PID Controller: Objective - Plot Temperature Vs Time graph for 3 different sets of controllers (P, PI,

PID). Plot all graphs separately.

Using Plots, calculate the following for PI and PID controller: Overshoot Ratio, Decay Ratio, Time
Period of Oscillation, Rise time.

PI controller is used widely in pressure, flow and level

I - removes offset adds oscillation
D - fastens the process
PD - it can not be used where the lag is short

The tuning parameter for proportional control are proportional band (PB) Or
proportional gain (KC) and time delay.

Proportional band or throttling range is defined as the error expressed as a

percentage of the range of the measured variable required to allow the heater
to generate heat. Proportional gain is the proportional control factor, which is used
to determine the proportional band.
PB=100/Kc

A three-mode controller contains the stability of proportional control, ability

to eliminate offset because of integral control and the ability to provide an immediate
correction for the magnitude of disturbance because of derivative control

Precautions -
Use the stabilised A.C. Single Phase supply only.
Never switch on the mains power supply before ensuring that all the ON/OFF switches given on the
panel are at the OFF position.
Never run the apparatus if the power supply is less than 180 volts and above 240 volts.
Always keep the apparatus free from dust.
An overdamped system moves slowly toward equilibrium. An underdamped system moves quickly to
equilibrium but will oscillate about the equilibrium point as it does so. A critically damped system moves
as quickly as possible toward equilibrium without oscillating about the equilibrium.

Impact of the Kc parameter :

The Kc parameter is changed from 3 to 8, while keeping the other parameters constant between
observations 1 and 2.
The result of this increase in Kc is :
● Faster rise to the set point ● Larger overshoot ● Slower decay ● Lower frequency of oscillations
Hence, increase in Kc causes a quicker response initially at the cost of prolonged and larger oscillations.

Impact of the Ti parameter :

The Ti parameter is changed from 60 to 20, while keeping the other parameters constant between
observations 2 and 3.
The result of this decrease in Ti is :
● Faster rise to the set point ● Higher frequency of oscillations.
Hence, decrease in Ti causes a quicker response initially at the cost of oscillations with higher frequency.

The decay an overshoot are very similar Impact of the td parameter :

The td parameter is changed from 14 to 20, while keeping the other parameters constant between
observations 3 and 4. The result of this increase in td is :
● Better decay
● Slightly increased frequency of oscillations. Hence, increase in td causes a better decay in the
oscillations while the other aspects remain similar. The parameters Kc =3; Ti=60 & td=14 of observation
1 seem to give the most efficient response.

QUESTIONS:
The transfer function of PID
Kc + Ki/s + Kd*s

The transfer function of the U-tube manometer