LAB 3

1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0

100

200

300

400

500

600

500

600

Figure 3.1 P = 0.5, I = 0.01, D = 0

1.5

0.5

100

200

300

400

Figure 3.2 P = 0.5, I = 0.01, D = 1

1.4
1.2
1
0.8
0.6
0.4
0.2
0

100

200

300

400

500

600

Figure 3.3 P = 0.5, I = 0.01, D = 2

1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0

100

200

300

Figure 3.4 - Overall

400

500

600

DISCUSSION
The purpose of conducting this test is to show the effect of D value toward the graph. In this
test, the D value is manipulated where it is set to 0, 1 and 2 while the value of P and I is set to
constant which are 0.5 and 0.01 respectively. From the D value, three different graphs was
plotted and combined together in Figure 3.4. When the D value increase the peak of the graph
become lower. Not just that, the increasing D value resulting distance between peaks become
further. From the graph, the D value of 0, 1 and 2 give different peak value which is 1.60,
1.45 and 1.35 respectively. This verify when D value increase, the controller action become
slower causing the peak of the graph is decrease. The best graph that gives smallest deviation
from the set point is the graph that has the highest value of D.

LAB 4

12:34

Time

PV

Digital Clock

To Workspace

To Workspace1

PID(s)

SP

PID Controller

s2 +10s
Transfer Fcn

Transport
Delay

Scope

Display

Figure 4.1 Transport Delay

1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0

100

200

300

400

Figure 4.2 Time delay = 5

500

600

2
1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0

100

200

300

400

500

600

Figure 4.3 Time delay = 7

2.5

1.5

0.5

100

200

300

400

Figure 4.4 Time delay = 9

500

600

2.5

1.5

0.5

100

200

300

400

500

600

Figure 4.5 Overall graph

DISCUSSION
The purpose of conducting this test is to show the effect of time delay towards the graph. In
this test, the Time Delay is being manipulated where it is set to 5, 7 and 9 while the value of
P, I and D is set to constant which are 0.2, 0.01 and 0 respectively. From the Time Delay
value, three different graphs was plotted and combined together in Figure 4.5.
From the graph, when the Time Delay increase the peak of the graph become higher. The
higher the value of Time Delay, the higher the deviation value from the set point of the graph.
From the graph, the Time delay value of 5, 7 and 9 give different peak value which is 1.50,
1.80 and 2.25 respectively. The best graph that gives smallest deviation from the set point is
the graph that has the smaller value of Time Delay.