International Islamic University Islamabad

Faculty of Engineering & Technology

Department of Electrical Engineering

CONTROL SYSTEMS LAB

Experiment No. 7: Analysis of PI, PD and PID controllers using PID Trainer

Name of Student: ……………………………………

Registration No.: ……………………………………..

Date of Experiment: …………………………………

Submitted To: ………………………………………...

Experiment No. 7: Analysis of PI, PD and PID controllers using PID Trainer Page 1
Objectives:
 To study the characteristics of Proportional (P), Integral (I), and Derivative (D) controls,
and how one can use them to obtain the desired response.
 To analyze Proportional Integral (PI), Proportional Derivative (PD) and Proportional
Integral Derivative (PID) controllers using PID Trainer.
Equipment Required:
 PID Trainer
 Oscilloscope
 Connecting wires
Theory:
Characteristics of P, I and D controllers:
The proportional controller (Kp) will have the effect of reducing the rise time and will
reduce, but never eliminate, the steady state error. An integral controller (Ki) will have the
effect of eliminating the steady state error, but it may make the transient response worse. A
derivative control (Kp) will have the effect of increasing the stability of the system, reducing
the overshoot and improving the transient response. Effects of each controller Kp, Ki and Kd
on the performance of closed-loop system is summarized in Table 7.1.
Table 7.1: Characteristics of P, I and D controllers
Steady State
Controller Rise Time Settling Time % Overshoot
Error
Kp Decreases Small Change Increases Decreases
Ki Decreases Increases Increases Eliminates
Kd Small Change Decreases Decreases Small Change

Note that, these characteristics may not be accurate, because Kp, Ki and Kd are dependent
of each other. In fact, changing one of these variables can change the effect of the other two.
For this reason, the table should only be used as a reference, when you are determining the
values for Kp, Ki and Kd.
General Tips for Designing a PID controller:
When you are designing a PID controller for a given system, follow the steps given below to
obtain the desired response.
i. Obtain an open-loop response and determine what needs to be improved.
ii. Add a proportional control to improve the rise time.
iii. Add a derivative control to reduce the overshoot.
iv. Add an integral control to reduce the steady-state error.
v. Adjust each of the gains (Kp, Ki, and Kd) until you obtain a desired response.

Experiment No. 7: Analysis of PI, PD and PID controllers using PID Trainer Page 2
Part 1: Analysis of Proportional Integral (PI) Controller
Overview:
Proportional Integral (PI) controller have two controllers (P and I) connected in feed
forward path. PI 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 PI controller has no ability to predict the future errors of the system it
cannot decrease the rise time. If applied, any amount of I guarantees set point overshoot.
Integral action eliminates steady state error. PI controller gives non-zero steady state error
and it causes too many oscillations in closed loop system’s output. The transfer function of PI
controller can be represented as GPI (s):
Ki
GPI (s) = Kp + (7.1)
s
where Kp and Ki are the proportional and integral gains respectively.

Procedure:
a. The connections diagram for proportional integrator (PI) controller is shown in Figure
7.1.
b. After making all required connection on the board, switch ON the power supply. Ground
the inputs of summing block, which are not in use.
c. Apply a square wave at TP2 pin (SP). Using oscilloscope, observe the output at TP10 pin
of summing block. Gradually, vary the gain values (Kp and Ki) and observe the changes
in the output.

Figure 7.1
d. Now, sketch the square wave input and output waveform (appearing at TP10) for
different values of Kp and Ki on Figure 7.2 and 7.3 respectively.

Experiment No. 7: Analysis of PI, PD and PID controllers using PID Trainer Page 3
 Figure 7.2

Figure 7.3

Part 2: Analysis of Proportional Derivative (PD) Controller

Overview:
Proportional Derivative (PD) controller have two controllers (P and D) connected in feed
forward path. The aim of using PD controller is to increase the stability of the system since it
has an ability to predict the future error of the system response. Derivative action is usually
used to improve transient response of the closed loop system. Only D control is not used
because it amplifies high frequency noise, which is never desired. Derivative action
decreases rise time and oscillations. However, it does not have any effect on steady state
performance of the closed loop. We can say that steady state error is still non-zero in PD
control. Derivative action depends on the slope of the error, unlike P and I actions. It means
that if the error is constant, derivative action has no effect at all. The transfer function of PD
controller can be represented as GPD (s):
GPD (s) = Kp + Kd s (7.2)
where Kp and Kd are the proportional and derivative gains respectively.

Experiment No. 7: Analysis of PI, PD and PID controllers using PID Trainer Page 4
Procedure:
a. The connections diagram for proportional derivative (PD) controller is shown in Figure
7.4.
b. After making all required connection on the board, switch ON the power supply. Ground
the process variable (PV) and inputs of summing block, which are not in use.
c. Apply a square wave at TP2 pin (SP). Using oscilloscope, observe the output at TP10 pin
of summing block. Gradually, vary the gain values (Kp and Kd) and observe the changes
in the output.

Figure 7.4

e. Now, sketch the square wave input and output waveform (appearing at TP10) for
different values of Kp and Kd on Figure 7.5 and 7.6 respectively.

Figure 7.5

Experiment No. 7: Analysis of PI, PD and PID controllers using PID Trainer Page 5
 Figure 7.6

Part 3: Analysis of Proportional Integral Derivative (PID) Controller

Overview:
Proportional Integral Derivative (PID) controller have three controllers (P, I and D)
connected in feed forward path. PID controller has the optimum control dynamics including
zero steady state error, fast response (short rise time), 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. One of the
main advantages of the PID controller is that it can be used to optimize the higher order
processes. One attraction of the PID controller is that all engineers understand conceptually
differentiation and integration, so they can implement the control system even without a deep
understanding of control theory. Further, even though the compensator is simple, it is quite
sophisticated in that it captures the history of the system (through integration) and anticipates
the future behavior of the system (through differentiation). The transfer function of PID
controller can be represented as GPID(s):
Ki
GPID (s) = Kp + + Kd s (7.3)
s
where Kp, Ki, and Kd are the proportional, integral and derivative gains respectively.

Procedure:
a. The connections diagram for proportional integral derivative (PID) controller is shown in
Figure 7.7.
b. After making all required connection on the board, switch ON the power supply. Ground
the process variable (PV) and inputs of summing block, which are not in use.
c. Apply a square wave at TP2 pin (SP). Using oscilloscope, observe the output at TP10 pin
of summing block. Gradually, vary the gain values (Kp, Ki and Kd) and observe the
changes in the output.

Experiment No. 7: Analysis of PI, PD and PID controllers using PID Trainer Page 6
 Figure 7.7
d. Now, sketch the square wave input and output waveform (appearing at TP10) for
different values of Kp, Ki, and Kd on Figure 7.8 and 7.9 respectively.

Figure 7.8

Figure 7.9

Experiment No. 7: Analysis of PI, PD and PID controllers using PID Trainer Page 7
Key Points:
Always keep in mind that you do not need to apply all three controllers (proportional,
derivative, and integral) to a system, if it is not necessary. For example, if a PI controller
meets the given requirements, then you do not need to add a derivative controller. Keep the
controller as simple as possible.

Exercise Problems
Question:
a. Construct and analyze the systems of Figure 7.1, 7.4, 7.7 in MATLAB/Simulink and
observe the output responses for a square wave input by varying gains (Kp, Ki and Kd).
b. Attach the printed snapshots with lab handouts and submit them to the lab instructor.

Experiment No. 7: Analysis of PI, PD and PID controllers using PID Trainer Page 8