Unit 5

Time-domain Design of Control

System
Lec14: Objectives

At the end of the lecture, I should be able to:

Identify various control modes to achieve the desired
level of performance.
Predict behavior of systems with derivative
controller
Identify various control modes to achieve
the desired level of performance.

Proportional mode (P)

Derivative mode (D)
Integral mode (I)
Combination of modes (PD, PI and PID)
Derivative Control, GC(s)=Kds
To prevent systems becoming too oscillatory as
Kp is increased, derivative (differential) control
action may be incorporated into the controller
(P+D control).
The controller transfer function is then of the
form:
K
GC (s) K p sKd GC ( s) K p 1 s d

or

K p

Signal proportional Signal proportional

to the error to the derivative of the error
How does it work??
Derivative action works by anticipating errors. If the
rate at which the error signal is changing is high then a
large overshoot will probably occur.

Output Error 1. Error is large and +ve

c(t) e(t)
the rate of change of the
error (derivative) is -ve

1 the signal fed to the

1 system will be reduced

Time Time
How does it work??
Derivative action works by anticipating errors. If the
rate at which the error signal is changing is high then a
large overshoot will probably occur.

Output Error 2. Error is -ve

c(t) e(t)
2 the derivative remains
-ve
the signal fed to the
system is now increased
pushing the system back
to its desired position
Time Time
2
How does it work??
Derivative action works by anticipating errors. If the
rate at which the error signal is changing is high then a
large overshoot will probably occur.

Output Error 3. Error is still -ve

c(t) 3 e(t)
the derivative
becomes +ve
the signal fed to the
system is decreased

Time Time
3
Effect of (P+D) control on
transient and steady state response

Example 18: Examine the effects of (P+D) control on

the performance of the system below:

+ 1
GC (s) K p sKd G( s) 2
- 5s 6 s 1

H ( s) 1
Effect of (P+D) control on transient
and steady state response
Method:
GC ( s)G( s)
1) Calculate the overall G' ( s)
transfer function 1 H ( s)GC ( s)G( s)
K p sK d
+
5s 6 s 1
G(s) 2
-
H(s) K p sK d
1 2
G( s) 5s 6 s 1
G' ( s)
1 H ( s)G( s) K p sK d
2 =0
5s (6 K d ) s ( K p 1)
Characteristic Equation
Effect of (P+D) control on transient
and steady state response
Method:
5s 2 (6 K d ) s ( K p 1) 0
2) For various values of
Kd, vary Kp, find the b b 2 4ac
roots of C.E. s1, 2
2a

lim[ e(t )] lim[ sE ( s )]

t s 0
3) For each value of Kd
and Kp calculate the 1
lim s 0 s R( s )
steady state error to a 1 H ( s )GC ( s )G ( s )
unit step input

lim s 0 s 1
1 1
s K p s K d 1 K p
1 2
5
s 6
s 1
Effect of (P+D) control on transient
and steady state response
Method: 4) Tabulate results
Kd=0.25 Kd=0.5 Kd=0.9
Kp e(t)
S1 S2 S1 S2 S1 S2
0.5 -0.34 -0.89 -0.32 -0.95 -0.30 -0.99 0.667
1 0.500
2 0.333
4 0.200
6 0.143
8 0.111
10 0.091
Effect of (P+D) control on transient
and steady state response
Summary:
As you fill out the table, you should find that:
In general increasing Kd adds damping to system
making it less oscillatory but does not reduce the
steady state error.
Increasing Kd is comparable to increasing the damping
term C
Increasing Kd tends to amplify any high frequency
noise which can be damaging.
Pure derivative action is not physically possible.
In practice there will always be some delay, though often
delay is relatively small in comparison with the system
being controlled.