Title: Closed Loop Angular Position Control System using PID Controller

1.0 Introduction
Proportional-integral derivative(PID) have been used in industrial control process because of
their simple structure and robust performance in a wide range of operating condition. The
design of such controller requires specification of three parameters which are proportional gain,
integral time constant and derivative time constant. So, for the tuning method, Ziegler-Nichols
tuning formula is used. However, this tuning formula may not be effective as it is because of it
is completely fail to tune the processes.
The parameters included in the PID controller, Kp, Ki and Kd can be manipulated to
produce response curves from a given value as will see later through out the experiment.
1.1 PID Controller Theory
Proportional Response
The proportional component depends only on the difference between the set point and the
process variable. This difference is referred to as the Error term. The proportional gain (Kc)
determines the ratio of output response to the error signal. For instance, if the error term has a
magnitude of 10, a proportional gain of 5 would produce a proportional response of 50. In
general, increasing the proportional gain will increase the speed of the control system response.
However, if the proportional gain is too large, the process variable will begin to oscillate. If Kc
is increased further, the oscillations will become larger and the system will become unstable
and may even oscillate out of control.

Figure 4: Block diagram of a basic PID control algorithm.

Integral Response
The integral component sums the error term over time. The result is that even a small error
term will cause the integral component to increase slowly. The integral response will
continually increase over time unless the error is zero, so the effect is to drive the Steady-State
error to zero. Steady-State error is the final difference between the process variable and set
point. A phenomenon called integral windup results when integral action saturates a controller
without the controller driving the error signal toward zero.

Derivative Response
The derivative component causes the output to decrease if the process variable is increasing
rapidly. The derivative response is proportional to the rate of change of the process variable.
Increasing the derivative time (Td) 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 (Td), because the
Derivative Response is highly sensitive to noise in the process variable signal. If the sensor
feedback signal is noisy or if the control loop rate is too slow, the derivative response can make
the control system unstable
2.0 Objectives

1. To apply fundamental knowledge and principles of control system for the Angular
Position Control System under statically balance condition
2. To analyse the performance of the PID controller of the system
3. To understand and compare which closed loop response will affect the rise time(sec),
Maximum overshoot(%), settling time and steady state error
4. To choose the best possible PID controller parameters Kp, Ki, Kd on a closed loop
system

3.0 Methodology
1. The block diagram of the position control using DC servomotor and schematic diagram
of system’s connection is verified and understood.
2. Then, the input and output of the closed loop control system is identified
3. The same approach was done by verifying the hardware configuration and interface of
the control system
4. The PID controller to the system is implemented and the performance of the PID
controller system is improved by manipulating the value of Ki, Kp and Kd by achieving
the best possible performance system based on:
a) Disturbance rejection
b) Steady state error
c) Peak time
d) Settling time
e) Percentage overshoot
4.0 Results, Analysis and Discussion