Exp No.

:4

TUNING OF A PID CONTROLLER AND

PERFORMANCE ANALYSIS

AIM:
To understand the behavior of the PID controller and determine the characteristics of the
P, PI, PD, and PID controllers, as well as tabulate the peak time and settle time.

SOFTWARE:
MATLAB

PROBLEM:
Create a block diagram representation and examine reactions when using various
sorts of controllers.
Calculate the various properties for given Kp, Kpi, and Kpd values.

PROCEDURE:
1. Choose appropriate blocks to create a block diagram representation of a
Second-order system. Include the necessary blocks to view and analyze the
time response of a given circuit's input.
2. Add a Controller to it with a summing block.
3. We add a gain block after the controller to ensure adequate output.
Similarly, each type of controller (P. PI, PD, PID) has its own block
diagram.

BLOCK DIAGRAM:
DEVELOPED USING MATLAB & SIMULINK:
SYSTEM SPECIFICATIONS:

OUTPUT:
DATA TABULATED:

P CONTROLLER

S.No Kp Kd Ki tr ts tp
1 2 0 0 Critically damped case
2 40 0 0 0.030 0.386 0.053
3 100 0 0 0.060 0.189 0.099

PI CONTROLLER

S.No Kp Kd Ki tr ts tp
1 20 1 0 0.056 0.307 0.1025
2 50 20 0 0.036 0.293 0.0695
3 1 20 0 0.517 0.267 3.5

PD CONTROLLER

S.No Kp Kd Ki tr ts tp
1 50 2 0 0.030 0.458 0.052
2 25 4 0 0.056 0.682 0.071
3 2 1 0 0.029 0.618 0.037

PID CONTROLLER

S.No Kp Kd Ki tr ts tp
1 50 2 1 0.023 0.755 0.033
2 25 1 2 0.016 0.702 0.024
3 60 1 1 0.020 0.685 0.030
INFERENCE:

To improve system performance, controllers can be built in a variety of ways,

such as by reducing errors, boosting stability, or reducing the time it takes for
the system to stabilise. The main objective of a controller is to provide
controlled and predictable behaviour of the system.

These controllers produce control signals to bring the difference between the
actual value and the goal value as close to zero or as low as is practicable.

Controller types:

Proportional controls.

Integral controls.

Derivative controllers.

By raising the oscillation's natural frequency, lowering peak overshoot,

decreasing the damping ratio, and reducing steady-state errors, a P-controller is
used to adjust the transient response as necessary.
Gain margin, resonant peak, and phase margin can all be raised by using a PD-
controller in a system. The damping ratio and bandwidth are increased while
the peak overshoot is decreased with this controller.

The PI-controller raises the system type and order by 1 while enhancing steady-
state response. While increasing error constant, it decreases noise and
bandwidth.
To enhance both transient and steady-state performance, a PID controller is
employed, together with band reject filters and lead-lag compensators. With
this controller, steady-state error is eliminated while the rising time is sped up.
RESULT:
The performance of P, PI, PD, and PID controllers was studied, and the output
graph was used to calculate the settling time, rise time, and peak time for each
controller.