Automatic Control Systems, 9th Edition: Chapter 9

Chapter9:DesignofControlSystems
AutomaticControlSystems,9thEdition
FaridGolnaraghi,SimonFraserUniversity
Farid
Golnaraghi Simon Fraser University
BenjaminC.Kuo,UniversityofIllinois
ISBN:9780470048962
INTRODUCTION
All the foundations of analysis that we have laid in the preceding chapters led to
the ultimate goal of design of control systems.
Starting
St
ti with
ith the
th controlled
t ll d process such
h as th
thatt shown
h
b
by th
the bl
block
k di
diagram iin
Fig. 9-1, control system design involves the following three
steps:
1.Determine what the system should do and how to do it (design specifications).
2.Determine the controller or compensator configuration, relative to how it is
connected to the controlled process
process.
3.Determine the parameter values of the controller to achieve the design goals.
9-1-1 Design Specifications

We often use design
g specifications
p
to describe what the system
y
should do and how it is
done.
These specifications are unique to each individual application and often include
specifications about relative stability, steady-state accuracy (error), transientresponse characteristics, and frequency-response characteristics. In some
applications there may be additional specifications on sensitivity to parameter
variations, that is, robustness, or disturbance rejection.
Steady-state accuracy is often specified with respect to a step input, a ramp input, or
a parabolic input, and the design to meet a certain requirement is more conveniently
carried out in the time domain. Other specifications such as maximum overshoot, rise
time, and settling time are all defined for a unit-step input and, therefore, are used
specifically for time-domain design.
We have learned that relative stability is also measured in terms of gain margin, phase
margin, and Mr.
2009FaridGolnaraghi,SimonFraserUniversity
1. Historically, the design of linear control systems was developed with a wealth of graphical
tools such as the Bode plot, Nyquist plot, gain-phase plot, and Nichols chart, which are
all carried out in the frequency domain. The advantage of these tools is that they can all
be sketched by following approximation methods without detailed plotting. Therefore, the
designer can carry out designs using frequency domain specifications such as gain margin,
phase
h
margin,
i Mr , andd the
h like.
lik High-order
Hi h d systems ddo not generally
ll pose any particular
i l
problem. For certain types of controllers, design procedures in the frequency domain are
available
il bl to
t reduce
d
the
th trial-and-error
t i l d
effort
ff t to
t a minimum.
i i
2 Design in the time domain using such performance specifications as rise time,
2.
time delay
time, settling time, maximum overshoot, and the like is easy analytically only for
second-order systems or for systems that can be approximated by second
second-order
order systems
systems.
General design procedures using time-domain specifications are difficult to establish for
systems with an order higher than the second.
Figure 9-2
Various controller configurations in
control-system compensation.
(a) Series or cascade compensation.

((b)) Feedback compensation.
p
(c) State-feedback control.
(d) Series-feedback compensation
(two degrees of freedom).
(e) Forward compensation with series
compensation (two degrees of
freedom).
(f) Feedforward compensation (two
degrees of freedom).
In general, it is useful to summarize the time-domain and frequency-domain

characteristics so that they can be used as guidelines for design purposes.
1.Complex-conjugate poles of the closed-loop transfer function lead to a step response that
is underdamped. If all system poles are real, the step response is overdamped. However,
zeros of the closed-loop transfer function may cause overshoot even if the system is
overdamped.
2.The response of a system is dominated by those poles closest to the origin in the s-plane.
Transients
i
due
d to those
h
poles
l farther
f h to the
h left
l f decay
d
faster.
f
3.The farther to the left in the s-plane the systems dominant poles are, the faster the
system will respond and the greater its bandwidth will be.
4 Th ffarther
4.The
th to
t the
th left
l ft in
i the
th s-plane
l
the
th systems
t dominant
d i t poles
l are, the
th more expensive
i it
will be and the larger its internal signals will be. While this can be justified analytically, it is
obvious that striking a nail harder with a hammer drives the nail in faster but requires more
energy per strike
strike. Similarly,
Similarly a sports car can accelerate faster,
faster but it uses more fuel than an
average car.
5.When a pole and zero of a system transfer function nearly cancel each other, the portion of
the system response associated with the pole will have a small magnitude.
magnitude
6.Time-domain and frequency-domain specifications are loosely associated with each other.
Rise time and bandwidth are inversely proportional. Larger phase margin, larger gain margin,
and lower Mr will improve damping.
9-2 DESIGN WITH THE PD CONTROLLER
PD control adds a simplezero at s=-KP/KD

to the forward-path transfer function.
PD is essentially an anticipatory
control that by knowing the slope, the
controller
t ll can anticipate
ti i t direction
di ti off
the error and use it to better control
the process.
For 0<t<t1, de(t)=dt is negative; this
will reduce the original torque
developed due to e(t) alone.
alone
2. For t1<t<t2, both e(t) and de(t)=dt
are negative, which means that the
negative retarding torque developed
will be greater than that with only
proportional control.
3. For t2<t<t3, e(t)
( ) and de(t)=dt
()
have
opposite signs. Thus, the negative
torque that originally contributes to
the undershoot is reduced also.
The derivative control measures the instantaneous slope of e(t), predicts the
g overshoot ahead of time,, and makes a pproper
p corrective effort before the
large
excessive overshoot actually occurs.
Derivative or PD control
will have an effect on a
steady-state error only if the
error varies with time.
9-2-2 Frequency-Domain Interpretation of PD Control
923SummaryofEffectsofPDControl
A properly designed PD controller can affect the performance of a control system in the
following ways:
1 Improving damping and reducing maximum overshoot.

1.
overshoot
2. Reducing rise time and settling time.
3. Increasing BW.
4. Improving GM, PM, and Mr.
5. Possiblyy accentuatingg noise at higher
g
frequencies.
q
6. Possibly requiring a relatively large capacitor in circuit implementation.
EXAMPLE 9-2-1
Let us reconsider the second-order model of the aircraft attitude control system shown in Fig. 4-79.
fig_09_10
Frequency-Domain Design
The Bode plots of G(s) for KP = 1 and

KD = 0, 0.005, 0.00177, and 0.0025 are
shown in Fig.
g 9-11.
9-3 DESIGN WITH THE PI CONTROLLER
9-3-1 Time-Domain Interpretation and Design of PI Control

A viable method of designing the PI control is to select the zero at s = -KI/KP so that it is
relatively close to the origin and away from the most significant poles of the process; the
values of KP and KI should be relatively small.
9-3-2 Frequency-Domain Interpretation and Design of PI Control
The PI controller is essentially a low-pass filter,

the compensated
p
system
y
usuallyy will have a
slower rise time and longer settling time.
Based on the preceding discussions, we can summarize the advantages and disadvantages
of a properly designed PI controller as the following:
1. Improving damping and reducing maximum overshoot.
2. Increasing rise time.
3. Decreasing BW.
4. Improving gain margin, phase margin, and Mr.
5 Filtering
5.
Filt i outt high-frequency
hi h f
noise.
i
It should be noted that in the PI controller design process, selection of a proper
combination of KI and KP, so that the capacitor in the circuit implementation of the
controller is not excessively large, is more difficult than in the case of the PD
controller.
EXAMPLE 9-3-1
Recall characteristic Equation:

Frequency-Domain Design
9-2 DESIGN WITH THE PD CONTROLLER
From Chapter
p 5, when K =181.17, the maximum
overshoot of the system is 78.88%.
The PD controller may improve the relative stability

of the system. As KD increases, one root of the
characteristic equation moves from -3293.3 toward the
origin, while the two complex roots start out toward the
left and eventually approach the vertical asymptotes
that intersect at s = - 1704.
1704 The immediate assessment
of the situation is that, if the value of KD is too large,
the two complex roots will actually have reduced
damping while increasing the natural frequency of
the system. It appears that the ideal location for the
two complex characteristic equation roots, from the
standpoint of relative stability, is near the bend of the
root contour
contour, where the relative damping ratio is
approximately 0.707.
9-4 DESIGN WITH THE PID CONTROLLER
EXAMPLE 9-4-1

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Chapter9:DesignofControlSystems

9-1-1 Design Specifications

(a) Series or cascade compensation.

In general, it is useful to summarize the time-domain and frequency-domain

9-2 DESIGN WITH THE PD CONTROLLER

PD control adds a simplezero at s=-KP/KD

9-2-2 Frequency-Domain Interpretation of PD Control

1 Improving damping and reducing maximum overshoot.

The Bode plots of G(s) for KP = 1 and

9-3 DESIGN WITH THE PI CONTROLLER

9-3-1 Time-Domain Interpretation and Design of PI Control

The PI controller is essentially a low-pass filter,

Recall characteristic Equation:

9-2 DESIGN WITH THE PD CONTROLLER

The PD controller may improve the relative stability

9-4 DESIGN WITH THE PID CONTROLLER

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