Introduction

Integral
The integral(I) in a PID controller is the sum of the instantaneous error over time and gives the
accumulated offset that should have been corrected previously from the proportional term.
Basically it is appoint to 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.

Derivative
Derivative(D) in PID controller play an important feedback action toward the process response.
Originally, derivative(D) predicts the system behavior and thus making improvement on the
settling time and stability of the system. An ideal derivative is not fundamental, so that
implementations of PID controllers include an additional low pass filtering for the derivative
term, to limit the high frequency gain and noise. Derivative action is seldom used in practice
because of its variable impact on system stability in real-world applications. (Ang, 2005)

Time delay
Time delay(dead time) in control loop is the delay from the controller output signal until when
the measured process variable (PV) first begins to respond. The presence of dead time,is never a
good thing in a control loop. It can can occur in control for various reason. Time delay issues can
be addressed through a simple changes in process design. It might be possible to locate a sensor
closer to the action, or perhaps switch to a faster responding device. On the other hands, the time
delay is a permanent feature of the control loop and can only be addressed through detuning or
implementation of a time delay compensator. (ControlGuru, 2015)

Block diagram

Lab 2 & Lab 3 : Effect of Integral(I) and Derivative(D)

Lab 4 : Effect of time delay

Procedure
1. The Simulink block diagram is set up as shown in the figure
2. The PID controller is set up accordingly
3. The the simulation is run and save to perform the script file
Script file command
Lab 2
P=0.05;
I=0.01;
D=0;
sim('lab2');
plot(time,PV,'k');
hold on
P=0.05;
I=0.05;
D=0;
sim('lab2');
plot(time,PV,'m')
hold on
P=0.05;
I=0.1;
D=0;
sim('lab2');
plot(time,PV, 'b')

lab 3
P=0.05;
I=0.01;
D=0;
sim('lab3');
plot(time,PV,'k');
hold on
P=0.05;
I=0.01;
D=1;
sim('lab3');
plot(time,PV,'m')
hold on
P=0.05;
I=0.01;
D=0.5;
sim('lab3');
plot(time,PV, 'b')

Lab 4

P=0.2;
I=0.01;
D=0;
TD=5;
sim('lab4');
plot(time,PV,'k');
hold on
P=0.2;
I=0.01;
D=0;
TD=7;
sim('lab4');
plot(time,PV,'m')
hold on
P=0.2;
I=0.01;
D=0;
TD=9;
sim('lab4');
plot(time,PV, 'b')

Result
Lab 2 graph

Yellow: I =
0.01
Blue: I = 0.1

In lab 2 the effect of integral(I) on the process response is studied. The value of the integral in
the PID controller is manipulated into 0.01, 0.05 and 0.1 whereas the value of proportional (P)
and Derivative(D) is kept constant at a 0.05 and 0 respectively. The yellow line represent I =
0.01, pink line represent I= 0.05 and blue line represent I= 0.1. From the graph the yellow line
achieve stability aroud T= 400 whereas the pink and the blue line only achieve the the stability
beyond T=500. But the pink line reach the setpoint first compare to blue line. . From the graph
obtained, it can be seen that, increase in the integral can cause the process response to achieve
stable state(setpoint) become slower. In fact, increase in the integral also can cause larger offset
value that can be seen at the beginning of the graph.

Lab 3 graph

Yellow: D=0
Blue: D=0.5
Pink: D= 1

In lab 3, the effect of derivative(D) value is determined by keeping the value of P and I constant
at 0.05 and 0.01 respectively. The values of derivative used in this experiment is 0, 0.5, and 1.
The yellow line represent D= 0, pink line represent D= 1 and blue line represent D= 0.5. from the
graph, the yellow line show some lowest offset value and fastest response toward the setpoint.
The range of the offset value between pink and blue line in really far. From the graph also, it can
be seen that the pink and the blue line response slower toward the setpoint value. Based on these
two line(pink and blue), it can be seen that the blue line show the lower offset value compare to
the pink line which represent lower D value. From this simulation, it can be seen that increase in
the derivative value can slow down the process response.

Lab 4 graph

Yellow: TD =5
Blue: TD =9
Pink: TD =7

In lab 4, the effect of the time delay , D is studied. The value of theP,I and D at PID control in
this simulation is kept constant at 0.05,0.01, and 0. The value of time delay used in this
experiment is 5(yellow) , 7(pink) and 9(blue). From the graph produce, it can be seen that the
yellow line which represent the lowest delay time reach the set point faster around T= 100
compare to the blue line and pink line. the pink line only reach the setpoint after T=100.
However, the blue line show some significant slower response compared to the yellow and pink
line. the blue line represent the highest time delay which is 9. From this simulation it can be said
that the increase in the time delay for certain process can increase the response time to achieved
the stable state.

Conclusion
From this simulation , the effect of the integral(I), derivative(D) and time delay was determined.
In a nutshell the higher the integral, ierivative and time delay value the slower the process
response to achieve the setpoint value. In fact the increase in those value will also cause the
bigger offset value.

References

Ang, K. C. (2005). PID control system analysis, design, and technology. IEEE Trans
Control Systems Tech.
ControlGuru. (2015, april 2). Practical Process Control. Retrieved from
http://controlguru.com/dead-time-is-the-how-much-delay-variable/