Mutah University

Faculty of Engineering
Electrical Engineering Department
Automatic Control Lab

Experiment Name: Process Control Experiments

Student Names Contribution

Almothaffar Aldmour 20%

Saleh Farouq Deeb 20%
Ammar Aldmour 20%
Ahmad Aldmour 20%
Mohammad Aldaradkeh 20%

Lab Instructor: Prof. Hussein Al-Majali

Lab Coordinator: Khaled Al-Awasa

Process Control Experiments

Lab#1 Basic Theory and Experiments
Open-loop & closed-loop Systems
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.

Used Matlab Blocks:

 Constant Source.
 Gain.
 Summer.
 Transfer function.
 Mux.
 Scope.
 Display.

Lab Procedure:

 Part 1: Simple Open-loop Proportional Control

Connect the block diagram shown in figure 1.1 using Matlab Simulink.

Figure 1.1 block diagram of open loop system

Measured value
Set value
Without disturbance With disturbance
2 2 3.5
5 5 6.5
8 8 9.5
-8 -8 -6.5
-5 -5 -3.5
-2 -2 -0.5

Change the set value as shown in table 1.1 and record the measured value.

Table 1.1
 Figure 1.2 open loop system set value=2 with and without disturbance.

Questions for part 1:

1. What is the effect of the load disturbance on the measured value?

The load disturbance is added to the measured value.

2. How can this system be modified so that it can correct itself for any change in
operating conditions?

Using feedback will make the system correct itself.

3. What is the effect of changing Kp on the system after applying the

disturbance?

The input will be multiplied by Kp and be added to the disturbance.

 Part 2: Simple Closed-loop Proportional Control

Connect the block diagram shown in figure 1.1 using Matlab Simulink.
 Figure 1.3 block diagram of closed loop system with and without disturbance.

Change the set value as shown in table 1.2 and record the measured value.
Set value Measured value Deviation
Without disturbance With disturbance Without d With d
2 1 1.75 1 0.25
5 2.5 3.25 2.5 1.75
8 4 4.75 4 3.25
-8 -4 -3.25 -4 -4.75
-5 -2.5 -1.75 -2.5 -3.75
-2 -1 -0.25 -1 -1.75
Table 1.2

Figure 1.4 closed loop system set value=5 with and without disturbance.

Questions for part 2:

1. What is the effect of the load disturbance on the measured value?
 Half of the load disturbance is added to the output measured value.

2. What is the effect of changing Kp on the measured value?

Increasing Kp will increase the output measured value in a nonlinear

relationship until a certain limit is reached (in this system it is 8) then the
system will be unstable and the output will be oscillation.

3. Explain, why there is a delay in the change of measured value?

The delay happens because the signal needs some time to settle (settling
time) as we can see in figure 1.4

Figure 1.5

4. What are the differences between the two parts according to your results?
Comments and explain.

Without disturbance the output of the open loop system is equal to the
input but in the closed loop system it is only half of the input. However, the
disturbance appears entirely on the open loop system output while in the
closed loop system the disturbance effect the output only by half of its
value so the closed loop system is better in disturbance rejection.

Lab#2 Proportional, Proportional-Integral Control (P and

PI-controller)
Objectives:
 To study the effect of P and PI-Controller on the system response.

Used Matlab Blocks:

 Constant Source.
 Gain.
 Summer.
 Transfer function.
 Mux.
 Scope.
 Display.

Lab Procedure
 Part 1: Proportional Control System Response

Connect the block diagram shown in figure 2.1 using Matlab Simulink.

Figure 2.1 block diagram of closed loop system proportional controller.

Change the Kp as shown in table 2.1 and record the requested values.
1
Kp Rise Time Overshoot Settling Time S.S Error
Kp
100 1 0.03 0.07 0.08 -0.5
 %
75% 1.3333 0.027 0.11 0.08 -0.43
50% 2 0.022 0.2 0.101 -0.33
5% 20 Oscillation
Table 2.1

Figure 2.2 closed loop system set Kp=2.

Question#1: what do you see, then if we increase Kp what is the effect in the
following:

Rise Time: Decrease.

Overshoot: Increase.
Settling Time: Small change.
S.S Error: Decrease.

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

on the system response)

Yes there is a limit (in this system it is 8) then the system will be unstable and the
output will be oscillation.

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

1. Connect the block diagram shown in figure 2.3 using Matlab Simulink.
 Figure 2.3 block diagram of closed loop system proportional controller.

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% (Kp=2).
4. Monitor the deviation and slowly reduce the setting on INTERGAL ACTION
control until deviation falls to zero after each disturbance

Figure 2.4 the response when Kp=2, Ki=4.

5. Reduce the integral action control to 10 and see the response of the
system (Ti=10 then Ki=2/10=0.2).
 Figure 2.5 the response when Kp=2, Ki=0.2.

Change the Ki (with Kp=1) as shown in table 2.1 and record the requested values.

Ti Ki Rise Time Overshoot Settling Time S.S Error

1 1 3.18 2.7 6.39 0
1.5 0.66 4.79 2.5 9.61 0
2 0.5 6.4 2.3 12.8 0
Table 2.2

Figure 2.6 closed loop system set Kp=1 Ki=0.5.

Question#1: As we increase Ki (with Kp and Td is fixed: Kp=1, Td=0) and, what is

the impact on the following:
Rise Time: Decrease.
Overshoot: Increase.
Settling Time: Decrease.
Steady State Error: Eliminate.

Lab#3 PID Controller

Objectives:
 To study the characteristics of PID controller.

Used Matlab Blocks:

 Constant Source.
 Gain.
 Summer.
 Transfer function.
 Mux.
 Scope.
 Display.

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.

Figure 3.1 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 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:

Ki
(
PID= K p +
s
+K d s ) or PID=K (1+ T1s +T s)
p
i
d

Kp = Proportional gain =100/proportional band.

Ki = Integral gain.
Kd = Derivative gain.
Lab Procedure:

 Part 1: Effect of Derivative controller (Kd) on the system

response.

Connect the block diagram shown in figure, Using Matlab Simulink.

Figure 3.2

Let Kp =1, Ki=1; study the effect of Td according to the Table 3.1 and capture the
result on the diagram below:
TD No. of overshoots Steady state error Settling Time
0.4 3 0 0.21
0.1 7 0 0.16
Table 3.1

Figure 3.3 the response when Kp=1, Ki=80 and Kd=0.4.

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

Number of Overshoots: Increase.

Settling Time: Decrease.
Steady State Error: Small change.
  Part 2: Adjustment of Three Term Controllers.

Questions for part 2:

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

Questions for part 2:

Questions 1: Capture the results from the scope and sketch the output response
to a proper scale.

The best result obtained with: Rise Time: 0.02s.

Kp=2.1 Overshoot: 0.08v.
Ki=85.5 Settling Time: 0.0663s.
Kd=0.011 Steady State Error: 0.

Figure 3.5 The Best Result

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

- Proportional control element: Upgrade both steady-state and

transient responses.
Reduce steady-state error.
- Integral control element: Eliminate the steady state error.
- Derivative control element: Decrease the overshoot.

Questions 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.

No it is not necessary to implement all three controllers all the time, it depends
on the application and the characteristics you consider important in your system,
so if you don’t care about the overshoot or the rise time and just want to
eliminate the steady state error an Integral controller will be enough.

An example of that is steam pressure control:

With Steam Pressure Control the prevailing objective is to react quickly to

changes in demand from downstream users while limiting any negative effects on
sensitive process’ instrumentation. P-Only Control alone is unsuitable as it is
unable to adequately track Set Point, and PID Control routinely succumbs to
excessive variability due to noise. In contrast, PI Control delivers improved Set
Point tracking and doesn’t subject instrumentation to unnecessary wear and
tear.