HACETTEPE UNIVERSITY

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

ELE 405 CONTROL SYSTEMS DESIGN LABORATORY
EXP #1 PID CONTROLLER
1. INTRODUCTION
Many control problems can be solved using a PID (Proportional + Integral + Derivative)
controller. This is in fact the standard tool to solve process control problems. A PID
controller can be described by the equation
(

+ + =
}
dt
t de
T dt t e
T
t e K t u
d
i
) (
) (
1
) ( ) (
Where error e is the difference between command signal (set-point) and process output
(measured variable) and u is the output of controller (control signal). K represents the
proportional gain.
i
T is called integral action time (or reset time) and
d
T is called derivative
action time (or preact time).
Proportional Control:
The error signal is used to apply corrective action in order to reduce the error. The simplest
such arrangement makes the correction proportional to error, and is called a proportional
control system. Increasing the system gain can reduce the steady state error. But as the gain
increases, the system will tend to become oscillatory. If this problem limits the gain unduly,
the error will tend to remain large unless other measures are taken.
Integral Control:
A way of reducing the steady state error is to integrate the error signal. The time-integral of
the error signal will change at a rate proportional to the error itself. It will always keep on
changing until the error becomes zero, so that if there is a steady error the corrective signal
must eventually become large enough to correct it. As with proportional control, there may be
a problem finding a satisfactory gain setting, this time relating the rate of corrective action to
the error signal. Either the correction takes a long time, or it brings the system to zero error at
such a rate that it overshoots.
Derivative Control:
A third component of corrective signal is used to reduce the tendency to overshoot. This is
called derivative control, which uses a signal proportional to the rate of change of error. Too
much derivative action will slow the action unnecessarily. Also it tends to exaggerate the gain
at high frequencies, so that in practice it is always modified to prevent signals above the
useful frequency range from saturating the signal path.






2. PRELIMINARY WORK
2.1. Unit step response of a unity feedback closed loop system is given by
t
e t y
20
5 . 0 5 . 0 ) (

= . The controller
s
K
s K K s G
i
d p c
+ + = ) ( is cascaded in the forward path
of this system. Determine the constants
p
K ,
d
K and
i
K

such that
ss
e due to unit ramp is 0.1,
natural frequency s rad w
n
/ 5 = and damping ratio 5 . 0 = .
2.2. a) Show that the op-amp circuit in the Figure 1 realizes the practical PID compensator
with the transfer function
1
1
) (
) (
) (
+
+ + =
Ts
s K
s
K
K
s V
s V
d
i
p
i
o

Determine the constants
p
K ,
d
K ,
i
K and T in terms of circuit components.
b) For the following values of resistors and capacitors obtain the Bode plot of the
compensator. Indicate the gain and phase margins: K R R 100
2 1
= = , K R
f
10 = ,
F C =10
1
, and F C
f
=1 .
) (s V
i
) (s V
o
1
R
1
C
2
R
f
R
f
C
-
+

Figure 1
3. EXPERIMENTAL PROCEDURE
3.1. Connect the equipment as shown in Figure 2 using the potentiometer to supply a variable
dc input signal to the module. Check the switch positions to ensure that the proportional path
only is enabled and select X1 proportional gain. Apply V 5 + dc to the error input by
rotating the input potentiometer. Measure the output voltages at the

0 and

180 sockets.
Applying different values of gain settings complete the Table 1.
gain setting

0 output
(x1)

0 output
(x10)

180 output
(x1)

180 output
(x10)
0.1
0.6
1.0
1.1
Table 1
output
0
o
180
o
+15V 0V -15V
error
input
out
in
input
PID UNIT PID 150Y
x1
x10
out
in
x1
x10
out
in P
x1
x10
1
t
t
t
.9
.8
.7
.6
.5
.4
.3
.2
.1
1
1.1
integral
2
4
6
8
10
12
14
16
18
20
22
.1
.2
.3
.4
.5
.6
.7
.8
.9
1
1.1
proportional
d
d
i
derivative
t
t
t
i
(s)
d
ms
d
dt
dt
i
sum
+15V 0V
-15V
10K
pot.
POWER
SUPPLY

Figure 2
3.2. Restore the dc potentiometer input as in Figure 2. Make the following settings:
All in/out switches to "out"
Integral and proportional ranges to "X1"
Proportional gain to 1
Integral t to s 1
Connect the oscilloscope probes such that input and output signals can be observed and set
the time base running at cm ms/ 200 . Set V 5 + on the input potentiometer, then switch the
integrator "in". Observe the steadily increasing output voltage, and note the time that it takes
to reach a value equal to the input voltage (Figure 3).
Repeat the observation for other input voltages and integral time constants. Complete the
following table measuring the action time in each case.
input voltage (
V )
s 1 = t s 5 . 0 = t
5 +
1 +
4
Table 2
+ 5 V
0 V
output
input
time action time

Figure 3
In a linear control system this action time corresponds to the T in the Laplace transform
) / 1 ( 1 Ts + denoting proportional plus integral action.
Selecting the proper switch positions, obtain and draw the output signal of P, I and PI
controllers due to square input.
P I PI

3.3. Connect the triangle signal from the function generator to the derivative input of the PID
module with frequency of approximately Hz 5 and amplitude
p p
V

2 . Select the derivative
path only, setting the
d
T control fully clockwise and the range switch to "X10. Set the
proportional gain to unity.
Observe the waveform at the output of the PID module to be a square wave. Adjust the input
frequency until a square wave of
p p
V

4 is present at the output. The frequency may be
calculated as follows. If
i
u is the input to and
o
u the output from, the differentiator,
dt d K
i o
/ u = u , where K must have the dimension of time. With the proportional gain set to
1, K is simply the derivative action time
d
T . If Hz f is the frequency of the signal
generator, the time taken for the triangle wave to change by V 2 is f / 5 . 0 seconds, so that
the rate of change of the input signal is s V f / 4 . The corresponding output signal is V 2 .
Substituting these values in the equation yields
220 . 0 4 ) ( ) / ( 4 ) ( 2 = = f ms T s V f V
d

f 88 . 0 2 =
Hz f 3 . 2 = approximately.



Varying the time constant of differentiator complete the Table 3.
Setting ( ms ) frequency
from reading (
Hz )
frequency
from formula (
Hz )
20
80
160
220
Table 3
Selecting the proper switch positions obtain and draw the output signal of P, D and PD
controllers due to triangle input.
P D PD




4. RESULTS AND CONCLUSION

4.1. What are the advantages and disadvantages of proportional, integral and derivative terms
in control systems?
4.2. Which methods can be used to determine optimum settings for the proportional, integral
and derivative terms?
4.3. Comment on purpose of experiment, expectations and the results obtained in laboratory.