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*** Note that this example
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Example 2 (PID, Nise): Given the system below,

design a PID controller so that the system operates
with 2/3 of the uncompensated peak time at 20%
overshoot and zero steady-state error:
R( s)

K1

K2
K3s
s

K s 8

s 3 s 6 s 10

C (s)

Step 1: Evaluate performance of uncompensated

system
t
operating
ti att 20% overshoot
h t ( = 0.456).
0 456)
Obtain the root-locus plot and draw the 20%
overshoot line to determine the closed-loop dominant
poles:
MAAE 4500: Feedback Control

Step 2: Design a PD
compensator to meet
the transient response
specs (determine the
zero location and the
PD controller gain).
The real and imaginary
parts of the dominant
pole must be:
tp

0.297
d 10.569

MAAE 4500: Feedback Control

2 3 0.297

tan 117.129

15.867
8.13
2

s 8

s 3 s 6 s 10 s 8.13 j15.867
198.371

Next, design the PD

compensator. The
contribution from the
compensator zero must
be:
180 (198.371 ) 360 18.371

From the Figure:

15.867
tan 18.371
zc 8.13
zc 55.909

G1 ( s ) K s 55.909

MAAE 4500: Feedback Control

G1 ( s )G ( s )

K s 55.909 s 8

s 3 s 6 s 10

Draw the root-locus of

the PD-compensated
system to determine the
gain and the static
di l
displacement
t error ((and
d
the steady-state error):
K p G1 (0)G (0)
5.339 8 55.909
13.267
3 6 10
1
1
ess

0.070
0 070
1 K p 1 13.267

MAAE 4500: Feedback Control

G2 ( s )G1 ( s )G ( s )

K s 55.909 s 0.5 s 8
s s 3 s 6 s 10

Step 3: Design a PI
compensator to meet
the steady-state error
(determine the zero
location arbitrarilyy near
the origin [e.g. 0.5]
and place the pole at
the origin):
G2 ( s )

s zc s 0.5

s
s

Re-draw
R
d
th
the roott llocus
to determine the final
gain and the static
displacement error (and
the steady-state error)

K p lim G2 (0)G1 (0)G (0)

s 0

ess 0 (type 1)
MAAE 4500: Feedback Control

Step 4 Check the specs:

uncompensated

PD

PID

5.415 j10.569

8.13 j15.867

7.519 j14.676

121 510
121.510

5 339
5.339

4 604
4.604

Damping ratio,

0.456

0.456

0.456

Natural freq., n

11.875

17.829

16.49

0.2

0.2

0.2

0.267

0.198
(=2/3* 0.267)

0.214
(~4/5 * 0.267)

Static displ. error, Kp

5.4

13.267

Steady-state error, ess

0.156

0.070

Dominant poles
Gain K
Gain,

Max. overshoot, Mp
Peak time, tp

If not satisfactory redesign the PI controller

MAAE 4500: Feedback Control

Unit step response

PID compensated

uncompensated

Compensation yields the original system

faster and with no steady-state error; the
peak time is still a little large for the specs
(overshoot not altered).

MAAE 4500: Feedback Control

Step 5 Determine the PID controller gains:

R(s)

K1

G2 ( s )G1 ( s )

K s 8

K2
K3s
s

s 3 s 6 s 10

4.604 s 55.909 s 0.5

s

4.604 s 2 56.409 s 27.954

s

C (s)

K1 259.7

K 2 128.7

K 3 4.604

(One pole at the origin, one zero at 0.5 and one zero at
55.909)
MAAE 4500: Feedback Control

Summary of Controllers and Their Usage

MAAE 4500: Feedback Control

MAAE 4500: Feedback Control

10