CENTRE FOR DIPLOMA STUDIES

CONTROL SYSTEM
DEPARTMENT OF ELECTRICAL ENGINEERING

LABORATORY INSTRUCTION SHEETS

COURSE CODE AND

DAE32103 – CONTROL SYSTEM
COURSE NAME

YEAR 2 DAE

TITLE OF
PID Controller
EXPERIMENT

EXPERIMENT NO. 3
 Control System (DAE32103) ii
Lab 3

Table of Contents

1.0 Outcomes A

2.0 Guidelines A

3.0 Procedures B

Overview of Lab 3 B

4.0 Lab Activity C

Lab Activity 1: Without controller C

Lab Activity 2: P Controller C

Lab Activity 3: PD Controller D

Lab Activity 4: PI Controller D

Lab Activity 5: PID Controller E

Questions 2

Lab Activity 2

Lab Activity 1 2

Lab Activity 2 2

Lab Activity 3 2

Lab Activity 4 2

Lab Activity 5 2

Demonstration 3

Observations 3
 Control System (DAE32103) A
Lab 3: PID Controller

1.0 Outcomes

After completing this module, students should be able to:

1. Understand that the Simulink is a graphical tool that allows us to PID control systems.
2. Familiarize the components of Simulink in designing circuit and obtaining result analysis

2.0 Guidelines

1. Grouping: Lab group is predetermined and consists with at most two team members.
2. Questions: Must be answered individually in AUTHOR.
3. Lab Activities: All lab activities must be completed during lab session.
4. Demonstration: Student must demonstrate the successful lab activities to the respective
instructor during lab session. Verification will be given upon completion of all lab activities.
5. Report Organization: Report must be HANDWRITTEN and organized according to given
report template. All details, schematic diagram, graphs and related materials must be included
in the report.
6. Report Submission: Report must be received by respective technical staff (at AUTHOR)
before consecutive lab session. 2 weeks is given to complete the report. Scan your
handwritten report into PDF format.
 Control System (DAE32103) B
Lab 3: PID Controller

3.0 Procedures

Overview of Lab 3

Consider the following unity feedback system:

R + e u Y
controller plant
-

Figure 1

Plant: A system to be controlled.

Controller: Provides excitation for the plant; Designed to control the overall system behaviour.
The three-term controller: The transfer function of the PID controller looks like the following

𝐾𝐼 𝐾𝐷 𝑠 2 + 𝐾𝑃 𝑠 + 𝐾𝐼
𝐾𝑝 + + 𝐾𝐷 𝑠 =
𝑠 𝑠
where,
KP = Proportional gain
KI = Integral gain
KD = Derivative gain

The variable (e) represents the tracking error, the difference between the desired input value (R)
and the actual output (Y). This error signal (e) will be sent to the PID controller, and the controller
computes both the derivative and the integral of this error signal. The signal (u) just past the
controller is now equal to the proportional gain (KP) times the magnitude of the error plus the
integral gain (KI) times the integral of the error plus the derivative gain (KD) times the derivative of
the error.

𝑑𝑒(𝑡)
𝑢 = 𝐾𝑝 𝑒(𝑡) + 𝐾𝐼 ∫ 𝑒(𝑡)𝑑𝑡 + 𝐾𝐷
𝑑𝑡
 Control System (DAE32103) C
Lab 3: PID Controller

4.0 Lab Activity

Lab Activity 1: Without controller

1. The closed loop system without a controller is shown in Figure 2.

Figure 2

2. Set the simulation time to 2 seconds.

3. Record the step response of the system.

Lab Activity 2: P Controller

1. The close loop system with proportional control is illustrated in Figure 3.

R + e u Y
1
𝐾𝑃
𝑠 2 + 10𝑠 + 20
-

Figure 3

2. Set the simulation time to 2 seconds.

3. Set the proportional gain, KP = 10. Record the step response of the system.
4. Change the proportional gain, KP = 300. Record the step response of the system.
 Control System (DAE32103) D
Lab 3: PID Controller

Lab Activity 3: PD Controller

1. The close loop system with proportional and derivative control is illustrated in Figure 4.

R + e u Y
1
𝐾𝑃 + 𝐾𝐷 𝑠
2
𝑠 + 10𝑠 + 20
-

Figure 4

2. Set the simulation time to 2 seconds.

3. Set the proportional gain, KP = 300 and KD = 10. Record the step response of the system.

Lab Activity 4: PI Controller

1. The close loop system with proportional and integral control is illustrated in Figure 5.

R + e u Y
𝐾𝐼 1
𝐾𝑃 + 2
𝑠 𝑠 + 10𝑠 + 20
-

Figure 5

2. Set the simulation time to 2 seconds.

3. Let the proportional gain, KP = 300 and KI = 300. Record the step response of the system.
 Control System (DAE32103) E
Lab 3: PID Controller

Lab Activity 5: PID Controller

1. The close loop system with proportional, integral and derivative control is illustrated in Figure
6.

R + e u Y
𝐾𝐼 1
𝐾𝑃 + 𝐾𝐷 𝑠 +
𝑠 𝑠 2 + 10𝑠 + 20
-

Figure 6

2. Set the simulation time to 2 seconds.

3. Let the proportional gain, KP = 300, KI = 300 and KD = 10. Record the step response of the
system.
 DAE32103: CONTROL SYSTEM

About Students:
Name Matric No. Section:
1. 1. Instructor’s Name:
2. 2.

About Experiment:
Title Venue
Makmal Instrumentasi &
Lab 3: PID Controller Kawalan (MIK)
Date

FOR INSTRUCTORS ONLY

Domain Item Subtotal Total
C Questions /20 /20
Lab Activity /40
P Demonstration (Instructor’s Verification) /20 /80
Observations /20
TOTAL

Grading Rubric for Practical Skill

Criteria 5 4 3 2 1
Lab activity Varies, depending on questions assigned

Observations Varies, depending on observations assigned

• Uses tools with some
• Uses tools with a high • Uses tools with limited
competence.
degree of competence. competence.
• Moderate explanation of the
Demonstration • Detailed & accurate • Very brief explanation of the
result with minor
explanation of the result. result which shows lack of
(video) misunderstanding.
• Completed all tasks understanding.
• Most tasks completed
successfully within the • Many pending tasks left at the
successfully within the given
given time. end of the session.
time.

TOTAL MARK Instructor’s Comment Submission Stamp

/100
 Control System (DAE32103) 2
Lab 3: PID Controller

Questions

Questions assigned individually in AUTHOR. Please answer individually within the specified
duration.

Lab Activity

Lab Activity 1

1. Derive the transfer function of the system in Figure 2.

(3 marks)

2. Attach the graph for step response.

(8 marks)

Lab Activity 2

3. Derive the transfer function of the system in Figure 3.

(3 marks)

4. Attach the graph for step response.

(4 marks)

Lab Activity 3

5. Derive the transfer function of the system in Figure 4.

(3 marks)

6. Attach the graph for step response.

(4 marks)

Lab Activity 4

7. Derive the transfer function of the system in Figure 5.

(3 marks)

8. Attach the graph for step response.

(4 marks)

Lab Activity 5

9. Derive the transfer function of the system in Figure 6.

(4 marks)

10. Attach the graph for step response.

(4 marks)
 Control System (DAE32103) 3
Lab 3: PID Controller

Demonstration

Verify your completed lab activity to your respective instructor.

(20 marks)

Verified by:

Observations

1. Referring to Lab activity 1 to 5, fill in the table below.

(8 Marks)
Rise time Overshoot % Transient time Steady state error
Without controller
P Controller (Kp=10)
P Controller (Kp=300)
PD Controller
PI Controller
PID Controller

2. Referring to Lab activity 3, discuss the effects of Kp to the closed loop control system.
(3 Marks)

3. Referring to Lab activity 4, discuss the effects of KD to the closed loop system.
(3 Marks)
 Control System (DAE32103) 4
Lab 3: PID Controller

4. Referring to Lab activity 4, discuss the effects of KI to the closed loop system.
(3 Marks)

5. Among the four (4) types of controllers implemented (P, PD, PI and PID controller), briefly
discuss which controller yields the best outcome for the closed loop system.
(3 Marks)