LAB 3

PARAMETERS (USING CONSTANT)

SIMULATION TIME = 600

P I D
PID 1 0.05 0.01 1
PID 2 0.05 0.01 2
PID 3 0.05 0.01 4

D 1 2 4
Overshoot 0.442 0.349 0.247
Time of first maximum 49.708 58.103 71.748
Decay ratio 2.8595 2.554 2.252
Period of oscillation 0.263 0.190 0.117
Rise time 24.93 29.08 36.00
Settling time 326.402 374.996 459.112
Number of oscillation 5 4 and a half 3 and half
 Proportional-Integrative-Derivative (PID) controller is a control function used to
maintain the consistency of set point by adjusting the control outputs. A process is controlled by
PID controller through three parameters; Proportional (P), Integrative (I) and Derivative (D). The
effect of these parameters can be adjusted on the process.
Derivative acts as a brake or dampener on the control effort. The more the controller tries
to change the value, the more it responds the effort. The variable rises in response to the set point
change, but not as violently. As it approaches the set point, it settles in nicely with a minimum of
overshoot. It doesnt move as quickly as the PI-only effort, but without the oscillations, the right
amount of derivative action can stabilize the process variable at the set point sooner.
By using the MATLAB Simulink software, a control loop was set up. In this closed-loop

5s
system, a process transfer function was set as 2
s +10 s with a process set point of 1. For the

first trial, the value of the three parameters were P 1= 0.05, I1= 0.01 and D1= 1. Once the
simulation was run at 600, the graph resulted in the scope and was plotted in the MATLAB. The
D parameter in second and third trial, PID 2 and PID 3 were D 2=2.0 and D3=4.0, respectively.
The values of P and I for second and third trial were remained constant.
Based on the graph obtained, it is found that PID 1 has the highest peak followed by PID
2 and PID 3 was the lowest. In terms of oscillations, PID 1 produced more number of narrow
oscillations compared to PID 2 and PID 3. PID 3 produced broader response of oscillations
compared to PID 1 and PID 2. For a system to achieve a steady-state condition, it is found that
PID 1 was first to reach the set point just by looking at the value obtained for settling time which
is the shortest with 326.420 s despite the highest number of oscillations produced. However, the
system in PID 1 took longer time to reach its steady-state among those three process.
From the data extracted from the graph mentioned above, the higher the value of D, the
less number of oscillations will be produced, the lower the peak produced and longer time for the
system to reach its steady-state. Thus, it can be concluded that Derivative of PID controller does
affect the process controllability.

For PID1, the graph shows a higher overshoot from the set point and the settling time is
326.402 s which is shorter compared to PID2 and PID3 but the overshoot is closer towards the set
point.
PARAMETERS (USING STEP)
SIMULATION TIME = 1500

D 1 2 4
Overshoot 1.691 1.598 1.5005
Time of first maximum 650.693 659.056 672.235
Decay ratio 2.8595 2.554 2.252
Period of oscillation 109.7 125.48 156.682
Rise time 625.589 629.125 636.521
Settling time 1216.513 1288.757 1500
Number of oscillation 5 5 5 and half

Based on the calculations made, the values are tabulated in table above. It is found that PID1 is
better than PID2 and followed by PID3. This can be proven by the values obtained in the table
above. PID1 with the value of D1=1.0 has the highest value of overshoot which is 1.691,
compared to PID2 and PID3. For PID 1, the decay ratio obtained is 2.8595 which is the largest
among all the processes. However, PID1 took the shortest time to settle down since PID1 was the
first to reach the set point. Time of first maximum of PID1 is 650.693 compared to PID2 and
PID3. Number of oscillations obtained by PID1 also is the smallest compared to PID 2 and PID3.
This shows that PID1 is the most stable process among all three processes.

By comparing the results obtained from the data plot of set point of 1 and set point of 5, it
is found that the both results show the same trends of plot. However, the values obtained for set
point of 5 much larger than the values obtained for set point 1. Increasing the derivative time
parameter will cause the control system to react more strongly to changes in the error term and
will increase the speed of the overall control system response. Most practical control systems use
very small derivative time, because the Derivative Response is highly sensitive to noise in the
process variable signal. Based on both plot data, process with lower derivative time has the
higher peak. It is shown that the control system response varies when the different derivative
time was set.

Accurate control is critical to every process. As a means of ensuring that tasks such as
production, distribution and treatment processes are carried out under the right conditions for the
right amount of time and in the right quantities. Process control is the measurement of a process
variable, the comparison of that variables with its respective set point, and the manipulation of
the process in a way that will hold the variable at its set point when the set point changes or when
a disturbance changes the process.

Most processes contain many variables that need to be held at a set point and many
variables that can be manipulated. Usually, each controlled variable may be affected by more
than one manipulated variable and each manipulated variable may affect more than one
controlled variable. However, in most process control systems manipulated variables and control
variables are paired together so that one manipulated variable is used to control one controlled
variable. The PID controller is probably the most widely-used type of feedback controller. PID
(Proportional-Integral-Derivative) control action allow the process control to accurately maintain
setpoint by adjusting the control outputs. It is necessary for designing safe and productive plants.