DIGITAL CONTROL SYSTEMS LABORATORY Experiment # 8

Title Name Date : Digital Controller Design II : Emrah APLA : 24.05.2012

Proportional integral (PI), proportion derivative (PD) and proportion integral and derivative (PID) controllers are widely used in industry control systems. In this experiment proportional controllers have been introduced. Their design procedures are followed and for given systems and frequencies the controllers are designed. The results discussed. Firstly, PI controllers have been designed. Before the controllers, the time responses and zeta, Wn values of the given system have been calculated by hand and by using time response formulas. The results are compared with matlab results, after the system run in the matlab. The results are approximately the same. Also, that results are used to compare with controllers' results. By following the design procedures and given frequencies, the PI controllers have been designed. The aimed phase margins could be obtained but in some frequencies the system becomes unstable. For 47.4 rad/sec and 3.56 rad/sec the system with PI controller becomes unstable. For others, it is stable. When the PI controller is added to the system, a pole is added on the z=1 and a zero is added close to the added pole. While the frequency of the system is decreasing, the distance between additional pole and zero increasing. On the other hand, decreasing frequency causes decreasing overshoot and increasing settling time. Also, increasing gain margin and stable phase margin is shown. The range of phase margin is proofed in the course hour. When we compare the stable controlled systems with uncompensated system, the corrected phase margin and huge change in overshoot is observed. In the following part PD controller has been considered. The same frequencies which are used in the first part have been used. For 3.56 rad/sec, 2 rad/sec, 1.12 rad/sec the system has became stable. In the course hour the compensated system in 3.56 rad/sec have been compared with uncompensated system. Increasing gain margin, unchanging bandwidth, phase margin is obtained. In the high frequencies, decreasing overshoot and increasing settling time have been shown. Also, the phase margin range is discussed in the course hour. In the last section of the last laboratory experiment, PID controllers is designed for the given systems. The ramp input is applied to the system. Before the compensation, for the uncompensated system's error goes infinity. After adding controllers the changes are also observed on the error signals. Three controllers have been designed for

changing K values. All of them supplies stable system and increasing K value causes decreasing the system error. Also, decreasing gain margin is observed when the K value increases. As a result, the special type of lag-lead controllers have been considered. The design procedures have been applied and observed that all compensated systems does not guarantee the stable systems. The benefit of the compensators are discussed on the matlab results and simulink blocks. The defined rage values, which are calculated in the laboratory hour, must be considered when design a proper compensator.