INTRODUCTION

1) (Explanation of PID controller)

A PID controller is a control loop feedback mechanism widely used in industrial control systems
and a variety of other applications requiring continuously modulated control. A PID controller
continuously calculates an error value as the difference between a desires setpoint (SP) and a
measured process variable (PV) and applies a correction based on proportional, integral and
derivative terms. It also can be used for regulation of speed, temperature, flow, pressure and
other process variables.

2) (Elaboration of PID controller application)

Proportional (Gain)

The proportional term produces an output value that is proportional to the current error
value. The proportional response can be adjusted by multiplying the error by a
constant (𝐾𝑝 ), called the proportional gain constant. 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. 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.

Integral (Reset)

The contribution from the integral term is proportional to both the magnitude of the error
and the duration of the error. The integral in a PID controller is the sum of the instantaneous
error over time and gives the accumulated offset that should have been corrected previously.
The accumulated error is then multiplied by the integral gain (𝐾𝑖 ) and added to the controller
output. The integral term accelerates the movement of the process towards setpoint and
eliminates the residual steady-state error that occurs with a pure proportional controller.
However, since the integral term responds to accumulated errors from the past, it can cause
the present value to overshoot the setpoint value.

Derivative (Rate)

The derivative of the process error is calculated by determining the slope of the error over time
and multiplying this rate of change by the derivative gain (𝐾𝑑 ). The magnitude of the
contribution of the derivative term to the overall control action is termed the derivative gain,
(𝐾𝑑 ). Derivative action predicts system behavior and thus improves settling time and stability of
the system. An ideal derivative is not causal, so that implementations of PID controllers include
an additional low-pass filtering for the derivative term to limit the high-frequency gain and noise.
RESULT,ANALYSIS AND DISCUSSION
1) (Comparison of system response with and without controller)

System response without controller

System response with controller

System response with controller without controller

Proportional gain (𝐾𝑝 ) 90 -
Integral term (𝐾𝑖 ) 60 -
Derivative term (𝐾𝑑 ) 10 -
Rise time,(s) 0.048 0.089
Overshoot,(%) 0.408 0.504
Steady state error 0 0.8
 2) (Explanation of the findings)

When the system response is connected without PID controller, the rise time is 0.089 second, the
overshoot percentage is 0.504% and the steady state error is 0.8. when system response is
connected with PID controller, (P)=90, (I)=60, (D)=10, the rise time is 0.048 second, the
overshoot percentage is 0.408% and the steady state error is 0. In conclusion, the system
response with controller is better compare to the system response without controller because the
rise time, overshoot percentage and steady state error is the smallest.

3) (Discussion of the effects of varying P, I, and D coefficients)

When the proportional gain to the controller (𝐾𝑝 ) is increase, the effect of proportionally
increasing the control signal for the same level of error. The fact that the controller will push
harder for a given level of error tends to cause the closed-loop system to react more quickly, but
also increase overshoot. Another effect of increasing 𝐾𝑝 is tends to reduce the steady state error.

The addition of integral term to the controller (𝐾𝑖 ) tends to help reduce steady state error. If there
is a persistent, steady error, the integrator builds and builds, thereby increasing the control signal
and driving the error down. A drawback of the integral term, is that it can make the system
sluggish since when the error signal changes sign, it may take a while for the integrator to
unwind.

When the derivative term to the controller (𝐾𝑑 ) is increase, it will adds the ability of the
controller to anticipate error. With simple proportional control, if 𝐾𝑑 is fixed, the only way that
the control will increase is if the error increases. With derivative control, the control signal can
become large if the error begins sloping upward, even while the magnitude of the error is still
relatively small. This anticipation tends to add damping to the system, thereby decreasing
overshoot. The addition of the derivative term, however, has no effect on the steady state error.
CONCLUSION
1) (Conclusion of the effects of P, I and D components)

Controller Rise time Overshoot Settling time Steady state error

response
(increase)
𝐾𝑝 Decrease Increase Small change Decrease
𝐾𝑖 Decrease Increase Increase Decrease
𝐾𝑑 Small change Decrease Decrease No change
2) (Conclusion of the overall performance of the controllers and the best performance
controller)

Proportional gain (𝐾𝑝 ) 90

Integral term (𝐾𝑖 ) 60
Derivative term (𝐾𝑑 ) 2
Rise time, (s) 0.075
Overshoot, (%) 24.375

Proportional gain (𝐾𝑝 ) 90

Integral term (𝐾𝑖 ) 60
Derivative term (𝐾𝑑 ) 4
Rise time, (s) 0.070
Overshoot, (%) 13.068
Proportional gain (𝐾𝑝 ) 90
Integral term (𝐾𝑖 ) 60
Derivative term (𝐾𝑑 ) 6
Rise time, (s) 0.062
Overshoot, (%) 6.989

Proportional gain (𝐾𝑝 ) 90

Integral term (𝐾𝑖 ) 60
Derivative term (𝐾𝑑 ) 8
Rise time, (s) 0.056
Overshoot, (%) 2.577
 Proportional gain (𝐾𝑝 ) 90
Integral term (𝐾𝑖 ) 60
Derivative term (𝐾𝑑 ) 10
Rise time, (s) 0.048
Overshoot, (%) 0.408
 This is the best performance because the rise time, overshoot percentage is the smallest
and the steady state error is zero.
REFERENCES

http://www.mathworks.com/help/simulink/gs/create-a-simple-model.html

http://ctms.engin.umich.edu/CTMS/index.php?example=Introduction&section=ControlPID
https://ewh.ieee.org/r1/ct/sps/PDF/MATLAB/chapter8.pdf

http://www.mathworks.com/help/simulink/getting-started-with-simulink.html