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Center for Self-Organizing and Intelligent Systems
(CSOIS), Department of Electrical and Computer
Engineering, Utah State University, Logan, UT
84322-4160, USA.
Department of Electronic & Electromechanical
Engineering, Industrial Engineering School, University of
Extremadura, Avda. De, Elvas s/n, 06071-Badajoz, Spain
where wc is the frequency at the point of tangency where 0 = 6 P (jw). Then, the derivative of the
where the sensitivity circle tangentially touches closed-loop system G(jw) with respect to w can
the Nyquist curve. In (2), be written as follows:
G(s) = C(s)P (s) (3) dG(jw) dC(jw) dP (jw)
= P (jw) + C(jw) . (6)
dw dw dw
is the transfer function of the open loop system
including the controller C(s) and the plant P (s). From (2), the phase of the derivative of the open
At the first look of (2), it seems complicated since loop system should be known in advance which
the derivative of the phase of the system at wc obviously can not be obtained directly from (6).
has to be known. Fortunately, Bodes integrals So, we need to simplify (6).
(Bode, 1945) can be used to approximate the Consider (6). The PI controller C(jw) is given
derivatives of the amplitude and the phase of by (4) whose derivative with respect to w is that
a system with respect to frequency at a given
frequency. To obtain the approximate derivatives, dC(jw) jKp Ki
= . (7)
the knowledge of the amplitude and the phase of dw (jw)+1
the system at the given frequency together with
the static gain of the system. dP (jw)
For calculation of dw , we have
In practice, wc can be set as the gain crossover
frequency. Our objective in this paper is to devise lnP (jw) = ln|P (jw)| + j 6 P (jw). (8)
a way to retrieve the parameters Kp , Ki and
of the controller C(s) to ensure the flat phase Differentiating (8) with respect to w gives
condition (2). Then, we can adjust Kp to make
the sensitivity circle exactly tangentially touches dlnP (jw) 1 dP (jw)
=
the Nyquist curve on the flat phase. dw P (jw) dw
The remaining part of this paper is organized as dln|P (jw)| d6 P (jw)
follows. In Sec. 2, the relationship between Ki and = +j . (9)
dw dw
Straightforwardly, we arrive at 4
2
dP (jw) dln|P (jw)| d6 P (jw)
= P (jw)[ +j ]. (10) 0
dw dw dw
2
dG(jw) Ki sa sp 8
= Kp P (jw)[(1 +
)( + j )
dw (jw) w w 10
jKi 12
], (11)
(jw)+1 14
16
where sa (w) and sp (w), first introduced in (Karimi 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
1.2
Hence, the slope of the Nyquist curve at any
specific frequency w is given by 1
dG(jw) ( + 1) 0.8
6 = 0 + tan1 [
dw 2 0.6
2 2 Ki
].(14) 0.2
sa w cos (+1)
2 sp w sin (+1)
2 sp K i
0
3 2.5 2 1.5 1 0.5 0
+5.04888s3p + 4.74463s2p + 3.03777sp 2.09475, Let us consider the following fifth order plant first,
i.e., P2 (s), which is also discussed in (Karimi et
E(sp ) = 0.02433s7p 0.29619s6p 1.49144s5p 4.05076s4p
al., 2002). The specifications are set as wc =0.295
6.55861s3p 6.81121s2p 5.17001sp + 0.10642. rad./sec. and m = 45 . The PI controller
designed by using the proposed tuning formulae
So, can be sovled from the following approxi- is C2 (s) = 1.378(1 + s0.168
1.383 ). The Bode and the
mate relationship: Nyquist diagrams are compared in Fig. 3.
A(sp )2 + B(sp ) + C(sp )
= m 0 (22) 1
2 + D(sp ) + E(sp )
200
0 0.5
200
0
400
3
10
2
10
1
10
0
10
1
10
2
10
3
10
0.5
2
300
to be acceptable via our extensive numerical ex- (a) Bode plot (b) Nyquist plot
periments.
Fig. 3. Bode and Nyquist plots for C2 (s)P2 (s).
4. THE PI CONTROLLER DESIGN From the Bode diagram in Fig. 3(a), it is seen that
the phase curve near the gain crossover frequency
The procedures to determine the PI controller is flat due to the proposed design method. The
parameters are briefly summarized in the follow- phase margin exactly equals 45 . That means
ing: the controller moves the point P (0.295j) of the
Nyquist curve to a point of C(jw)P (jw) on the The other plants shown in (23) have similar sim-
unit circle having a phase of 135 and at the ulation results. We briefly summarized the results
same time makes the Nyquist curve match the as follows for further illustrations:
constraint of (2). A bad new is, from Fig. 3(b), 1
For the fourth order plant: P1 (s) = (s+1) 4 , the
the Nyquist curve of the open loop system is
0.2512
not tangential to the sensitivity circle at the flat proposed controller is 0.695(1 + s1.369 ) with re-
phase region. But if we are allowed to adjust the spect to =0.5, wc =0.374 rad./sec. and m =45 .
open loop gain, we can shift the gain Bode plot The controller designed by the modified Ziegler-
1
get a different gain crossover frequency. Define Nichols method is 0.062(1 + 0.22s ). The results are
the frequency interval corresponding to the flat summarized in Fig. 5.
phase is [wl , wh ]. So, the gain crossover frequency Nyquist Diagram Step Response
0.5 1.4
wl wh
Kp = Kp where belongs to [ w c
, wc ]. In this 0 1.2
Imaginary Axis
Amplitude
controller C2
(s) = 0.689(1 + s0.168
1.383 ). For compar-
1
1.5
0.8
0.6
1
1.237s ). The Bode plots are compared in Fig. 4(a).
3 0
3 2.5 2 1.5 1 0.5 0 0.5 1 0 20 40 60 80 100 120 140 160
Real Axis Time (sec)
The step responses of the close loop system are (a) Nyquist plots (b) Step responses
compared in Fig. 4(b). Comparing the closed-loop
system with the proposed modified controller to Fig. 5. Comparisons of Bode plots and step re-
that with the modified Ziegler-Nichols controller, sponses for P1 (s) (Bode plots - Dashed line:
the overshoots of the step response from the pro- The modified Ziegler-Nichols, Solid line: The
posed scheme remain invariant under gain vari- proposed; Step responses - Solid line: The
ations. However, the overshoots of the modified modified proposed controller with gain vari-
Ziegler-Nichols controller change remarkably. ations 1, 1.1, 1.3; Dotted line: The modified
Ziegler-Nichols controller with the same gain
200
1.6
Step Response
1
200
400
1.2
For the sixth order plant: P3 (s) = (s+1) 6 , the
600 1
0.132
3
10
2
10
1
10
0
10
1
10
2
10
3
10 proposed controller is 0.526(1 + s1.385 ) with re-
Amplitude
0.8
100
0.6 spect to =0.4, wc =0.242 rad./sec. and m =45 .
200
0.4
The controller designed by the modified Ziegler-
300
1
400
0.2
0
Nichols method is 0.289(1 + 1.327s ). The results
are summarized in Fig. 6.
500 0 20 40 60 80 100 120 140 160
3 2 1 0 1 2 3
10 10 10 10 10 10 10 Time (sec)
0
1.4
1.2
Amplitude
1 0.8
line: The proposed C2 (s))P2 (s); Step re- 1.5 0.6
2.5 0.2
Amplitude
1 0.8
1.5 0.6
2 0.4
7. ACKNOWLEDGMENTS
2.5 0.2
3
3 2.5 2 1.5 1
Real Axis
0.5 0 0.5 1
0
0 20 40 60 80
Time (sec)
100 120 140 160 The authors are grateful to Professor Li-Chen Fu, Editor-
in-Chief of Asian Journal of Control for providing a com-
(a) Nyquist plots (b) Step responses
plimentary copy of the Special Issue on Advances in PID
Control, Asian J. of Control (vol. 4, no. 4). The simulation
Fig. 7. Comparisons of Bode plots and step re- study was helped by C. H. Hu.
sponses for P4 (s) (Bode plots - Dashed line:
The modified Ziegler-Nichols, Solid line: The
proposed; Step responses - Solid line: The REFERENCES
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Further investigations include the experimen- 4(4), 403409.
tal verification and exploration of nonminimum