Introduction: At first this report investigates the response of typical control system.

Then a PID control will be added to the system to measure the resulting response of the system using certain values of kp, kd and ki bands. Every response will be plotted on the graph using Mathcad/simulink.

Control System Diagram Response of the system is shown in graph 1.

Graph 1 Peak time tp = 1.55 s Settling time ts = 4.5 s Rise time tr = 0.92 - 0.21 = 0.71 s Steady state error ess = 1 0.8 = 0.2 1

Now a PID controller will be added to the system in between the two summing junctions and response will be observed at different values of kp, kd and ki.

PID Control System Diagram TYPE P P P+D P+D P+I P+I P+D+I Kp 2 5 5 5 5 5 5 Kd 0 0 0.5 2 0 0 2 Ki 0 0 0 0 0.5 1.2 0.5 ts 4.5 3.5 1.5 4.25 4.75 Table 1 Using values of kp, kd and ki from Table 1, graph from each type of PID system can be plotted. Further more these graphs can be used to complete values of ts, ess, tp and tr in Table 1. ess 0.11 0.048 0.048 0.048 0.015 0.003 0 tp 1.17 0.77 0.67 0.77 0.77 tr 0.49 0.27 0.34 0.27 0.27 Observation Under damped Under damped Under damped Critically damped Under damped Under damped Critically damped

Graph 2 (Kp=2 Kd=0 Ki=0) 2

Graph 3 (Kp=5 Kd=0 Ki=0)

Graph 4 (Kp=5 Kd=0.5 Ki=0)

Graph 5 (Kp=5 Kd=2 Ki=0)

Graph 6 (Kp=5 Kd=0 Ki=0.5)

Graph 7 (Kp=5 Kd=0 Ki=1.2)

Graph 8 (Kp=5 Kd=2 Ki=0.5)

Conclusion: Firstly settling time ts can be reduced by increasing kp and kd or by reducing ki. Secondly steady state error ess can be reduced by increasing kp and ki. Peak time tp can be reduced by increasing kp and kd. Lastly rise time tr can be reduced by increasing kp or decreasing kd. Initially the given system had a under damped response. After the PID controller was introduced into the system, the efficiency of the system was enhanced. Settling time, steady state error, peak time and rise time were reduced to minimum by involving kp, kd and ki bands. It can be noticed that kd band at value of 2 resulted in changing the system to critically damped; enabling system to reach its steady state much quicker than before. Moreover ki band removed the steady state error from the system. In this way PID controller improves the overall efficiency of the system and gives the desired results in lesser time.