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Experiment-5: Roll No. - 1709721094

The document discusses simulating a PID controller with an arbitrary system function in MATLAB Simulink. It explains that a PID controller uses proportional, integral and derivative controls to minimize error in a feedback system. The effects of each control are summarized in a table, with proportional control reducing rise time, integral eliminating steady-state error, and derivative increasing stability. General tips are provided for designing a PID controller, such as obtaining the open-loop response and adding controls to improve aspects of the response. The Simulink model shows a PID controller with a transfer function plant, and outputs demonstrate tuning the P, I, and D gains to achieve different responses.

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shardendu dwivedi
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43 views3 pages

Experiment-5: Roll No. - 1709721094

The document discusses simulating a PID controller with an arbitrary system function in MATLAB Simulink. It explains that a PID controller uses proportional, integral and derivative controls to minimize error in a feedback system. The effects of each control are summarized in a table, with proportional control reducing rise time, integral eliminating steady-state error, and derivative increasing stability. General tips are provided for designing a PID controller, such as obtaining the open-loop response and adding controls to improve aspects of the response. The Simulink model shows a PID controller with a transfer function plant, and outputs demonstrate tuning the P, I, and D gains to achieve different responses.

Uploaded by

shardendu dwivedi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Roll no.

- 1709721094

Experiment-5
Aim: Simulate the response of PID controller with some arbitrary system function
Software used:Matlab (2010A)>>Simulink
Theory: PIDwill show the characteristics of the each of proportional (P), theintegral (I), and the
derivative (D) controls, and introduce how to use them to obtain a desiredresponse. To
understand PID controller, we will consider the following unity feedback system:

Fig 5.1: Feedback system using PID controller

where:
Plant is a system to be controlled
Controller provides the excitation for the plant; Designed to control the overallsystem
behaviour.
The three-term controller
The transfer function of the PID controller looks like the following:
KP + +KDs
•Kp = Proportional gain
•KI = Integral gain
•KD = Derivative gain
The PID controller works in a closed-loop system using theschematic shown in figure 5.1. The
variable (e) represents the tracking error, the differencebetween the desired input value (R) and
the actual output (Y). This error signal (e) will besent to the PID controller, and the controller
computes both the derivative and the integralof this error signal. The signal (u) just past the
controller is now equal to the proportionalgain (Kp) times the magnitude of the error plus the
integral gain (Ki) times the integral ofthe error plus the derivative gain (Kd) times the derivative
of the error.


de
u  KP + KI edt + KD
dt

The characteristics of P, I, and D controllers


A proportional controller (Kp) will have the effect of reducing the rise time and willreduce, but
never eliminate, the steady-state error. An integral control (Ki) will have theeffect of eliminating
the steady-state error, but it may make the transient response worse.A derivative control (Kd) will
have the effect of increasing the stability of the system, reducing the overshoot, and improving
Roll no. - 1709721094

the transient response. Effects of each ofcontrollers Kp, Kd, and Ki on a closed-loop system are
summarized in the table shownbelow.

Table 5.1: Effects of PID controllers in a closed loop system

General tips for designing a PIDcontroller


When you are designing a PID controller for a given system, follow thesteps shown below to
obtain a desired response.
1. Obtain an open-loop response and determine what needs to beimproved
2. Add a proportional control to improve the rise time
3. Add a derivative control to improve the overshoot
4. Add an integral control to eliminate the steady-state error
5. Adjust each of Kp, Ki, and Kd until you obtain a desired overallresponse. You can always
refer to the table shown in thisdocument to find out which controller controls whatcharacteristics.
Please keep in mind that you do not need to implement all threecontrollers (proportional,
derivative, and integral) into a singlesystem, if not necessary. For example, if a PI controller
gives a goodenough response (like the above example), then you don't need toimplement
derivative controller to the system. Keep the controller assimple as possible.

Simulink modal :

1
PID(s)
s2 +5s+6
Step PID Controller T ransfer Fcn

1
PID(s)
s2 +5s+6
Step1 PID Controller1 T ransfer Fcn1
Scope

1
PID(s)
s2 +5s+6
Step2
PID Controller2 T ransfer Fcn2

Fig: 5.2 –simulink modal


Roll no. - 1709721094

P= 1 P=5 P=18.79
I=5 I= 5I= 31.52
D=0. D=5 D=2.44
N= 100 N= 100 N= 40.4

Output:

Fig :5.3 – output of PID Controller

Result : The response of PID controller is shown in output.

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