In this video we discuss how to use the root locus method to design a PID controller. In addition to discussing the theory, we look at Matlab tools to enable this workflow. In addition, we demonstrate the effectiveness of the resulting controller on a real system. Finally, we discuss how this approach is generalizable to designing any linear controller.
Please ensure you have watched the following videos before this lecture:
-Introduction to Proportional, Integral, Derivative (PID) Control (TBD)
-Practical Implementation Issues with a PID Controller ( • Practical Implementati... )
-Understanding and Sketching the Root Locus ( • Understanding and Sket... )
-Using the Control System Designer in Matlab ( • Using the Control Syst... )
-Designing a PID Controller Using the Ziegler-Nichols Method ( • Designing a PID Contro... )
Topics and time stamps:
0:00 - Introduction.
3:27 - Designing a PI controller.
12:34 - Proportional only controller on a real DC motor.
15:04 - Using the Control System Designer to design a PI controller.
28:51 - PI controller on a real DC motor.
31:31 - Designing a PID controller.
37:52 - Designing a P, I, Pseudo-D controller.
49:50 - Using the Control System Designer to design a P, I, Pseudo-D controller.
58:35 - P, I, Pseudo-D controller on a real DC motor.
1:00:24 - Generalization to general linear controller design.
Download the ExtractPIDGainsFromSecondOrderTransferFunction.m function at
faculty.washington.edu/lum/Edu...
Additional videos in this series:
-Using the Control System Designer in Matlab ( • Using the Control Syst... )
-Understanding and Sketching the Root Locus ( • Understanding and Sket... )
-The Routh-Hurwitz Stability Criterion ( • The Routh-Hurwitz Stab... )
- Modeling a DC Motor with Ordinary Differential Equations (TBD)
-Introduction to Proportional, Integral, Derivative (PID) Control (TBD)
-Practical Implementation Issues with a PID Controller ( • Practical Implementati... )
-Designing a PID Controller Using the Ziegler-Nichols Method ( • Designing a PID Contro... )
-Designing a PID Controller Using the Root Locus Method ( • Designing a PID Contro... )
Overview of engineering videos and curriculum located at faculty.washington.edu/lum/Edu...
Errata:
40:58 - I should have written a real pole, not real zero
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22 июл 2024