Mutah University

Department of Electrical Engineering

Automatic Control Lab

Modified by
Dr. Khaled Alawasa

Fall 2014

1
About the Manual

To maximum the benefit from this lab (this manual), there are few points that should be
understood before going through this manual and before you start you experiment
which they are:
1. Read the experiment carefully before you come to the lab

2. For each lab there are pre-lab questions that help student to have better and
clear picture for what will be done during the lab. These question need to be
answered and shown at the beginning of each lab.

3. Simulation give a better understanding in the control system, students should

prepare the appropriate MATLAB/Simulink model for each experiment.

4. Many conclusions and ideas results from each experiment, these conclusions
might not be required in the manual questions, BUT this doesn't mean they are
not required from you, you should include them in your discussion and you might
be asked about them in the EXAM.

Finally if you notice any typo/ error in the contents OR if you have any comment/note,
for the sake of improvement, about this manual please discuss it with your Lab
instructor or Dr. Khaled Alawasa

2
 Contents

About the Manual ....................................................................................................................................... 2

Part 1: Servo motor Control System ....................................................................................................... 4

Lab#1 Familiarization & Calibration ................................................................................................. 5

Lab #2 Simple Position Control System .......................................................................................... 14

Lab#3 Simple Speed Control System ............................................................................................... 20

Part 2: Analogue Computer .................................................................................................................... 26

Lab#1 Time & Frequency Response of First-Order System ......................................................... 27

Lab#2 Time Response of Second-Order System ............................................................................. 32

Lab#3 Disturbance Rejection ............................................................................................................ 39

Part 3: Process Control ........................................................................................................................... 42

Lab#1 Basic Theory and Experiments ............................................................................................. 48

Open-loop & closed-loop Systems ...................................................................................................... 48

Lab#2 Proportional, Proportional-Integral Control (P and PI-controller) .............................. 53

Lab#3 PID Controller ......................................................................................................................... 56

3
Part 1: Servo motor Control System

Feedback MS150 DC Complete Modula Servo System

Background:
A servo control system is one of the most important and widely used forms of control
system. Any machine or piece of equipment that has rotating parts will contian one or
more servo control systems. The job of the control system may include, but not limit to:
 Maintaining the speed (position) of a motor within certain limits even when the
load on the output of the motor varies.
 Varying the speed (position) of a motor and load according to an externally set of
values.

Servo motor experiments consist of three labs:

 Lab#1 Familiarization and Calibration
 Lab#2 Simple position control system
 Lab#3 Simple speed control system

4
Lab#1 Familiarization & Calibration

Pre-Lab Questions:
1. Explain how the speed of a DC motor can be controller? Among the available methods
what is the most suitable/used method.
2. What is the Tacho-generator? Explain its principle of operation? and what is its main
function in control of motor?

Objectives:
- To become familiar with the modules and how they operate.
- To illustrate the characteristics of the motor that used in experiments.
- To illustrate the performance of a motor being controlled by a servo amplifier.

Introduction

Part A : Familiarization

Power Supply Unit 150E (Fig.1.1.1)

This unit supplies a 24 V D.C 2A unregulated supply
to the motor through an 8 way connector to the servo
amplifier, as it is this unit that controls the motor.
On the front panel there are two sets of 4 mm sockets
to provide 15 V , stabilized D.C supplies to operate
the smaller amplifiers and provide reverence
voltage

Fig. 1.1.1 Power Supply Unit 150E

5
Motor unit 150F
This unit is made up of three parts :
1. A D.C series -wound split -field motor which has
an extended shaft, and onto which can be fixed the
magnetic brake or inertia disc.
2. Integral in the unit is a D.C tacho-generator with
output on the top of the unit.
3. For control experiments, there is a low speed shaft
driven by a 30:1 reduction gearbox .
A special push-on coupling can link the output
potentiometer to this shaft. Power is obtained from Fig. 1.1.2 Power Supply Unit 150E
the servo amplifier by an 8-way socket .
Fig. 1.1.2 gives the diagram for the tacho- generator
connections .

Motor unit 150F

Servo Amplifier 150D (Fig. 1.2.3)
contained in this unit are the NPN transistors , which drive
the motor in either direction . Provision is also made on
the front panel for patching the armature for different
modes of control.
To avoid overloading the motor , there is a motor current
meter with a 2A overload indication and protection

Attenuator Unit 150B (Fig. 1.2.4)

This unit contains two variable 10 KΩ Fig. 1.1.3 Servo Amplifier Unit 150D
potentiometers, and can either provide a reference
voltage when connected to a D.C source or be used
as a gain control when connected to the output of an
amplifier
.

6
Fig. 1.1.4 Attenuator Unit 150B
 . & Output potentiometers 150H and 150K (fig. 1.1.5)
Input
These are rotary potentiometers, used in experiments on
position control. the 150H in ut otentio eter has 1 0 of
motion whilst the 150K -output potentiometer has mechanical
stops and so cannot be damaged by continuous rotation .
the input potentiometer is used to set up a reference voltage
and the output potentiometer is connected to the motor low -
speed shaft by using the push - on coupling

Pre-Amplifier 150C (Fig. 1.1.6)

this provides the correct signals to drive the servo amplifier
Fig. 1.1.5 Input & Output potentiometers
250D . 150H and 150K
The two inputs are effectively summed , allowing two signals
to be applied e.g. a reference voltage and the tacho - generator
voltage.

.
Operational Amplifier 150A (Fig. 1.1.7)
This provides inverting voltage gain and a means of summing
two or more signals .

Load Unit 150L (Fig. 1.1.8)

An aluminum disc can be mounted on the motor shaft and Fig. 1.1.6 Pre-Amplifier 150C
when rotated between the poles of the magnet of the load unit
, the eddy currants generated have the effect of a brake. The
strength of the magnetic brake can be controlled by the
position of the magnet .
A permanent magnet placed around flywheel of the motor.
The magnet provides a varying loading which can be set by
the scale that ranges from 0 (minimum load) to 10 (maximum
load).

Fig. 1.1.7 Pre-Amplifier 150C

Fig. 1.1.8 Load Unit 150L

7
Part B: motor Characteristic & Calibration
The motor has a split field winding, with currant flow in each part of the coil being
controlled by a transistor. This means that the direction of rotation can be reversed, with input 1
on the servo amplifier 150D making the motor rotate in one direction and input 2 in the other
direction , as in Fig . 1.1.9
+

Field
coils

Vin=V1 Vin=V2

Armature

Fig.1.1.9 Armature control Motor

As the motor accelerates the armature generates an increasing bake-emf Va tending to oppose
the applied voltage Vin . The armature current is thus roughly proportional to (Vin - Va) if the
speed drops (due to loading) Va reduces, the current increases and thus so does the motor torque.
This tends to oppose the speed drop. This mode of control is called Armature control and gives
a speed proportional to Vin as in Fig. 1.1.10.
speed

speed

Friction

Input voltage Load torque

Fig. 1.1.10 Motor speed as a function of input voltage and output torque
Due to brush friction, a certain minimum input signal is needed to start the motor rotating. Fig.
1.1.10 shows how the speed varies with load torque.
The connection of the servo amplifier also allow the armature to be connected in the collector
circuits of the transistor, as in fig.1.1.11 and this configuration will be referred to as field control
from now on. In this case the back emf will have much less effect on the motor current.

8
 +

large input

speed

speed
small input

Vin=V1 Vin=V2
Input voltage Load torque
-
Fig.1.1.11 Filed control Motor
This means that the transistor current and therefore the motor current is largely determined by
the input signal Vin . Fig. 1.1.11 shows how with the motor unloaded, any small increase in input
above the minimum value to start rotation needed will cause a large increase in the speed this
makes the motor difficult to control. Under load there is a very sharp fall in speed.

Lab Equipment:

1. Attenuator Unit 150 B ,

2. Baseplate ,
3. load Unit 150L ,
4. Motor Unit 150F ,
5. power Supply Unit 150E,
6. Servo Amplifier Unit 150D,
7. Stop clock ,
8. Voltmeter.

Practical# 1: Armature Control

Lab Procedure

1. Set up the circuit as shown in Fig. 1.1.12 .

2. Connect the servo amplifier (SA) for armature control. (The A sockets on the SA indicate
that these should be linked for armature control).
3. Set the magnetic brake to the unloaded position.

9
 Vin Power
Amplifier

Vg M Load

Fig. 1.1.12 Practical#1 Armature control circuit

4. By using one of the potentiometers on the attenuator unit, it is possible to obtain a

variable signal input Vin .
5. Switch on the power.
6. Turn the potentiometers until Vg=1.
7. Switch on the stopwatch and count 20 turns on the low speed shaft, then record Vin and
time in seconds in Table 1.1.1 in the answer sheets
8. Complete the Table 1.1.1 as in the procedure of steps 6 and 7 .
9. Reduce the Vin to zero and turn off the power .
10. To plot the torque/speed characteristic set the brake at position 10 .
11. Switch on the power and increase the Vin until the current reach 2A , record Vin and
don't change the value of it .

Warning : Don't exceed 2A

12. Take Vg readings over the range of the brake done to zero position, and record your
results in Table 1.2 in answer sheets .
13. Reduce the Vin to zero and turn off the power.

10
Practical#2: Field Control
Equipment required : Attenuator Unit 150B, Baseplate, Load Unit 150L, Motor Unit 150F,power
Supply Unit 150E, Servo Amplifier Unit 150D, Stop Clock , Voltmeter .
1. Set up the circuit as shown Fig. 1.1.12.
2. Connect the (SA) for field control. (The F sockets on the SA indicate that these should be
linked for field control).
3. Set the magnetic brake to the unloaded position .
4. Gradually increase the Vin Explain what happen .(in the correct place in the answer
sheets).

Warning : Don't exceed 2A

5. Reduce the Vin to zero and turn off the power .

6. Set the brake at position 10.
7. Switch on the power and increase the Vin until the current reach 2A , record Vin and
don't change the value of it .
8. Take Vg reading over the range of the brake done to zero position, and record your
results in Table 1.1.3 in answer sheets.
9. Reduce the Vin to zero and turn off the power.

Results and Calculation

Table 1.1.1

Tacho voltage Input voltage Number of Speed rev/min

Time in sec
Vg Vin rotations calculated
1 20
2 20
3 40
5 40
7 40
8 40
10 40

11
Vin=.................
Table 1.1.2

Tacho voltage Speed rev/min

Break position
Vg Calculated by Kg
10
9
8
6
4
2
0

Vin=.................
Table 1.1.3

Tacho voltage Speed rev/min

Break position
Vg Calculated by Kg
10
9
8
6
4
2
0

For Table 1.1.1

 Calculate the speed rev/min. (show the calculation for one step).
 Plot the speed against Vg on graphical papers.
 Find calibration factor Kg (by the slope), which is volts generated per 1000 rev/min.
(show your calculation).
 Plot the speed against Vin.
 Comment on your graphs.

12
For Table 1.1.2:

 Calculate the speed by Kg factor. (Show the calculation for one step).
 Plot the speed against torque (brake position).
 Comment on your graphs.

For Table 1.3:

 Calculate the speed by Kg factor. (Show the calculation for one step).
 Plot the speed against torque (brake position).
 Comment on your graphs.

Discussion:
1. Explain what happen in the step 4 of practical 2.
2. The input signal Vin was positive, what happen if it negative?
3. From your results and graphs which mode of control the best, and why?
4. What represent Vin in control system and what the rated voltage of this motor?

Conclusion:
Must be containing what you have learnt from the experiment, and the practical difficulties you
have faced.

13
Lab #2 Simple Position Control System
Pre-Lab Questions:
1. What is function of pre-amplifier in the experiment?
2. Draw a general block diagram for a closed-loop position control system?

Objective:

- To find characteristic of the pre -Amplifier

- Use of a motor an automatic position control system.

Introduction
System Model: The position control system advances the load of a plant (motor) through
desired angular displacement and then comes to a stop. A position control system uses a DC
motor as the load position actuator. The feedback component (tacho-generator )provides the
feedback voltage that is proportional to the actual position of the motor shaft .In our application,
we uses an output potentiometer as the position feedback component (sensor) whose shaft is
mechanically coupled to the low speed shaft of the motor - tacho unit # MT 150F .
The output potentiometer 150K is a Transducer that converts the rotational angle to a voltage
signal. This signal is fed back to a comparator and the output error signal of the comparator (the
difference between the input and the output of the same units) drives the DC motor. The system
is shown in Fig. 1.2.1.
+15

Output P. Error
(θin) Power
Amplifier

Vg M Load

-15

Vf (-ve) Output P.
(θout)

Fig. 1.2.1 Simple Closed-loop position control system

14
The pre -Amplifier:
The error signal (the difference between the desired input and the actual output) vary
from positive to negative values, and one could not use its polarity to determine the direction of
the motor rotation. This is because the servo - amplifier unit dose not rotate for negative signals.
Therefore, the student has to use a pre-amplifier unit 150C with a switching circuit for a two
transistor to be able to rotate the motor in both directions.
Summary:
Position control experiment is of great importance because of many applications that
utilizes the position control technique. For instance, the control of satellite dish, TV. Antenna,
robotics, and the exact and smooth position control of an elevator are some practical example our
daily life.

Lab Procedure
Practical 1: Characteristics of the pre- Amplifier.
Equipment required: Attenuator Unit 150B , Baseplate, Power Supply Unit 150E , pre-
Amplifier Unit 150C, Voltmeter .
1. Make zero set for pre-Amplifier .(by connect the voltmeter on the output of it (3 &4)
without any signals on input , then turn the Zero set Knob until the reading of voltmeter
become zero ). Be sure that you connect a supply to the pre - Amp.

2. Set up the circuit as shown in . 1.2.1.

3. Use the attenuator unit 150B to get a fraction of 1V as an input to the pre -Amp . as in Fig
1.2.2
4. Switch on power.
5. Set the input voltage of pre- Amp. to 0.1 V (by the attenuator).
6. Take the reading of voltages of each of the pre-Amp . outputs (V3 &V4 )and record your
results in Table 2.1 belwo.
7. Complete the Table 2.1 as in the procedure of steps 5 & 6.
Note: For negative input signals replace +15 V by -15 V on attenuator.
8. Switch off the power.

15
 +15/-15

Power Supply
+1/-1 + 0 -

3
Pre-Amp V
4

Attenuator 150B

Fig. 1.2.2 . Pre-Amplifier experiment.

Results and Calculation

Table 1.2.1
Pre-Amp. outputs
Input signal Vi
V3 V4
0
+0.1
+0.2
+0.3
+0.4
+0.5
+0.6
-0.1
-0.2
-0.3
-0.4
-0.5
-0.6

16
Analysis for Table 1.2.1:
 Plot graphs of the outputs (of pre-Amp.) V3 and V4 against the input Vi on the same
graphical paper.
 State range of signals that you think the input should be kept to.
 Comment on your graphs.

Practical 2: Simple Closed Loop Position Control System

Equipment required : Attenuator Unit 150B, Baseplate , OP. Amp.Unit 150A, Motor Unit
150F, power supply Unit 150E ,Servo Amp .Unit 150D, pre -Amp. Unit150C, input and output
potentiometers 150H 150K , voltmeter .

1. Make zero set for operational Amplifier 150A: (set the feedback selector switch on the
Op- A to the 100KΩ resistor , then connect the voltmeter on the output of it without
any signals on input, then turn the zero set knob until the reading of voltmeter become
zero ). Be sure that you connect a supply to the OP. Amp.

2. Connect the servo amplifier (SA) for armature control.

3. Set up the circuit as shown in Fig. 1.2.1, but use the attenuator as a voltage divider for
error signal then apply the output of attenuator to the pre-Amp. and connect the outputs
V3 & V4 to the two inputs of SA

Note 1: We use the o/p of the pre-Amp. to control the motor rotation
Note 2: The gain (K) of the OP-Amp. can be manipulated by using the attenuator unit .
K= (output voltage of att. ) / (input voltage of att.)

4. Set the i/p & o/p potentiometers and the attenuator to zero position.

5. Switch on the power.

6. Turn the i/p pot. (150H) to the position 90o and the increase the att . setting (Gain k)
gradually until the o/p pot . start to move . Record θin, θout and the gain k in Table 1.2.2
.

17
 7. Now increase the gain k (by att.setting ) and observe the error angle . Explain what
happen? (in the correct place in the answer sheets)

8. Select the optimum value of the gain and don't change it , then complete the Table
2.2 for a given values of θin .

Note 3: Observe that if the o/p cursor stops before arriving to the desired i/p value
, the system is said to have tolerance to an error signal and the motor will not be
respond till the error exceeds a certain value .This effect is Known as the
"DEADBAND".

9. Switch off the power.

Table 1.2.2 Simple Closed Loop Position Control System

I/P angle The gain O/P angle The error angle
θin (K) θout
10
9
8
6
4
2
0

Analysis For Table 1.2.2:

 Calculate the error angle. Error= θin - θout
 Discuss the reasons for the error angle.

Discussion:
 Explain what happen in step 7 of practical 2.

 Are the output values of pre-Amp. positive or negative? and if the pre-Amp. not exist.
How can we convert the system to be able to respond to the positive or negative error
signals? Hint: Refer to the circuit of Servo-Amplifier.

18
  There is an "Overshoot Term" in control systems. Explain how that occurs in position
control system, and what the effect of the gain on the overshoot?

 In this exp. we use the o/p as a feedback signal to the position control, mention other
devices that you think used practically for this type of control.

Conclusion:
Must be containing what you have learnt from the experiment, and the practical difficulties you
have faced.

19
Lab#3 Simple Speed Control System
Pre-Lab Questions:
1. Draw a general block diagram for a closed-loop speed control for a DC motor?
2. Explain how the magnetic brake acts as a load to the motor?

Objective:
 To find out the effect of load on speed.
 To Study effect of gain on speed change for load change.
 Use of the tacho-generator in a speed control system

Introduction
Speed control is a very important procedure and can be seen in every branch of industry.
It has become particularly important in continuous processes such as in the control sheet-metal
thickness in hot rolling mills, in generator and most industrial motors. However, in guidance
system, automatic pilots, lifts and overhead hoists both reverse speed and positional control may
be used.
Open loop speed control is sufficient to set a motor to run at a specified speed without or with a
fixed load but the system would be very unstable where the load was varying.
In this experiment we are going to show the improvement that can be result from closing the
loop and using a feedback signal (a velocity feedback signal through a tacho-generator unit). The
actual speed will be compared with the required speed. This produces an error signal to actuate
the servo-Amp. Output so the motor maintains a more constant speed.
The velocity feedback signal using a tacho-generator, is proportional to the speed .It is compared
(using an OP-Amp as a comparator) with a reverence signal of opposite polarity, so that the sum
will produce an input signal into the servo -Amp of required value.
In this experiment we can use the magnetic brake as a load to find out the effect of load on
speed. Notice that the change in the speed for a change in load will give us the regulation.

20
Procedure
Practical 1: Simple Closed Loop Speed Control without Load
Equipment required: Attenuator Unit 150B ,Baseplate, OP.Amp. Unit 150A ,Motor
Unit 150F , Power Supply Unit 150E,Servo Amp. Unit 150D,Voltmeter .
1. Make zero set for operational Amplifier 150A.
2. Connect the servo amplifier (SA) for armature control.
3. Set up the circuit as shown in Fig. 1.3.1, but without load.
4. Before connecting the tacho -generator to the feedback loop, switch on the power
and apply input signal to make the motor rotates and determine which is the tacho
᾽s positive output.
5. Connect the positive output of the tacho to the input of the OP-Amp.and other side
to 0V .
6. Reset the reference voltage Vref (must be negative) to 0V and then increase the
input signal to 1V , and take readings for Reference ,Tacho ,and Error voltages.
7. Record your results in table 3.1 and complete the table for a given input signal
values .
8. Switch off the power.
+15

Set vaule
POT.1 of Error
Attenuator Power
K Amplifier

Feedback signal + ω
M Load
Tacho Vg

Fig. 1.3.1 Simple Closed Loop Speed Control with/without Load

21
Practical 2: Simple Closed Loop Speed Control Without Load
Equipment required: Attenuator Unit 150B ,Baseplate,OP-Amp. Unit 150A , Motor Unit 150F
, power supply Unit 150E ,Servo Amp. Unit 150D ,Load Unit 150L Voltmeter.
1. Use the circuit of Fig. 1.3.2 for again control K , and move the feedback selector switch
on the OP-Amp. to the External feedback position .
K  1 
2. Set up the circuit as shown in Fig. 1.3.1. (with load)
3. Initially set the gain to unity (by turn the knob of POT . 2 of attenuator to position 1)
4. Set the brake position to 0 position.
5. Switch on the power.
6. A adjust the reference volts till the motor runs at 4000 rev/min . (and don't change Vref).
Note: using the tacho calibration factor Kg of EXP.#1 to calculate the speed .
7. Take readings of the Vref error voltage Ve and tacho voltage Vg . over the range of brake
position for a given position and record them in the Table 3.2.

Warning: Make sure that the current of the motor

does not exceed the 2A limiting current.

8. Repeat the readings for a gain of 10.(that is set by turn knob of POT.2 of
attenuator . to position 10) and record your results in Table 1.3.3 .
9. Switch off the power.

Op-Amp

POT.2 of Attenuator

Fig. 1.3.2 Gain control K, simple Closed Loop Speed Control with Load

22
Practical 3: Effect of gain on Deadband

1. By the circuit of Fig 1.3.1 set the magnetic brake to the no load position and adjust
the value of the gain to unity.
2. Switch on the power.
3. Slowly turn up the value of the reference voltage till the motor just begins to turn
then record the value of Vref in Table 1.3.4.
4. Set the magnetic brake to position 10 and repeat step 3.
5. For a gain set to 10 repeat steps 3 & 4.
6. Switch off the power

Results and Conclusion

Table 1.3.1
Reference voltage Tacho voltage Error voltage Speed
(Vref) (Vg) Rev/min by Kg

Table 1.3.2 [Vref=............ and Gain =1]

Brake position Tacho voltage Error voltage Speed
(Vg) Rev/min by Kg
0
2
4
6
8
10

23
 Table 1.3.3 [Vref=............ and Gain =10]
Brake position Tacho voltage Error voltage Speed
(Vg) Rev/min by Kg
0
2
4
6
8
10

Table 1.3.4
Brake position The gain Reference
(Kg) voltage Vref
0
2
4
6
8
10

Analysis for Table 1.3.1

1. Calculate the speed by Kp factor. (Show your calculation for one
step).
2. Plot the error voltage Ve against speed on a graphical paper.
3. Comment on your curve.

Analysis for Table 1.3.2 and 1.3.3

1. Calculate the speed by Kp factor. (Show your calculation for one
step).
2. Plot the speed against brake position for gain values of 1&10 on the
same drawing.
3. What is the relation between error and brake position.
4. Comment on your curve.

24
Discussion:
1. For step 5 of practical 1, what would happen if you reverse the tacho connection to
the Op-Amp. and what sort of feedback would you call it?
2. In set 6 of practical 2 the reference voltage must be negative, why?
3. Is the tacho voltage less than or more than the reference voltage and why?
4. In this exp. we use the tacho generator as a feedback signal to the speed control,
mention other devices that you think used practically for this type of control.
5. When the error will be negative or equal zero? Explain?
6. For practical 2, what is the effect of forward gain on the speed regulation?
7. Is the Deadband reduced as the gain increase? If so, why?

25
 Part 2: Analogue Computer
Background:
The use of the computer has played an
major role in recent advances in the
design of Automatic control systems.
The computers may be divided into
TWO types: Analogue computers and
Digital computers. Analogue computer
is one in which the equation describing
the operation of the computer in
analogue to that for the actual system.
An analog computer is based on the
creation of a model which represents the
problem to be solved. Analogue Computer Simulator kit C180

Basic computing elements of an analog computer are summers, integrators,

multipliers, function generators and comparators. Depending on the problem to be
solved these elements can be arranged
Programming an analog computer consists of the transformation of the equations
describing the problem to be solved into an analog (being a model) computer
circuit. This circuit is then implemented using the aforementioned computing
elements

Process Control Experiments consists of three labs:

 Lab#1 Time and Frequency Response of First Order System.
 Lab#2 Time Response of Second Order System.
 Lab#3 Disturbance rejection Capability

26
 Lab#1 Time & Frequency Response of First-Order System

Pre-Lab Questions:
3. What is the necessity of Analogue Computer in control system?
4. Draw an equivalent Analogue Computer ( i.e. op-amps circuit) for inverter , summers for
two , and integrator
5. Provide the standard transfer function of first-order system and identify it characteristics
under a unity-step input. What is the time constant? and how can it be estimated?
6. Provide a physical example(s) of a first-order systems
7. Develop a MATLAB/Simulink model for first order system (shown in Equation 2.1.1
with P=1) and
 Obtain the time response of system under: 1) unity step; 2) unity saw-tooth; and
3) sinusoidal signal with 1-V magnitude and 1 Hz. (show the input and output in
one scope).
 Obtain the frequency response and find the bandwidth of the system.

Objectives:
 To Build a first-order system using Analogue computer
 To analyze the first-order system responses under different types of input signal namely:
the unit-step, unit- ramp, and sinusoidal functions.

Lab Equipment:

1. Analogue Computer Simulator kit C180

2. Oscilloscope
3. Signal Generator

Background:
Consider the first order system shown In Fig .2.1.1. Physically, this system may represent an RC
circuit, thermal system, or the like. The input-output relationship is given by:

Y (s ) 1 .....(2.1.1)
 p0
U (s ) s  p

U(s) + 1 Y(s)

- s
P

Fig. 2.1.1 First Order system

27
Lab Procedure
Part 1: Build a first-order system using Analogue
1. Connect the circuit shown in Fig .2.1.2.
2. Verify the realization in Fig.2.1.2 of the transfer function in Fig.2.1.1.

1 MΩ 1 uF

1 MΩ Input
- 1 MΩ
Input -
Signal generator +
+ Output
1 MΩ
Scope
1 MΩ

R
-
+

Fig. 2.1.2 Analogue computer realization of a First-order system

Part 2: Unit step Response

1. Set instruments to the following initial settings :
a) Oscilloscope: 2 s/div, 0.5 V/div on both channels, channel 1 is connected to
output signal and channel 2 to input signal.
b) Set the function Generators:1-V square wave of frequency less than one Hertz.
u
1.0

Fig. 2.1.3 Square wave input (repeated unit-step input)

c) Analog Computer :
 Set to "computer " switch
 Set Rep . Rate to "signal ".
 Select amplifiers 1 through 9.
3- Set R = 1 MΩ and turn ower on .

Question 1: What is the ti e constant τ of the syste in Fig 2.1.2. with R = 1MΩ.

28
Observation:
1- Verify your answer to Question 1 experimentally.

2- Measure the settling time Ts such that the response remains within 2% of the final value.
Question 2: what is the steady state error? How do you relate this to the type of system?

3- Obtain the input, error and output signal on the same graph to scale. Show time constant
and settling time on graph

4- Justify all results analytically.

5- Set R=0.1MΩ in Fig.2.1.2 and oscilloscope to 0.2 s/div , 0.1V/div on Ch2 and 50mV/div
on Ch1. Repeat observation 2, 3 and 4 .

Oscilloscope screen Oscilloscope screen

Part 2: Input Saw tooth input

1- Set R=1MΩ in Fig. 2.1.2 and change settling on oscilloscope to 0.1 V/div on both
channels.
2- Instead of a square wave select a 1-V ramp signal or the function generator.

u
1.0

Fig 2.1.4 Saw tooth signal (repeated ramp input)

29
 3- Repeat observation 3, and 4 in Procedure 1.

4- Measure the steady - state error and answer Question 2

Question 3- In procedures 1 and 2, why do we require the frequency of the input

signals to be less than one Hertz. Try to increase frequency of the input signals and
provide your observation.

Oscilloscope screen Oscilloscope screen

Part 3: Sinusoidal input

1. With R= 1MΩ in Fig. 2.1.2, switch function generator to sinusoidal signal.

2. Vary the frequency of the input signal in small steps and monitor the amplified of the
output signal, Take measurement so be you be able to plot the frequency responses for
this system (frequency vs magnitude).

3. Measure bandwidth of this system

4. Explain your results in this part.

30
 Oscilloscope screen

Exercise 1: Using no input to the system in Fig. 2.1.2. and with appropriate initial condition ,
how can you generate an exponential function Y(t)=A ?. Generate the function Y(t)= .
Exercise 2: when R= 1MΩ, the circuit in Fig.2.1.2 , may represent an RC circuit as the one in
Fig. 2.1.4, Explain the details.

R=1 MΩ

Input output
r(t)
AC
y(t)=vc(t)
C=1 uF

Fig.2.1.4. RC circuit.

31
 Lab#2 Time Response of Second-Order System

Pre-Lab Questions:
1. Provide the standard transfer function of second-order system and identify it
characteristics under a unity-step input.
2. Provide a physical example(s) of a second-order system
3. Refer to Fig. 2.2.2, provide the transfer function of the system and find an expression for
the frequency and damping ratio
4. Develop a MATLAB/Simulink model for second order system (shown in Equation
2.2.1 and Fig. 2.2.2) and Obtain the time response of system under:
1) Unity step and find the system responses (rise time, error,...) under
 case#1 : k1=1.0, k2=1
 case#1 : k1=1.0, k2=0,
 case#3 : k1=0.1, k2=1
2) Sinusoidal signal with 1-V magnitude and 1 Hz. (show the input and output in one
scope).

Lab Equipment:

1. Analogue Computer kit C180

2. Oscilloscope
3. Signal Generator

Objectives:
 The purpose of this experiment is to examine the unit-step response of a second order
system.

Background:
The stranded transfer function of a second-order system is given by:

n 2
T (s )  .............................................(2.2.1)
s 2  2n s  n 2

Where ζ is the da ing ratio and is the natural frequency or undammed frequency.

Applying a unit step U(s) = yields:

32
 n 2
T (s ) U(s)  .............................................(2.2.2)
s  s 2  2n s  n 2 

The Laplace transformation yields:

1
y (t)  1  e n t sin( n t   ) ...........................................(2.2.3)


 
where   1   2 and   tan 1  
 

In this response, τ= , is the time constant of the exponential damped sinusoid in seconds.
Also is the frequency of the damped sinusoid. The two poles of the transfer function
T(s) occur at:

s1,2  n  j n 1   2    j d ...........................................(2.2.4)

 For ζ ˃1: the system is said to be over - damped. The are real and unequal and the time
damped sinusoid portion of (t) is replaced by the weighted sum of two exponential
functions , that is :

y (t)  1  C1e t 1  C 2e t  2 ...........................................(2.2.5)

 For ζ=1: the system is said to be critically damped. The poles of T(s) are real and equal ,
so that :

y (t)  1  C1e t   C 2e t  ...........................................(2.2.6)

 For ζ=0: the poles of T(s) are pure imaginary and the system is said to be marginally or
critically stable , so that :

y (t)  1  cos(nt ) ...........................................(2.2.7)

 For (0<ζ<1): the system is said to be under damped and y(t) as in equation (2). For this
case, a typical unit step response is shown in Fig (2.2.1), where:
1
Tp  ...........................................(2.2.8)
n 1   2

Tp is called the peak-time and,

M pt  1  e  1 2
...........................................(2.2.9)

33
Mpt is the peak value of the response that occurs at Tp

Fig. 2.2.1 step response of a second-order system.

In what follows, we will investigate all this theory through experimentation. The transfer
function T(s) in Equation (2.2.1) can be represented by the block diagram shown in Fig. 2.2.2.
Question 1: Show how K1 and K2 in Fig. (2.2.2) are related to (ζ) and in Equation (2.2.1) (by
finding the transfer function T(s) and compare it with that in Equation (2.2.1))

U(s) Y(s)
+ K1
+ Y 1 Y 1
S
- -
S

K2

Fig. 2.2.2 Block diagram of a second-order system.

34
Procedures:
Part One: Unit step response Analysis 1
1- Connect the circuit as shown in Fig. 2.2.3.

Summer

11

Integrator
0<K1≤1


gain
u(t) Integrator
y(t)


0<K2≤1
gain

Fig. 2.2.3 Analogue computer model for second-order system.

Question 2: Verify that the circuit in Fig. (3) is a realization of the transfer function T(s) in
Question 1.
2- Set instruments to be the following initial settings:

I. Oscilloscope: 5 s/div, 0.2 V/div on both channels.

Channel-1: connected to input signal
Channel-2: connected to output signal

II. Function Generator: 1-V train of Pulses of frequency 0.01 Hz a shown below.

u
1.0

III. Analog Co uter Model: Set switch to “Co ute”.

35
 3- Close the switch (S) and turn the power on.
4- Fill the following Tables 2.2.1 and Table 2.2.2
5- Plot the input and output signals to scale on the same graph.

Oscilloscope screen Oscilloscope screen

Tables 2.2.1 Effect of K1 on the system performance.

K2=1

K1 Poles location Time constant Steady-state error

( computed) τ [sec.] ess
0.25

0.2

0.1

Tables 2.2.2 Effect of K2 on the system performance.

K1=1
K1 Poles location ζ Steady-state error
(computed) (computed) (measured) (measured) (measured) ess
1.00

0.50

0.25

36
 Question 3: Compute the steady state error and steady state value for each case in Tables
(2.2.1&2.2.2) and compare with measured values.

Part One: Unit step response Analysis 2

1- Set the gain K2=0 by opening the switch (S).

2- Set K1=1

Question 4: What are the poles of the system in this case (K2=0, K1=1)?
3- Turn power on. Draw the input and output signals on the same graph to scale.
4- Measure the frequency and peak-to-peak amplitude of the output signal.
5- Turn the function generator off. Do you see any change to the output signal? Why?

Question 5: Justify the results in steps 4 and 5 analytically/ Simulation.

6- Instead of train of pulses in the input, use a 1-V peak-to-peak sinusoidal signal on
function generator and repeat step (4). Do you see any change in the output amplitude
of frequency? Why?
7- Set the frequency in step (6) to . What do you see at the
output? Why?

Question 6: Explain results in step 7 analytically?

 Exercise 1: Connect the circuit in Fig. 2.2.4, and let K1=0.25 and K2=1. Using a 1-V train
of pulses with frequency of 0.01 Hz, how do you explain the output you see on
oscilloscope?

37
 Summer
1
Integrator
0<K1≤1


gain
u(t) Integrator
y(t)

0<K2≤1
gain

Fig. 2.2.4

Question 7: Draw the output signal and explain the result analytically?

Oscilloscope screen Oscilloscope screen

 Exercise 2: Repeat exercise 1 using a 1-V peak-to-peak sinusoidal input. Provide also an
answer to (Question 7) for this case (sinusoidal input).

 Exercise 3: Using the Analog Computer Model demonstrate experimentally how you can
generate a sinusoidal signal (y(t)=A sin wt) where, the amplitude A and the frequency w
are given as design parameters.

38
 Lab#3 Disturbance Rejection
Pre-Lab Questions:
1. What does mean by "disturbance" from the control system prospective? and what is
the source of disturbance in a given control system?
2. Suggest one "real" method to reduce the effect of disturbance on the system
performance
3. Develop a MATLAB/Simulink model for second order system with disturbance
(shown in Equation 2.3.1 and Fig.2.3.2) and obtain and discuss the time response of
system under a unity step for :
 case#1 : k1=6.0, k2=0.4,d(t)=0.0
 case#2 : k1=6.0, k2=0.4,d(t)=1.0
 case#3 : k1=6.0, k2=0.4,d(t)=5.0

Objectives:
 Using the analogue computer kit C180 to study the disturbance rejection capabilities of a
control system.

Lab Equipment:

1. Analogue Computer kit C180

2. Oscilloscope
3. Signal Generator

Introduction:
All physical systems have unwanted inputs called disturbances, in addition to the inputs
used to control systems. In general, we desire that a system not respond in a significant manner
to these disturbances. Thus, the disturbance rejection capabilities of a system are important.
One method for reducing disturbance effect on the response is to increase the loop gain. Thus to
reject disturbances, the loop gain must be increased in such a manner that the gain from the
disturbance input to the system output is not increased. This increase is usually accomplished by
increasing the compensator gain. Consider the block diagram in Fig 2.3.1.

39
 D(s)

U(s) + y y Y(s)
+ K1
+ 1 1
- S S
-

K2

Fig. 2.3.1 Closed loop control system with disturbance.

By Su er osition and Mason’s gain for ula, we can write the out ut ex ression, Y(s), as:

 K1   1 
Y (s )   2 U (s )   2  D (s ) .......................(2.3.1)
 s  K 1K 2 s  K 1 )   s  K 1K 2s  K 1 ) 

Question 1: If we choose K2=0.4, find the range of K1 for a stable system.

Question 2: Fig. 2.3.2 shows the equivalent analogue computer model for that in Fig. 2.3.1,
verify that this simulation represents Equation (2.3.1)

d(t)
Disturbance

u(t) Summer 0<K1≤20

gain Integrator Integrator
1
y(t)

0<K2≤20
 
gain

-1

Inverter

Fig.2.3.2 Equivalent analogue computer model of second order TF

40
Lab Procedure
1. Connect the circuit in Fig. 2.3.2.
2. Set both channels of oscilloscope to 0.5v/div and 5sec/div.
3. Set function generator to 1-V train of pulses of frequency 0.01 Hz as shown below.

u
1.0

4. Set K2=0.4, K1=6 and d(t)=0. (i.e., system without disturbance)

5. Turn power on. Plot output y(t) to scale.
6. With K2=0.4, K1=6 and d(t)=1.0 V plot output y(t) to scale. (i.e., system with
disturbance)

Question 3: What is your observation?

7. Start increasing K1.

Question 4: What is your observation? Explain.

Oscilloscope screen Oscilloscope screen

41
 Part 3: Process Control

PCS327 Process Control Simulator

We shall call any operation to be controlled a process

1. Background and Introduction

Control systems are everywhere around us, they regulate temperature in homes, stabilize
aircraft and spacecraft, affect production of food by regulating the quality and purity of produce,
are used in refineries, and so on.
A system is generally made up of components which could be mechanical, electrical,
hydraulic, and/or pneumatic. The function of the control system is to regulate the output of the
system in accordance with some input signal. The controlled output may be position, velocity,
acceleration, temperature, etc. The output is required to track and follow the input signal as
closely as possible.
The output is measured by using transducers and, fed back to the controller in order to correct
deviations from the input signal. This is referred to as feedback and is an essential element of
closed-loop control systems. When feedback is not used, we have an open-loop control system.

42
2. Definitions and Terminologies
 Controlled Variable and Manipulated Variable:
The controlled variable is the quantity or condition that is measured and controlled. The
manipulated variable is the quantity or condition that is varied by the controller so as to affect
the value of the controlled variable. Normally, the controlled variable is the output of the system.

 Control:
Control means measuring the value of the controlled variable of the system and applying
the manipulated variable to the system to correct or limit deviation of the measured value from
a desired value.

 Plants:
A plant may be a piece of equipment, perhaps just a set of machine parts functioning together,
the purpose of which is to perform a particular operation. In this LAB, we shall call any
physical object to be controlled (such as a mechanical device, a heating furnace, a chemical
reactor, or a spacecraft) a plant

 Processes:
Defined as natural, progressively continuing operation or development marked by a
series of gradual changes that succeed one another in a relatively fixed way and lead toward a
particular result or end; or an artifical or voluntary, progressively continuing operation that
consists of a series of controlled actions or movements systematically directed toward a
particular result or end. In this lab we shall call any operation to be controlled a process.
Examples are chemical, economic, and biological processes.

 Systems:
A system is a combination of components that act together and perform a certain
objective. A system is not limited to physical ones. The concept of the system can be applied to
abstract, dynamic phenomena such as those encountered in economics. The word system should,
therefore, be interpreted to imply physical, biological, economic, and the like, systems.

 Disturbances:
A disturbance is a signal that tends to adversely affect the value of the output of a system.
If a disturbance is generated within the system, it is called internal, while an external disturbance
is generated outside the system and is an input.

 Feedback Control systems:

A system that maintains a prescribed relationship between the output and the
reference input by comparing them and using the difference as a means of control is

43
called a feedback control system. An example would be a room-temperature control
system.
By measuring the actual room temperature and comparing it with the reference
temperature (desired temperature), the thermostat turns the heating or cooling equipment
on or off in such a way as to ensure that the room temperature remains at a comfortable
level regardless of outside conditions.
 Open-loop control systems:
Those systems in which the output has no effect on the control action are called open
loop control systems. In other words, in an open-loop control system the output is neither
measured nor fed back for comparison with the input. One practical example is a washing
machine. Soaking, washing, and rinsing in the washer operate on a time basis. The machine does
not measure the output signal, that is, the cleanliness of the clothes.
In any open-loop control system the output is not compared with the reference input. Thus, to
each reference input there corresponds a fixed operating condition; as a result , the accuracy of
the system depends on calibration. In the presence of disturbances, an open-loop control
system will not perform the desired task. Open-loop control can be used, in practice, only if the
relationship between the input and output is known and if there are neither internal nor external
disturbances. Clearly, such systems are not feedback control systems. Note that any control
system that operates on a time basis is open loop. For instance, traffic control by means of
signals operated on a time basis is another example of open-loop control. Fig. 3.1 shows typical
open loop system.

Disturbance Disturbance
input 1,D1(s) input 2, D(s)

Reference Output
input Input controlled
Gc(s) + G(s) +
Transducer variable
Controller/ Plant/Process
compensator

Fig. 3.1 A typical open loop system.

 Closed-loop control systems:

Feedback control systems are often referred to as closed-loop control systems. In
practice, the terms feedback control and closed-loop control are used interchangeably. In a
closed-loop control system the actuating error signal, which is the difference between the input
signal and the feedback signal (which may be the output signal itself or a function of the output
signal and its derivatives and/or integrals), is fed to the controller so as to reduce the error and
44
bring the output of the system to a desired value. The term closed-loop control always implies
the use of feedback control action in order to reduce system error. Fig. 3.2 shows a typical closed
loop system.
Disturbance Disturbance
input 1,D1(s) input 2, D2(s)
forward path
Reference Output
input controlled
R(s) Input
+ Gc(s) + G(s) + variable
Transducer -
Y(s)
Controller/ Plant/Process
compensator
Feedback path

H(s)

Transducer/
sensor

Fig. 3.2 A typical closed loop system.

Fig.3.2 can be reduced to that in Fig. 3.3 which is the usual form of a single loop closed-
loop control system is as follows:
System Manipulated System
input + Error variable output
Compenstor PLANT
-

Sensor

Fig. 3.3 closed loop system components.

The system input is a reference signal; usually we want the system output to be equal to this
input. In the temperature-control system, this input is the setting of the Desired Temperature. If
we want to change the temperature, we change the system input. The system output is measured
by the sensor, and this measured value is compared with (subtracted from) the input.
This difference signal is called the error signal, or simply the error. If the output is equal to the
input, this difference is zero, and no signal reaches the plant. Hence the plant output remains at
its current value. If the error is notzero, in a properly designed system the error signal causes a
response in the plant such that the magnitude of the error is reduced. The compensator is a filter
for the error signal, since usually satisfactory operation does not occur if the error signal is
applied directly to the plant.

45
  Proportional Control:

The error is multiplied by a proportional constant (gain), Kp, and sent to the output. Note
that when the error is zero, a proportional controller's output is zero. In the process control:
Gain and proportional band are related but inverse quantities. A controller settings of 100%
proportional band means that 100% change of the error signal (set point process variable) will
results in 100% change of the output, which is gain of 1.0 A. 20% proportional band indicates
that 20% change in error gives 100% output changes, which is a gain of 5.

1 (3.1)
Proportional gain (Kp) 
Proportional band

A high proportional gain results in a large change in the output for a given change in the error. If
the proportional gain is too high, the system can become unstable (see the section on loop
tuning). In contrast, a small gain results in a small output response to a large input error, and a
less responsive or less sensitive controller. If the proportional gain is too low, the control action
may be too small when responding to system disturbances. Tuning theory and industrial practice
indicate that the proportional term should contribute the bulk of the output change such signal
can be provided by an integrator which gives a constantly

 Integral Control:

In ideal system the measured value and set value should be the same and under steady
state condition the deviation should be zero. What is the required is an alternative signal to be fed
in to the main amplifier of sufficient size to provide an output if a steady state deviation is exists.
Such a signal can be provided by an integrator which gives constantly increasing output for a
steady (error) value input. When an integral lag in present the process output for a sudden input
change in initially zero but increase proportionally to time, as shown in Fig. 1 .

 Derivative Control:

Integral control improve the performance of the control system in some respect, i.e.,
reduces steady state deviation, but has the disadvantage of slowing down the overall response
time. The derivative term is used to govern a controller's response to a change in the system. The
larger the derivative term the more rapidly the controller will response to changes in the process
values on the sum of overshoots.
 Generic Simulator Derivative Control:

Fig. 3.1 shows a generic transfer function for process control. Benefits from this figure to
develop the transfer function for each process control experiment

46
 Input + Output
Controller System
-
Fig. 1

Disturbance
PID Controller Process
Process
Set point Dead Time Controlled
gain
+ PID + variable
- Time Time
constant constant
1 2

K p e Td s
Controller
output ( 1s  1)( 1s  1)
Process Equation

Fig. 3.1 A generic transfer function model for process control.

Process control experiments consist of three labs:

 Lab#1 Basic Theory and Experiments Open loop and closed loop system
 Lab#2 Proportional, Proportional-Integral Control (P and PI-controller)
 Lab#3 PID Controller

47
 Lab#1 Basic Theory and Experiments

Open-loop & closed-loop Systems

Pre-Lab Questions:
1. Sketch a typical closed loop system and identify its elements and their function.
2. Write down the general transfer function of closed-loop and open-loop systems that
relates the output to input &disturbance.
3. Examine the PCS327 Process Control and point out the control-system elements.
4. Derive the transfer function of PCS327 Process Control Simulator under these
experiments.
5. Develop a MATLAB/Simulink model for PCS327 Process Control with proportional gain
controller.

Objectives:
 To introduce to the basic definitions on the control system.
 To examine the difference between the OPEN LOOP and CLOSED LOOP systems
 To study the effects of proportional controller disturbance

Lab Equipment:

1. PCS327 Process Control Simulator

2. Oscilloscope
3. Signal Generator

Lab Procedure
Part 1: Simple Open-loop Proportional Control
1. Patch the panel of the PCS327 as shown in Fig 3.1.1. (The process should already be
setup as inducted in the diagram of Fig. 3.1.2. Using the SET VAULE control attempt to
make the MEASURED VAULE meter indicate any desired value, noting the relative
reading of both MEASURED VAULE and SET VAULE.

2. Adjust the proportional gain to Kp=1.0(band 100%)

3. Adjust the SET VAULE according to the vales in Table 3.1.1 and fill the Table.

48
 4. Apply small disturbing voltage ±1.5 V dc to the LOAD DISTURBANCE socket and note
the change in the meter reading.

5. Re-adjust the SET VAULE according to the vales in Table 3.1.1 and fill the Table.
Table 3.1.1 Simple Open-loop Proportional Control. [ Kp=100%]
Measured value
Set value Without With
disturbance disturbance
2
5
8
-8
-5
-2

Questions for part 1:

1. What is the effect of the load disturbance on the measured value?
2. How can this system be modified so that it can correct itself for any change in
operating conditions?
3. What is the effect of changing Kp on the system after applying the disturbance?

Part 2: Simple Closed-loop Proportional Control

1. Patch the panel of the PCS327 as shown in Fig. 3.1.1. ( you need to make the system
closed!) .(The process should already be setup as inducted in the diagram of Fig. 3.1.2.).
With the meter switch at Measured Value make adjustment of Set Value control and note
the corresponding change on the Set value measured value meters.

2. Adjust the proportional gain to Kp=1.0(band 100%)

3. Repeat with the meter switch at deviation

4. Adjust the SET VAULE according to the vales in Table 3.1.2 and fill the Table.

5. Apply to the LOAD DISTURBANCE socket a voltage of approximate 1.5 V dc and note
the change in the MEASURED and Deviation meter and fill Table 3.1.2

49
 Table 3.1.2 Simple Closed -loop Proportional Control

Measured value Deviation

Set value With Without With Without
disturbance disturbance disturbance disturbance
2
5
8
-8
-5
-2

Questions for part 2:

1. What is the effect of the load disturbance on the measured value?
2. What is the effect of changing Kp on the measured value?
3. Explain, why there is a delay in the change of measured value?
4. What are the differences between the two parts according to your results? Comments and
explain.

50
Fig. 3.1.1. Simple Open-loop/closed loop P,PI, PID Controller.

51
Fig. 3.1.2. Process Connection

52
 Lab#2 Proportional, Proportional-Integral Control
(P and PI-controller)

Pre-Lab Questions:
1. Explain, what is the effect of adding integral gain element to a controller on the system
performance? Provide a mathematical proof for your answers.
2. Develop a MATLAB/Simulink model for PCS327 Process Control with PI controller.
3. Obtain the results for MATLAB/Simulink under unit step input for: 1) P-controller (
with Kp=1) and 2) PI controller (with Kp=1 and Ti=1)

Objectives:

 To study the effect of P and PI-Controller on the system response.

Lab Equipment:

4. PCS327 Process Control Simulator

5. Oscilloscope
6. Signal Generator

Lab Procedure
Part 1: Proportional Control System Response
1. Patch the panel of the PCS327 as shown in Fig 3.1.1. Make sure that you connection P
controller with closed loop.

2. Set all switch as inducted in Fig. 3.1.2

3. Adjust the proportional gain to Kp=1.0 (band 100%)

4. Display on an oscilloscope the SET VAULE DISTURBANCE with both PROCESS and
CONTROLERS switches at FAST and input frequency (0.1Hz).

5. Display the deviation from point C. Note final settling points of both measured value
and Deviation.

6. Repeat for proportional band = 1/Kp : a- 75% b-50% c=5%

53
Question#1: what do you see, then if we increase Kp what is the effect in the following:
Rise Time Overshoot Settling Time S.S Error

Question#2: Is there a limit for increasing Kp ? (What is the effect of higher Kp on the system
response)

Part 2: Proportional-Integral (PI) Control System Response

1. Patch the panel of the PCS327 as shown in Fig. 3.1.1 Make sure that you connection PI
controller with closed loop. Set all switch as inducted in Fig. 3.1.2.

2. Apply to the set value disturbance socket a square wave of 5 Vp-p at 0.1 Hz

3. Adjust the proportional band control to 50% or until the system settles with about four
overshoots only after each disturbance. Continuous oscillation should commerce at value
of about 12 .

4. Monitor deviation socket A as in Fig.21 and slowly reduce the setting on INTERGAL
ACTION control until deviation falls to zero after each disturbance.

5. Note the overshoots before it settle. Note the output of the integrator socket B in Fig. 21,
when system settled. Note the difference between Measured and Set value.

6. Reduce the integral action control to 10 and see the response of the system.

Question#3: As we increase Ki (with Kp and Td is fixed: Kp=1, Td=0) and, what is the
impact on the following:
a)- Ti=1 b)- Ti=1.5 c)- Ti=2

Rise Time Overshoot Settling Time S.S Error

7. Show the results on scope, capture and sketch it.

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Oscilloscope screen Oscilloscope screen

Oscilloscope screen Oscilloscope screen

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 Lab#3 PID Controller
Pre-Lab Questions:
1. Provide transfer function of PID controller as a function of proportional gain, and integral
and derivate time constant.
2. Explain, what is the effect of adding derivative gain element to a controller on the
system performance? Provide a mathematical proof for your answers.
3. Develop a MATLAB/Simulink model for PCS327 Process Control with PID controller.
4. Obtain the results for MATLAB/Simulink under unit step input for: 1) P-controller (
with Kp=1), 2) PI controller (with Kp=1 and Ti=0.1) and 3) PID controller (with Kp=1,
Ti=0.1, and Td=0.4)

Objectives:
 To study the characteristics of PID controller.

Lab Equipment:

1. PCS327 Process Control Simulator

2. Oscilloscope
3. Signal Generator

Introduction and Theory:

The PID controller is everywhere - temperature, motion, flow controllers - and its available in
analog and digital forms. Why use it? It helps get your output (velocity, temperature, position)
where you want it, in a short time, with minimal overshoot, and with little error.

In many applications the PID controller can do the job - but as usual, with compromises. After a
short intro to the PID terms and an example control system, you'll get a chance tune a PID
controller. Figure 3.2.1 shows a typically PID closed-loop system

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 Fig. 3.2.1 PID controller/Circuit.

PID Controller:

You've probably seen the terms defined before: P -Proportional, I - Integral, D - Derivative.
These terms describe three basic mathematical functions applied to the error signal , Verror =
Vset - Vsensor. This error represents the difference between where you want to go (Vset),
and where you're actually at (Vsensor). The controller performs the PID mathematical functions
on the error and applies the their sum to a process (motor, heater, etc.) So simple, yet so
powerful! If tuned correctly, the signal Vsensor should move closer to Vset.

Tuning a system means adjusting three multipliers Kp, Ki and Kd adding in various amounts of
these functions to get the system to behave the way you want. The table below summarizes the
PID terms and their effect on a control system.

The transfer function of PID controller can be described as following:

 K   1 
PID   K p  i  K d s  or PID  K p 1  T d s  .......(3.2.1)
 s   Ti s 

 Kp = Proportional gain =100/proportional band

 KI = Integral gain
 Kd = Derivative gain

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Lab Procedure
Part 1: Effect of Derivative controller (Kd) on the system response.
1. Patch the panel of the PCS327 as shown in Fig. 3.1.1. Set all switch as inducted in
Fig.3.1.2. Make sure that you connection all elements of PID controller with closed
loop.

2. Apply a square wave input of 5 Vp-p at 0.1 Hz to the set value disturbance socket

3. Adjust the proportional band control to 50%, Kp=1/50% :

 Integral Action Time : off
 Derivate Action Time=zero, kd=0.

4. Note the steady state deviation and no. of overshoots before the system settle.

5. Increase Kd (Derivate action control)

6. Let Kp=1, Ti=1; study the effect of Td according to the Table 3.3.1 and capture the result
on the diagram below. :

Table 3.3.1 Effect of Kd of the system response.

No. of Steady state
Td Settling Time
overshoots error (ess)
0.4

1.0

Question 1: what is effect of Kd on : no. of overshoots, Settling Time and steady state error.
Capture the results from the scope

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 Oscilloscope screen Oscilloscope screen

Part 2: Adjustment of Three Term Controllers

1. Adjust the three term controller as following

 Proportional band control to 100%, i.e., Kp=1.0

 Integral action Time =off
 Derivate action Time=zero

2. Adjust Ki until steady state deviation =zero, and record that value ( of Ki) ;

3. Increase Kd until measured value show no sign of oscillation, and record that ( of Kd)
value;

4. Reduce proportional band until the best response of measured value can be obtained
giving minim overshoot and oscillation, and record that ( of Kp) value.

Capture the results from the scope and sketch the output response to a proper scale

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 Oscilloscope screen

The best result obtained with:

Kp=
Ki=
Kd=

Question 2: What is the purpose of each controller element in a controller (PID):

- Proportional control element
- Integral control element
- Derivative control element

Question 3: is it necessary all the time need to implement all three controllers in to a single
system. Explain, you can support your answer by an example.
Oscilloscope screen Oscilloscope screen

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Oscilloscope screen Oscilloscope screen

Oscilloscope screen Oscilloscope screen

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