1.1.

Introduction
Control systems are integral components of many contemporary gadgets and
systems and are employed in a broad variety of contexts. Control systems, to put it
simply, are used to regulate how any process or device behaves. It is primarily
composed of three parts: actuator, controller, and sensor. Here, the sensor
measures physical attributes like temperature and pressure, translates those
observations into an electrical signal, and then produces an output signal that
operates the actuator. We shall examine this idea in-depth in this essay.
1.1.1. What is a Control system:
A device or group of devices that controls and directs the actions of other devices
or systems is known as a control system. It operates according to the input-process-
output cycle theory. given that changing the input controls the output. They are
extensively utilized in engineering, automation, and electronics.

Type of the Control system:

There are basically two types of control systems:
• Open-loop controlled system
• Closed-loop control system
• Open-loop control system:
A control signal, which is regarded as input, is supplied to a system (Source) in an
open-loop controlled system, and the system reacts without taking the output
into account. This system's inability to continuously monitor the behavior of the
system is a drawback. Below is a representation of this system's block diagram.
Examples of open-loop controlled systems include:
Washing Machine: This operates on a timed basis, performing actions like
soaking, drying, and rinsing according to a preset schedule.
Bread Toaster and Microwave Oven: These machines operate based on a specific
time duration, regardless of the output conditions, ensuring a consistent process.
Electric Bulb: When connected to an electric supply, the bulb functions by simply
switching it ON and OFF. It operates independently of parameters such as
temperature or light intensity.
• Closed Loop Control Systems:
In a closed-loop control system, sensors play a crucial role in continuously
monitoring the system's performance. This system, also known as a feedback
control system, differs from open-loop control systems in that it actively adjusts
the control input based on the disparity between the desired output and the
actual output. Unlike open-loop systems, which operate without feedback, closed-
loop systems provide a more dynamic and responsive approach by constantly
comparing and adapting to achieve the desired results.
Closed-loop control systems are prevalent in various domains, extending beyond
household appliances to industrial applications:
Thermostat heater: This device exemplifies closed-loop control by actively
regulating and maintaining the desired temperature within a specified range.
Voltage stabilizer: In industrial settings, voltage stabilizers demonstrate closed-loop
control by detecting fluctuations in voltage and adjusting it to meet a predefined
level.
Human actions: Human decision-making and responses to observed consequences
represent a closed-loop control system. When individuals assess outcomes and
alter their actions accordingly, it mirrors the principles of feedback control.
1.2. Controller:
For the control system we used many controller, However the PID controller is most
famous and more convenient and easy to implement for the system in industry.
Here we will study about the control system controller PID and I-PD.
1.2.1. Proportional Integration and Derivative (PID):
A popular feedback control method in industrial automation is the proportional
Integral Derivative controller, or PID controller. By modifying a manipulated variable
in response to the discrepancy between the set point and the actual process
variable, it seeks to control a process variable.
- Proportional Action
Role: The Proportional (P) term responds to the current error, producing a control
action proportionate to the magnitude of the error.
Effect: It delivers an immediate corrective response, swiftly reducing the error.
Higher Proportional values yield a more robust and rapid reaction but can introduce
overshooting and oscillations.
- Integral Action
Role: The Integral (I) term considers past errors over time, generating a control
action aimed at eliminating accumulated steady-state error.
Effect: It ensures gradual correction of even minor errors, effectively eliminating
offset. However, an overly aggressive Integral term may result in sluggish responses
and overshooting.
- Derivative Action
Role: The Derivative (D) term anticipates the future error trend by assessing the rate
of change of the error.
Effect: It introduces a damping effect, mitigating oscillations and overshooting
caused by rapid changes in error. The Derivative term contributes to stabilizing the
system response.

Advantages and Disadvantages of PID Controller

 ▪ Advantages:
1. Simplicity and Wide Understanding:
2. PID controllers are known for their simplicity, making them easy to
implement and comprehend across various applications.
3. Fast Response, Stability, and Adaptability:
4. PID controllers provide a quick response to changes in the system, ensuring
stability. They are adaptable to different systems and dynamic conditions.
▪ Disadvantages:
1. Challenges in Complex Linear Systems:
2. PID controllers may face difficulties in handling complex linear systems,
particularly those with intricate dynamics.
3. Tuning Complexity.
4. Optimal tuning of PID controllers involves adjusting the Proportional (P),
Integral (I), and Derivative (D) parameters. Finding the right balance can be
challenging, requiring expertise and careful consideration.
1.3.1. Integral Proportional derivative (I-PD):
The I-PD (Integral-Proportional-Derivative) controller is a type of control system
that combines elements from the proportional, integral, and derivative
controllers. Unlike the more common PID controller, where the proportional
action is based on the error term, the I-PD controller's proportional action is
based on the process variable (PV).
Let's break down the components of the I-PD controller:
Integral (I) Action:
The integral term sums up the error over time. It continuously accumulates the
error signal and acts to eliminate the steady-state error, ensuring that the system
reaches and maintains the desired setpoint. This helps in stabilizing the system
and reducing long-term errors.
Proportional (P) Action:
In the I-PD controller, the proportional action is based on the process variable (PV)
rather than the error term. The proportional gain (Kp) determines the ratio of the
output response to the process variable. Increasing the proportional gain
enhances the response speed of the system, but it should be carefully tuned to
avoid instability and oscillations.
Derivative (D) Action:
The derivative term predicts the future trend of the process variable by
considering its rate of change. It adds a damping effect to the control system,
reducing overshooting and oscillations caused by rapid changes in the process
variable. The derivative action contributes to the stability of the system.

Characteristics and Considerations:

The I-PD controller is known for providing a slower response compared to the PID
controller, primarily due to the absence of proportional action based on the error
term.
It is often used when a slow response to set-point changes is acceptable.
Proper tuning is essential to achieve optimal performance, and the tuning
parameters for the I-PD controller may differ from those of the PID controller.
The I-PD controller is less sensitive to noise in the system, making it suitable for
applications where precise control is necessary.
1.4. Calculations
Here, we design our Electromechanical system Mathematically and then Implement
it on MATLAB Simulink and observed the system response.
System modeling
The below is the equivalent Electrical Mechanical system

Let’s explain the system terms and symbols.

i. R = winding resistance
ii. L = winding inductance
iii. e = back emf of the DC motor
iv. v = supply voltage
v. TL = load torque
vi. T = Motor torque
vii. w = angular velocity of shaft
viii. b = Motor viscous friction constant
Given equations:
𝑒 = 𝐾𝑒 𝜔, 𝑇 = 𝐾𝑡 𝑖 𝑎𝑛𝑑 𝑇𝐿 = 𝐾𝑡 𝑖𝐿
where Ke and Kt are respectively the back emf and torque constants of the motor,
and iL is the equivalent load current reflected by the load torque TL to the motor
armature.
As the above figure is the combination of the electrical and mechanical system so
we have two equation Mechanical and Electrical.
Electrical equation:
Apply, KVL. so we gets.
𝑑𝑖
𝑣 − 𝑖𝑅 − 𝐿 ( )−𝑒 =0
𝑑𝑡
Rearranging this equation
𝑑𝑖
𝑣 = 𝑖𝑅 + 𝐿 ( )+𝑒
𝑑𝑡
After taking the laplace transform we get
𝑉(𝑠) = 𝐼(𝑆)𝑅 + 𝑠𝐿𝐼(𝑠) + 𝑒(𝑠) − − − − − 1
Note
The current related to the load torque is given below:
𝑇
𝑖=
𝐾𝑡
Laplace transform is
𝑇(𝑠)
𝐼(𝑠) =
𝐾𝑡
Now:
𝑒(𝑠) = 𝐾𝑒 𝑤(𝑠) = 𝐾𝑒 𝑠𝛳(𝑠)
Putting the value of e(s) and I(s) in the equation 1;
𝑇(𝑠) 𝑇(𝑠)
𝑉(𝑠) = ( ) 𝑅 + 𝑠2𝐿 ( ) + 𝐾𝑒 𝑠𝛳(𝑠) − − − −2
𝐾𝑡 𝐾𝑡
This equation describes the relationship between the motor's angular movement
and the torque it generates.
Mechanical Equations:
Using the free body diagram of the mechanical load to get the mechanical equation:
Free body equation become:
𝑇(𝑠) = (𝐽𝑠 2 + 𝑏𝑠)𝛳(𝑠) − − − − − −3
Now we have both electrical and mechanical equations.
Therefore, we put the equation 3 to equation 2 and we get the equation is
𝑅 𝑠𝐿
𝑉(𝑠) = [( + ) (𝐽𝑠 2 + 𝑏𝑠) + 𝐾𝑒 𝑠] 𝛳(𝑠)
𝐾𝑡 𝐾𝑡
We assume that the armature inductance, La, is small compared to the armature
resistance, Ra, which is usual for a dc motor, Equation becomes,
𝑅
𝑉(𝑠) = [( ) (𝐽𝑠 2 + 𝑏𝑠) + 𝐾𝑒 𝑠] 𝛳(𝑠)
𝐾𝑡
Now after the solving the equation for the transfer function of 𝛳(𝑠) 𝑎𝑛𝑑 𝑉(𝑠) we
gets,
𝛳(𝑠) 1
=
𝑉(𝑠) 𝑅
[( ) (𝐽𝑠 2 + 𝑏𝑠) + 𝐾𝑒 𝑠]
𝐾𝑡
Solving the above equation we gets
𝐾𝑡
𝛳(𝑠) 𝐽𝑅
= − − − − − −( 𝒂
𝑉(𝑠) 𝐾𝑡 𝐾𝑒
𝑠 [𝑠 + 𝐽(𝑏 + ]
𝑅
in the simplified for we can write this equation as
ϴ(s) K
=
V(s) s[s + α]
For the transfer function of the w(s) and V(s) we get
As we know that ϴ(s) = w(s)/s

w(s) K
=
V(s) [s + α]
Now the equation become,
Kt
w(s) JR
= − − − − − − − (a
V(s) KtKe
[s + J(b + ]
R
Putting the value of the physical parameter we get the both equation as
The physical parameters are:
➢ Moment of inertia of the rotor J=0.01 kg.m2
➢ Motor viscous friction constant b=0.1 N.m.s
➢ Electromotive force constant Ke=0.01 V/rad/sec
➢ Motor torque constant Kt=0.01 N.m/Amp
➢ Electric resistance R=1 Ohm
𝛳(𝑠)
Transfer function in respect to
𝑉(𝑠)

𝛳(𝑠) 1
=
𝑉(𝑠) 𝑠[𝑠 + 0.001001]
𝑤(𝑠)
Transfer function in respect to
𝑉(𝑠)

𝑤(𝑠) 1
=
𝑉(𝑠) [𝑠 + 0.001001]
Closed loop system:
Now the derive the equation for the above closed loop system
𝐺(𝑠) 𝐾𝑡
𝑇(𝑠) = ( + 𝐾𝑝 + 𝐾𝑑 𝑠) ( )
𝑠 𝑠
𝐺(𝑠)𝐾𝑡 + 𝐾𝑝 𝐾𝑡 𝑠 + 𝐾𝑡 𝐾𝑑 𝑠 2
𝑇(𝑠) =
𝑠2
After putting the value of G(s) we get the simplified equation :
𝐾𝑡 𝐾𝑝 𝐾𝑡
𝑇(𝑠) = + + 𝐾𝑡 𝐾𝑑
𝑠 2 (𝑠 + 0.001) 𝑠

Calculating the Gain of the I-PD controller

we determine the gain using the pole position methods:
here
𝑇(𝑠) = 𝐺(𝑠)𝐻(𝑠)
For closed loop system the characteristic equation will be like this
1 + 𝐺(𝑠)𝐻(𝑠) = 1 + 𝑇(𝑠) = 0
Let’s we want the pole at the position of -5 and -4, then the characteristic equation
become,
(𝑠 + 5)(𝑠 + 4) + 𝑇(𝑠) = 0
(𝑠 + 9𝑠 + 20) + 𝑇(𝑠) = 0
Now putting the equation of the T(s)
 𝐾𝑡 𝐾𝑝 𝐾𝑡
(𝑠 2 + 9𝑠 + 20) + + + 𝐾𝑡 𝐾𝑑 = 0
𝑠 2 (𝑠 + 0.001) 𝑠
Match Coefficients:
Equate coefficients to determine the PID gains:
Sr # Gains Value
1 𝐾𝑝 , 9
2 𝐾𝑡 1
3 𝐾𝑑 20

1.5. MATLAB Simulink Simulation Results:

Simulation model with I-PD Controller:
Simulation model of the system in the MATLAB Simulink with I-PD controller

The system response to the step input is given below:

The obtained result is derived from the calculated values in the previous sections
of the analysis. In this particular scenario, the system is characterized as a critically
damped system, indicating an absence of overshoot. However, this system exhibits
a longer rise time and settling time. To enhance the system's response speed, the
gain of the integral component (Ki) is increased. This adjustment, however,
introduces overshoot, as illustrated in the figure below.

An increase in the integral gain (Ki) results in system overshoot, although it

enhances the system response. Therefore, a trade-off exists between the system
response and overshoot, and the preferred characteristic depends on the specific
application requirements.
Note:
To achieve specified values for settling time, rise time, and system overshoot, the
integrator gain should be adjusted accordingly. This adjustment is illustrated in the
figures provided
1.6. Designing the PID controller:
We design the PID controller Gain using the Ziegler-Nichols approaches.

In this scenario, the I-PD controller is transformed into a PID controller, and we aim
to determine the tuning parameters for the PID controller using the Ziegler-Nichols
method. The procedure for finding Kp, Ki, and Kd is outlined as follows:
✓ Start with a small value for Kp and gradually increase it, while keeping Ki and
Kd equal to zero.
✓ Continue increasing Kp until neutral stability is achieved.
✓ Record the critical or ultimate value of Kp, denoted as Ku.
✓ Record the ultimate value of oscillation, known as Tu.
✓ Refer to the provided table to obtain the corresponding values for Kp, Ti, and
Td.
This process helps establish optimal tuning parameters for the PID controller based
on the Ziegler-Nichols approach
Calculation for the tuning Parameter. Of PID.
Following the above procedure we calculated the Kp, Ki, and Kp value.
For stable oscillation of the system.

This is stable oscillation for the Kp value of 10, and the oscillation time period is 2
seconds.
Thus 𝐾𝑢 = 0.5 𝑎𝑛𝑑 𝑇𝑢 = 10𝑠𝑒𝑐
Now according to the above table we find the Kp, Ki and Kd.
𝐾𝑝 = 0.6𝐾𝑢 = 0.6 ∗ 0.5 = 0.30
The Ki gain is :
𝑇𝑢 10
𝑇𝑖 = = =5
2 2
𝐾𝑝 1.2 ∗ 𝐾𝑢
𝐾𝑖 = = = 0.06
𝑇𝑖 𝑇𝑖
The Kd gain is:
𝐾𝑑 = 0.075 ∗ 𝐾𝑢 ∗ 𝑇𝑢 = 0.375
Sr # Gains Value
1 𝐾𝑝 , 0.30
2 𝐾𝑡 0.06
 3 𝐾𝑑 0.0375

Now the simulation Model for the PID controller:

Simulation results

The implementation of the PID controller using the Ziegler-Nichols method yields
the most favorable system response. However, when decreasing the Ki gain, the
system experiences oscillations, and increasing the Ki value results in system
overshooting. In the overall assessment of system response, the PID controller
proves to be superior. Nevertheless, when specifically considering overshoot in the
system response, the I-PD controller emerges as the optimal choice. This highlights
the trade-off between achieving a robust overall response and minimizing
overshoot, depending on the specific requirements of the application.
Conclusion:
In conclusion, the implementation of controlled systems using MATLAB Simulink
proves to be an effective and reliable approach. The integration of both PID and I-
PD controllers has been executed, with the I-PD controller demonstrating the
advantage of minimal overshot, albeit with a slightly lower overall system response.
While the PID controller offers a faster response, it comes at the cost of increased
overshot, especially when elevating the Ki value. This underscores the inherent
tradeoff between achieving a swift system response and mitigating overshoot,
necessitating careful consideration based on specific application requirements.

References
1. Norman S. nise, book “control system engineering” 6th edition
2. Shirapti, “Control system”, Link : https://www.geeksforgeeks.org/control-
system/
3. Chalti, “ Proportional Integral Derivative Controller in Control System”, link:
https://www.geeksforgeeks.org/proportional-integral-derivative-controller-
in-control-system/
4. Brian R Copeland, “The Design of PID Controllers using Ziegler Nichols
Tuning”, March 2008.
5. Krishnarayalu Movva, “PID controller Tuning using Simulink for Multi Area
Power Systems”, September 2012.