International Islamic University Islamabad

Faculty of Engineering & Technology

Department of Electrical Engineering

CONTROL SYSTEMS LAB

Experiment No. 6: Study and Analysis of Open Loop and Closed Loop systems using
PID Trainer

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Registration No.: ……………………………………..

Date of Experiment: …………………………………

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Experiment No. 6: Study and Analysis of Open Loop and Closed Loop systems using PID Trainer
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Objectives:
 To learn the basic knowledge of a Proportional Integral Derivative (PID) controller.
 To study and analyze the open-loop system with disturbance using a PID Trainer.
 To study and analyze the closed-loop system with and without disturbance using a PID
Trainer.
Equipment Required:
 DMM
 PID Trainer
 Connecting wires
Theory:
Introduction to Proportional Integral Derivative (PID) controller:
A Proportional Integral Derivative (PID) controller is a control loop feedback mechanism
widely used in industrial control systems. A PID controller calculates an error as a difference
between process variable and set (reference) point. The controller attempts to minimize the
error by adjusting the process through use of a manipulated variable. The PID controller
algorithm involves three separate constant parameters (gains), and is accordingly sometimes
called three-term control: the proportional, integral and derivative values, denoted as P, I, and
D. These values can be interpreted in terms of time: P depends upon the present error, while I
upon the accumulation of past errors and D is a prediction of future errors, based on the
current rate of change. The weighted sum of these three actions is used to adjust the process
via a control element such as the position of a control valve, a damper, or the power supplied
to a heating element etc. The block diagram of PID controller with a process is given in
Figure 6.1.

Figure 6.1
Introduction to Open Loop systems:
A control system in which the control action is independent of output of the system is
called open loop control system. Figure 6.2 shows the block diagram of open loop control
system in which process output is independent of the controller’s action. Open loop system

Experiment No. 6: Study and Analysis of Open Loop and Closed Loop systems using PID Trainer
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starts with a subsystem called an input transducer, which converts the form of the input to
that used by the controller.

Figure 6.2
The controller drives a process or a plant. The input is sometimes called the reference,
while the output can be called the controlled variable. Other signals, such as disturbances, are
shown added to the controller and process outputs via summing junctions, which yields the
algebraic sum of their input signals using associated signs. For example, the plant can be a
furnace or air conditioning system, where the output variable is temperature. The controller in
a heating system consists of fuel valves and the electrical system that operates the valves. The
distinguishing characteristic of an open-loop system is that it cannot compensate for any
disturbances that add to the controller’s driving signal (Disturbance 1 in Figure 6.2). For
example, if the controller is an electronic amplifier and Disturbance 1 is noise, then any
additive amplifier noise at the first summing junction will also drive the process, corrupting
the output with the effect of the noise. The output of an open-loop system is corrupted not
only by signals that add to the controller’s commands but also by disturbances at the output
(Disturbance 2 in Figure 6.2). The system cannot correct for these disturbances, either.
Part 1: Analysis of Open Loop System with Disturbance using PID Trainer
Objective:
 To study and analyze the open loop system with disturbance.
Procedure:
a. The connections diagram for open loop control system is shown in Figure 6.3.
b. In this configuration, set point voltage is given to error detector (ground the PV terminal)
and the error signal is given to proportional (P) block with gain selector (KP), output of P
controller is given to adder and disturbance is added to the output of P controller.
Remember that Process Variable (PV) and inputs of summing block, which are not in use,
should be grounded for the proper operation of system.

Experiment No. 6: Study and Analysis of Open Loop and Closed Loop systems using PID Trainer
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 Figure 6.3
c. After making all required connections on the board, switch ON the power supply. By
varying the set point knob, we can set ±10V input or set point voltage (VSP) at TP1.
d. To analyze the effect of disturbance (D), apply 1V from Disturbance block to the
summer (adder) block as shown in Figure 6.3. Ground the inputs of summing block,
which are not in use.
e. Vary the input voltage (VSP) and proportional gain (Kp) knob in such a manner, so that

the output voltage (Vo) at TP10 is equal to 1V. Record the input voltage (VSP) at TP1, for

which the output voltage is 1V. Also, record the voltages VTP4 and VTP5.
f. Repeat steps 1(e) for different output voltages as mentioned in Table 6.1, and record the
results in Table 6.1. Find the values of Kp using output and input voltage relationship as:
𝐕𝐓𝐏𝟓
𝐊𝐩 =
𝐕𝐓𝐏𝟒

Table 6.1

Output Disturbance Input Voltage Voltage at Voltage at Proportional

Sr. Voltage (D) (VSP or TP4 TP5 Gain
No. (Vo) (volts) VTP1) (VTP4) (VTP5) (KP)
(measured) (measured) (measured) (measured) (measured)
(measured)
1 1V 1V
2 2V 1V
3 3V 1V
4 4V 1V
5 5V 1V

Experiment No. 6: Study and Analysis of Open Loop and Closed Loop systems using PID Trainer
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Introduction to Closed Loop systems:
In closed-loop control scheme, the output of the systems depends upon their input. The
system has one or more feedback loops between its output and input. The closed-loop
systems are designed in such a way that they automatically provide the desired output by
comparing it with the actual input. The closed-loop system generates the error signal, which
is the difference between the input (set point) and output as shown in Figure 6.4.

Figure 6.4
The disadvantages of open-loop systems, namely sensitivity to disturbances and inability
to correct for these disturbances, may be overcome in closed-loop systems. The generic
architecture of a closed-loop system is shown in Figure 6.4. The input transducer converts the
form of the input to the form used by the controller. An output transducer, or sensor,
measures the output response and converts it into the form used by the controller. For
example, if the controller uses electrical signals to operate the valves of a temperature control
system, the input position and the output temperature are converted to electrical signals. The
input position can be converted to a voltage by a potentiometer, a variable resistor, and the
output temperature can be converted to a voltage by a thermistor, a device whose electrical
resistance changes with temperature.
The first summing junction algebraically adds the signal from the input to the signal from
the output, which arrives via the feedback path, the return path from the output to the
summing junction. In Figure 6.4, the output signal is subtracted from the input signal. The
result is generally called the actuating signal. However, in systems where both the input and
output transducers have unity gain (that is, the transducer amplifies its input by 1), the
actuating signal’s value is equal to the actual difference between the input and the output.
Under this condition, the actuating signal is called the error.
The closed-loop system compensates for disturbances by measuring the output response,
feeding that measurement back through a feedback path, and comparing that response to the
input at the summing junction. If there is any difference between the two responses, the
system drives the plant, via the actuating signal, to make a correction. If there is no
difference, the system does not drive the plant, since the plant’s response is already the

Experiment No. 6: Study and Analysis of Open Loop and Closed Loop systems using PID Trainer
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desired response. Closed-loop systems, then, have the obvious advantage of greater accuracy
than open-loop systems.
Part 2: Analysis of Closed Loop System without Disturbance
Objective:
 To study and analyze the closed loop system without disturbance.
Procedure:
a. The connections diagram for closed loop control system without disturbance is shown in
Figure 6.5.
b. In this configuration, summer block output (at TP10) is feedback to the error detector
through feedback block so that, if output varies from the desired value due to any cause,
this variation is reported to input, through the feedback path. It provides more stable and
accurate output as compared to open loop system.

Figure 6.5
c. Adjust the set point voltage (VSP) to +2V at TP1 by varying the Set Point knob of PID
trainer, and apply it to the error detector.
To set the forward gain (A), first apply 1V at the input of Proportional (P) block and
observe its output (TP5); vary the proportional knob (Kp) such that the output is 3V,
𝐕𝐓𝐏𝟓
which means that forward gain is 3 (𝐊 𝐩 = ).
𝐕𝐓𝐏𝟒

d. To set the feedback gain (B), first apply 1V at the input of Feedback block and observe
its output; set the knob position such that the output is 0.25V, which means that feedback
𝐕𝟐
gain is 0.25 (𝐁 = ).
𝐕𝟏
e. Make all the connections on the board as shown in Figure 6.5 and switch ON the power
supply. Ground the inputs of summing block, which are not in use.
f. Measure and record the output voltage (Vo) appearing at TP10.

Experiment No. 6: Study and Analysis of Open Loop and Closed Loop systems using PID Trainer
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 g. Record the theoretical value of closed loop gain (G) using following formula:
A
G= (6.1)
1+BA
where A is the proportional/forward and B is the feedback gain respectively.
h. Record the theoretical value of output voltage as:
𝐕𝐨(𝐜𝐚𝐥𝐜.) = G ∗ Vsp
where Vsp is the input voltage (set point).
i. Repeat the above-mentioned steps 2(d) to 2(h) for different values of feedback gains
(0.50, 0.75, 1 and 2 respectively). Record the measurements in Table 6.2.
Table 6.2
Output Output
Set Point Proportional/ Closed Loop
Feedback Gain Voltage at Voltage at
Sr. Voltage Forward Gain Gain
(B) TP10 TP10
No. (VSP) (A) (G)
measured) (VTP10) (VTP10)
(measured) (measured) (calculated) (calculated) (measured)
1 2V 3 0.25

2 2V 3 0.50

3 2V 3 0.75

4 2V 3 1

5 2V 3 2

Part 3: Analysis of Closed Loop System with Disturbance

Objective:
 To study and analyze the open loop system with disturbance.
Procedure:
a. The connections diagram for closed loop control system with disturbance is shown in
Figure 6.6. In this configuration, a disturbance (D) has been added to close loop system to
find out its effect.
b. Adjust the set point voltage (VSP) at (TP1) to +3V and apply it to the input of error
detector block.
c. To set the forward gain (A), first apply 1V at the input of Proportional (P) block and
observe its output (TP5); vary the proportional knob (Kp) such that the output is 5V,
which means that forward gain is 5.
d. To set the feedback gain (B), first apply 1V at the input of Feedback block and observe
its output; vary the knob position such that the output is 1V, which means that feedback
gain is 1.

Experiment No. 6: Study and Analysis of Open Loop and Closed Loop systems using PID Trainer
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 Figure 6.6
e. Make all the connections on the board as shown in Figure 6.6 and switch ON the power
supply.
f. To analyze the effect of disturbance (D), apply 1V from Disturbance block to the
summer (adder). Ground the inputs of summing block, which are not in use.
g. Measure and record the output voltage (Vo) appearing at TP10.
h. As per theory, the disturbance (D) affects the controlled variable, and it its effect be
reduced by feedback factor. We can write an theoretical expression for the output voltage
of a closed loop system with a disturbance factor (D) as:
A D
𝐕𝐨(𝐜𝐚𝐥𝐜.) = [Vsp *( ) + ] (6.2)
1+BA 1+BA

Obtain and record the theoretical value of output voltage (Vo) using Eq. (6.2) and record
in Table 6.3.
i. Repeat the above-mentioned steps 3(f) to 3(h) for different values of disturbances (1.5V,
2V, 2.5V and 3V respectively). Record the results in Table 6.3.
Table 6.3
Set Point Disturbance Output Output
Proportional/
Feedback Gain Voltage Voltage
Sr. Voltage Forward Gain (D)
(B) (Vo) (Vo)
No. (VSP) (A) (volts)
measured) (measured)
(measured) (measured) (measured) (calculated)
1 3V 5 1 1V

2 3V 5 1 1.5V
3 3V 5 1 2V
4 3V 5 1 2.5V

5 3V 5 1 3V

Experiment No. 6: Study and Analysis of Open Loop and Closed Loop systems using PID Trainer
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