Instituto Tecnológico de Estudios Superiores Monterrey, Mexico State Campus .

Farinango Romi, Nicolas, Julia, López

Jennifer,.FOS
1
1

PID Control
Farinango, Romi., Nicolas, Julia y López, Jennifer.
{A01367232,A01372872, A01379032}@itesm.mx
Instituto Tecnológico y de Estudios Superiores Monterrey, Mexico State Campus

​ The development of a PID control design obtaining

Abstract— time and must be positive. The set point (SP) is the target
the response for the azimuth control of an antenna, making value and process variable (PV) is the measured value that
diagrams without and with the PID controller to see how it may deviate from the desired value. The error from the set
changes taking the values of the parameters from Configuration point is the difference between the SP and PV and is defined
1 and 2.
as e(t)=SP−PV.
PI or PID controller is best suited for non-integrating
processes, meaning any process that eventually returns to the
​ Current, circuit, resistance, voltage, PID Control,
Keywords—
stream and capacitor. same output given the same set of inputs and disturbances. A
P-only controller is best suited to integrating processes.
Integral action is used to remove offset and can be thought of
I. N​OMENCLATUR as an adjustable ubias. [1]
Ω Ohm
V Voltage
P Power
R Resistance
I Stream

II. I​NTRODUCTION

P​
Fig2_ Equations of a pid controller
roportional Integral Derivative (PID) control
Given a system which has an equation of the form P(s)/Q(s)
automatically adjusts a control output based on the difference where P(s) and Q(s) are polynomials of any degree, it is said
between a set point (SP) and a measured process variable to be stable if all the roots of the polynomial Q(s) are in the
(PV). The value of the controller output u(t) is transferred as left half of the complex plane, which means the real part of
the system input. the root is negative.For polynomials of degree less than or
equal to 2, it is trivial to determine the roots and notice
whether or not the system is stable. For polynomials Q(s) of
higher degrees, the Routh–Hurwitz theorem can be useful to
determine whether the system is Hurwitz-stable or not.

That method consists of performing operations on

Fig1_PID
rows of a table, then counting the number of sign changes in
the first column of the table. It goes as follows:
The ubias term is a constant that is typically set to the value of
Fill the first two rows with the coefficients of the polynomial,
u(t) when the controller is first switched from manual to
in the following pattern: 1st row consists of the even
automatic mode. This gives "bumpless" transfer if the error is
coefficients s^n, s^n-2, ..., s^2, s^0; 2nd row consists of the
zero when the controller is turned on. The three tuning values
odd coefficients s^n-1, s^n-3, ..., s^3, s^1. Keep calculating
for a PID controller are the controller gain, Kc, the integral
the following rows by calculating the determinant of the
time constant τIτI, and the derivative time constant τD. The
matrix (last 2 rows of the first column, last 2 rows of the next
value of Kc is a multiplier on the proportional error and
column) divided by (the value of the first column on the row
integral term and a higher value makes the controller more
above). If you encounter a row full of zeros, set it to the
aggressive at responding to errors away from the set point.
derivative of the polynomial that the row above it represents.
The integral time constant τI (also known as integral reset
Depending on the row it is on, the number on each cell
time) must be positive and has units of time. As τI gets
represents a coefficient.If you encounter a zero with other
smaller, the integral term is larger because τIτI is in the
non-zero values, the system is not stable: you can stop there.
denominator. Derivative time constant τD also has units of
(You could continue but you'll get the same result). A zero on
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Instituto Tecnológico de Estudios Superiores Monterrey, Mexico State Campus . Farinango Romi, Nicolas, Julia, López
Jennifer,.FOS

the first column would mean a root of real value 0, which In fig 5 the step input to the actuator or signal c (t)
renders the system unstable. Otherwise, continue until the can be shown in red. The system output measured by the
end. Then, if not all the values in the first column are of the sensor or signal h (t) is shown in blue. The input step c (t)
same sign, the system is not stable.[2] must be between 10% and 20% of the nominal input value. As
The Ziegler-Nichols oscillation method to obtain the can be seen, the response of the system presents a delay, also
gains of a PID controller it allows you to adjust or "tune" a called dead time, represented by T1.
PID controller empirically, without knowing the equations of
the plant or the controlled system. These adjustment rules
proposed by Ziegler and Nichols were published in 1942 and
since then it is one of the most widely used and widely used
tuning methods. The values proposed by this method try to
achieve in the feedback system a response to the step with a
maximum overpulse of 25%, which is a robust value with
good characteristics of speed and stability for most systems.
The Ziegler-Nichols PID regulator tuning method
allows proportional, integral and derivative gains to be
defined from the response of the open loop system or from the
response of the closed loop system. Each of the two tests best
fits a type of system.
This tuning method is well adapted to systems that Fig5_Temperature vrs input power
are stable in open loop and have a delay time from when they
receive the control signal until they begin to act.To determine To calculate the parameters, start by drawing a
the response to the step of the plant or controlled system, the straight line tangent to the output signal of the system (blue
PID controller must be removed and replaced with a step curve). This tangent is drawn in the image with a straight line.
signal applied to the actuator.
The time T1 corresponds to the dead time. This is the
time it takes for the system to begin responding. This interval
is measured from the step signal goes up, to the cut-off point
of the tangent line with the initial value of the system, which
in this case is the value 25ºC. Time T2 is the rise time. Time 2
will start where the tangent line cuts to the initial output value
(25º at 2 seconds) and will end where the tangent line cuts to
the final output value (225º at 14 seconds).

Fig3_Tuning by the step response

The fig 4 shows the modification to be made to the closed

loop control system to convert it into an open loop system that
responds to a step signal, removing the PID controller:

Fig6_Time 2 begins after T1 and ends when the tangent

line reaches the maximum output value, in this case 225 ° C.
Fig4_Step response of a control system

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Jennifer,.FOS

In addition to these two characteristic times, the capacity of the hydrofoil.Some effects of the disturbances are
variation of the dX step signal and the variation of the dY equipment damage, unforeseen shutdowns and data loss.[4]
system response must also be calculated. In the example case
that appears in the images, the variation of the step signal
corresponds to dX = 5 volts of control signal c (t) and the
variation of the system corresponds to dY = 200 ° C measured
by the sensor h (t). From these values the constant of the Ko
system can be calculated:

Fig7_Variation of step signal

And from the constant Ko you can calculate the parameters of

the PID controller with only proportional (P), proportional
and integral (PI), proportional and derivative (PD) or Fig9_Effects of insulation damage disturbances
proportional integral and derivative (PID) action:
Since the development of many satellites and radar
systems, importance of these control systems with acceptable
accurate and impeccable position has increased in industrial
and communication areas. Antenna azimuth position control
system is currently available together with some control
methods, some of which are fuzzy logic and PID controllers.
Besides these methods, in this study, a self-tuning fuzzy logic
controller designed in Matlab/Simulink environment is used
for controlling the position of an antenna in a spherical
coordinate system called azimuth. The position command of
the antenna is entered manually with the help of a
Fig8_Parameters Pid potentiometer to adjust the angle of it. A second potentiometer
is used to get feedback knowledge of the system. Orientation
The constant Kp corresponds to the proportional gain, Ki is of the antenna to the desired angle, an armature controlled dc
the integral gain and Kd is the derivative gain.[3] servo motor is used. Motor is connected to the antenna with
the help of a gear system. Schematic representation of the
On the other hand, the disturbance signals represent system is shown in Fig. 10.
unwanted inputs that affect the output of the control system
and result in an increase in the system error. It is the job of the
control system engineer specifically designed the control
system to specifically eliminate the effects of disturbances on
the output and the system error.
A disturbance signal is commonly found in control
systems. For example, gusts of wind hitting the antenna of a
tracking radar create large unwanted pairs that affect the
position of the antenna. Another example is the waves of the
sea that hit the sheet of a hydrofoil that create very large
unwanted pairs that affect the position of the sheet. The
maximum elevation of the hydrofoil is achieved when the
bow blade is at an optimum angle of approximately 40 °. Fig10_Schematic representation of the antenna azimuth
Disturbing this angle by the pairs created by the waves of the position control system.
sea that collide with this sheet can seriously affect the lifting

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The dampening and inertial components of the antenna are

Also, functional block diagram of the antenna azimuth adjusted with the help of gear ratios as seen in (2).
position control system is given in Fig. 11

(2)

In (2), N1 and N2 are the gear teethes shown in Fig

10.Calculations of dampening and inertial components are
given in (3) and (4).

(3)
Fig11_Functional block diagram of the antenna azimuth
position control system
(4)
A system model expressed in previous section, an
antenna azimuth position control system consists of two In the above equations, Ja is the motor inertial
potentiometers which first one is used as input and the second constant (kgm2), JL is the load inertial constant (kg-m2), Da
one is used as a feedback, a preamplifier, a power amplifier, is the motor dampening constant (N-m s/rad) and DL is the
an armature controlled dc motor and a load which is antenna. load dampening constant (N-m s/rad).The pole and zero of the
Detailed block diagram of the antenna azimuth position motor and load block diagram is calculated as seen in (5) and
control system is shown in Fig 12 (6).

(5)

(6)
Fig12_Detailed block diagram of the antenna azimuth
position control system. In these equations, Ra is the motor resistance (ohm),
Kb and Kt are back EMF constant (V-s/rad) and motor torque
The transfer functions of motor and load block constant (N-m/A) respectively. The figure 13 shows the data
shown in (1). for the azimuth configuration of an antenna [5]

(1)

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Jennifer,.FOS

IV. R​ESULTS
Exercise 1
Input and output potentiometer
V i (s) 1
Өi (s)
= π
Preamplifier
V p (s)
Өi (s)
=k
Power Amplifier
E a (s) 100
V p (s)
= s+100
The equivalen inertia J m is
2
Jm = Ja + JL ( N1 )
N2

Fig13_Configurations of the azimuth of an Antenna

J m = 0.02 + 1 ( 25 )2
250
J m =0.03
The equivalen inertia Dm is
III. A​CTIVITIES 2
Dm = Da + DL ( N 1 )
N2
Dm = 0.01 + 1 ( 25 )2
250
Dm =0.02
Motor and Load
Kt
Өm (s) Ra J m
E a (s) = K tK b
s[s+ J1m (Dm + Ra
)]
0.5
Өm (s) (8)(0.03)
E a (s) = 1 (0.5)(0.5)
s[s+ 0.03 (0.02+ 8 )]
Өm (s) 2.083
E a (s) = s(s+1.71)
Өm (s) N1 2.083
E a (s) = ( N 2 ) ( s(s+1.71) )
Өm (s) 2.083
E a (s) = ( 250 ) ( s(s+1.71) )
25

Өm (s) 0.2083
E a (s) = s(s+1.71)
To obtain GLC (s) we have to multiply:
1 100 0.2083
π
* s+100 * s(s+1.71)
GLC (s) = s3 +101.71s6.63K
2 +171s+6.63K

From the Closed-Loop Transfer Function we use the

denominator to create the Routh-Hurwitz table,
which is:

s3 1 171
Figure 11. Activities​ Flow Chart
s2 101.71 6.63K

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a)
s1 17392.41-6.63 0
Diagram 1 without PID controller, Configuration 1, t
K
= 150:
s0 6.63K 0

From the table it can be observed that for the system

to be stable the range of the gain K is:
0 < K < 2623.28 Fig. 14 Block diagram 1.
So to maintain a system stable K CR = 2623.28
From the auxiliary polynomial we
calculate the oscillation frequency of the system, that
is:
101.71s2 + 6.63K = 0
s=
√ −17932.41
101.71
= 13.28j
s= 13.28 rad/seg
Then we apply the oscillation method to find the
gains of the PID controller using the next table for
the values of Kcr and Tcr.

Controller K pr Ti Td

P 0.5 K cr inf 0
Fig. 15 Response of the system 1.
PI 0.45 K cr 0.83 T cr 0
Diagram 1 with PID controller, Configuration 1, t = 10:
PID 0.6 K cr 0.5 T cr 0.125 T cr
The critical gain is Kcr = 2623.28 and because the
frequency of oscillation is ω =13.28then the critical
period of oscillation is given by:
2 2
T cr = f = 13.28 = 0.473 sec
Then from the table the next parameters for the PID
controller
are obtained:
Fig. 16 Block diagram 1 with PID Controller.
K p = 0.6 K cr =(0.6)(2623.28)=1573.97
T i = 0.5T cr = (0.5)(0.473) = 0.2365
T d = 0.125T cr = (0.125)(0.473) = 0.0591
The T.F. of the PID controller in its standard form is:
GLC (s) = K p (1 + T1i s + T d s)
1
GLC (s) = 1573.97(1 + 0.2365s + 0.0591s)
The T.F. of the PID controller in its parallel form is:
K
K i = T p = 1573.97
0.2365
= 6655.26
i
K d = K p T p = (1573.97)(0.0591) = 93
K
GLC (s) = K p + s i + K d s)
GLC (s) = 1573.97 + 6655.26
s + 93s)
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Jennifer,.FOS

Diagram, 1 with PID controller, with

disturbance, Configuration 1, t = 15:

Fig. 20 Block diagram 2 with PID Controller and with

disturbance.

Fig. 17 Response of the system 1 with PID Controller.

b)
Diagram, 1 without PID controller,
Configuration 1, with disturbance, t = 300:

Fig. 18 Block diagram 2 with disturbance.

Fig. 21 Response of the system 2 with disturbance and PID
Controller.
c) Diagram, 1 without PID controller adding a
step block that represents a change of set
point with value of 2 that will start at 6
seconds and with disturbance,
Configuration 1, t = 500:

Fig. 22 Response of the system 3 with disturbance and adding

a step block.

Fig. 19 Response of the system 2 with disturbance.

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Fig. 23 Response of the system 3 with disturbance and adding Fig. 25 Response of the system 3 with disturbance and adding
a step block. a step block with PID COntroller.

Diagram, 1 with PID controller adding a step block that Exercise 2

represents a change of set point with value of 2 that will start Using SIMULINK we perform configuration 2 for a
at 6 seconds and with disturbance, Configuration 1, t = 25: system with and without pid controller. For the system
without controller we use a simulation time of 150, 300 and
500 and for the system with PID controller we use a
simulation time of 10, 15 and 25

First we calculate the parameters corresponding to

configuration 2 with the equations and the data in the figure
13
Fig. 24 Response of the system 3 with disturbance and adding
a step block with PID COntroller. Input and output potentiometer
V i (s) 10
Өi (s)
= π
Preamplifier
V p (s)
Өi (s)
=k
Power Amplifier
E a (s) 150
V p (s)
= s+150
The equivalen inertia J m is
2
Jm = Ja + JL ( N1 )
N2
J m = 0.05 + 5 ( 50 )2
250
J m =0.25
The equivalen inertia Dm is
2
Dm = Da + DL ( N 1 )
N 2

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Dm = 0.01 + 3 ( 50 )2
250 s0 76.39 0
Dm =0.13
Motor and Load
Kt
Өm (s) Ra J m
From the table it can be observed that for the system
E a (s) = K tK b to be stable the range of the gain K is:
s[s+ J1m (Dm + Ra
)] 0 < K < 392.23
1
Өm (s) (5)(0.25) So to maintain a system stable kcr= 392.23
E a (s) = 1 (1)(1) From the auxiliary polynomial we
s[s+ 0.25 (0.13+ 5 )]
Өm (s) calculate the oscillation frequency of the system, that
0.8
E a (s) = s(s+1.32) is:
Өm (s) N 151.32s2 + 76.39K = 0
0.8
= ( N 1 ) ( s(s+1.32) )
E a (s)
Өm (s)
2
0.8
s=
√ −29962.44.41
151.32
= 14.07j

E a (s) = 50
( 250 ) ( s(s+1.32) ) s= 14.07 rad/seg
Өm (s) Then we apply the oscillation method to find the
0.16
E a (s) = s(s+1.32) gains of the PID controller using the next table for
the values of Kcr and Tcr.
Block Diagram
Controller K pr Ti Td

P 0.5 K cr inf 0

PI 0.45 K cr 0.83 T cr 0

PID 0.6 K cr 0.5 T cr 0.125 T cr

Fig26_ Block diagram configuration 2 The critical gain is Kcr = 392.23 and because the
frequency of oscillation is ω =13.28then the critical
period of oscillation is given by:
2 2
Closed-Loop transfer function T cr = f = 14.07 = 0.44 sec
Then from the table the next parameters for the PID
To get the denominator multiply controller
2
(s + 1.32 s) (s+150) are obtained:
K p = 0.6 K cr =(0.6)(392.23)=253.33
s3 +150 s2 + 1.32s2 + 198
T i = 0.5T cr = (0.5)(0.44) = 0.22
s3 +151.32 s2 + 198 T d = 0.125T cr = (0.125)(0.44) = 0.055

76.39k
GLC (s) = s3 +151.3252 +198s+76.93k
Routh-Hurwitz table

s3 1 198

s2 151.325 76.93

s1 198-0.5048k 0
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Jennifer,.FOS

The T.F. of the PID controller in its standard form is:

GLC (s) = K p (1 + T1i s + T d s)
1
GLC (s) = 253.33(1 + 0.22s + 0.055s)
K
K i = T p = 253.33
0.22
= 1069.68
i
K d = K p T d = (253.33)(0.055) = 12.93
K
GLC (s) = K p + s i + K d s)
GLC (s) = 253.33 + 1069.68
s + 12.93s)
The diagram in SIMULINK to be placed is that of
figure 27 by the pid controller multiplies the
Preamplifier and potentiometers by the power
amplifier numerator
150(10)
Power amplifier= π
Power amplifier= 477.46
Fig. 29 Response of the system 1.

● Diagram 1 with PID controller, Configuration 2, t =

10

Fig27_ Block diagram finish for SIMULINK

● Diagram 1 without PID controller,

Configuration 2, t = 20: Fig. 30 Block diagram 1 with PID Controller.

Fig. 28 Block diagram 1.

Fig. 31 Response of the system 1 with PID

Controller.

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● Diagram 2 without PID controller,

Configuration 2, t = 20:

Fig. 32 Block diagram 2

Fig. 35 Response of the system 2 with PID

Controller.
● Diagram 3 without PID controller,
Configuration 2, t = 20:

Fig. 36 Block diagram 3

Fig. 33 Response of the system 2.

● Diagram 2 with PID controller, Configuration 2, t =
10

Fig. 34 Block diagram 2 with PID Controller.

Fig. 37 Response of the system 3.

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● Diagram 3 with PID controller, Configuration 2, t = maximum number in the axis of (Y) is 6 as we established,
14 but with the PID Controller we can see that starts in 1 in the
axis of (Y) but when it is in 6 from the axis of (X) is now
maintains in the value of 3 in the axis of (Y).

Exercise 2
The second exercise was done with a Control System of the
Fig. 38 Block diagram 3 with PID Controller. Position of the Azimuth of an Antenna, in which we add a
step block to the diagram that represents a change of set point
with a value of 2 that will start at 6 seconds, it can see that the
system follows the new set point. For example in the ​figure
35,​ the principal objective of a feedback controller is typically
either ​disturbance rejection or ​setpoint tracking​. A controller
designed to reject disturbances will take action to force the
process variable back toward the desired setpoint whenever a
disturbance or ​load​ on the process causes a deviation. [6]
In contrast, a setpoint-tracking controller is appropriate when
the setpoint is expected to change frequently and the
controller is required to raise or lower the process variable
accordingly. Disturbance-rejection and setpoint-tracking
controllers can each do the job of the other, but optimal
performance generally requires that a controller be designed
or tuned for one role or the other.[6]
The rejection of disturbances can be carried out mainly
Fig. 35 Response of the system 2 with PID Controller. through two types of elements: active filters and passive
filters.
The difference between the two is defined by the components
V. A​NALYSIS​,​INTERPRETATION​ ​AND​ ​DISCUSSION​ ​OF​ ​RESULTS they form, while that passive filters are made up of passive
elements (resistors, capacitors and inductors) [7], active filters
Exercise 1
are made up of an additional power source to compensate for
From the slide we already had the respective calculations
non-linear loads on the system, the whatever a larger range of
to form the block diagram with the values of Configuration 1,
settings for the filter [8]. In other words, it can be seen that the
so we did three different diagrams changing some parameters
system follows the set point, currently these types of systems
or adding some tools to built them. So in the first case we
are used in different uses, for example in cars in temperature
build a system that with a simulation time of 150 to see the
controls.
response of the system, but then we add the PID Controller
with a simulation time of 10, we noticed that in both
VI. . C​ONCLUSIONS
responses is constant in 1. In the second diagram still the same
of the previous one but we add a disturbance to see how it can Romi
affect the response, we first try without the PID Controller to In this practice, when performing the number two
know how it behaves and the we try it introducing into the exercise in the Matlab Simulink simulator, we could realize
diagram the PID Controller and we can see that with the PID that when applying a PID CONTROLLER the system rejects
Controller doesn’t affect the disturbance, it maintain the same the disturbances, that is, it does not affect these to the system
value of 1. Ad finally the third diagram that also have the and remains constant, on the other hand when observing the
disturbance but in this one we add a second step block that graphs with PID controller is observed more undulations and
represents a change of set point with value of 2 that will start in a disturbance it remains constant and returns to normal
at 6 seconds and with disturbance, so with the block diagram undulations while not using the controller the graphs are
that doesn’t have the PID Control we can observe that the determined more flat and the disturbances are clearly seen

PID Control F-LA-GE-05/1

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Instituto Tecnológico de Estudios Superiores Monterrey, Mexico State Campus . Farinango Romi, Nicolas, Julia, López
Jennifer,.FOS

which this is very important to consider for the damages that [8] Salivahanan, S., and Kanchana B., V. S., 2008, ―Linear
this it causes the damage to the equipment, loss of data, etc. Integrated Circuits‖, McGraw Hill, pp. 254-257.

Julia
During this practice, activities were carried out with
the SIMULINK program, which was very helpful in
understanding behavior systems, using a PID control design
and likewise leaving it out of the simulation. According to the
parameters established in practice and the measurements
made, it can be concluded that disturbance has a great effect
on the visualization of the graphs and the representation.

Jennifer
In this practice I learned better how to use SIMULINK to
generate block diagrams with their respective response
system. In each case, more tools were added to be able to
analyze what is happening in each of them, it would seem that
by adding a disturbance this would completely alter the
response system, but adding the PID Controller we realized
that this it does not allow such a change in the system to occur
due to the present disturbance.

VII. REFERENCES

[1] BYU. (2018). Proportional Integral Derivative (PID)

Control. March 06,2020, de Dynamics and Control Sitio web:
https://apmonitor.com/pdc/index.php/Main/ProportionalIntegralDerivati
ve
[2] Stack Exchange. (2014). Determine stability of a system
using the Routh-Hurwitz stability criterion. March 06,2020, de Code
Golf Sitio web:
https://codegolf.stackexchange.com/questions/11847/determine-stability
-of-a-system-using-the-routh-hurwitz-stability-criterion
[3] Tecno Recursos. (2013). Metodo de Ziegle-Nichols. March
06, 2020, de Picuino Sitio web:
https://www.picuino.com/es/arduprog/control-ziegler-nichols.html
[4] Poyato, R. (2015). Calidad eléctrica y pérdidas de energía en
el cableado. March 06,202, de Fluke Sitio web:
https://d1hbuu0ofon117.cloudfront.net/sites/www.voltimum.es/files/pdf
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[7] Lacanette, P., 2010, ―A Basic Introduction to Filters —
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Application Note 779

PID Control F-LA-GE-05/1