1

DEPARTMENT OF ELECTRICAL and COMPUTER ENGINEERING

COMSATS University Islamabad, Lahore Campus
2
 Introduction to different controllers i.e. PID, LQR,
MPC & FUZZY
 Mathematical Modelling
 Simulation in MATLAB environment and their results
 Comparison of controller’s results which gives the
optimum results in constrained and without
constrained conditions

3
Commonly called the PID controller, the Proportional + Integral + Derivative
controller’s output is made up of the sum of the proportional, integral, and
derivative control actions. The below figure indicates the parallel PID Control
algorithm:

4
 Trial and error method
 Process reaction curve
technique
 Relay method
 Using software
 Ziegler-Nichols method

5
6
The theory of optimal control is concerned with operating a dynamic system
at minimum cost. The case where the system dynamics are described by a
set of linear differential equations and the cost is described by a quadratic
function is called the LQ problem. One of the main results in the theory is
that the solution is provided by the linear–quadratic regulator (LQR), a
feedback controller.
Advantages:
 The controller is automatically generated by simply selecting a couple of
parameters
 Stability is guaranteed if you have all states available for feedback
Disadvantages:
 Need exact model for desired results
 The parameters that are used to generate the controller are generally not
directly related

7
8
9
The term Model Predictive Control does not designate a specific control
strategy but rather an ample range of control methods which make explicit
use of a model of the process to obtain the control signal by minimizing an
objective function. These design methods lead to controllers which have
practically the same structure and present adequate degrees of freedom.
The ideas, appearing in greater or lesser degree in the predictive control
family, are basically:
Advantages:
 A flexible, open and intuitive formulation in time domain
 Use of optimal control law
Disadvantages:
 Accurate dynamic model is necessary
 High computational cost
 Uncertainties make the problem very difficult to resolve

10
11
12
The point of fuzzy logic is to map an input space to an output space and the
primary mechanism for doing this is a list of if-then statements called rules.
Rules describe variables. Build a system to interpret rules.
Advantages: Disadvantages:
 conceptually easy to understand “ Lack of real time response
 Flexible “ The lower speed and also longer
run time of system
 Tolerant of imprecise data
“ Restricted number of usage of
 Based on natural language input variables

13
• Fuzzy sets
• Membership
Functions
• Logical operations
• If-then rules

14
15
 Controller

PID LQR MPC FUZZY

Time
Characteristic

Rise Time 0.8727 0.8021 0.7002 0.7600

Settling Time 2.9782 2.9023 2.8761 2.6200

Overshoot 0.120000% 0.098001% 0.009941% 0.008264%

Peak Time 1 1.2 0.8 2

16
17