp, Ti, and Td as follows:
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Solved Example
Solution:
Step 4: The transfer function of the PID controller is as follows:
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Solved Example
Solution:
The closed-loop transfer function C(s)/R(s) is given by:
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Solved Example
Solution:
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Tuning PID Controller for DC Motor
DC Motor Speed Control System
The transfer function of the DC motor (relating the angular velocity 𝜔(𝑠) to the input voltage Ea(𝑠)) is:
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Tuning PID Controller for DC Motor
DC Motor Speed Control System
The transfer function of the DC motor (relating the angular velocity 𝜔(𝑠) to the input voltage Ea(𝑠)) is:
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Tuning PID Controller for DC Motor
The transfer function of the DC motor (relating the angular velocity 𝜔(𝑠) to the input voltage Ea(𝑠)) is:
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Tuning PID Controller for DC Motor
The system and its output on MATLAB with and without PID
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Tuning PID Controller for DC Motor
The system and its output on MATLAB with and without PID
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Tuning PID Controller for DC Motor
The system and its output on MATLAB with and without PID
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Tuning PID Controller for DC Motor
The system and its output on MATLAB with and without PID
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References
[1] B. Kuo, F. Golnaraghi, “Automatic Control Systems” McGraw-Hill Education, 10th edition, 2017.
[2] K. Ogata, “Modern Control Engineering” Prentice Hall, latest edition,2010.
[3] MATLAB control toolbox guide.
[4] A. M. Ali, A. H. Mohammed, and H. M. Alwan , “Tuning PID Controllers for DC Motor by Using Microcomputer” Int. J.
Appl. Eng. Res, vol. 14, no. 1, p. 202-206, 2019.
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Thank You
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