Control Lab

Subject: Experiment #4 Integral and Proportional

Controller (PI-controller).
Done by: Abdallah Husain Sulieman Daldoom.
31502020130.
Eng. Saleem Ghanayem.
Introduction:

We understand the P-controller previously, now the

Integral controller or (I-controller), this type of controller
is directly proportional to the integral of the error signal.

Mathematically:

As we know in an integral controller output is

directly proportional to the integration of the error
signal, writing this mathematically we have:
𝑡
𝐴𝑡 𝛼 ∫ 𝑒(𝑡)𝑑𝑡
0
𝑡
𝐴𝑡 = 𝐾𝑖 ∫ 𝑒(𝑡)𝑑𝑡
0
Where Ki is an integral constant also known as
controller gain. The integral controller is also known
as reset controller.
PI-Controller:
A P.I Controller is a feedback control loop that calculates an error
signal by taking the difference between the output of a system.

As the name suggests it is a combination of proportional and an

integral controller the output (also called the actuating signal) is
equal to the summation of proportional and integral of the error
signal. Now let us analyze proportional and integral controller
mathematically. As we know in a proportional and integral
controller output is directly proportional to the summation of
proportional of error and integration of the error signal, writing
this mathematically we have, this can be mathematically
expressed as:

𝑡
𝐴𝑡 𝛼 ∫ 𝑒(𝑡 )𝑑𝑡 + 𝐴(𝑡 ) 𝛼 𝑒(𝑡)
0
𝑡
𝐴𝑡 = 𝐾𝑖 ∫ 𝑒(𝑡 )𝑑𝑡 + 𝐾𝑏 𝑒(𝑡)
0

Where, Ki and Kb proportional constant and integral constant

respectively.
Simulink:
Circuit diagram for PI=controller.

When Ki=0, the system only have a P-controller.

At Ki=1, and Kb=5.

Steady state error is less.

If Kb=0, then no output signal will go out, and error
will be at maximum value.

We can add a PID

controller from
Simulink library, double
click at it will show:
Which is a formal
controller being ready
and can be used as any
controller just by change
the values.
If we add the PID to the system:

The output signals are not identical this is due to

transfer function are different from what is in PID, It
can be solved by add transfer function and negative
feedback, as shown:

Here the two-output signal are identical.

If we change any thing from Ki or Kb or transfer
function (Planet) the outputs will not be identical, to
solve this we must change all from the above circuit
to PID circuit.

If we change the transfer function to [1 2 0], then:

Conclusion:

1) The I-controllers is integration controller that

does not work alone, because that no output will
exist.
2) If Ki for integration controller is zero then the
system will neglect the I-controller like it does
not exist, only P-controller will work.
3) PI-controller can make the steady state error
equal zero.
4) There is a tool called PID controller in Simulink
library of MATLAB, which is helpful for
shortcut the circuit diagram for circuit diagram
to P and I controllers, just by give the value of
proportional and integral and derivative equal
zero.