Name: Samanvay Lakhotia Roll # 190747

Lab 4

1. Shinskey’s PID θ controller:

2. PIDβ controller:

S. No. Controller Optimization Kc τi τd θ (Dead β

Time)
1. Regulator 35.3328 1.6296 3.2498 3.5128 -
2. PID & Servo 21.3112 7.0412 1.7784 - 0.5, 1
3. Regulator 24.8669 6.0221 - 6.2014 -
4. PI & Servo 9.6117 10.6399 - - 0.5, 1
 PID Controller:

PI Controller:

Conclusions:
1. For Servo response in both PI & PID controllers, β = 1 case (pure controller) gives
a looser response as compared to β = 0.5 case.
2. For Servo response in PI controller: β control is tighter in comparison to θ
control. While, for PID controller, β control is looser in comparison to θ control.
3. For Regulator response, β does not play any role, i.e. the Regulator response is
the same irrespective of β.
4. For Regulator responses, β control is looser than θ control for both PI & PID
cases.