1.

0) TABLE OF CONTENTS

NO. CONTENT PAGE

2. Objectives 2

3. Introduction and Theory 2

4. Experimental Apparatus 5

5. Experimental Procedure 6

6. Results 8

7. Discussion 10

8. Conclusion 16

9. References 17

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2.0) OBJECTIVES

The objectives of the experiment of PID Response of Various Signals is:

- To investigate the input signals of PID Control System.

3.0) INTRODUCTION AND THEORY

PID is an acronym for the mathematical terms Proportional, Integral and

Derivative. Proportional means a constant multiple. A number is said to be a proportion to
another if there exists a constant n such that y = nx. This n can be positive or negative,
greater or less than one. To make the formula more accurate by PID controller standards,
proportion is given by KP and the x term is the control loop error ε: y = KP(ε).

All three of these PID controller components create output based on measured error
of the process being regulated. If a control loop functions properly, any changes in error
caused by setpoint changes or process disturbances are quickly eliminated by the
combination of the three factors P, I, and D. PID Control System is a control loop feedback
mechanism widely used in industrial control systems and a variety of other applications
requiring continuously modulated control. A PID controller continuously calculates an
error value as the difference between a desired set point (SP) and a measured process
variable (PV) and applies a correction based on proportional, integral, and derivative terms
(denoted P, I, and D respectively) which give the controller its name.

P-I controller is mainly used to eliminate the steady state error resulting from P
controller. However, in terms of the speed of the response and overall stability of the
system, it has a negative impact. This controller is mostly used in areas where speed of the
system is not an issue. Since P-I controller has no ability to predict the future errors of the

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 system it cannot decrease the rise time and eliminate the oscillations. If applied, any
amount of I guarantees set point overshoot.

Figure 3.2: Looping System

In order to reduce steady-state effect of the disturbances, we next analyze the PID
control, namely proportional-integral, with inner loop rate feedback. This is shown above.

The open loop transfer function is,

𝐴(𝐾𝑝𝑠2 + 𝐾𝑝𝑠 + 𝐾𝑝)

𝐿(𝑠) =
𝑠2(𝑠 + 𝑝)

The closed loop transfer function is,

𝐴(𝐾𝑝𝑠 + 𝐾𝑝) 𝑠
𝑌(𝑠) = 𝑅(𝑠) + 𝐷(𝑆)
𝑠3 + (𝑝 + 𝐴𝐾𝐷)𝑠2 + 𝐴𝐾𝑝𝑠 + 𝐴𝐾𝐼 𝑠3 + (𝑝 + 𝐴𝐾𝐷)𝑠2 + 𝐴𝐾𝐷 𝑠 + 𝐴𝐾𝐼

The closed loop characteristic equation is,

𝑠3 + (𝑝 + 𝐴𝐾𝐷)𝑠2 + 𝐴𝐾𝑃𝑠 + 𝐴𝐾𝐼

With three controller parameters, and a 3rd order closed-loop system, the poles can be freely
assigned. Using the (𝜀, 𝜔𝑛) parametrization along with 3rd pole at −𝛼 𝜔𝑛, we set the characteristic
equation to be

𝐶𝐸 = (𝑠2 + 2𝜀𝜔𝑛𝑠 + 𝜔𝑛2)(𝑠 + 𝛼𝜔𝑛)

Multiplied out, this gives,

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 𝑠3 + (2𝜀 + 𝛼)𝜔𝑛𝑠2 + (2𝜀𝛼 + 1)𝜔𝑛2𝑠 + 𝛼𝜔𝑛3

Choosing specific values of 𝜀, 𝜔𝑛 and 𝛼 yields appropriate controller gains, via the design
equations, which are obtained by simply equating coefficients,

(2𝜀 + 𝛼)𝜔𝑛 − 𝑝
𝐾𝐷 =
𝐴

(2𝜀𝛼 + 1)𝜔𝑛2
𝐾𝑃 =
𝐴

𝛼𝜔𝑛3
𝐾𝐼 =
𝐴

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4.0) EXPERIMENTAL APPARATUS

Figure 4.1: Connectors

Figure 4.2: PID Parameter Setting Page

Figure 4.3: Experimental Setup

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5.0) EXPERIMENTAL PROCEDURE

Exp 1: PID Control of Sinewave 1

1) The Sinewave signal was connected to the input of PID controller system.
2) The output of PID control system was connected into actual value of PID control
system.
3) The Sinewave width was set to 25ms, amplitude to 5v and offset to 0v.
4) The PID control system was set to,
a) Kp = 0.1
b) Tn = 1 ms
c) Tv = 0 ms
d) Td = 0 ms

Exp 2: PID Control of Sinewave 2

5) The Sinewave signal was connected to the input of PID controller system.
6) The output of PID control system was connected into actual value of PID control
system.
7) The Sinewave width was set to 25ms, amplitude to 5v and offset to 0v.
8) The PID control system was set to,
a) Kp = 0.5
b) Tn = 1 ms
c) Tv = 0 ms
d) Td = 0 ms

Exp 3: PID Control of Sinewave 3

9) The Sinewave signal was connected to the input of PID controller system.
10) The output of PID control system was connected into actual value of PID control
system.
11) The Sinewave width was set to 25ms, amplitude to 5v and offset to 0v.
12) The PID control system was set to,

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 a) Kp = 1
b) Tn = 1 ms
c) Tv = 0 ms
d) Td = 0 ms

Exp 4: PID Control of Square 1

13) The Square signal was connected to the input of PID controller system.
14) The output of PID control system was connected into actual value of PID control
system.
15) The Square width was set to 25ms, amplitude to 5v and offset to 0v.
16) The PID control system was set to,
a) Kp = 0.1
b) Tn = 1 ms
c) Tv = 0 ms
d) Td = 0 ms
e) Unity Gain = ON

Exp 5: PID Control of Square 2

17) The Square signal was connected to the input of PID controller system.
18) The output of PID control system was connected into actual value of PID control
system.
19) The Square width was set to 25ms, amplitude to 5v and offset to 0v.
20) The PID control system was set to,
f) Kp = 0.66
g) Tn = 1 ms
h) Tv = 0 ms
i) Td = 0 ms

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6.0) RESULTS

Based on the experiment that have been carried out for PID Control system, we obtained 2
type of signal which are Sinewave and Square. For Sinewave, the obtained graph were Sinewave
1, Sinewave 2, Sinewave 3 meanwhile for Square, the obtained graph were Square 1, Square 2.
The obtained results are as below. . In this section, we are required to plot each response from the
experiment 1 to experiment 5 in lab sheet no 4 using graph papers. All graphs are included in the
appendix section.

Figure 6.1: Sinewave 1

Figure 6.2: Sinewave 2

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 Figure 6.3: Sinewave 3

Figure 6.4: Square 1

Figure 6.5: Square 2

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7.0) DISCUSSION

SITI AISAH BINTI WAHAB (2015263306)

PID controllers are found in a wide range of applications for industrial process control.
Approximately 95% of the closed loop operations of industrial automation sector use PID
controllers. PID stands for Proportional-Integral-Derivative. These three controllers are combined
in such a way that it produces a control signal.

Figure 7.1: Working of PID controller

As a feedback controller, it delivers the control output at desired levels. Before microprocessors
were invented, PID control was implemented by the analog electronic components. But today all
PID controllers are processed by the microprocessors. Programmable logic controllers also have
the inbuilt PID controller instructions. Due to the flexibility and reliability of the PID controllers,
these are traditionally used in process control applications.

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 Figure 7.2: PID Controller Structure

Above figure shows structure of PID controller. It consists of a PID block which gives its
output to process block. Process or plant consists of final control devices like actuators, control
valves and other control devices to control various processes of industry or plant. Feedback signal
from the process plant is compared with a set point or reference signal u(t) and corresponding error
signal e(t) is fed to the PID algorithm. According to the proportional, integral and derivative
control calculations in algorithm, the controller produces combined response or controlled output
which is applied to plant control devices. All control applications don’t need all the three control
elements. Combinations like PI and PD controls are very often used in practical applications.
Regarding to this experiment, we analyzed PI control with inner loop rate feedback.

This experiment is carried out to investigate the input signals PID Control System. We had
done of Sawtooth and Sinewave signal by set the PID control system into different reading of Kp.
From the result obtained by this experiment, we have plotted several graphs. The other paremeters
were set in constant value for all the experiment which were Tn was 1 ms, Tv was 0 ms and Td
was set to 0 ms. For this types of signals, the obtained amplitude were in input and output
condition. The obtained graph were time (ms) against amplitude (v).

The first input used is PID Control of Sinewave 1. The obtained graph was in two lines
which were blue and red in color. The blue is a kind of non-sinusoidal waveform. We can see that
along the blue sinewave line there is another line which is red line that act as output signal line.
The output line have higher amplitude compared to the input line but both of them have same
pattern. The second input used is PID Control of Sinewave 2. The blue line is a sine wave which
is a mathematical curve that describes a smooth periodic oscillation. A sine wave is a continuous
wave. At the same time, amplitude of wave of the red line which act as the output signal seen equal
and constant as the blue line. Besides, the blue line look a bit ragged in shape compared to red line.
From that, we can concluded that less error occurred.

Next graph is graph of PID Control of Sinewave 3. A sinewave is a non-sinusoidal periodic

waveform in which the amplitude alternates at a steady frequency between fixed minimum and
maximum values, with the same duration at minimum and maximum. Another red line in the graph

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is the output line which obtained from the experiment. Based on the observation, we can see that
the input line has smooth shape which go downwards and then rise up sharply meanwhile the
output line has more ragged than output of Sinewave 2. This may because of different value of Kp.
The set up value gives the effect to the output wave. The higher the value of Kp, the output line
will look more ragged. In the other hand, Sinewave signal is a periodic signal, because the pattern
keeps on repeating after one Wavelength.

Then, we connected square signal to observe its performance of PID Control system by
obtaining the result for Square 1 and Square 2. All graphs showed the output of steady state that
does not exactly agree with the input. Steady-state error is defined as the difference between the
input and the output of a system in the limit as time goes to infinity such as when the response has
reached steady state. Hence, from observations, the system is said to have steady-state error.
Theoretically, when everything is up and running, the PID controller compares the process variable
to its set point and calculates the difference between the two signals, also called the Error (E).

Based on the Error and the PID controller’s tuning constants, the controller calculates
an appropriate controller output that opens the control valve to the right position for keeping the
temperature at the set point. If the temperature should rise above its set point, the controller will
reduce the valve position and vice versa. The most important characteristic of the dynamic
behavior of a control system is absolute stability that is, whether the system is stable or unstable.
A control system is in equilibrium if, in the absence of any disturbance or input, the output stays
in the same state. A linear time-invariant control system is stable if the output eventually comes
back to its equilibrium state when the system is subjected to an initial condition. A linear time-
invariant control system is critically stable if oscillations of the output continue forever. It is
unstable if the output diverges without bound from its equilibrium state when the system is
subjected to an initial condition.

Steady-state error is defined as the difference between the input and the output of a
system in the limit as time goes to infinity such as when the response has reached steady state. The
steady-state error will depend on the type of input as well as the system type. From the obtained
graphs, all of them showed unstable conditions as the value of Kp changed for every test. The
output curve becomes unstable because it oscillates continually without control. In order to obtain
stable system, it occurs when the natural response approaches zero as 𝑡 → ∞. However, it is

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impossible for a response in this experiment to always approaches zero as time approaches infinity.
PI controller causes all the output to oscillate in continuous form and it is impossible to reach zero.
In order to increase the stability of the system, a derivative control action is added into the PI
controller as it initiate an early corrective action anticipates the actuation error for the system which
provides a means of obtaining a controller with high sensitivity. PID control provides more control
action sooner than what is possible with P or PI control. This reduces the effect of a disturbance,
and shortens the time it takes for the level to return to its set point. As a conclusion, all this input
of control system in a unstable condition and the error will always present unless we modified the
system. However, the performance of PID control of Sinewave 2 is high stable since the output is
in the same state as input compared to other signals although in real, it also was in unstable
condition.

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FADHLIN NUR AINI RAHMAN SHAH (2015263264)

A proportional-integral-derivative (PID) controller is a control loop feedback mechanism

that applies accurate and responsive correction to a control function. PID controller has the
optimum control dynamics including zero steady state error, fast response, no oscillations and
higher stability. The necessity of using a Derivative gain component in addition to the PI controller
is to eliminate the overshoot and the oscillations occurring in the output response of the system.
This is because the Derivative is highly sensitive to the frequency terms in the input.

In this experiment, we investigate two different signals which are Sinewave Signal and
Square Signal. All the experiments were set with different values of 𝐾𝑝. The results of these
experiments were drawn on graph papers. The input was drawn in fully-drawn line while the output
response was in dotted line.

Based on Experiment 1: PID Control of Sinewave Signal 1, the 𝐾𝑝 was set to 0.1. The
output line shows similar curve as the input. The input line has bigger curve compared to output
line. Both lines oscillates continuously. Based on Experiment 2: PID Control of Sinewave 2, the
𝐾𝑝 was set to 0.5. The output shows a similar curve to the input. The amplitude of both lines are
almost the same. Based on Experiment 3: PID Control of Sinewave 3, the 𝐾𝑝 was set to 1. The
output line of this experiment has very similar curve with the input. This experiment has the least
offset compared to experiment 1 and 2. By referring to all three graphs, we can said that increasing
proportional gain decrease the offsets. Based on the three graphs, the steady-state error only
occurred in experiment 1 where the value of 𝐾𝑝 is only 0.1. This proves that the steady-state error
can be reduced by increasing the value of 𝐾𝑝.

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 Based on Experiment 4: PID Control of Square 1, the 𝐾𝑝 was set to 0.1. The output curve
of this experiment is not following the input curve. This is due to the offsets. However, it does not
has steady-state error. Based on Experiment 5: PID Control of Square 2, the 𝐾𝑝 was set to 0.66.
The output curve has less offsets compared to experiment 4. Again, this proves that increasing the
value of 𝐾𝑝 will decrease the offsets of the output curve. However, all the graphs shows
continuous oscillation. The only way to fix this problem is by adding the Derivative to the control
system. Thus, the system will become more stable.

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8.0) CONCLUSION

SITI AISAH BINTI WAHAB (2015263306)

In a nutshell, steady-state error is defined as the difference between the input and the output
of a system in the limit as time goes to infinity such as when the response has reached steady state.
The steady-state error will depend on the type of input as well as the system type. Based on this
experiment, all of the obtained results were in unstable condition as both of input and output
response were in continuously in the same state from initial to the end. In the other hand, the when
the values of 𝐾𝑝 increase, the offset and steady state error increases, and the output curve becomes
unstable because it oscillates continually without control. For the overall result, we can conclude
that, the performance of PID control of Sinewave 2 is high stable since the output is in the same
state as input compared to other signals although in real, it also was in unstable condition. In the
next recommendation, to obtain more accurate result, we should pay extra attention to ensure that
the wire is connected in the right connection to avoid the human error. Furthermore, we should
ensure that the wire is connected tightly to avoid the error in display data. Other than that, we
should follow all the procedure stated. Overall, the objective of this experiment is achieved
successfully.

FADHLIN NUR AINI RAHMAN SHAH (2015263264)

As a conclusion, the objective of this experiment which to investigate the input signals of
PID Control Systems is successfully achieved. From this experiment, we realized that increasing
the value of 𝐾𝑝 will reduce offsets of every signals. This will make the graph of the output more
similar to the input. Besides, derivative should be added to the control system in order to ensure
that the system is more stable and less oscillates.

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9.0) REFERENCES

SITI AISAH BINTI WAHAB (2015263306)

 Textbook Modern Control, Katsuhiko Ogata, 5th Edition, Pearson Education

 http://www.machinedesign.com/sensors/introduction-pid-control
 https://www.elprocus.com/the-working-of-a-pid-controller/

FADHLIN NUR AINI RAHMAN SHAH (2015263264)

 https://www.microchip.com/forums/m365916.aspx
 https://www.mathworks.com/help/signal/ref/sawtooth.html

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