Ministry of Higher Education and Scientific Research Southern

Southern Technical University

Engineering Technical College / Basrah
Department of Electrical Power Techniques Engineering

Modeling & Simulation

Lec.4
Fourth Year
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Lecturer : M.Sc. 𝐖𝐚𝐟𝐞𝐞𝐪𝐚 𝐀𝐛𝐝𝐮𝐥𝐫𝐚𝐳𝐚𝐤 𝐇𝐚𝐬𝐚𝐧

➢ The control systems
• Automatic control is of vital importance in the world of engineering. In addition to being essential in
robotic systems or modern manufacturing processes,
• among others applications, has become essential in industrial operations such as pressure control,
temperature, humidity and viscosity, and flow in the processing industries. Figure 1 shows a generic
block diagram of a control system, in the Laplace domain.

Fig.1 The block diagram of a control system

• Typically, the feedback contains a sensor or transducer element that measures a physical parameter, such
as speed or temperature, and converts it into a voltage or current.
• The basic function of a controller
1. is to compare the real value of the output of a plant c(t), with the reference input r(t) (desired value),
2. determine the error e(t), and
3. produce a control signal that will reduce the error to a value close to zero.
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• One way to achieve this is by placing a transfer driver Gc (s), in the control loop, as shown in the Figure 3.
The error signal E (s) is the input to the controller, and U (s) is the output of the same and at the same
time the input to the plant, and
• the purpose of the controller is to make the output of the system follow the input.
• In Figure 3 we observe the different types of response according to the controller that is used.

Fig.2 The specifications for a control problem

• Figure 3 present the specifications for a control problem are often given in the time domain, and usually
include a certain transient response and an error in state stationary, for a specific entry as is usually a step.

Fig.3 Response to the step of a closed-loop

feedback system given by: (a) Controller P (b)
Controller PD (c) Controller PID
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➢ Types of Loop Controller System
1. Open Loop Controller System

Fig.4 Block diagram of Open Loop Controller System

• an open loop controller, also called a non feedback controller, the control action from the
controller is independent of the "process output.

2. Closed Loop Controller System

• A closed loop control system is a type of control system in which the controlling action
shows dependency on the generated output of the system.

Fig.5 Block diagram of Closed Loop Controller System

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➢ Types of Loop Controller System
1. Open Loop Controller System

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➢ Types of Loop Controller System
2. Closed Loop Controller System

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1. PID controller
▪ PID Controller Structure
• There are four types of controllers that belong to the family of PID controllers: the proportional (P)
controller, the proportional plus integral (PI) controller, the proportional plus derivative (PD) controller
and the proportional plus integral plus derivative (PID) controller.
• To understand the roles of the controllers, in this section we will discuss each of the structures and the PID
controller parameters. From the discussions, we will establish some basic knowledge about how to use these
controllers in various applications.

Fig.6 a. Block diagram of PID Controller b. Simulation PID Controller

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➢ Types of PID controller

P-Controller PD-Controller PI-Controller

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1. Proportional controller (P-Controller)
• The Proportional term produces an output value that is proportional to the current error value.
• The proportional response can be adjusted by multiplying the error by a constant Kp , called the proportional gain
constant.
• The proportional term is given by:

𝐏 = 𝐊𝐏 . 𝐞 𝐭 (𝟏)
• A high proportional gain results in a large change in the output for a given change in the error.
• If the proportional gain is too high, the system can become unstable.
• In contrast, a small gain results in a small output response to a large input error, and a less responsive or less sensitive
controller.
• If the proportional gain is too low, the control action may be too small when responding to system disturbances.
• Tuning theory and industrial practice indicate that the proportional term should contribute the bulk of the output
change.

Fig.2 Proportional feedback control system.

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1. Proportional controller (P-Controller)

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1. Proportional controller (P-Controller) 𝐏 = 𝐊𝐏 . 𝐞 𝐭

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2. Proportional integral controller (PI-Controller)
• The main function of the integral action is to make sure that the process output agrees
with the set point in steady state.
• With Proportional control, there is normally a control error in steady state. With integral
action, small positive error will always lead to an increasing signal , and a negative
error will give a decreasing control signal no matter how small the error is.

𝐏𝐈 = 𝐊 𝐏 𝐞 𝐭 + 𝐊 𝐢 න(𝐞 𝐭 𝐝𝐭 (𝟐)

Fig.3 PI control system

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3. Proportional derivative controller(PD-Controller)
• The purpose of the derivative action is to improve the close-loop stability. Because of
the process dynamics, it will take some time before a change in the control variable is
noticeable in the progress output. Thus, the control system will be late in correction for
an error.
• The action of a controller with proportional and derivative may be interpreted as if the
control is made proportional to the predicted process output, where the prediction is
made by extrapolating the error by the tangent to the error curve.
𝐞 𝐭
𝐏𝐃 = 𝐊 𝐏 𝐞 𝐭 + 𝐊𝐝 𝒅 (𝟑)
𝒅𝒕

Fig.3 Proportional plus derivative feedback control system

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• The weighted sum of these three actions is used to adjust the process via a control element such as the
position of a control valve, a damper, or the power supplied to a heating element , Table (1) show the effect
of increasing a parameter independently.

Table (1): Effects of increasing a parameter independently

Parameter Rise time Overshoot Settling time Steady-state

KP Decrease Increase Small change Decrease

KI Decrease Increase Increase Eliminate

KD No change Decrease Decrease Small effect

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4. Proportional integral derivative controller (PID- Controller)
The Proportional Integral Derivative (PID) controller has three terms.
• The proportional term (P) corresponds to proportional control.
• The integral term (I) give a control action that is proportional to the time integral of the
zero.
• The derivative term (D) is proportional to the time derivative of the control error. This
term allows prediction of the future error.
There are many variations of the PID algorithm that will substantially improve its
performance and operability. Those variations are discussed in the next section .
𝐞 𝐭
𝐏𝐈𝐃 = 𝐊 𝐏 𝐞 𝐭 + 𝐊 𝐢 න(𝐞 𝐭 𝐝𝐭 + 𝐊 𝐝 𝒅 (𝟒)
𝒅𝒕

• By taking Laplace transform PID controller transfer function become:

𝐊𝐢
𝐂 𝐬 = 𝐊𝐏 + + 𝐊𝐝 𝒔 (𝟓)
𝒔

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 ➢Tuning of proportional integral derivative controller
• The process of selecting the controller parameters to meet given performance specifications is known as
controller tuning.
• There are several methods for tuning a PID loop. The most effective methods generally involve the
development of some form of process model, and then choosing P, I, and D based on the dynamic model
parameters.
1. In particular, when the mathematical model of the plant is unknown and therefore analytical design
methods cannot be used, PID controls prove to be most useful.

2. If a mathematical model of the plant can be derived, then it is possible to apply various design techniques
for determining parameters of the controller that will meet the transient and steady-state specifications
of the closed-loop system. However,

• There are many methods of PID tuning such as:

✓ Manual tuning.
✓ Ziegler-Nichols.
✓ Tyreus luyben.
✓ Cohen-coon.

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➢ Design of Controllers

The main control objectives here are:

• stability, set-point tracking, and to make the system less-sensitive to

disturbances.

• It is also desirable to obtain a fast transient response to the input signal, a short
settling time, and a low overshoot.

• Finally, since the complex property of the poles is known to introduce oscillations
to a system, it will also be necessary to design a controller which will attenuate
oscillations to the barest minimum if complete elimination is not possible.

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➢ A model of a PMDC motor without PID controller and change the load

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➢ A model of a PMDC motor with PID controller

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Thank You

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