Control Systems and Optimization Letters, Vol.

1, No 2, 2023
ISSN: 2985-6116, DOI: 10.59247/csol.v1i2.41 111

Design of Water Heater Temperature Control

System using PID Control
Vatia Fahrunisa Rahmadini 1, Alfian Ma’arif 2,*, Nur Syuhadah Abu 3
1,2
Department of Electrical Engineering, Universitas Ahmad Dahlan, Yogyakarta, Indonesia
3
Faculty of Electrical Engineering, University Teknikal Malaysia Melaka (UTeM), Melaka, Malaysia
Email: 1 [email protected], 2 [email protected], 3 [email protected]
*Corresponding Author

Abstract— This research delves into advanced control Adapting to different applications, liquid heating requires
methodologies by investigating the intricate applications of accurate temperature adjustments as a function of time. These
Proportional-Integral-Derivative (PID) control for adjustments can vary, and the work of the actuator needed
achieving precise and dependable temperature regulation also varies based on the desired power output. Some water
within electric water heaters. The study delves into various heaters have thermostats that provide discrete control (on/off)
control strategies, namely Proportional, Proportional-
Integral, and Proportional-Integral-Derivative
and require human operators for manual operation or
methodologies, to realize the pinnacle of stable and exacting automatically [14], [15]. However, PID (Proportional
temperature control. The Proportional Controller, Integral Derivative) control offers analog control capable of
operating with a Kp value of 10, stands out with its continuously and precisely regulating the power output of a
relentless performance, characterized by minimal heater as needed. With this control system, water heating that
overshoot and an inconsequential steady-state error. demands excellent temperature accuracy concerning time can
Implementing the Proportional-Integral Controller, be automated effectively. The process can be carried out
synergizing Kp at 10 and Ki at 5, elevates system stability efficiently and accurately during the heating and temperature-
while deftly curbing any hint of overshoot. The dynamic holding phases. The PID control system provides continuous
interplay between the Kp, Ki, and Kd parameters in the
Proportional-Integral-Derivative (PID) Controller unveils
analog control, reducing the need for manual intervention
an intricate dance of precision and control. Notably, [16].
configurations involving Kp 10, Ki 5, and Kd 2 emerge as Prior research has addressed the thermal stabilization of
beacons of rapid stabilization, heightened precision, and water heater dispensers through diverse approaches. A
masterful overshoot management, exemplified by a rise notable methodology involves the application of Ziegler-
time of 119.3543 seconds, settling time of 162.6116 seconds, Nicholas PID tuning, resulting in the achievement of a peak
overshoot of 1.0299%, peak time of 216 seconds, and a temperature of 92.62°C within 34 minutes, alongside prompt
commendably low steady-state error of 0.31. This extensive attainment of a water temperature of 65°C in 8 minutes (480
exploration bears testament to its instrumental role in seconds) [17]. A thermoelectric portable water heater has
optimizing PID control strategies, ushering in augmented
efficacy and pinpoint accuracy in water temperature
been developed in a separate study, employing a power bank
regulation across an expansive spectrum of applications. As as the energy source. Notably, this investigation attains a
a result, these findings pave the way for the evolution of maximum water temperature of 34°C within 15 minutes (900
control methodologies that transcend theoretical confines seconds), omitting the utilization of PID control [18].
and manifest within practical scenarios with profound Considering the background presented above, the authors
impact. recognize the importance of understanding how PID
Keywords—DS18B20, Arduino, Water Heater, PID controllers can be applied to electric water heaters and how
proper PID tuning can be implemented in PID controller-
I. INTRODUCTION
based electric water heaters. Therefore, this research involves
Electric heaters are electronic devices that convert the development of a prototype and experimentation on
electrical energy into heat energy. A resistor [1] is the heating “Design of Water Heater Temperature Control System using
element present in electric heaters [2], [3]. Electricity is PID Control” where a 12 Volt immersion water heater with a
transformed into heat energy when an electric current flows power of 120 Watts is employed as the actuator, and a
through the resistor [1]. Liquid heating is a form of electrical waterproof DS18B20 temperature sensor is used for
heating where specific fluids are heated to predetermined temperature measurement.
temperatures as needed. Liquid heating finds applications in
various fields, including industries, research, and households. II. METHODS
Temperature control is essential in several industries and This research calibrated the heater's temperature using a
applications, such as maintaining the ideal water temperature standardized thermometer, and optimal PID parameters were
for different types of fish [4]–[6], achieving the perfect determined for precise and continuous control. The research
temperature for coffee [7], [8], and ensuring a comfortable aims to achieve stable temperature control, which is vital in
bathwater temperature [9], [10], aquaponic [11], [12], and various applications, enhancing process efficiency and
temperature control for baby incubator [13]. Water is one of reliability. Experimental results will advance PID
the most commonly used substances in various liquid heating implementation in heating systems.
applications.

This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
 Control Systems and Optimization Letters, Vol. 1, No 2, 2023 112

A. Diagram Block C. Flowchart System

This research implements an Arduino-based water In this research, the flowchart process illustrated in Fig. 3
temperature control system using a water heater to achieve involves the initialization of essential parameters for the PID
precise temperature stabilization at the desired level. The controller, namely the Set Point, Proportional Gain (Kp),
system maintains well-responsive and stable temperature Integral Gain (Ki), and Derivative Gain (Kd). Once
control using a Proportional-Integral-Derivative (PID) initialized, the system proceeds to read the water temperature
controller. The research aims to demonstrate the condition and computes the temperature error in relation to
effectiveness of PID control in achieving reliable and the desired set point. Subsequently, the PID calculation is
efficient temperature regulation in water heating systems. executed, and its resulting value is utilized as the input for
Fig. 1 shows The Diagram Block System Pulse Width Modulation (PWM), which governs the water
heater's power output. The system will remain in operation if
the conditions are met; however, it will halt when the state
becomes false (0). This comprehensive flowchart provides a
visual representation of the sequential steps involved in the
PID-based water temperature control system, ensuring
precise and responsive regulation of the water heater, which
Fig. 1. Diagram block system is crucial for numerous industrial and research applications.
The implementation of PID control enhances temperature
In this research, the input system is depicted in Fig. 1, stability and maintains the desired set point efficiently,
utilizing a Push Button as the setpoint input. To enhance user leading to optimized performance and enhanced process
experience, a user interface comprising an LCD 16x2 display control in various domains.
is implemented to control the water heater temperature
effectively. The Arduino Uno microcontroller regulates the Start

entire system, ensuring seamless integration of the

components. The PWM controller BTS 7960 plays a pivotal Initialize set point value,
role in managing the power output of the water heater, Kp, Ki, and Kd

enabling efficient temperature control. Furthermore, a 12V

water heater is employed as the heat source to raise the water Reading water temperatur
(DS18B20)
temperature in the system. The DS18B20 temperature sensor
monitors and stabilizes the water temperature, serving as a
Calculating Error
crucial feedback mechanism for the PID system. Combining
these components and utilizing the PID control approach, the
system can achieve precise and consistent water temperature Calculating PID

regulation, making it suitable for various industrial and

research applications. PWM Value

B. Wiring Diagram
The Water Heater Temperature Control System is While (1) = ?
integrated with the Arduino Uno 328P microcontroller as its
primary computing unit. The system features four push
buttons, a BTS7960 module, and auxiliary components,
End
including a power supply, step-down module, DS18B20
temperature sensor, and an LCD 16x2 display. The Arduino
Fig. 3. Flowchart system
Uno 328P is the central control hub, receiving input signals
from the push buttons and DS18B20 sensor and effectively D. System Diagram
managing the output control to the BTS7960 and LCD. This
Fig. 4 illustrates the System diagram of a systematic tool
arrangement enables the system to regulate the water heater's
temperature precisely and efficiently during heating. For a designed for real-time water temperature monitoring during
visual representation of the system's wiring connections, refer water heating. The system incorporates a 12V DC water
to Fig. 2 Wiring Diagram. Arduino-based control in the heater for elevating the water temperature and a DS18B20
Water Heater Temperature Control System enhances its sensor to detect and record the precise water temperature
responsiveness and accuracy, offering practical applications values. Upon reaching a predetermined set point, the system
seamlessly engages an automated mechanism to regulate and
in various industrial and research settings.
sustain the water temperature at the desired level. This control
mechanism can encompass either the pulse-width modulation
(PWM) signal or the implementation of a feedback loop.
Subsequently, the system displays the designated set point
value on the user interface, predominantly involving the
operation of a Laptop through the Arduino Integrated
Development Environment (IDE) alongside a 16x2 LCD.
This comprehensive interface provides users a convenient
Fig. 2. Wiring diagram means to access and comprehend crucial temperature

Vatia Fahrunisa Rahmadini, Design of Water Heater Temperature Control System using PID Control
 Control Systems and Optimization Letters, Vol. 1, No 2, 2023 113

information, facilitating efficient monitoring and control of response has ceased until a relatively infinite time. The
the water heating process. characteristics of a control system's quick response to a step
input can generally be expressed as follows. Peak Time (tp)
refers to the time the responsive system takes to reach the first
peak of the overshoot takes. Rise Time (tr) indicates the
duration required by the responsive system (output) to reach
the final value (or encompass the range between 10% to 90%
of the final value). Undershoot describes the condition where
Fig. 4. System diagram a signal or function has a value lower than the reference (set
point) value.
E. PID The maximum overshoot, Mp, represents the maximum
The Proportional Integral Derivative (PID) controller is a value of the peak response calculated relative to the value of
feedback control mechanism commonly employed in one. The maximum overshoot is usually expressed as a
industrial control systems [19]. A PID controller percentage of the responsive system achieving stability. The
continuously calculates the error as the difference between value of overshoot in percentage is calculated using the
the desired setpoint and the measured process variable. It equation (2):
strives to minimize the error value over time by adjusting 𝑐(𝑡𝑝) − 𝑐(∞)
control variables, such as control valve position, damper 𝑀𝑝 = 𝑥 100% (2)
𝑐(∞)
opening, or heating element power, to new values determined
by the PID controller's equation (1) [20]. In this context, 𝑐(𝑡𝑝) represents the value of the
maximum overshoot, and 𝑐(∞) refers to the value when the
𝐾𝑝 𝑡 𝑑𝑒(𝑡) system reaches a steady-state condition. The maximum
𝑢 = 𝐾𝑝 𝑒(𝑡) + ∫ 𝑒(𝑡)𝑑𝑡 + 𝐾𝑝 𝑇𝑑 (1)
𝑇𝑖 0 𝑑𝑡 amount of overshoot indicates the level of system stability. A
stable system will have an overshoot that does not exceed
In the control system, Kp represents the proportional
10%. Delay Time (TD) is required for the system response to
constant, Ki represents the integral constant, and Kd
reach half the final value for the first time. Settling time (Ts)
represents the derivative constant, all of which are essential
describes the time the system output reaches and remains
parameters in the Proportional-Integral-Derivative (PID)
within its steady-state value (± 2% of the final value). Steady-
control algorithm widely used in regulating and stabilizing
state error is the difference between the desired final value
various industrial processes [21]. The proportional constant
(set point) and the actual final value when the system reaches
(Kp) determines the control action's magnitude in proportion
the steady-state condition. Understanding these system
to the error signal, the integral constant (Ki) acts on the
response characteristics is crucial in analyzing and designing
integral of the error signal over time, and the derivative
control systems to achieve desired performance and stability.
constant (Kd) influences the rate of change of the error signal.
By fine-tuning these PID constants, the system's response and III. RESULTS AND DISCUSSION
stability can be optimized, leading to efficient and accurate
This research delves into water temperature control in a
control of dynamic systems in engineering and industrial
water heater, focusing on evaluating PID methods. The study
applications. The parameter P responds to the current error
examines the time efficiency and heat response achieved
measurement, where a significant positive error value results
in a sizeable positive control output. The parameter I address through PID implementation. Throughout the investigation, a
the accumulated error from past periods, and if the current meticulous analysis of PID parameters and their impact on
the water heater's performance is conducted, aiming to gain
output is too low, the error will accumulate, prompting the
comprehensive insights into the efficacy and dependability of
controller to respond with a higher result. Parameter D is
the PID Controller in regulating water heater temperatures.
responsible for predicting future errors based on the rate of
The findings from this study will contribute to advancing the
change over time. These PID parameters facilitate robust and
precise control, enabling advanced applications in diverse knowledge and practical application of PID control
industries. techniques for water heating systems, ultimately enhancing
their efficiency and reliability in various domains.
The PID controller's ability to continuously analyze and
adjust control variables enables precise and efficient control A. Temperature Sensor
in various industrial processes. By considering the present The temperature sensor testing commenced with the
error, past accumulated error, and future error prediction, the calibration of the sensor using a standardized thermometer.
PID controller can maintain the system at the desired setpoint, Throughout this phase, the sensor underwent testing under
effectively regulating the process and enhancing overall diverse temperature conditions, spanning from 34.5 degrees
system performance. The PID control approach has proven to Celsius to 41.7 degrees Celsius, aligning with the maximum
be an essential tool in industrial automation, offering measurement capacity of the standardized thermometer.
stability, accuracy, and adaptability in controlling complex Table 1 presents the outcomes obtained from the calibration
systems across different applications. test, showcasing the correlation between the temperature
F. System Response sensor readings and the readings obtained from the
System response is the system's response from the initial standardized thermometer.
state to the steady-state condition. In contrast, steady-state
response refers to the output condition after the system

Vatia Fahrunisa Rahmadini, Design of Water Heater Temperature Control System using PID Control
 Control Systems and Optimization Letters, Vol. 1, No 2, 2023 114

Table 1. Temperature calibration Table 2 presents a comprehensive exposition of the

Thermometer Sensor Error dynamic response characteristics of the Proportional
34.5°C 34.5°C 0°C Controller, a key component in control systems, evaluated
35.8°C 35.9°C 0.1°C across varying Proportional Constant (Kp) values. This
36.9°C 36.9°C 0°C
meticulous analysis within a controlled experimental
37.5°C 37.5°C 0°C
37.9°C 38.0°C 0.1°C framework delineates critical performance metrics, including
38.6°C 38.7°C 0.1°C settling time, rise time, overshoot, peak time, and steady-state
39.8°C 39.7°C 0.1°C error. These metrics are pivotal in elucidating the
40°C°C 40°C 0°C
Proportional Controller's behavior and efficacy in regulating
40.5°C 40.5°C 0°C
41.7°C 41.7°C 0°C temperature control processes.

Table 2. Response system proportional controller

A comparative evaluation was conducted using Table 1,
where the DS18B20 temperature sensor was simultaneously Settling
Rise Overshoot
Peak Steady
tested alongside a standard thermometer. The results Kp Time Time State
Time (s) (%)
(s) (s) Error(°C)
demonstrated that the DS18B20 sensor provided precise
10 240.040 149.1611 0.7463 314 -0.5
temperature measurements with a minimal deviation ranging 20 476.813 319.0827 0 517 0.5
from 0 to 0.1°C. This outcome confirms the sensor's accuracy 50 520.896 308.2250 0 521 0.75
and suitability for research purposes, ensuring reliable
temperature data collection throughout the study. The use of The Proportional Controller, driven by the Kp value,
the DS18B20 sensor contributes to the scientific rigor and which governs the proportional gain in relation to the error
credibility of the research, enabling robust analysis and signal, manifests distinct response patterns as Kp values vary.
conclusions in temperature control and monitoring. Settling time, an indicator of the duration for the system to
attain stability within a specified range of the desired setpoint
B. Water Heater
demonstrates an intriguing trend across Kp values of 10, 20,
In this section, the water heater was tested utilizing the and 50. A lower Kp value, such as 10, corresponds to a
PWM Controller BTS7960 with PWM value of 225. The notably shorter settling time of 240.040 seconds, indicating a
experiments were performed with a water volume of 300 mL, rapid convergence to the desired temperature.
which was 25 minutes, ultimately achieving a temperature of Rise time, denoting the time interval required for the
68°C. The PWM controller allowed precise control over the system's output to transition from a certain percentage of the
power output to the water heater, enabling efficient and setpoint to another, offers insights into the controller's speed
accurate temperature regulation within the specified time of response. The table unveils a discernible relationship
frame. The obtained results provide valuable insights into the between Kp and rise time. As Kp augments, rise time
performance and effectiveness of the PWM Controller elongates, as evidenced by Kp 50's rise time of 308.225
BTS7960 driver in achieving the desired water temperature seconds, while Kp 10 showcases a substantially shorter rise
for this research. time of 149.1611 seconds.
C. Proportional Controller Overshoot, a parameter quantifying the extent of transient
deviation beyond the desired setpoint, portrays an interesting
In this experimental research, we implemented and tested
observation across the tested Kp values. Kp 10 displays a
the Proportional Controller on the water heater system. We
modest overshoot of 0.7463%, implying a balanced
maintained a zero value on Ki and Kd parameter. However,
compromise between responsiveness and overshoot
to observe the response of the Proportional Controller in the
magnitude. Remarkably, the absence of overshoot in the
water heating system, we varied the Kp parameter. We set the
system's response at Kp 20 and Kp 50 underscores the
test duration to 525 seconds and selected the experiment’s Kp
effectiveness of these proportional gain values in achieving a
parameter values of 10, 20, and 50. The Proportional
precise and stable temperature control without initial
Controller testing results for the water heating system are
oscillations or deviations from the desired setpoint.
shown in Fig.5, offering valuable insights into the system’s
Peak time, reflecting the time taken for the system's initial
performance under different Kp settings.
peak response during transient behavior underscores the
impact of Kp on the controller's agility. Higher Kp values,
such as 50, yield marginally longer peak times of 521
seconds. In contrast, Kp 10 and Kp 20 exhibit notably shorter
peak times of 314 and 517 seconds, respectively, suggesting
their quicker attainment of peak response.
Steady-state error, which measures the sustained
deviation of the system's output from the desired setpoint
once equilibrium has been achieved, further delineates the
controller's effectiveness. Kp 10 demonstrates the smallest
steady-state error of -0.5°C, signifying its ability to maintain
the set temperature closely. On the other hand, Kp 20 and Kp
50 exhibit steady-state errors of 0.5°C and 0.75°C,
respectively.
Fig. 5. Proportional controller response system

Vatia Fahrunisa Rahmadini, Design of Water Heater Temperature Control System using PID Control
 Control Systems and Optimization Letters, Vol. 1, No 2, 2023 115

The analysis of the dynamic response characteristics of In the first configuration with Kp set to 10 and Ki set to
the Proportional Controller across varying Proportional 1, a significant limitation in system stabilization was evident,
Constant (Kp) values, as presented in Table 2, offers valuable leading to an undefined settling time (“NaN”). The rise time
insights into its efficacy in regulating temperature control measured at 127.5158 seconds and an overshoot of 1.4925%
processes. The study underscores that a Kp value 10 leads to indicated a temporary deviation beyond the desired setpoint
a notably shorter settling time, quicker rise time, modest during stabilization. Additionally, the system consistently
overshoot, and the smallest steady-state error, indicating its undershot the desired setpoint, as demonstrated by the steady-
ability to achieve rapid convergence to the desired state error of -1.
temperature with precise control and minimal deviations. Moving to the second configuration with Kp set to 20 and
This comprehensive evaluation suggests that a Kp value 10 is Ki set to 5, the system showcased successful stabilization
optimal for maintaining stable and accurate temperature with a settling time of 178.3000 seconds. The improved rise
control, with other tested values showing trade-offs between time of 125.4547 seconds indicated more efficient
responsiveness and performance metrics. These findings hold temperature attainment compared to the previous
significant implications for enhancing temperature control configuration. Moreover, the minimal overshoot of 0.0896%
strategies across various practical applications. highlighted a stable response close to the desired setpoint.
The peak time was approximately 198 seconds, and the
D. Proportional Integral Controller
steady-state error was 0, signifying effective maintenance of
In this experimental study, we implemented and tested the the desired setpoint without deviation.
Proportional Integral Controller on the water heater system. The third configuration, Kp set to 50 and Ki set to 7,
We maintained a fixed Kp value of 10 and a Kd value 0. demonstrated relatively rapid stabilization with a settling
However, to observe the response of the Integral Controller time of 223.3733 seconds. The rise time remained
in the water heating system, we varied the Ki parameter. We comparable to the previous configuration, at 126.5626
set the test duration to 250 seconds and selected the seconds. An observed overshoot of 0.3731% indicated a
experiment's Ki parameter values of 1, 5, and 7. The minor transient peak during stabilization, while the peak time
Proportional Integral Controller testing results for the water was approximately 242 seconds. The steady-state error of -
heating system are depicted in Fig. 6, offering valuable 0.06°C indicated a slight undershoot from the desired
insights into the system's performance under different Ki setpoint.
settings. Additionally, Table 3 presents the comprehensive The analysis of the Proportional Integral (PI) Controller
response system results for the Proportional Integral tests presented in Table 3 offers insightful guidance for
Controller. selecting optimal control parameters in the context of a water
heater system. Among the tested configurations, the second
setup with Kp set to 20 and Ki set to 5 emerges as the most
effective. This configuration demonstrated successful
stabilization with a reasonable settling time, improved rise
time, minimal overshoot, and accurate maintenance of the
desired setpoint. These attributes collectively signify a
controlled and precise temperature regulation process. The
results emphasize the importance of carefully balancing the
Proportional (Kp) and Integral (Ki) constants for optimal
system performance, with the Kp value of 20 and Ki value of
5 offering the best compromise between response speed and
stability. These findings are valuable for enhancing control
strategies in various practical applications necessitating
accurate temperature regulation.
Fig. 6. Proportional integral controller system
E. Proportional Integral Derivative (PID) Controller
Table 3 presents a comprehensive assessment of the We conducted the experimental endeavor with meticulous
Proportional Integral Controller (PIC) tests conducted on the precision in the PID controller evaluation. The Kp value
water heater system, where the Proportional Constant (Kp) remained unwavering at 10, while we kept the Ki parameter
and Integral Constant (Ki) were systematically varied to resolute at 5, providing a consistent backdrop against which
investigate the system's response under diverse control we deftly manipulated the enigmatic Kd parameter. This
parameter configurations. The outcomes offer crucial insights probing exploration transpired across a carefully stipulated
into the system's behavior, encompassing stability, response temporal expanse of 300 seconds, within which a thorough
speed, overshoot, peak time, and steady-state error. assessment of the PID controller's comportment materialized,
orchestrated through the systematic variation of Kd values,
Table 3. Response system proportional integral controller specifically 1 and 2. The graphical depiction seen in Fig. 7
Peak Steady
eloquently elucidates the zenith of these empirical
Settling Rise Overshoot investigations, serving as a visual testament that intricately
Kp Ki Time State
Time (s) Time (s) (%)
(s) Error(°C) captures the system's nuanced oscillations and behaviors. It
10 1 NaN 127.5158 1.4925 250 -1 dynamically responds to the distinct and multifarious Kd
20 5 178.3000 125.4547 0.0896 198 0
50 7 223.3733 126.5626 0.3731 242 -0.06
configurations.

Vatia Fahrunisa Rahmadini, Design of Water Heater Temperature Control System using PID Control
 Control Systems and Optimization Letters, Vol. 1, No 2, 2023 116

Optimal parameter configuration of Proportional-

Integral-Derivative (PID) controllers plays a pivotal role in
achieving precise and stable temperature regulation across
diverse applications. This experimental inquiry
comprehensively explored the efficacy of various control
strategies, encompassing Proportional, Proportional-Integral,
and Proportional-Integral-Derivative approaches.
Particularly noteworthy, the Proportional Controller
demonstrated remarkable performance with a Kp value 10,
showcasing stable and rapid responses coupled with minimal
overshoot and an almost negligible steady-state error. The
Proportional-Integral Controller, configured with Kp set at 10
and Ki at 5, yielded favorable outcomes, emphasizing
stability and marginal overshoot. Moreover, the intricate
interplay of Kp, Ki, and Kd parameters in the Proportional-
Fig. 7. PID Controller System Integral-Derivative Controller unveiled multifaceted
dynamics. Among the tested configurations, the Kp 10, Ki 5,
Table 4 presents an intricate examination of the PID and Kd 2 combination exhibited expedited stabilization,
Controller experiments, elucidating the impact of the heightened precision, and a controlled overshoot. This all-
Proportional Constant (Kp), Integral Constant (Ki), and encompassing analysis substantially contributes to
Derivative Constant (Kd) on the operational performance of optimizing PID control strategies, thereby elevating the
the water heater system. This array of variables plays a efficiency and accuracy of water temperature management
pivotal role in unraveling the intricate interactions between systems across a wide spectrum of applications, effectively
control parameters and their consequential effects on crucial advancing control methodologies for real-world scenarios.
facets of the system's behavior.
IV. CONCLUSION
Table 4. Response system PID controller
Implementing a PID controller for electric water heaters
Rise Peak Steady entails the establishment of a meticulously designed
Settling Overshoot
Kp Ki Kd Time Time State
Time (s) (%) operational framework encompassing essential components.
(s) (s) Error(°C)
10 5 1 186.0633 134.5444 0.9254 211 -0.31 This involves meticulously selecting actuators, sensors,
10 5 2 162.6116 119.3543 1.0299 216 -0.31
controller devices, drivers, and signal conditioning elements.
In the present experiment, a 12 Volt DC immersion water
In the initial configuration, characterized by Kp, Ki, and heater, boasting a power output of 120 Watts, serves as the
Kd values of 10, 5, and 1, respectively, the system showcased designated actuator. At the same time, the DS18B20
a settling time of 186.0633 seconds, indicative of the waterproof sensor fulfills the role of the sensor. The control
temporal interval required to attain stability and the rise time, system hinges on utilizing the Arduino Atmega328P as the
quantified at 134.5444 seconds, elucidated the duration for controller device and the BTS7960 motor driver for
the system to reach its ultimate value. A marginal overshoot actuation, all achieved without necessitating hardware signal
of 0.9254% was discerned, implying a relatively stable conditioning.
response. The peak time registered approximately 211 The precise tuning of the PID parameters hinges on the
seconds, and the steady-state error was reported at -0.31, unique demands and objectives of the water heating
indicating a modest divergence from the desired setpoint application. Irrespective of the specific context, the
during stabilized conditions. calibration of PID gains (Kp, Ki, and Kd) necessitates a
In the subsequent configuration, Kp and Ki remained thorough understanding of their respective contributions and
constant at 10 and 5, respectively. At the same time, Kd was influences. In the prototype developed within this
adjusted to 2, and a reduced settling time of 162.6116 seconds experimentation, achieving a response characterized by the
was observed, indicating expedited stabilization, and the swiftest rise time, rapid settling time, overshoot value, and
diminished rise time of 119.3543 seconds signified an maintaining high stability is attained by employing a PID
improved precision in temperature convergence. A slightly control configuration with Kp set at 10, Ki at 5, and Kd at 2.
elevated overshoot of 1.0299% was recorded, denoting a
transient peak deviation. The peak time was approximately REFERENCES
216 seconds, and the steady-state error consistently remained [1] W. -T. Li, K. Thirugnanam, W. Tushar, C. Yuen, K. T. Chew and S.
at -0.31, emblematic of a consistent minor variation from the Tai, “Improving the Operation of Solar Water Heating Systems in
desired setpoint. Green Buildings via Optimized Control Strategies,” IEEE
Table 4 encapsulates the intricate interplay among Kp, Ki, Transactions on Industrial Informatics, vol. 14, no. 4, pp. 1646-1655,
and Kd within the PID Controller framework. This 2018, https://doi.org/10.1109/TII.2018.2797018.
[2] P. G. Terán and R. K. Plua, “Home Automation Application for the
exhaustive analysis deepens our comprehension of how these
Monitoring and Control of an Electric Water Heater Using AWS
parameters synergize to mold the water heater system's Technology,” 2018 IEEE 38th Central America and Panama
dynamics, thereby providing pivotal insights for refining PID Convention (CONCAPAN XXXVIII), pp. 1-6, 2018,
control strategies and enhancing the system's overall https://doi.org/10.1109/CONCAPAN.2018.8596474.
efficiency and precision across a diverse spectrum of [3] N. H. Wijaya, B. A. Lesmana, N. Shahu, I. Ahmad, and R. A. Atmoko,
practical applications. “Digital embedding system with heater and cooler,” Journal of

Vatia Fahrunisa Rahmadini, Design of Water Heater Temperature Control System using PID Control
 Control Systems and Optimization Letters, Vol. 1, No 2, 2023 117

Robotics and Control (JRC), vol. 2, no. 3, pp. 161–165, 2021, [18] M. K. Fadzly, S. N. Aqilah, Farizuan, T. Amarul, and A. R. Irfan,
https://doi.org/10.18196/jrc.2371. “Portable Water Cooler with Water Heater Using Thermoelectric and
[4] T. Abinaya, J. Ishwarya and M. Maheswari, “A Novel Methodology Arduino Uno and Powered Using Power Bank,” IOP Conference
for Monitoring and Controlling of Water Quality in Aquaculture using Series: Materials Science and Engineering, vol. 864, no. 1, p. 012216,
Internet of Things (IoT),” 2019 International Conference on 2020, https://doi.org/10.1088/1757-899X/864/1/012216.
Computer Communication and Informatics (ICCCI), pp. 1-4, 2019, [19] A. Latif, A. Z. Arfianto, H. A. Widodo, R. Rahim, and E. T. Helmy,
https://doi.org/10.1109/ICCCI.2019.8821988. “Motor DC PID system regulator for mini conveyor drive based-on
[5] Y. Kim, N. Lee, B. Kim and K. Shin, “Realization of IoT Based Fish matlab,” Journal of Robotics and Control (JRC), vol. 1, no. 6, pp.
Farm Control Using Mobile App,” 2018 International Symposium on 185–190, 2020, https://doi.org/10.18196/jrc.1636.
Computer, Consumer and Control (IS3C), pp. 189-192, 2018, [20] A. Ma’arif, Iswanto, N. M. Raharja, P. Aditya Rosyady, A. R. Cahya
https://doi.org/10.1109/IS3C.2018.00055. Baswara and A. Anggari Nuryono, “Control of DC Motor Using
[6] T. I. Salim, T. Haiyunnisa and H. S. Alam, “Design and Proportional Integral Derivative (PID): Arduino Hardware
implementation of water quality monitoring for eel fish Implementation,” 2020 2nd International Conference on Industrial
aquaculture,” 2016 International Symposium on Electronics and Electrical and Electronics (ICIEE), pp. 74-78, 2020,
Smart Devices (ISESD), pp. 208-213, 2016, https://doi.org/10.1109/ICIEE49813.2020.9277258.
https://doi.org/10.1109/ISESD.2016.7886720. [21] P. Warrier and P. Shah, “Design of an Optimal Fractional Complex
[7] A. Setiawan and A. Ma’arif, “Stirring System Design for Automatic Order PID Controller for Buck Converter,” Journal of Robotics and
Coffee Maker Using OMRON PLC and PID Control,” International Control (JRC), vol. 4, no. 3, pp. 243–262, 2023,
Journal of Robotics and Control Systems, vol. 1, no. 3, pp. 390–401, https://doi.org/10.18196/jrc.v4i3.17446.
2021, https://doi.org/10.31763/ijrcs.v1i3.457.
[8] G. Cosoli, P. Chiariotti, M. Martarelli, S. Foglia, M. Parrini and E. P.
Tomasini, “Development of a Soft Sensor for Indirect Temperature
Measurement in a Coffee Machine,” in IEEE Transactions on
Instrumentation and Measurement, vol. 69, no. 5, pp. 2164-2171,
2020, https://doi.org/10.1109/TIM.2019.2922750.
[9] M. D. Khairunnas, E. Ariyanto and S. Prabowo, “Design and
Implementation of Smart Bath Water Heater Using Arduino,” 2018
6th International Conference on Information and Communication
Technology (ICoICT), pp. 184-188, 2018,
https://doi.org/10.1109/ICoICT.2018.8528772.
[10] W. Ding, W. Chang, H. Gan and X. Xiong, “Multi-functional
intelligent bathing machine for the elderly,” 2020 5th International
Conference on Mechanical, Control and Computer Engineering
(ICMCCE), pp. 966-969, 2020,
https://doi.org/10.1109/ICMCCE51767.2020.00211.
[11] A. K. Pasha, E. Mulyana, C. Hidayat, M. A. Ramdhani, O. T.
Kurahman and M. Adhipradana, “System Design of Controlling and
Monitoring on Aquaponic Based on Internet of Things,” 2018 4th
International Conference on Wireless and Telematics (ICWT), pp. 1-
5, 2018, https://doi.org/10.1109/ICWT.2018.8527802.
[12] L. K. S. Tolentino et al., “Development of an IoT-based Aquaponics
Monitoring and Correction System with Temperature-Controlled
Greenhouse,” 2019 International SoC Design Conference (ISOCC),
pp. 261-262, 2019,
https://doi.org/10.1109/ISOCC47750.2019.9027722.
[13] A. Latif, H. A. Widodo, R. A. Atmoko, T. N. Phong, and E. T. Helmy,
“Temperature and humidity controlling system for baby incubator,”
Journal of Robotics and Control (JRC), vol. 2, no. 3, pp. 190–193,
2021, https://doi.org/10.18196/jrc.2376.
[14] G. M. Debele and X. Qian, “Automatic Room Temperature Control
System Using Arduino UNO R3 and DHT11 Sensor,” 2020 17th
International Computer Conference on Wavelet Active Media
Technology and Information Processing (ICCWAMTIP), pp. 428-432,
2020, https://doi.org/10.1109/ICCWAMTIP51612.2020.9317307.
[15] A. N. Fathoni, N. Hudallah, R. D. M. Putri, K. Khotimah, T. Rijanto
and M. Ma’arif, “Design Automatic Dispenser for Blind People based
on Arduino Mega using DS18B20 Temperature Sensor,” 2020 Third
International Conference on Vocational Education and Electrical
Engineering (ICVEE), pp. 1-5, 2020,
https://doi.org/10.1109/ICVEE50212.2020.9243254.
[16] D. Saputra, A. Ma’arif, H. Maghfiroh, P. Chotikunnan, and S. N.
Rahmadhia, “Design and Application of PLC-based Speed Control for
DC Motor Using PID with Identification System and MATLAB
Tuner,” International Journal of Robotics and Control Systems, vol.
3, no. 2, pp. 233–244, 2023, https://doi.org/10.31763/ijrcs.v3i2.775.
[17] R. Aisuwarya and Y. Hidayati, “Implementation of Ziegler-Nichols
PID Tuning Method on Stabilizing Temperature of Hot-water
Dispenser,” 2019 16th International Conference on Quality in
Research (QIR): International Symposium on Electrical and
Computer Engineering, pp. 1-5, 2019,
https://doi.org/10.1109/QIR.2019.8898259.

Vatia Fahrunisa Rahmadini, Design of Water Heater Temperature Control System using PID Control