KEMBAR78
Control System Design Guide | PDF
Scribd
Upload
43 views3 pages

Control System Design Guide

Uploaded by

saiedali2005
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
43 views3 pages

Control System Design Guide

Uploaded by

saiedali2005
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 3

System Specifications

Example 1: PI Controller Selection


The closed loop control system below is to be designed and the
transfer functions for the controller and plant are given as
K ps + KI GH ( s ) = 2
0 .9
K (s) = s + 3 . 5 s + 0 .9
s
r(t) + e(t) u(t) y(t)
K(s) GH(s)
−

a) Determine the closed loop transfer function in terms of KP and KI.


b) Determine the values for Kp and KI so that the closed loop system
has an optimum step response based on ITAE criterion.
c) For b), determine the ess when r(t) is a ramp of 2 units.
System Specifications
𝐾𝑝 𝑠 + 𝐾𝐼 0.9
𝐺 𝑠 𝐾 𝑠 𝑠 𝑠 2 + 3.5𝑠 + 0.9
𝑎) 𝑇 𝑠 = =
1+𝐺 𝑠 𝐾 𝑠 𝐾𝑝 𝑠 + 𝐾𝐼 0.9
1+
𝑠 𝑠 2 + 3.5𝑠 + 0.9

0.9𝐾𝑝 𝑠 + 0.9𝐾𝐼
𝑇 𝑠 =
𝑠 3 + 3.5𝑠 2 + 0.9 + 0.9𝐾𝑝 𝑠 + 0.9𝐾𝐼
CE = s + 1.75n  s + 2.15n  s + n
3 2 2 3

b) 3.5 = 1.75𝜔𝑛 ⇒ 𝜔𝑛 = 2
2.15𝜔𝑛2 = 0.9 1 + 𝐾𝑝 ⇒ 𝐾𝑝 = 8.56
0.9𝐾𝐼 = 𝜔𝑛3 ⇒ 𝐾𝐼 = 8.89
System Specifications
2
𝑅 𝑠 𝑠 𝑠2 +3.5𝑠+0.9
𝑠2
c) 𝐸 𝑠 = =
1+𝐾 𝑠 𝐺 𝑠 𝑠 𝑠2 +3.5𝑠+0.9 +0.9 𝐾𝑝 𝑠+𝐾𝐼

𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠)


𝑠→0
2
𝑠 2 𝑠 2 + 3.5𝑠 + 0.9
𝑠
𝑒𝑠𝑠 = lim 𝑠
𝑠→0 𝑠 𝑠 2 + 3.5𝑠 + 0.9 + 0.9 𝐾𝑝 𝑠 + 𝐾𝐼

2(0.9) 2
𝑒𝑠𝑠 = = = 0.225
0.9 𝐾𝐼 8.89

You might also like