CDS 101/110 - PID Control: Difference between revisions

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{{cds101-fa06}}
{{cds101-fa08 lecture|prev=Loop Shaping|next=Robust Performance}}


{{righttoc}}
{{righttoc}}
== Overview ==
== Overview ==
The learning objectives for this week are:
* Students should be to design a PID controller that satisfies a frequency domain performance specification
* Students should understand the limitations imposed by actuator saturation and implement a simple anti-windup compensator


'''Monday:'''  PID Overview ({{cds101 handouts|L8-1_pid_h.pdf|Slides}}, [http://www.cds.caltech.edu/~murray/courses/cds101/fa06/mp3/13Nov06.mp3 MP3])
'''Monday:'''  PID Overview ({{cds101 handouts|L9-1_pid.pdf|Slides}}, {{cds101 mp3|cds101-2008-11-24.mp3|MP3}})


This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. After reviewing the role of the controller on the loop shape and the relationship between the gain and the phase, we introduce PID control and illustrate its use to design a speed controller that satisfies a given set of performance specifications.
This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. We compare the PID controller to loop shaping designs (such as lead compensation) and show how to obtain initial PID gains using Ziegler-Nichols tuning rules.  The issues of windup and anti-windup compensation are briefly discussed.


'''Wednesday:''' PID Analysis ({{cds101 handouts|L8-2_pid2ss|Notes}}, MP3)
* {{cds101 handouts|L9-1_pid_h.pdf|Lecture handout}}
* MATLAB: {{cds101 matlab|L9_1_pid.m}}


This lecture provides more details on the use of PID control, including the representation of PID controllers in state space.  The problems of windup and saturation are also discussed.
'''Wednesday:''' PID Implementation ({{cds101 handouts|L9-2_implement.pdf|Notes}}, {{cds101 mp3|cds101-2008-11-26.mp3|MP3}})


'''Friday:''' PID Design (Notes, MP3)
This lecture provides more details on the implementation of PID control, including the representation of PID controllers in state space.  The problems of windup and saturation are also discussed.


This lecture provides additional tools for PID control design, including Ziegler-Nichols turning and root locus plots for choosing the loop gain. An example system is worked out in detail, using MATLAB.
* {{cds101 handouts|L9-2_implement.pdf|Lecture notes}}


== Handouts ==
'''Friday:''' no class (Thanksgiving break)
 
{| width=100%
|- valign=top
| width=33% | Monday
* {{cds101 handouts|L8-1_pid_h.pdf|Lecture handout}}
* MATLAB handouts: {{cds101 matlab|L8_1_pid.m}}
* {{cds101 handouts|hw7.pdf|Homework #7}}
| width=33% | Wednesday (CDS 110)
* {{cds101 handouts|L8-2_pid2ss|Lecture notes}}
| width=33% | Friday
* Lecture notes
|}


== Reading ==
== Reading ==


* {{AM06|Chapter 10 - PID Control}}
* {{AM08|Chapter 10 - PID Control}}
** CDS 101: Read sections 10.1, 10.3 [30 min]
** CDS 110: Read sections 10.1, 10.3-10.5 [45 min]
** CDS 210: AM08 10.1, 10.3, DFT Ch 6 [90 min]


== Homework ==
== Homework ==


This homework set provides practice in specification and design of control systems in the frequency domain using PID control. The first two problems work through examples similar to the ones used in lecture. The third problem, for CDS 110 students, explores the use of PID control to give a desired level of performance for a simplified balance system.
* {{cds101 handouts placeholder|hw8.pdf|Homework #8}}
 
<!-- Links to homework materials -->
* {{cds101 handouts|hw7.pdf|Homework #7}}
* Useful MATLAB commands
** sisotool - display standard linear system plots on a single screen
** sisotool - display standard linear system plots on a single screen
** feedback - generate a closed loop system from a loop transfer function
** feedback - generate a closed loop system from a loop transfer function
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== FAQ ==
== FAQ ==
'''Monday'''
'''Monday'''
<ncl>CDS 101/110 FAQ - Lecture 8-1</ncl>
<ncl>CDS 101/110 FAQ - Lecture 9-1, Fall 2008</ncl>
'''Wednesday'''
'''Wednesday'''
<ncl>CDS 101/110 FAQ - Lecture 8-2</ncl>
<ncl>CDS 101/110 FAQ - Lecture 9-2, Fall 2008</ncl>
'''Friday'''
<ncl>CDS 101/110 FAQ - Lecture 8-3</ncl>
'''Homework'''
'''Homework'''
<ncl>CDS 101/110 FAQ - Homework 7</ncl>
<ncl>CDS 101/110 FAQ - Homework 8, Fall 2008</ncl>

Latest revision as of 05:59, 9 December 2008

CDS 101/110a ← Schedule → Recitations FAQ AM08 (errata)

Overview

The learning objectives for this week are:

  • Students should be to design a PID controller that satisfies a frequency domain performance specification
  • Students should understand the limitations imposed by actuator saturation and implement a simple anti-windup compensator

Monday: PID Overview (Slides, MP3)

This lecture covers the basic tools in frequency domain control design using proportional + integral + derivative (PID) control. We compare the PID controller to loop shaping designs (such as lead compensation) and show how to obtain initial PID gains using Ziegler-Nichols tuning rules. The issues of windup and anti-windup compensation are briefly discussed.

Wednesday: PID Implementation (Notes, MP3)

This lecture provides more details on the implementation of PID control, including the representation of PID controllers in state space. The problems of windup and saturation are also discussed.

Friday: no class (Thanksgiving break)

Reading

Homework

  • Homework #8
    • sisotool - display standard linear system plots on a single screen
    • feedback - generate a closed loop system from a loop transfer function

FAQ

Monday <ncl>CDS 101/110 FAQ - Lecture 9-1, Fall 2008</ncl> Wednesday <ncl>CDS 101/110 FAQ - Lecture 9-2, Fall 2008</ncl> Homework <ncl>CDS 101/110 FAQ - Homework 8, Fall 2008</ncl>

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