1. PID Control Using MATLAB Simulation
Lecturer:黃教琪
Int. phone #:4375
Automatic Control - Matlab lecture4

2. Proportional-Integral-Derivative(PID) Control
For control over steady-state and transient errors we can combine all three control strategies we have discussed is PID control.
PID combination is sometimes able to provide an acceptable degree of error reduction simultaneously with stability and damping.
Automatic Control - Matlab lecture4

3. PID by MATLAB Implement Example 1
Consider a system with transfer function
T=10K/[(1*2)s^2+ (1+2)s+1+AK]
Change it manually
Automatic Control - Matlab lecture4

4. PID by MATLAB Implement Example 2
Consider a system with transfer function
T=(K*S+Ki)/[S^3+ 3*S^2+(2+K)*S+Ki]
Automatic Control - Matlab lecture4

5. Automatic Control - Matlab lecture4

6. Ziegler-Nichols Tuning of PID Regulators
J. G. Ziegler and N. B. Nichols recognized that the step responses of a large number of processes control systems exhibits a process reaction curve like <fig.1>
Ziegler & Nichols gave two methods for tuning the controller
For a decay ratio of 0.25
Based on a stability boundary
Automatic Control - Matlab lecture4

7. Automatic Control - Matlab lecture4
Fig.1
Automatic Control - Matlab lecture4

8. Z.-N. Tuning of PID Regulators Method One
For a decay ratio of 0.25
Automatic Control - Matlab lecture4

9. Sample of MATLAB Implement
Consider a system with transfer function
T=2/[(S+2)*(0.18*S^2+0.6*S+1)]
With L=0.38;R=1; 1
Automatic Control - Matlab lecture4

10. Automatic Control - Matlab lecture42 3 5
Automatic Control - Matlab lecture4

11. Automatic Control - Matlab lecture4

12. Z.-N. Tuning of PID Regulators Method Two
Based on a stability boundary
Automatic Control - Matlab lecture4

13. Automatic Control - Matlab lecture4
Homework Assignment
Using Z.-N. method Two to establish the PID regulator using the same transfer function above.
Adjusting the P,I,D value manually to establish the most stable output using the same transfer function above (Deadline: Nov. 10th)
Automatic Control - Matlab lecture4