EXPERIMENT NO.

04
(PID Controller)

Scilab – Study of Derivative Controller in PID

Objective

• To carry out a dynamic simulation system controlled with a derivative controller on Scilab
• To simulate a PID Control and to analyze the effect of Derivative controller
system behavior on the control system performance.

Software Package
Scilab 6.1

Practical Procedure

The procedure consists of monitoring the control system response for various Reset values –
from high to low. For each Reset value, the control system is given a step change in setpoint
and allowed to reach a steady state. This is followed by a reverse step change to the original
setpoint. The steps to be followed are as follows:

1. Enter the required unique label for the log file to be created on the data acquisition software.
2. Configure the UDC1000 PID controller as follows:
PB: Set a reasonable PB value that gives sufficient offset, so that offset elimination can be
demonstrated.
Rate: 0 (No derivative action)
Bias (Manual Reset): Doesn’t matter
SP: Required value Reset: Choose a large value to start with, say 1 or 2 min.
3. Put the controller in Auto mode and let the temperature reach steady state.
4. Give a step change in setpoint, around 5 – 10 0C. Observe the control system response
until a new steady state is reached.
5. Repeat 4 by changing the setpoint back to the original value.
6. Change reset and repeat the up-down setpoint change procedure. Repeat this for a total of
4-5 reset values, from high to very low.
Theory

Derivative is the third term within the PID. In mathematical terms the word derivative
is defined as the slope of a curve. Seen in the context of strip chart data derivative
represents, the rate of change in error - the difference between the Process Variable (PV)
and Set Point (SP), like the proportional and integral terms within a PID controller, the
derivative term seeks to correct for error. Valuable as the third term can be in maintaining
effective control, experience suggests that appropriate uses of derivative are not entirely
clear.

The derivative term is given by

The applications of derivatives are:

• To determine the rate of change of a quantity concerning another changing quantity.
• To determine maximum, minimum are saddle points of a function.
• To determine the concavity and convexity of a function.

Description of Simulated Control System

1. Creation of Scilab model

The simulated control system consists of a ‘third order’ process controlled using a PID
controller.

Model Elements

a. Transfer Function: A third order transfer function is to be used.

b. Sum: This block is used as comparator with two inputs & one output. The
inputs are Setpoint from the ‘constant’ block & controlled variable, which
is the output of the process.
c. PID: This is the PID controller block, with P, I & D representing
coefficients of the Proportional, Integral & Derivative parts of the
controller respectively
d. Constant: This block provides the setpoint to the control system
e. Scope: This block plots required variables as a function of time
 f. Mux: This block is used to send more than one variable to the Scope
block for plotting.

2. Simulation Parameters

a. Process Model – G(s) = 6/[s3 + 6s2 + 11s + 6]

b. Input constant – 1
c. Summation Parameters – [+1;-1]
d. PID Parameters – P = 10, I = 30, D = -0.0001 - -0.01
e.
Block diagram of the simulated control system
 Results at Kc = 10 & Pi = 30
D Value Graph
-0.001

Comments At this value, the oscillations remain constant, decay ratio 1, overshoot remains constant

-0.05

Comments We observe that the oscillations start to increase, indicating that the system is becomingmore
unstable

-0.5

Comments System tending towards instability

-1

Comments We observe high unstability

Systems for different set points at D = -0.001
Set Pt. Graph
1

2
 3

Results:
Parameters obtained at D = -0.001
Set Pt. Offset Overshoot Decay R Rise Time
1 0.683 0.683 1.067 0.469
2 1.387 0.6935 1.074 0.483
3 2.061 0.687 1.085 0.484
4 2.762 0.6905 1.080 0.478

Conclusion:
Overshoot Rise Offset
Time
Kc increases Increases Slight Increases
decrease
Ti increases Decreases Increases Large Increase
Set pt. increases Decreases Slight Increases
(keeping Ti constant) decrease
 P Control in PID

EXPERIMENT NO. 03
(P Controller)

Student Name: Date:

Division: CH-
Batch:
Roll No.

Scilab – Study of P controller in PID

Objective
• To carry out a dynamic simulation system controlled with a P controller on Scilab
• To carry out a simulation of a Proportional Control and to analyze the effect of
Proportional controller system behavior on the control system performance.

Software Package
Scilab 6.1

Theory

Contents
1. The Proportional Controller
2. Features of Proportional Control
3. Interpretation of Proportional Band
4. Proportional Control on Honeywell UDC1000 Proportional Controller

1. The Proportional Controller

The ‘Proportional Controller’ produces output proportional to
the error P = Kc. e + Ps , e = SP - PV

Where P: Controller Output, %

Kc: Controller Gain or Proportional Constant,
% / % e : Error, %
SP: Set point, %
PV: Process Variable (the variable to be controlled at SP)
,%
 P Control in PID

2. Fefeatures of Proportional Control

a. ‘Proportional Mode’ is the core action:

The ‘Proportional Mode’ is the basic control action, where the straightforward

logic of ‘take mild action for small error and drastic action for drastic error’ is
implemented. This is the core concept behind feedback control and a PID
controller is rarely used in process control without this mode.
b. Offset:
The main drawback of Proportional Control is that it gives ‘offset’ or ‘steady-
state error’. At steady state, the process variable does not reach a set point
(except in a specific circumstance)

Description of Simulated Control System

1. Creation of Scilab model

The simulated control system consists of a ‘third order’ process controlled using a PID
controller.

Model Elements

a. Transfer Function: A third order transfer function is to be used.

b. Sum: This block is used as comparator with two inputs & one output. The
inputs are Setpoint from the ‘constant’ block & controlled variable, which
is the output of the process.
c. PID: This is the PID controller block, with P,I & D representing
coefficients of the Proportional, Integral & Derivative parts of the
controller respectively
d. Constant: This block provides the setpoint to the control system
e. Scope: This block plots required variables as a function of time
f. Mux: This block is used to send more than one variable to the Scope
block for plotting.

2. Simulation Parameters

a. Process Model – G(s) = 6/[s3 + 6s2 + 11s + 6]

b. Input constant – 1
c. Summation Parameters – [+1;-1]
d. PID Parameters – P = 1-30, I = 0, D = 0
 P Control in PID

Block diagram of the simulated control system

Results
Kc Value Graph
6

Comments System tending towards stability

Comments On decreasing the value of K from 7.2, we observe that the oscillations are
decreasing, indicating that the system is starting to achieve stability
 P Control in PID

7.2

Comments Oscillations are continuous with decay ratio 1

10

Comments At this value, the oscillations start to increase, indicating that the system starts tobecome
unstable.

15

Comments On further increase of K value, the system becomes highly unstable

 P Control in PID

3.75

Comments At this value of K, the system achieves stability

Systems for different set points at Kc = 7.2

Set Pt. Graph
1

2
 P Control in PID

Results
Parameters obtained at K = 7.2

• Set point = 1
• Offset = 0.886
• Period of oscillation = 1.95 s
• Overshoot = 0.886
• Decay Ratio = 1
• Rise time = 0.547 s
• Natural Frequency = 0.512 Hz
 P Control in PID

Set Point Offset Overshoot Decay Ratio Rise Time

1 0.886 0.701 1 0.547
2 1.773 0.887 1 0.573
3 2.66 0.887 1 0.599
4 3.539 0.885 1 0.597

Conclusion

Overshoot Rise Time Offset

Kc increases Increases Decreases Increases
Set pt. increases Negligible Increases Increases
(keeping Kc constant) deviation
 PI Control in PID

EXPERIMENT NO. 04
(PI Controller)

Student Name: Date:

Division: CH-
Batch:
Roll No.

Scilab – Study of Integral controller in PID

Objective:

• To carry out a dynamic simulation system controlled with an Integral controller on Scilab
• To conduct a simulation of an Integral Control and to analyze the effect of Integral
controller system behavior on the control system performance.

Software Package
Scilab 6.1

Practical Procedure

The procedure consists of monitoring the control system response for various Reset values –
from high to low. For each Reset value, the control system is given a step change in setpoint
and allowed to reach a steady state. This is followed by a reverse step change to the original
setpoint. The steps to be followed are as follows:
1. Enter the required unique label for the log file to be created on the data acquisition software.
2. Configure the UDC1000 PID controller as follows:
PB: Set a reasonable PB value that gives sufficient offset, so that offset elimination can be
demonstrated.
Rate: 0 (No derivative action)
Bias (Manual Reset): Doesn’t matter
SP: Required value Reset: Choose a large value to start with, say 1 or 2 min.
3. Put the controller in Auto mode and let the temperature reach steady state.
4. Give a step change in setpoint, around 5 – 10 0C. Observe the control system response
until a new steady state is reached.
 PI Control in PID

5. Repeat 4 by changing setpoint back to the original value.

6. Change reset and repeat the up-down setpoint change procedure. Repeat this for a total of
4-5 reset values, from high to very low.

Theory

The contribution from the integral term is proportional to both the magnitude of the error
and the duration of the error. The integral in a PID controller is the sum of the instantaneous
error over time and gives the accumulated offset that should have been corrected previously.
The accumulated error is then multiplied by the integral gain (Ki) and added to the controller
output.

The integral term is given by

The integral term accelerates the movement of the process towards setpoint and eliminates
the residual steady-state error that occurs with a pure proportional controller. However, since
the integral term responds to accumulated errors from the past, it can cause the present value
to overshoot the setpoint value

Description of Simulated Control System

1. Creation of Scilab model

The simulated control system consists of a ‘third order’ process controlled using a PID
controller.

Model Elements:

a. Transfer Function: A third-order transfer function is to be used.

b. Sum: This block is used as a comparator with two inputs & one output.
The inputs are Setpoint from the ‘constant’ block & controlled variable,
which is the output of the process.
c. PID: This is the PID controller block, with P, I & D representing
coefficients of the Proportional, Integral & Derivative parts of the
controller respectively
d. Constant: This block provides the setpoint to the control system
 PI Control in PID

e. Scope: This block plots required variables as a function of time

f. Mux: This block is used to send more than one variable to the Scope
block for plotting.

2. Simulation Parameters

a. Process Model – G(s) = 6/[s3 + 6s2 + 11s + 6]

b. Input constant – 1
c. Summation Parameters – [+1;-1]
d. PID Parameters – P = 8, I = 3, D = 0

NOTE: From the previous experiment, we determined that the system started becoming
unstable at Kc = 8. Hence the same value of Kc is taken and changes in values of Ti are made

Block diagram of the simulated control system

 PI Control in PID

Results at Kc = 8
Pi Value Graph
3

Comments At this value, the oscillations remain constant, decay ratio 1, overshoot remains constant

4.8

Comments We observe that at Ti = 4.8s, the oscillations start to increase, indicating that the system is
becoming more unstable

2.5
 PI Control in PID

Comments On decreasing the value of Ti, the oscillations decrease indicating that the system is tending
towards stability

Comments We observe further decrease

Comments System tending towards stability

0.82

Comments Hence, at this value of Ti, the system achieves stability

 PI Control in PID

Systems for different set points at Ti = 3

Set Pt. Graph
1

3
 PI Control in PID

Results
Parameters obtained at Ti = 3
Set Pt. Offset Overshoot Decay R Rise Time
1 0.796 0.796 1.023 0.677
2 1.546 0.773 1.052 0.729
3 2.339 0.786 1.463 0.703
4 3.173 0.793 1.021 0.667

Conclusion
Overshoot Rise Time Offset
Kc increases Increases Slight decrease Increases
Ti increases Increases Increases Large Increase
Set pt. increases Negligible Slight decrease Increases
(keeping Ti constant) Deviation