EXPERIMENT NO.

8
Aim To study the effectofPID controller:
Apparatus
1. Experimental kit (PCS-01)
2. CRO
3. Connecting probes
or
Theory A controller is a device which when introduced in a feedback
forward path of a system, reshapes the time response of the system as per requiremeit. Such
device converts input to the controller to some function of error, like proportional to error,
derivative of erroretc, ue to whích steady state &transientresponse changest .
In general good time response demands
i) Less settling time
ii) Less overshoot
ii) Less rise time
iv) Smaller steady state eror
To improve the transient response damping ratio is changed. To improve steady state
performance steady state errors are tried to reduce.
Consider second order system
Gs) =a/s(s + 2fa,)
H(s) -1
C(s)
R{S) s²+ 25w,s +a
Where Eis damping ratio &o is iatural frequency.
The error constant can be determined as below

Kp = limG(S)H(S) = c
K, = lim sG ($)H($) = an /25
Where, K, is position error constant
K is position error constánt

R(s) E(s) c(s)

a/s(s + 2w,)
 P controller
In many practical systems, controller input is proportional to the error generated. Such
controllers are known asSproportional cöntroller is2tn
Consider second order systenm where coniroller input is error itself &proportional constant
is K

Controller Plant

R{s) c(s)
K
o/s(s + 2fw,)
/s(s +?

By increase in K i.e., increase in system gain, steady state error can be reduced but due to
highi gain seting time &peak oversköot withinacceptabl limits by providing folBowing
different types of controHer,
ijhfPD proportional +derivative action
i) Plproportional +integral action'
iin) PID proportional + integral +derivative action.

PD controller:
A.contollet in the forward path, which changes the plant input to the proportional plus
derivative of error sigDal is called as PD' ontreller pi
ie; input to controBler = Ke(t) + Kpde(t)fdt '
Taking Laplace = KE(s) +sKzE(s)= E(S)K +skp]
The transfer function of suchontroller is [K+ skpl
s4
This is realized as shown in fig

R(s) E(s) C(s)

K
o/s(s + 25 o,)

sk,

2
 Gs) = (K +skp)o/s(s + 2{@n)
H(s) = 1
CS) (K+SKp)a
R(S) sl+s(2fWntKp)+oh

Comparing denominator with standard form,

O, is sane as in the previous Ptype controller.
&2 a,=2 ), to~Kp
Therefore =Fto,Kp/2 while,
This controller increases damping ratio by afactor o,Kp2
Ky = 0
K, = Wn/2 Hence
steady state error remains same.
As there is no change in the error coefficients,
controller has following effects on the system.
i) It increases damping ratio,
ii) , for the system remains unchanged,
in)Type of the system remains unchanged,
iv) It reduces peak overshoot,
v) It reduces settling time,
unchanged
vi) Steady state error remains state response
improves transient response without affecting steady
In general it
PIcontroHer: H(s)=1
+ 2w,)
Consider system with G(s) = 1/(s
C(s)/R(s)=1/(s +25w, + 1)

ess = 2fan/(1 + 2fwn)

changes the controller input to the proportional pus

in the forward path, which
Acontroler controller.
is called as PI
integral oferror signal Ke(t) + K, [e(t) dt
controller =
ie., Input to the
(s) + K,E = E(s)[K + K,/s]
TakingLaplace = KE S
+ K,/s]
transfer funetion of suchcontrolleris [K
The shown in fig
Thís ís realizedas
 R(s) E(s) C(s)
K
1/(s + 2fw,)

K,
S

G(s) H(s) = (K+ K,/s)/(s + 25on)

-(Ks + K;)/s (s + 25w,)

This indicates type of system has increased from 0 to 1

So K, =0
ess = 0
Hence PIcontroller has following effects
Iy It imcreases type of system
i) Steady state error reduces tremendously for the same input Traysient
In general it improves steady state response & has slight effect on the transfer response

PID controller:
As PD improves transient response &PIimproves steady state response combination of two
can be used to improve overall time response of the system
This is realized as shown in fig
Controller Plant

K,/s

R(S) K
C(s)
o/s(s + 2wn)

skp
 Observe Input & Output Waveforms yOn CRO (Ch-1& Ch-1)
Procedure:
(A) SETTINGS
Simultaneousty
Set input signal
1. Set switch SW2 on (wavefom generator)
2. Set
frequency waveformgenerator panel to fast
3.Set knob on division 2.
square wave knob to'6V
4. Set, set
value knob to zero
position.
(B) Set process
1.Set SW4 to faat.
2. Set
switches Plon lag &P2 ön lag
(C) Set controller.t
1. Set switch
SW3 fast
2. Set
proportional band (PB) knob on.100%
(D)
Studyopen
1. Dó comectionloop system
as shown in fig 1
2. Obaerve output.on CRO for (Black colour only)
PB knob setting 50%,
3.
Drawrough sketch for each on same graph. 100%,200%
(E} Cloaed loóp system with
1. Do additional proportional control only
connections (Blue
2. Observe output on CRO for knobcolour)
3. Draw rough sketche's for
aetting 200%,100% &20%
each on same graph.
(F)Closed loop with PI
1. Do additional connections
(Green colour)
2. Keep PB'knob at 20% setting &integral time
(IT) knob to zero.
3. Vary IT knob & note the changes in steady state &
4.
transient.
Draw rough sketch for each ßn same graph.

(G)Closed loop with PID

5. Do additional connections (Red colour)
6. Keep PB krob at 20%, IT knob such that steady state error is zero &
knob. zero.
derivative time (DT)
7. Vary DT knob &note changes insteady state &trarisient
8. Draw rough sketches for each on same graph.

(H)Closed lóop with PD controller

1. Remove integral connections (green colour)
2. PBknob át 20%, DT át zero.
3. Vary DT & note the changes in steady state &transient
4. Draw rough sketches for each on same graph.
 PD-REMOYE
GREEN AITH LoOP. CLOSED
CONNECTION-RED CONTRoLLER PLD WITH LOOPCLOSED
CON CCLOSEDLoOP
PE WITH
CONNECTION-REEN TROLER CLOSEDLoOP
CONNECTION PROPORT|ONAL WITH
BLUE CoNNECTION LOOR(OPEN
BLACK
Y
TA
ORNRATOR WAVERORM
onlBluyk
(PCSO1) SIMULATOR CONTROD PROCESS
 TVAT
POVER

OAD

CLOsEDLooP
CLOSED CLOSEDOPEN
CLOSED LOOP

DNVERTSR

LoOP.LOOP LoOP 3RROR

WTH wITH WTH

AITH CoNNECTION T PROCESS
YALUZ

REMOYE PID PC
PROPORT|ONAL RANTORT
DEYADH
CONTROLER
CoNTROLLER
VALLE

VALBSST
ZAST OONTROLLER LAG

swI CONTROL

BLACK
OUT
VOLTAB DC RI

GREEN CON
SOURCE
LOW SIMULATOR
ONNECTION-
CTIONGREEN. DNTIORL
TIY(o) PROCISs

NECTION-
3
15

-
OUT (PCS-01)
BLUE
V DNIEG
MaoeyROns P
+
RED. CENERATOR
WAVERORM

PROPOKTONL N
23055
Pt. AD
Lud, CUT
3%

Cec6
FRRQUCY
P1

FANT
DI5TURAANCZ
UTPLT

sW2