LAB 1: Effect of controller gain.

PID 1 (P=0.05, I= 0.01, PID 2 ( P=0.08, I= 0.01,

Criteria PID 3 ( P=0.1, I= 0.01, D=0)
D=0) D=0)
Settling time 190.047 s 143.363 s 103.149 s

Overshoot 0.612 s 0.474 s 0.402 s

Decay ratio 0.338 s 0.075 s 0.038 s

Rise time 20.031 s 18.928 s 18.266 s

Number of oscillations 4 2 1

Period of oscillation 90.647 s 91.048 s 92.610 s

Time of first maximum 39.928 s 38.319 s 36.202 s

The value of proportional (P) was set differently to observe the behavior of response each of it. In
proportional control, the output is proportional to the error signal. As the result obtained, the larger the
value of P, the quicker the system act towards the set point (refer to rise time). A proportional controller
(gain controller) will have the effect of reducing the rise time but never eliminate the steady-state error.
In this Lab 1, the value of Integral was inserted to let system achieve the set point by reducing the error
set by proportional. Furthermore, the oscillation in the system occurred when the value of proportional
was larger and it can became unstable for system to control. Based on the graph plotted, PID 3 shows the
system has the quickest rise time, lowest overshoot and fastest settling time compared to PID 1 and 2. It
can be concluded that, the higher the value of gain controller does reduced error in order to achieve the
set point.

LAB 2 : Effect of integral time.

PID 1 (P=0.05, I= 0.01, PID 2 ( P=0.05, I= 0.02, PID 3 ( P=0.05, I= 0.03,

Criteria
D=0) D=0) D=0)

Settling time 231.225 s 251.331 s 236.323 s

Overshoot 0.612 s 0.705 s 0.754 s

Decay ratio 0.338 s 0.467 s 0.545 s

Rise time 20.035 s 14.597 s 12.084 s

Number of oscillations 3 5 7

Period of oscillation 90.419 s 63.401 s 51.782 s

Time of first maximum 39.907 s 29.107 s 23.921 s

The value of integral time (I) was set differently to observe the behavior each of the system. In integral
control action, this control can eliminate of offset. Basically, the output depends on the integral of the
error signal over time. When the error is introduced, the output changes immediately by an amount equal
of gain. As long as the error is present, the controller keeps changing its output (integrating the error).
The output will be accelerated and attains a steady state point by reducing the error of proportional/gain
mode. Based on the result obtained, the decreases the value of integral, the faster the system act in terms
of reaching steady-state. The value of I is important for the system behavior as if it is too low, it unable to
drive the system to reach the set point (instability), and if it is too high, the process becomes oscillatory
(overshoot). From the graph plotted, it can be seen that PID 1 shows the fastest system reached steady
state with less oscillatory and lowest overshoot. Thus, the smaller value of I, the faster the controller
integrates.
LAB 3 : Effect of derivative time
PID 1 (P=0.05, I= 0.01, PID 2 ( P=0.05, I= 0.01, PID 3 ( P=0.05, I= 0.01,
Criteria
D=0) D=0.5) D=1)

Settling time 231.225 s 259.182 s 284.322 s

Overshoot 0.612 s 0.513 s 0.442 s

Decay ratio 0.338 s 0.370 s 0.405 s

Rise time 20.035 s 22.600 s 24.935 s

Number of oscillations 4 4 4

Period of oscillation 90.419 s 101.012 s 109.292 s

Time of first maximum 39.907 s 44.986 s 49.673 s

The value of derivative time (D) was set differently to observe the behavior each of the systems. Derivative
control is able to remove the overshoot and to control errors. It reduced the magnitude of overshoot
produce by the integral and improve the combined controller-process stability. The PID mode is
recommended for the slower process as these are very sensitive to faster process and may become
unresponsive. From the result obtained, the value of overshoot decreases when the value of D increase.
It can concluded derivative controller does reduce the magnitude of overshoot. From the plotted graph,
it can be seen that the system PID 3 shows the lowest peak of overshoot but the transient response is
slowest compared to system PID 1 and 2.

LAB 4 : Effect of deadtime

PID 1 (P=0.2, I= 0.01, D=0, PID 2 (P=0.2, I= 0.01, D=0, PID 3 (P=0.2, I= 0.01, D=0,
Criteria
Time delay = 5) Time delay = 7) Time delay = 9)

Settling time 46.527 s 89.625 s 305.541 s

Overshoot 0.505 s 0.821 s 1.101 s

Decay ratio 0.006 s 0.1157 s 0.5613 s

Rise time 13.939 s 15.443 s 17.384 s

Number of oscillations 1 2 7

Period of oscillation 66.349 s 52.729 s 54.394 s

Time of first maximum 24.881 s 26.920 s 30.805 s

The value of time delay was set differently to observe the pattern each of the system. The meaning of
delay is units that cause a time-shift but do not affect the system but delays the signal for an exact amount
of time. By increasing the time delay with 5, 7 and 9 s, the process start a little bit later depends on the
time delay inserted. As the time delay inserted, the rise time also affected. The higher the value of time
delay, the later the rise time of the system and the time first maximum peak. Compared to system PID 3
and PID 1, the rise time of PID 3 is much larger than PID 1 due to larger value of delay time. It can be
concluded that, time delay does not affect the system but affect the amount of time for system to reach
steady state, time of first maximum peak and rise time.