University of Tripoli-Faculty of engineering

Department of electrical and electronics

EE561 Control and Computer lab II

Proportional-plus-integral (PI) Control

Lab report

Name:‫هديل عادل عبيد‬

ID:022171912

Supervisor:‫علي الميلحي‬.‫د‬

Date of submit:

Spring 2022
 1. Objectives:
 To describe the integral control mode
 To describe the advantage and disadvantage of the integral control
 To describe the proportional plus integral control mode
 To define the terms integral gain ,integral time, overshoot, and oscillation
 To describe how the change in integral time or proportional band affects the
controlled variable when using proportional plus integral.

2. Introduction:
 Integral control(I) mode:

When the proportional control mode looks at the present value of the process error the
integral control considers the past history of the error by continuously integrating it until it is
eliminated .thus integral control automatically reduces the residual error to zero for any load
change within the limitations of the system design and eliminates the need for manual reset
usually associated with proportional control.

 Proportional-Plus-Integral control mode:

The Proportional-Plus-Integral control mode combines the fast transient response of the
Proportional control with the zero residual error characteristic of the integral control.it looks at
the current value of the error and the integral of the error over a recent time interval to
determine how much of a correction to apply and for how long.

 Comparison of the proportional ,integral ,and Proportional-Plus-Integral Control modes :

Figure.1 shows the response of a typical process to a step change in setpoint with
Proportional(p),integral(I),and Proportional-Plus-Integral(PI) control modes:

The P mode reacts faster than the I mode however the P mode results in a residual error
between the final value of the controlled variable and the new setpoint.

The I mode eliminates the residual error, but it reacts slower than the P mode.and it require
longer time to reach the final value.

The PI mode reacts much faster than the I mode,and it eliminates the residual error of the P
mode however ,the addition of integral action to Proportional action increases the overshoot
and stabilization time.
Figure.1 response to a step change in setpoint with Proportional(p),integral(I),and Proportional-Plus-Integral(PI)
control modes.

3. Experiment procedure:
 We made the necessary connections on the temperature process control and made sure
that the process and the I/O interface share a common ground and the output of the
interface is the control input to the process and the output of the process is the input to
the I/O interface before switching on the process.
 Run LVPROSIM and establish communication with the I/O interface by selecting Enable
communication on the setup menu.
 In thread menu select where you connected the input and output signals on the I/O
interface, in this case Analog input1,and Analog output 1 were selected,we also select a
another input which is the setpoint from the same menu.
 The controller setpoint was set to 0% and the controller mode was set to AUTO.
 In controller menu we went to tuning constants and the integral time was set to OFF.
 Now the controller setpoint was set to 50% and the response was recorded in Figure2.1

Figure.2.1 response with no PI controller

 We set the controller setpoint to 0% and then go change the Integral time in the tuning
constants window to 0.03.
 We set the controller setpoint to 50% again and record the response as shown in
Figure2.2

Figure.2.2 response with PI controller

 We introduce disturbance to the system by opening the damper and letting some of the
air leave the duct and record the response in Figure2.3

Figure2.3 response with PI controller with disturbance in the system.

 We set the controller setpoint to 0% before closing the LVPROSIM and shutting down
the process.
 4. Discussion:
When control was only proportional we notice a fast transient response with no overshoot but
there is a very large steady state error, then when we added an integration time making the
controller to be proportional-plus-integral controller we notice we have eliminated the steady
state error but we increased the overshoot and the shorter we make the integration time the
faster we eliminate the error and the more overshoot percentage we get.

Finally we added disturbance to the system by decreasing the air flow that reaches the sensor
and we notice that out system increased its control signal to regain the zero error state .

5. Conclusion:
Proportional-plus-integral controller combines both the fast transient response of the
proportional and the elimination of the steady state error of the integral but it increases the
percentage overshoot the faster we want the response.