LABORATORY MODULE

EMT30105 Industrial Machinery Control System

Design
Semester I (2021/2022)

CLOSED-LOOP SYSTEM WITH PID

CONTROLLER

Name : HAFIZ ZIKRI BIN NORIZAN

Matric No : 191492857

Lecturer : Dr Muzaidi Othman @ Marzuki

Signature : ………………..…….….

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Experiment 3: Closed-Loop with PID controller

A. Objective:
1. Able to use MATLAB commands for PID analysis.
2. To analyze the effect of different value P, I, and D in a control system.
3. Able to tune PID controller using manual and Ziegler Nichols methods.

B. Introduction:
Proportional-Integral-Derivative (PID) control is the most common control algorithm used in
industry and has been universally accepted in industrial control. The popularity of PID
controllers can be attributed partly to their robust performance in a wide range of operating
conditions and partly to their functional simplicity, which allows engineers to operate them in
a simple, straightforward manner. As the name suggests, PID algorithm consists of three basic
coefficients; proportional, integral and derivative which are variedto get optimal response.

Proportional Response
The proportional component depends only on the difference between the set point and the
process variable. This difference is referred to as the Error term. The proportional gain (Kc)
determines the ratio of output response to the errorsignal. For instance, if the error term has a
magnitude of 10, a proportional

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gain of 5 would produce a proportional response of 50. In general, increasing the proportional
gain will increase the speed of the control system response. However, if the proportional gain is
too large, the process variable will begin to oscillate. If Kc is increased further, the oscillations
will become larger and the system will become unstable and may even oscillate out of control.

Integral Response
The integral component sums the error term over time. The result is that even a small error
term will cause the integral component to increase slowly. The integral response will
continually increase over time unless the error is zero, so the effect is to drive the Steady-
State error to zero. Steady-State error is the final difference between the process variable
and set point. A phenomenon called integral windup results when integral action saturates a
controller without the controller driving the error signal toward zero.

Derivative Response
The derivative component causes the output to decrease if the process variable is increasing
rapidly. The derivative response is proportional to the rate of change of the process variable.
Increasing the derivative time (Td) parameter will cause the control system to react more
strongly to changes inthe error term and will increase the speed of the overall control system
response. Most practical control systems use very small derivative time (Td), because the
Derivative Response is highly sensitive to noise in the process variable signal. If the sensor
feedback signal is noisy or if the control loop rate is too slow, the derivative response can
make the control system unstable.

Table 1: Effect of increasing parameter independently

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C. Matlab commands
1. To generate transfer function of the systemGp=tf (num, den) where num and den is the
numerator and denominator of open-loop transfer function respectively and w (optional) is the
frequency range of the response
2. To generate a system feedback into a system= feedback (Gp, H) where H is a system feedback
of the system
3. To produce a system graphstep (System, ‘r’) where ‘r-‘ is a color of the line graph
4. To add PID tuner C= pid (Kp, Ki, Kd) Where Kp, Ki and Kd is the value of PID.
5. To generate system feedback with PID controller into asystem PID = feedback (Gp, H)

C. Procedure
1. Referring to the closed loop system shown

R(s) C(s)
+

Figure 1

2. Generate a system graph without PID controller and determinerise time, overshoot, settling
time, and steady-state error.
3. Generate a system graph with and without PID controller
4. Set value of Kp, Ki and Kd based on given situation.

5. Determine value of rise time, overshoot, settling time, and steady-state error.

Task:
1. The goal of this problem is to show how each of the terms Kp, Ki, and Kd contributes to
obtaining the common goals of:
 Fast rise time
 Minimal overshoot
 Zero steady-state error

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2. Write a program to produce the unit step response and show the step response curve for each
transfer functions in Table 1.
3. Determine the maximum overshoot/undershoot, rise time, peak/peak time and settling time
of the system from the simulation. This can be done by using stepinfo command from
MATLAB.
4. Repeat step 2 to 3 by using Ziegler Nichols method. Use table 2 and Table 3

Table 1
Transfer function block Parameters
(a)
Kp:60
Ki:2
Kd:5

RiseTime: 0.0246
SettlingTime: 0.0374
SettlingMin: 0.9054
SettlingMax: 1.0188
Overshoot: 1.8766
Undershoot: 0
Peak: 1.0188
PeakTime: 0.0669

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(b)
Kp:6
Ki:2
Kd:10

RiseTime: 0.0125
SettlingTime: 0.0795
SettlingMin: 0.9014
SettlingMax: 1.0281
Overshoot: 2.8137
Undershoot: 0
Peak: 1.0281
PeakTime: 0.0411

(c)
Kp:6
Ki:2
Kd:10

RiseTime: 0.0135
SettlingTime: 0.0233
SettlingMin: 0.9005
SettlingMax: 1.0014
Overshoot: 0.1408
Undershoot: 0
Peak: 1.0014
PeakTime: 0.0432

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(d)
Kp:60
Ki:1
Kd:5

RiseTime: 0.0205
SettlingTime: 0.0326
SettlingMin: 0.9053
SettlingMax: 1.0098
Overshoot: 0.9810
Undershoot: 0
Peak: 1.0098
PeakTime: 0.0578

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Transfer function block Parameters

(a) P: 10
RiseTime: 0.0999
TransientTime: 0.8462
SettlingTime: 0.8462
SettlingMin: 0.7845
SettlingMax: 1.2450
Overshoot: 36.9516
Undershoot: 0
Peak: 1.2450
PeakTime: 0.2533

PI: 9, 15
RiseTime: 0.1079
TransientTime: 1.1674
SettlingTime: 1.1674
SettlingMin: 0.8077
SettlingMax: 1.3822
Overshoot: 38.2193
Undershoot: 0
Peak: 1.3822
PeakTime: 0.2735

PID: 12, 30, 3

RiseTime: 0.0646
TransientTime: 0.4053
SettlingTime: 0.4053
SettlingMin: 0.9005
SettlingMax: 1.0078
Overshoot: 0.7813
Undershoot: 0
Peak: 1.0078
PeakTime: 0.8374

Controller 𝑲𝑷 𝑻𝒊 𝑻𝒅

𝑇 2.0
P Kp= = =10 0 0
L 0.2

𝑇 𝐿 0.2
Ti=0.3 = 0.3=0.66
PI 𝐾𝑝 = 0.9 0
L 𝐾𝑝 9
= 0.9x10 = 9 Ki= Ti =0.66=15

Td=0.5𝐿=0.5x0.2=0.1
Kp=1.2 =1.2x10 Ti=2L=2x0.2=0.4
𝑇
PID L 𝐾𝑝 12 Kd=TdxKi=0.1x30=3
=12 Ki= Ti =0.60.4=30

Calculate T, L and calculate Kp, Ti, Td

T=2.2s - 0.2s =2.0s
L=0.2s

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Insert step response curve here

i) P

ii) PI

iii) PID

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(b) P: 2
RiseTime: 0.2336
TransientTime: 0.7623
SettlingTime: 0.7623
SettlingMin: 0.6148
SettlingMax: 0.7375
Overshoot: 10.6182
Undershoot: 0
Peak: 0.7375
PeakTime: 0.5015

PI: 1.8, 36
RiseTime: 0.3347
TransientTime: 1.5102
SettlingTime: 1.5102
SettlingMin: 0.9111
SettlingMax: 1.0087
Overshoot: 0.8653
Undershoot: 0
Peak: 1.0087
PeakTime: 0.6256

PID: 2.4, 8, 0.6

RiseTime: 0.4565
TransientTime: 1.6004
SettlingTime: 1.6004
SettlingMin: 0.9019
SettlingMax: 1.0449
Overshoot: 4.4913
Undershoot: 0
Peak: 1.0449
PeakTime: 1.1211

Controller 𝑲𝑷 𝑻𝒊 𝑻𝒅

𝑇 0.25
P Kp=L=0.15=2 0 0

𝑇 Ti=
𝐿
=
0.15
=0.5
PI 𝐾𝑝 = 0.9 0.3 0.3 0
L 𝐾𝑝 1.8
= 0.9x2 = 1.8 Ki= = =3.6
Ti 0.05

𝑇 Td=0.5𝐿=0.5x0.15=0.075
Kp=1.2 L =1.2x2 Ti=2L=2x0.15=0.3
PID 𝐾𝑝 2.4 Kd=TdxKi=0.075x8=0.6
=2.4 Ki= Ti =0.3=8

Calculate T, L and calculate Kp, Ti, Td

T=0.4s - 0.15s =0.25s
L=0.15s

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Insert step response curve here

i) P

ii) PI

iii) PID

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