1.

0 INTRODUCTION
1.1 History of PID
PID controller was first been used in automatic ship steering which developed by Nicolas
Minorsky in 1922 . He designed the controller for the U.S navy. Based on what he had observed,
he made a mathematical equation to simplify his beliefs. The proportional control he made
provides the stability against small disturbances yet not for great disturbances. In order to
overcome the problem, the addition of integral term next with derivative term was established.
At first, the PID controller was made by using electronic analog PID control loops. Yet, this
system have some problems and may not shows the accurate and precise performance. Thus the
digital PID controller were implemented to reduce the problems and to increase the performance
in the control loops.

1.2 PID Controller Theory and Equation

t

u(t) = MV(t) = K p e(t) Ki e( )d Kd

0

Kp = Proportional gain, a turning parameter

Ki = Intetgral gain
Kd = Derivative gain
e = error, (SP - PV)
t = time for instantaneous time
= variable of integration, from 0 to t

d
e(t)
d

PID control is a process system which consists of three different terms that can be manipulate.
This three terms are proportional, integral and derivative terms. This terms are summed in order
to get the final output of the controller. Each terms plays the important role to achieve the
targeted output. Any disturbances or error in a process system can be adjusted to be as what as
desired by manipulating this three terms. Thus, it can be said that it is applicable in order to
controls the problem and perform the process with very high satisfactorily.

1.3 Description of PID and Death Time

Proportional Term
It was called as proportional term because it produced the output value proportional to the value
of current error. The proportionality is gain by Kc. The controller determined how much output
changes for the given changes in error. The disadvantage of this term when controlling alone is it
will leave an offset error. This error then can be eliminated by the addition of integral term.
p(t) = p + K C e(t)

Integral Term
Its depending on the error and the duration of the error. Integral term is calculated by dividing
the time of error with instantaneous error. This term is called as accumulated error which then
been multiplied with the integral gain, Ki. It helps to remove the error that occurs in the
proportional based controller.
t

p(t) = p + K C e(t) i et * (dt*)

0

Derivative Term
It used to predict the system behavior with the helps to increase the stability of the system. It can
be determine by slope of the error and time. It gives the controller the capability to anticipate
where the process is heading by calculating the derivative error.
p(t) = p + DS

de(t)
dt

Death Time
Death time is a delay variable which occurs as a problem to process the signal output. Large
death time is such a very big problem to the process control since its delay the output for that
time to other forward time. Death time in PID controller need to be eliminate in order to get the
significance output value on the right time.

1.4 Effect of manipulating the value of PID towards the response

Increasing the parameters, then vice versa
Term

Rise Time

Overshoot

Settling time

Steady state

stability

error
Proportional, Kp

Decrease

Increase

Small change

Decrease

Decrease

Integral, Ki

Decrease

Increase

Increase

Eliminate

Decrease

Derivative, Kd

Small

Decrease

Decrease

Increase if Kd

change

small

1.5 Description of Performance Measurement Criteria

A) Settling time
Time required for the process to achieve the stable state and condition, thus stay at that state for
certain range.
B) Overshoot
The problem that occur in the process control when the limit was exceeded. Also called as the
maximum peak of the response curve
C) Decay Ratio
Depending on damping ratio and number of oscillation in a period of time. The lower the
damping ratio, the lower the number of oscillation in a very long period of time, the lower the
decay ratio.
D) Number of Oscillation
Number of oscillation is measured as frequency by dividing with the period of time. It shows
how much the system behavior is disturbed from its equilibrium condition.

1.6 Objectives Of Experiment

To study the effect of P,I & D value towards the output system by manipulated it with the given
value.

2.0 PROCEDURES
LAB 1

Figure 2.1: Block diagram of Lab 1

1. The block diagram was set up based on the process given.
2. The arrangement of the block diagram is connected to one by one which consist of the scope,
display, PID controller, transfer function block, and also clock.
3. Every block diagram was then been filled with the information given which is
Set point = 1
PID controller: P = 0.05, I = 0.01, D = 0
Transfer function =

5
s 10s
2

Workspace1 = set to be as ARRAY and renamed as TIME

Workspace = set to be as ARRAY and renamed as PV

The simulation time was set to 600.

4. The process was run and the graph was been plotted by using the command, plot(TIME,PV)
5. Step 1 to 3 was repeated twice for P = 0.1 and P = 0.2 and the graph then was plotted as
figure(2),plot(TIME,PV) for P = 0.1 and figure(3),plot(TIME,PV) for P = 0.2.
6. All of the graph then been combined as one figure which consists of 3 different lines.

LAB 2

Figure 2.2: Block diagram of Lab 2

1. Step 1 to 4 in LAB 1 was repeated by using the same value and information given.
2. Step 1 to 3 in LAB 1 was repeated twice by using different I value which is I = 0.005 and I =
0.0155 the graph then was plotted as figure(2),plot(TIME,PV) for I = 0.005 and
figure(3),plot(TIME,PV) for I = 0.015.
3. All of the graph then been combined as one figure which consists of 3 different lines.

LAB 3

Figure 2.3: Block diagram of Lab 3

1. Step 1 to 4 in LAB 1 was repeated by using the same value and information given.
2. Step 1 to 3 in LAB 1 was repeated twice by using different D value which is D = 1 and D = 2
the graph then was plotted as figure(2),plot(TIME,PV) for D=1 and
figure(3),plot(TIME,PV) for D = 2.
3. All of the graph then been combined as one figure which consists of 3 different lines

LAB 4

Figure 2.4: Block diagram of Lab 4

1. The block diagram was set up based on the process given.
2. The arrangement of the block diagram is connected to one by one which consist of the scope,
display, PID controller, transfer function block, death time and also clock.
3. Every block diagram was then been filled with the information given which is
Set point = 1
PID controller: P = 0.05, I = 0.01, D = 0
Time delay = 5
Transfer function =

5
s 10s
2

Workspace1 = set to be as ARRAY and renamed as TIME

Workspace = set to be as ARRAY and renamed as PV
The simulation time was set to 600.

4. The process was run and the graph was been plotted by using the command, plot(TIME,PV)
5. Step 1 to 3 was repeated twice for time delay = 7 and time delay = 9 and the graph then was
plotted as figure(2),plot(TIME,PV) for time delay = 7 and figure(3),plot(TIME,PV) for time
delay = 9.
6. All of the graph then been combined as one figure which consists of 3 different lines.

3.0 RESULTS AND DICUSSION

LAB 1
In lab 1, the objective of the experiment is to study the effect of Proportional. Proportional has a
lesser effect on achieving the set point when it is proven in the experiment conducted. In the
experiment conducted, the values of proportional used were 0.5, 0.1 and 0.2. As the proportional
values increase, the peak values increase too from P=0.05 to P=0.2. Yet, the number of
oscillation and the peak values decrease with increasing time. If the proportional gain is too low,
the control action may be too small since it had not enough input to response with the larger
disturbances. Thus the optimum value of proportional gained are 0.2 which not too low nor too
high. As shown in Figure 4.5 below, the lowest damping ratio obtained by manipulating the
proportional term compared to manipulating the integral term or derivative term.
effect of controller gain
1.8
P = 0.05
P = 0.2
p = 0.1

1.6
1.4
1.2

PV

1
0.8
0.6
0.4
0.2
0

100

200

300
time

Figure 3.1

400

500

600

LAB 2
In lab 2, the objective of the experiment is to study the effect of Integral. Integral has a lesser
effect on achieving the set point when it is proven in the experiment conducted. In the
experiment conducted, the values of integral used were 0.005, 0.01 and 0.015. The changes in
the fluctuation are more obvious as the number of oscillation decreased. From this, it can be
confirmed that increasing I, will decrease the number of oscillation . In the figure obtained, it can
be concluded that integral time takes a longer time to achieve set point compared to P as in the
LAB 1. The integral term accelerates the movement of the process towards set point 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 set point value.
Effect of Integral time
1.8

I = 0.015

1.6

I = 0.01

1.4

I = 0.005

1.2
1
0.8
0.6
0.4
0.2
0

100

200

300

400

time
Figure 3.2

500

600

LAB 3
In lab 3, the objective of the experiment is to study the effect of Derivative. In the experiment
conducted, the values of D used were 0, 1, and 2. Based on the graph, the peaks of the graphs
decrease as increasing time with decreasing number of oscillation. The derivative of the process
error is calculated by determining the slope of the error over time and multiplying this rate of
change by the derivative gain Kd. From Figure 3.3 below shows that it has more damping ratio as
compared to the Lab 1 and Lab 2.
effect of derivative time
1.8

D =D 2= 0
1.6

D=1

D=1
D=2
D=0

1.4
1.2

PV

1
0.8
0.6
0.4
0.2
0

100

200

300
time

Figure 4.7

400

500

600

LAB 4
The objective of the experiment was to study the effect of the dead time by changing the time
delay with constant PID value. The dead time delays the input by a specified amount of time.
The input to this block should be a continuous signal. At the start of simulation, the block
outputs parameter until the simulation time exceeds the time delay parameter. The time delay
used in this experiment are 5, 6 and 7 respectively. From the Figure 3.4 shown, increasing value
of death time will increased the peak value which obtained the maximum peak value when used
9 as the time delay value and the minimum peak value with time delay of 5. The number of
oscillation and peak value decrease with increasing the time of simulation for all values of time
delay.
lab 4 (effect of dead time)
2.5
time delay = 5
time delay = 7
time delay = 9
2

PV

1.5

0.5

100

200

300
time

Figure 3.4

400

500

600

4.0 CONCLUSIONS AND RECOMMENDATIONS

Conclusions
Based from the experiment done, the PID uses and function has been determined clearly. Each
terms plays important roles in order to control the process without any disturbance or occurrence.
The basic term which is proportional term is was first used to eliminate the disturbance. Yet, it
was insufficient to responses to large disturbance. Thus, the integral term and derivative term
was developed as addition to the proportional term. This three terms regulate the process to
produce the signal output which are free of disturbance. The death time is the delay time occur
when processing the signal output. This occurrence need to be totally eliminate. increasing value
of PID terms with increasing time will increase the response curve or response peak. However,
the number of oscillation decreased with increasing time of simulation. The higher value of delay
time the higher disturbance occurred in the process.

Recommendations
1. Calculate the PID values first manually in order to get the range of desired PID values.
2. Try and error the value of desired PID by using small range first.