PID Controller By

MATLAB
Automatic Control Course By :
Mahmoud Taha; Demonstrator.
Benha Faculty of Engineering
Benha University
April., 2015
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Outlines:

PID Contr oller Over view

The Char acter istics of P, I, and D Contr oller s

Effect of Add P,PD,PI,PID contr oller to Mechanical system

Repr esent it in MATLAB M_Files

Effect of Adding PID contr oller to Ar matur e Contr olled DC motor & Repr esent
it in MATLAB Simulink using 3 methods to model DC motor
Repr esent Diff Equation using Integr ator
Using Tr ansfer Function Consept
Using State Space Repr esentation Method

Refer ences

 We will discuss the effect of each of the PID parameters on the

closed-loop dynamics and demonstrate how to use a PID

controller to improve the system performance.

Instructor ENG / M.TAHA

Gc(s)

G(s)

The output of a PID controller, equal to the control input to the

plant, in the time-domain is as follows:
de
Gc (t ) =
Kp * e (t ) + Ki * e (t )dt + Kd *
dt

Instructor ENG / M.TAHA

 A proportional controller (Kp) will have the effect of

reducing the rise time and will reduce but never eliminate
the steady-state error.
An integral control (Ki/s) will have the effect of
eliminating the steady-state error for a constant or step
input, but it may make the transient response slower.
A derivative control (Kd*s) will have the effect of
increasing the stability of the system, reducing the
overshoot, and improving the transient response.
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Instructor ENG / M.TAHA

 The effects of each of controller parameters, Kp, Ki, and

Kd on a closed-loop system are summarized in the table
below:

Closed
Loop
Response
Kp

Rise
time
Decrease

Increase

Small change

Steady
state
error
Decrease

Ki

Decrease

Increase

Increase

Eliminate

Kd

Small
change

Decrease

Decrease

No
change

Over shoot Settling time

Instructor ENG / M.TAHA

 Note that these correlations may not be exactly accurate,

because Kp, Ki, and Kd are dependent on each other.
In fact, changing one of these variables can change the
effect of the other two. For this reason, the table should
only be used as a reference when you are determining
the values for Ki, Kp and Kd.

Instructor ENG / M.TAHA

 Suppose Mass spring with Damper mechanical system

as shown:

It's modeling equation :

M * x + b * x + K * x =
F
where X ..... output and F..... Input
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Instructor ENG / M.TAHA

 transfer function between the displacement X(s) and the

input F(s) then becomes:

X (s )
1
=
F (s ) M * s 2 + b * s + K
Let M= 1 kg & b = 10 N.s/m & K= 20 N/m and F= 1 N

1
G (s ) = 2
s + 10s + 20
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Instructor ENG / M.TAHA

Instructor ENG / M.TAHA

Instructor ENG / M.TAHA

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Instructor ENG / M.TAHA

When you are designing a PID controller for a given system, follow
the steps shown below to obtain a desired response.
Obtain an open-loop response and determine what needs to be

improved
Add a proportional control to improve the rise time
Add a derivative control to improve the overshoot
Add an integral control to eliminate the steady-state error
Adjust each of Kp, Ki, and Kd until you obtain a desired overall response.

You can always refer to the table shown in this "PID Tutorial" page to
find out which controller controls what characteristics.
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Instructor ENG / M.TAHA

Lastly, please keep in mind that you do not need to implement all
three controllers (proportional, derivative, and integral) into a single
system, if not necessary. For example, if a PI controller gives a good
enough response (like the above example), then you don't need to
implement a derivative controller on the system. Keep the controller
as simple as possible.

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Instructor ENG / M.TAHA

 MATLAB provides tools for automatically choosing optimal PID gains which
makes the trial and error process described above unnecessary. You can
access the tuning algorithm directly using pidtool command to open PID
(GUI).
pidtool(SYS,TYPE) designs a PID controller for plant SYS. SYS is a single-inputsingle-output LTI system
TYPE defines controller type, and can be one of the following strings:
'P'
Proportional only control
'I'
Integral only control
'PI'
PI control
'PD' PD control
'PDF' PD control with first order derivative filter
'PID' PID control
'PIDF' PID control with first order derivative filter
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Instructor ENG / M.TAHA

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Instructor ENG / M.TAHA

 Suppose an armature controlled DC motor as Shown :

where :
Motor parameter
Ra= 1 ohm;
La= 0.5 H;
J=0.01 kg.m^2;
B=0.1 N.m.s;
Kb=0.01 V/rad/sec;
Kt=0.01 N.m/Amp;

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Instructor ENG / M.TAHA

 Model of armature controlled DC motor:

Electrical Equation:

dia
V a =ia * Ra + La *
+ Kb *w
dt

Mechanical Equation:

dw
Kt * ia T=
J*
+ B *w
L
dt
TL

Block Diagram :
+

Va

1
Ra + La * s

ia

Kt

Te

w
1
J *s + B

Kb
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Instructor ENG / M.TAHA

 DC motor Model can be represented by 3 methods

1st method Represent Diff equation By integrator :
dia V a Ra
Kb
=
* ia
*w
dt
La La
La

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&

dw Kt * ia T L B
=
*w
dt
J
J J

Instructor ENG / M.TAHA

 DC motor Model where there are 2 Diff equation:

dia V a Ra
Kb
* ia
*w
=
dt
La La
La

18

&

dw Kt * ia T L B
=
*w
dt
J
J J

Instructor ENG / M.TAHA

 Where DC motor Model

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 Where Closed Loop System shown and we make subsystem and mask to DC
motor Model

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Instructor ENG / M.TAHA

 Where PID controller Model

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 Actual speed & Ref speed

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Instructor ENG / M.TAHA

 We can implement Model of DC motor By an other Method By using Transfer

Function Block Directly
At this case there are two T.F as the system Multi input single output
There are 2 inputs Va & TL and 1 output W
So One T.F bet W and Va and another one bet W and TL
We assume that TL=0 .. No Load
So we will work By one T.F
+

Va

1/ La
s + Ra / La

ia

Kt

Te
1/ J
s +B /J

Kb

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Instructor ENG / M.TAHA

 T.F of Armature Controlled DC Motor

K t / La J
w (s )
=
V a (s ) (s + R a / La )(s + B / J ) + K b K t / La J

(2nd order system)

2
= 2
s + 12s + 20.02

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Instructor ENG / M.TAHA

26

Armature Controlled DC Motor

Instructor ENG / M.TAHA

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Armature Controlled DC Motor

Instructor ENG / M.TAHA

 We can implement Model of DC motor By an other Method BY state space

Representation
At this case the system is Multi input single output
There are 2 inputs Va & TL and 1 output W

=
x Ax + Bu
=
y Cx + Du
From the Diff Equation :
dia V a Ra
Kb
=
* ia
*w
dt
La La
La
Ia = 2*V a 2* ia 0.02*w

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&

dw Kt * ia T L B
=
*w
dt
J
J J
w =
ia 100T L 10*w

Instructor ENG / M.TAHA

 We can implement Model of DC motor By an other Method BY state space

Representation

0 V a
Ia 2 0.02 Ia 2

+
T
10 w 0 100 L
w 1

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V a
ia
( 01) w + ( 0 0 ) T

L

Instructor ENG / M.TAHA

 We can implement Model of DC motor By an other Method BY state space

Representation and using PID Block

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 Using PID Block

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 Using PID Block

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Instructor ENG / M.TAHA

References

http://en.wikipedia.org/wiki/PID_controller#/media/File:PID_en_updated_feedbac
k.svg

http://www.mathworks.com/help/control/examples/dc-motor-control.html

http://ctms.engin.umich.edu/CTMS/index.php?example=Introduction&section=Con
trolPID

http://ctms.engin.umich.edu/CTMS/index.php?example=MotorSpeed&section=Sim
ulinkModeling

http://ctms.engin.umich.edu/CTMS/index.php?example=AircraftPitch&section=Sim
ulinkModeling