Control Lab

Subject: Experiment #5 PID controller.

Done by: Abdallah Husain Sulieman Daldoom.
31502020130.
Eng. Saleem Ghanayem.
Objective:

To understand the function and build the derivative

controller and PID controller.

Introduction:

A PID controller is an instrument used in industrial

control applications. PID (proportional integral
derivative) controllers use a control loop feedback
mechanism to control process variables and are the most
accurate and stable controller.

PID control uses closed-loop control feedback to keep

the actual output from a process as close to the target or
setpoint output as possible.

As the name suggests, PID algorithm consists of three

basic coefficients; proportional, integral and derivative
which are varied to get optimal response.
Derivative controller:
A derivative controller called also rate controller because it is
changing the shape of output signal, and do not change the steady
state error, thus why the derivative controller does not work alone.

PID controller:

This type of control is also termed as

three-term control, and is implemented
by a PID Controller. By calculating
and controlling three parameters – the
proportional, integral and derivative of
how much a process variable deviates
from the desired set point value – we
can achieve different control actions
for specific work.
p-controller affect directly to the steady state error, I-controller can make
steady state error equal to zero and D-controller (rate controller) affect the
shape of output signal.

The actuating signal for PID control is:

𝑑𝑒(𝑡)
𝑒𝑎(𝑡) = 𝑘𝑝 ∗ 𝑒(𝑡) + 𝑘𝑑 + 𝐾𝑖 ∫ 𝑒(𝑡). 𝑑𝑡
𝑑𝑡
Simulink:
Circuit diagram for PID controller:

If gain 1 and 2 are equal to zero, then only P-controller will

exist in the system.
If gain 2 is zero, then only PI-controller will exist.
If all gains are not equal to zero, then its PID-controller,
and the error is less and output shape is better as shown
above.

It is possible to remove all the individual controller and

install a PID-controller from Simulink diagram.
All above the red line equal the under. The outputs are not
identical, because the PID controller consist a filter.
If we put Ki= zero, then the controller called PD controller.

The different between two signal is due the difference of

rate time.
Conclusion:

1) The D-controllers is derivative controller that

does not work alone, because no effect will
change in steady state error.
2) D-controller also called rate controller, due its
change only the shape of output.
3) We can change the values of P,I and D
individually using PID controller.