International Islamic University, Islamabad

Faculty of Engineering and Technology

Department of Electronic Engineering

CONTROL SYSTEMS LAB

LAB EXPERIMENT # 6:

Implementation of P, I and D Controller

using PID Trainer

Name of Student:
Registration No.:
Section:
Date of Experiment:
Report submitted on:

Marks obtained:
Remarks:
Instructors Signature:

Lab06: Implementation of P, I and D Controller using PID Trainer

Lab Experiment 6: Implementation of P, I and D Controller

using PID Trainer

Objectives: This experiment has following two objectives:

1.
2.
3.
4.
5.
6.

Implementation of P controller using PID Trainer

Implementation of I controller using PID Trainer
Implementation of D controller using PID Trainer
Effects of Proportional action on different inputs
Effects of Integral action on different inputs
Effects of Derivative action on different inputs

List of Equipment:
Following Equipment is required:
PID Trainer
DMM
10 Connecting Wires
Oscilloscope
Introduction:

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Lab06: Implementation of P, I and D Controller using PID Trainer

Part I: Implementation of Proportional (P) Controller

An op-amp connected in the inverting amplifier configuration

Let proportional controller output is () and actuating error signal is () as input and

= as the gain of controller. So the output may be written as () = ().

Taking its Laplace Transform we can write proportional controller transfer function as
()
= .
()

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Lab06: Implementation of P, I and D Controller using PID Trainer

Table:
Set Point (V)

Gain A
(Kp Gain)

0.5
0.5
0.5

1
1.5
2

Proportional Band
(PB=1/Kp*100%)

Controller Output
(S.P. * 100/PB)

Measured
Controller
Output

Relative Error:

|. . |
%
.

Now plot three overlapped waveforms of square wave at the input and three outputs when Kp
is set to 1, 1.5 and 2 after observing signals on oscilloscope.

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Lab06: Implementation of P, I and D Controller using PID Trainer

Now plot three overlapped waveforms of triangular wave at the input and three outputs when
Kp is set to 2.5, 3 and 3.5.

Part II: Implementation of Integral (I) Controller

Integrates the (inverted) signal over time

Let integral controller output is () and actuating error signal is () as input and =

as the gain of controller. So the output may be written as:

()
= ()

or () = 0 ().
Where is an adjustable constant. Taking its Laplace Transform we can write proportional
controller transfer function as
()
()

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Lab06: Implementation of P, I and D Controller using PID Trainer

Apply square wave as the input and plot the overlapped waveforms of input signals and
output signals of integral controller when gain knob is at minimum, middle and maximum
positions.

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Lab06: Implementation of P, I and D Controller using PID Trainer

Apply triangular wave as the input and plot the overlapped waveforms of input signals and
output signals of integral controller when gain knob is at minimum, middle and maximum
positions.

Part III: Implementation of Derivative (D) Controller

Differentiates the (inverted) signal over time

Control Systems Lab (EE 360 L)

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Lab06: Implementation of P, I and D Controller using PID Trainer

Let integral controller output is () and actuating error signal is () as input and =
as the gain of controller. So the output may be written as:
()
() =
.

Where is an adjustable constant. Taking its Laplace Transform we can write proportional
()
controller transfer function as () = .

Apply square wave as the input and plot the overlapped waveforms of input signals and
output signals of integral controller when gain knob is at minimum, middle and maximum
positions.

Control Systems Lab (EE 360 L)

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Lab06: Implementation of P, I and D Controller using PID Trainer

Apply triangular wave as the input and plot the overlapped waveforms of input signals and
output signals of integral controller when gain knob is at minimum, middle and maximum
positions.

Conclusion (Part I):

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Conclusion (Part II):

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Conclusion (Part III):
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