Labs Title:

LAB 1: EFFECT OF CONTROLLER GAIN

LAB 2: EFFECT OF INTEGRAL TIME
LAB 3: EFFECT OF DERIVITIVE TIME
LAB 4: EFFECT OF DEAD TIME
ABSTRACT
This simulation lab is performed to know the effect of various parameter that affecting
the process controllability. From the first lab, it is performed to determine the effect of
controller gain. This is set at different P (proportional) but the value of I and D are
kept constant, where it is ran firstly at P2=0.05 which is set as reference, while the
other two is set higher and lower than the reference point which is P1=0.10 and
P3=0.02. For the second lab, it is performed to determine the effect of integral time.
Where this time, the value of I (integral) are the parameter that set at different point
while the P and D are kept constant. The I2=0.01, while the other two point are set at
higher and lower, which are I1=0.02 and I3=0.005. For the third lab, it is performed to
determine the effect of derivitive time. This time, the D (derivative) was the point that
set at different value while P and I are kept constant. The D2=0 while the other two
value are set slightly higher and lower than the reference point. Which is D1=1 and
D3= -1. The last lab are performed to determine the effect of dead time. Where in this
lab, the PID are kept constant while another parameter was added into the process,
the transport delay. The transport delay are the parameter that set at different point
where 1st delay= 5, 2nd delay= 7 and 3rd delay= 9. All of the lab mention above is then
run at set simulation parameter = 600. From the process, a plot (time,PV) are
obtained.

INTRODUCTION
I) Proportional Response
The proportional component depends only on the difference between the set point
and the process variable. This difference is referred to as the Error term.
The proportional gain (Kc) determines the ratio of output response to the error signal.
For instance, if the error term has a magnitude of 10, a proportional gain of 5 would
produce a proportional response of 50. In general, increasing the proportional gain
will increase the speed of the control system response. However, if the proportional
gain is too large, the process variable will begin to oscillate. If Kc is increased further,
the oscillations will become larger and the system will become unstable and may
even oscillate out of control.
 Figure 4: Block diagram of a basic PID control algorithm.

II) Integral Response

The integral component sums the error term over time. The result is that even a small
error term will cause the integral component to increase slowly. The integral
response will continually increase over time unless the error is zero, so the effect is
to drive the Steady-State error to zero. Steady-State error is the final difference
between the process variable and set point. A phenomenon called integral windup
results when integral action saturates a controller without the controller driving the
error signal toward zero.

III) Derivative Response

The derivative component causes the output to decrease if the process variable is
increasing rapidly. The derivative response is proportional to the rate of change of the
process variable. Increasing the derivative time (Td) parameter will cause the control
system to react more strongly to changes in the error term and will increase the
speed of the overall control system response. Most practical control systems use
very small derivative time (Td), because the Derivative Response is highly sensitive
to noise in the process variable signal. If the sensor feedback signal is noisy or if the
control loop rate is too slow, the derivative response can make the control system
unstable.
IV) Dead Time

Dead time something we would never want to have in a control system. In the
simplest of terms it is a delay in the response to a control action. So, there is a time
lapse between the moment you apply the control action and the moment you see its
effect on the process variable. (Akarsh Sinha, MSc student in Systems and Control

Dec 10, 2015)

Dead Time is the Killer of Control
Dead time is the delay from when a controller output (CO) signal is issued until when
the measured process variable (PV) first begins to respond. The presence of dead
time,p, is never a good thing in a control loop.

Think about driving your car with a dead time between the steering wheel and the
tires. Every time you turn the steering wheel, the tires do not respond for, say, two
seconds. Yikes.

For any process, as p becomes larger, the control challenge becomes greater and
tight performance becomes more difficult to achieve. Large is a relative term and
this is discussed later in this article.
RESULT AND DISCUSSION

Result lab 1

From the graph above, it can be seen that the value of the P(proportional) are relate
to the control system response. So if we increase the value of P it will be more
stable. However to much increase in the P value will make the graph oscillate more.
This means that the process system will be unstable (red color graph line). So any
attempt in increasing the P value need to be considered since it is also increase the
proportional gain (KC) value.

Result lab 2
From the graph above, the increase in the integral time was due to the error over
time. This means that, the increase in the integral time is because it want to make a
zero error in the system. So, the higher the value of the integral time the stable the
system since the error is in steady state.

Result lab 3
From the graph above, it can be seen that as the D value increased the system
become unstable since it will interfere with the output of the system. However this will
only happen if the process variable is increasing rapidly because the derivative
response is proportional to the rate of change of the process variable.
Result Lab 4

From the graph above, it is clearly seen that as the dead time increase, the unstable
the system is. This is because, the dead time will disturb the output of the system.
Thus, the dead time are not really needed in the system.
 REFERENCES
1. Mar 29, 2011, Classical PID Control by Graham C. Goodwin, Stefan F. Graebe,
Mario E. Salgado Control System Design, Prentice Hall PTR.

2. PID Control of Continuous Processes by John W. Webb Ronald A. Reis

Programmable Logic Controllers, Fourth Edition, Prentice Hall PTR

3. Apr 2, 2015, Dead Time is The How Much Delay Variable, retrieved from
http://controlguru.com/dead-time-is-the-how-much-delay-variable/ on Apr 4,
2017.