Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

EXPERIMENT 10 Date Perform: ________________

To design PID controller for shifting the system response using MATLAB

Objective: To design PID controller for shifting the system response using MATLAB
 To design PID controller using MATLAB
 To compute the system response with or without controller using MATLAB
Apparatus:
 Computer with installed MATLAB software
Theory:
Steady-state error is the difference between the input and the output for a prescribed test input as
t➙∞. Many steady-state errors in control systems arise from nonlinear sources, such as backlash
in gears or a motor that will not move unless the input voltage exceeds a threshold. Nonlinear
behavior as a source of steady-state errors, although a viable topic for study is beyond the scope
of a text on linear control systems. The steady state errors we study here are errors that arise
from the configuration of the system itself and the type of applied input.
The PID controller is widely employed because it is very understandable and because it is quite
effective. One attraction of the PID controller is that all engineers understand conceptually
differentiation and integration, so they can implement the control system even without a deep
understanding of control theory. Further, even though the compensator is simple, it is quite
sophisticated in that it captures the history of the system (through integration) and anticipates the
future behavior of the system (through differentiation). We will discuss the effect of each of the
PID parameters on the dynamics of a closed-loop system and will demonstrate how to use a PID
controller to improve a system's performance.
Commands: pid, tf, step and feedback
Overview: The output of a PID controller, which is equal to the control input to the plant, is
calculated in the time domain from the feedback error as follows
de (t)
e (t )=K p e ( t ) + K i∫ e (t)+ K D
dt
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

First, let's take a look at how the PID controller works in a closed-loop system using the
schematic shown above. The variable (e(t)) represents the tracking error, the difference between
the desired output (r) and the actual output (y). This error signal (e) is fed to the PID controller,
and the controller computes both the derivative and the integral of this error signal with respect
to time. The control signal (u) to the plant is equal to the proportional gain (K p) times the
magnitude of the error plus the integral gain (Ki) times the integral of the error plus the derivative
gain (Kd) times

Tasks:
1.1: Consider the following system and measure the transient characteristics and steady state
error without controller. Then design the PID controller then find transient characteristics and
steady state error using MATLAB. Mention the value of gains at which system will be near to
original step. Find the step response with and without controller. Justify?
1
Plant= 2
S + 2 S+3
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

Without controller:

With PID:
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

1.2: Apply the proportional gain controller and set the value to Kp = 300 and imply it with the
system. Now measure the steady state error and transient characteristics graphically.
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

1.3: Apply the proportional gain, integral and differential controller and set the value to get %
O.S = 2% and zero steady state error. Write down the controller values Kp, Ki and Kd where O.S
= 2% and attach the graphical response.
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

CL0 Score→ Beginning

Statement↓ Exemplary (5) Proficient (4) Developing (3) Novice (1)
(2)

To comprehend
the theoretical
Correctly With minor Partially Poorly
basis for Doesn’t
1 analyzing the
answers all the mistakes answers answers the answers the
answer
questions all the questions questions questions
given control
systems

To Follow the Correctly Applies

Correctly applies Applies
given instructions applies MATLAB
MATLAB MATLAB Can’t
to MATLAB commands
2 Build models of commands to
commands with commands to
with help to
complete
little help to complete some any task
physical systems complete all complete
complete all tasks tasks
using MATLAB tasks some tasks
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

CLO Marks Obtained

Instructor’s Signatures: __________________________