Designing a PID Controller Using the Root Locus Method
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 PID Control ( • Introduction to PID Control )
-Practical Implementation Issues with a PID Controller ( • Practical Implementation Issues with a PID... )
-Understanding and Sketching the Root Locus ( • Understanding and Sketching the Root Locus )
-Using the Control System Designer in Matlab ( • Using the Control System Designer in Matlab )
-Designing a PID Controller Using the Ziegler-Nichols Method ( • Designing a PID Controller Using the Ziegl... )
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.
Lecture notes and code can be downloaded from https://github.com/clum/YouTube/tree/...
Download the ExtractPIDGainsFromSecondOrderTransferFunction.m function at
https://github.com/clum/MatlabLum/blo...
Overview of engineering videos and curriculum located at http://faculty.washington.edu/lum/Edu...
All Control Theory videos in a single playlist ( • Control Theory )
Errata:
40:58 – I should have written a real pole, not real zero
You can support this channel via Patreon at / christopherwlum . Thank you for your help!
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