2017 International Conference on Computer, Communications and Electronics (Comptelix)

Manipal University Jaipur, Malaviya National Institute of Technology Jaipur & IRISWORLD, July 01-02, 2017

Experimental Study on Linear Displacement

Measurement Sensor using RGB Color Variation
Technique with PID Controller
Anarghya Murthy Shrikantha S Rao Mervin A Herbert
M.Tech (Research) Mechatronics Engineering Dept. of Mechanical Engineering Dept. of Mechanical Engineering
National Institute of Technology, National Institute of Technology National Institute of Technology
Surathkal, Karnataka, India 575025 Surathkal, Karnataka, India 575025 Surathkal, Karnataka, India 575025
Email: anarghya.murthy@yahoo.com

Navin Karanth P
Dept. of Mechanical Engineering
National Institute of Technology
Surathkal, Karnataka, India 575025

Abstract—This study is based on experimental approach to
linear displacement measurement using RGB color coding algo-
rithm. This system is based on the auto-calibration procedure
which can be implemented in a circuit, based on the temporal
changes in the intensity of light, with the help of a light dependent
resistor (LDR). The system consists of two LDRs and an LED
placed on one side and an RGB color coded reflective paper on the
opposite side. PIC microcontroller is used for powering the LED,
processing of data for feedback control and to display the output
on an LCD. LDR1 reading is used for displaying the relative
linear distance, by mapping the voltage as a function of distance.
This reading is used as a feedback to a PID controller to correct
for the deviation in the measurement. Extensive experimental
observations are conducted to analyze the reliability of the results
in accordance to the wavelength of light reflected, the signal
voltage and power output of the system. Investigation of the
optimum positioning of the LED and the reflective RGB color
coded paper is performed by repeatability analysis and hysteresis
effects. Furthermore, the efficiency of the system is increased by
implementing a PID controller upon investigating the different
controller design, viz. P, PI and PID. A high resolution of 0.1
[mm] is obtained for such a simple and economical system,
thereby making it highly efficient, in both minute measurements
as well as over the entire bandwidth range of the visible light
spectrum.
Keywords- Displacement, LDR, LED, PID, RGB.
I. I NTRODUCTION
In the industrial instrumentation sector, there is always a
need for the measurement of the position of a target object
with high accuracy. In the modern system this is typically
required to be contact-less detection for enhanced efficiency
and ease of use. There exists a variety of similar sensors in
the market for this task, which provides an appropriate output
signal based on the proportionate displacement of the target
material. The applications of distance measurement has been
performed in [1], [2]. The former research [1] investigated
an auto navigation platform in Arduino which uses the i2c
protocol to interface a digital compass. The system has a
rotation encoder to calculate the distance traveled and to keep
track of the direction with respect to the Earth’s magnetic field.
The authors were able to design the navigation platform which
is cost effective, insensitive to background noise and energy
efficient. The latter research [2], had its application on the
intelligent transportation system, by using distance estimation
with an onboard monocular camera and car position detection.
The authors further investigated the lane detection and tracking
(lane departure warning system) by adopting Hough transform
and Kalman filter. The drawback to this approach is that the
accuracy of the monocular camera is as good as the camera’s
interior parameters and the reliability of the calibration of the
camera in the global world frame.
An interface for the resistive sensors using digital po-
tentiometer which uses an automatic calibration procedure
for the bridge circuit offset was developed [3]. The authors
obtained better resolution of the circuit when compared to the
potentiometer circuit. The calibration procedure of a digital po-
tentiometer can be accomplished using a thermistor. However,
the efficiency of the thermistor is restricted to within a specific
operating range, as it is very sensitive to the environmental
effects of humidity and temperature. The resulting prototype
was able to compensate for the sensor’s tolerance of ±40%
with an error of ±0.5%.
LDR based systems have higher tolerance for disturbances
(insensitive to the environmental effects of humidity and tem-
perature) and are thus more reliable. A digital potentiometer
used to implement the automatic calibration procedure in a
circuit using a light dependent resistor (LDR) was developed
[4]. The authors implemented a proportional controller on
the system to ensure high accuracy and efficiency. It was
concluded that the maximum achieved steady-state error of
290[kΩ] was lower than the previous works. The LDR (Light

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Dependent Resistor) has been applied to many applications
in the recent studies related to the distance estimation and
position detection. The application of the LDR on a mobile
robot have been in the limelight and in particular the line
tracking robot [5]–[7]. The line tracking robot will detect the
light intensity which is rebounded from the white color path.
From the recent research on the line tracking mobile robot,
the configuration of the absolute positioning of the LDR was
found to be at an angle of 30◦ , and the distance between the
LDR and LED is 2.5[cm] and at a height of 2[cm] [7].
The applications of LDR is also found in the common
daily usage in today’s world, viz. streetlight on main roads
[8]. An automatic streetlight control system was designed and
implemented using the light dependent resistors. The authors
claim that this system is highly efficient and requires low
maintenance. However, the drawback is the required repeated
calibration of the LDR according to the changing climatic
conditions for better accuracy. The analysis based on the LDR
and an electret microphone as a light sensor in an optical
spectroscopy system using pulsed light is performed [9]. The
authors upon analyzing the absorption spectra of two different
liquids concluded that the LDR is a perfect choice for using
in a pulsed light spectroscopy system, as it has a much higher
signal to noise ratio when compared to the electret micro-
phones. LDR sensor is used to optimize the electrical power
consumption [10]. The authors concluded that the bulb light
intensity varied according to the external light source intensity
and the average power consumption savings of 71.39% was
achieved by the system. The LDR and OPT101 detectors are
used within the Photoplethysmogram (PPG) sensor to detect
the blood volume change in the skin [11]. The PPG sensor is
based on the principle that the hemoglobin in the blood absorbs
infrared light than any other tissue. The authors observed that
the PPG signal captured using the LDR is around 660[nm]
wavelength, however for the OPT101, the response captured is
between 500[nm] to 1000[nm]. The authors concluded that the
LDR detectors are not suitable for wavelength in the infrared
range measurements.
The control over the dynamical system is taken care of by
a controller with the necessary conditions for performance
gains and controller effort requirement [12]. In this regard,
the robot controlling is extensively dependent on the PID
based controllers which are efficient and reliable in terms of
balance between performance and control effort [13], [14].
Analytical expressions for the PID-controllers settings for the
electromechanical motion systems are developed [15]. The
authors presented in this study, that the parameters of a PID
controller are dependent on one variable i.e., the cross-over
frequency of the open loop transfer function. The cross-over
frequency is directly related to the performance criteria of the
closed loop system as derived analytically. The validation of
the proposed technique is depicted by the experimental results
for a 2DOF tilting mirror system. A cascaded PID control
system is developed for balancing the robot to keep it balanced
even upon changing the balance point [16]. For the error
variable two feedbacks are used, viz. angle error and distance
242
error. The authors concluded that the developed controller is
able to maintain the balance and correct the tilt angle set-
point within a payload limit of 350[g]. A case study of the
design of robust control for flexible axes was investigated
[17]. The authors were able to achieve robust PID control
of flexible cartesian robots which are based on the parametric
method ensuring that the roots of the closed-loop polynomial
lie within the particular domain in-spite of the presence of
uncertainties. An additional condition on the pole-placement
of the rigid mode is required as per the authors, for a good
heuristic tuning of the robust algorithm. Upon comparing with
the experimental observations, the trajectory planning as well
as the end-effector vibrations are damped while cycle time is
improved when compared to the controls used in industries. A
twin cylinder parallel electrohydraulic manipulator with 2DOF
is developed [18] and different controllers are implemented on
this system, viz. PID, fuzzy-based PIDs. The authors found
that for the combinations of motion of heave and pitch of
the manipulator, the self-tuning fuzzy PID controller with
bias performs more efficiently, when compared to the other
controllers. The robustness of the system was also investigated,
and it was observed that, though the sinusoidal response
shows phase shift, the results are acceptable with this low-
cost equipment.
Investigation in the non-value added process in the manufac-
turing industry lead to the development of a PID controller for
a mobile system which is a combination of transportation and
machining tasks [19]. The authors performed synchronization
of an automated guided vehicle (AGV) to a moving object,
and the position data with respect to each other is collected
based on an optic measurement system and is used to control
the movement of the AGV. A PID controller is developed on
this system and the experimental observations revealed that the
response of the optimized controller with PID control is better
(less than 2% deviation) than the control system without the
use of the PID controller. Extension of the KBM method for
a time-delayed fractional-order PID (FOPID) controller based
on the displacement feedback applied on the free vibration of
the Duffing oscillator is studied [20]. The authors investigated
the stability condition of system for zero solution and the
effects of time-delay on the stability of the system. According
to the authors, with the adjustment of the coefficients and the
order of the FOPID controller, the stability of the time-delay
system can be ensured.
From the literature, the authors found limited amount of
work done on the linear position measurement using LED-
LDR system in general and using an RGB color coded
reflective paper, no research work in particular was found.
The RGB color coding algorithm is particularly essential to
enhance the operating bandwidth of the system, and thereby
making the linear position measurement sensitive and accurate.
In this paper, the optimum positioning of the LED-LDR with
respect to the reflective paper is investigated in-detail using
extensive experiments. Furthermore, to increase the reliability
of the measurement system, the authors have combined the
RGB color coded algorithm with a feedback controller based

Fig. 1: Experimental setup
LCD USB PC
VCC
PIC - CPU
ADC
LED
Output RGB
LDR2 Colour
Coded
LDR1 Paper
LPF
Fig. 2: Block diagram of the system
on PID control design to enable a larger bandwidth as well as
high resolution of operation.
This paper is organized in the following sections: Section
II describes the experimental setup, section III is all about
results and discussions of the experimental observations with
the implementation of the PID controller on the system, and
the final section IV concludes the paper.
II. E XPERIMENTAL S ETUP
The linear displacement measurement system is composed
of PIC microcontroller, LCD screen, two LDRs, one LED,
RGB (Red, Green, Blue) color coded paper, Stepper motor,
rack and pinion gear arrangement system which is shown in
Figure 1. The overall system design is shown in Figure 2.
The microcontroller powers the LED, displays the output of
LDR1 on LCD, and processes the feedback of the difference
in the voltage measurement from LDR1 and LDR2 using a
PID control design.
The detailed fundamental components used in the making
of the interface circuit can be seen in Figure 3. In this study
the variation of the light intensity based on RGB color coding
is applied which is able to increase the accuracy of LDR (by
enhanced operating range) due to variation in the wavelength
of reflected light as compared to the monochromatic light of
a single wavelength. The system is based on the temporal
changes with respect to the intensity of light for the different
wavelengths of light in the visible region. The main objective
243
98 kΩ
LDR1
VCC (+5V) 1 kΩ 1 kΩ
LDR2 1 kΩ 1 kΩ 10 μF
3 kΩ
1 kΩ
200 kΩ
98 kΩ 1 kΩ
10 μF 1 kΩ
10 kΩ
1 kΩ
25 kΩ
1 kΩ
ADC
PIC
1 kΩ
Microcontroller
1 kΩ
10 kΩ
Fig. 3: Circuit diagram
of this study is to design a controller in order to incorporate
the automatic calibration ability in the system.
The controller is used to adjust the linear position (via
rack and pinion gears) of the LED with respect to the RGB
color coded paper using Stepper motor. The constant values in
the PID controller, viz. proportional gain (Kp ), integral gain
(Ki ), and derivative gain (Kd ) is tuned accordingly to get the
best performance with the least controller effort. The trade-
off among the performance and the controller effort is sorted
out by satisfying the conditions of fast rise time, minimum
overshoot, no steady state error, minimum power consumption.
III. R ESULTS AND D ISCUSSIONS
A. Wavelength Dependency
The reference signal voltage obtained with the LDR for the
different wavelength of light reflected from the RGB color
coded paper is observed in Figure 4. The curve reproduces the
light intensity in terms of voltage of the light reflected from
the RGB color coded paper as a function of the wavelength
for different distance ’d’. It is noted that the peak voltage
of the signal is in 475[nm] − 480[nm] range for the various
distances, which corresponds to the wavelength of the blue
colour in the RGB color coding scheme. Furthermore, small
fluctuations in the different curves for the wavelength of
510[nm] and 650[nm] is found, which corresponds to the
wavelength of green and red color light respectively. With
regards to the variation of the distance ’d’, the peak is more
pronounced at smaller distance (d = 0.5[mm]) between the
LED and reflective surface, when compared to the larger
distance (d = 2[mm]). The peak voltage in the wavelength
region of 475[nm] drops by 7.87% from d = 0.5[mm] to
d = 2[mm], due to the variation in the angle of incident light
upon the variation of the distance. The lower signal voltage
(due to lower intensity of the reflected light) obtained for the
red light wavelength is in line with the work [11] using LDR.
B. Distance Measurement
The signal voltage as a function of the distance is measured
experimentally with the RGB colour coded paper, and the
results are shown in Figure 5. The distance between the panel
containing LED and LDR from the color coded paper is varied
 Wavelength [nm] v/s Voltage [V] Distance [mm] v/s Output Power [mW]
4.5 2
d = 0.5 [mm]
d = 0.5[mm] Fitted curve (1 st order polynomial)
4.4 d = 1[mm] 1.8 d = 1 [mm]
d = 1.5[mm]
Fitted curve (1 st order polynomial)
4.3 d = 2[mm] 1.6 d = 1.5 [mm]
Fitted curve (1 st order polynomial)
4.2 1.4 d = 2 [mm]

Power Output [mW]

Fitted curve (1 st order polynomial)
4.1 1.2
Voltage [V]

4 1

3.9 0.8

3.8 0.6

3.7 0.4

3.6 0.2

3.5 0
300 350 400 450 500 550 600 650 700 750 0 50 100 150 200 250 300
Wavelength (λ ) [nm] Distance [mm]

Fig. 4: Signal voltage as a function of wavelength [nm] Fig. 6: Output power as a function of distance

Distance [mm] v/s Voltage [V]

Distance [mm] v/s Voltage [V] 0.025
5
0.02

4.5 0.015

Voltage difference (Δ V) [V]

0.01
4
0.005
Voltage [V]

0
3.5
d = 0.5 [mm] -0.005
Fitted curve (1 st order polynomial)
3 d = 1 [mm] -0.01
Fitted curve (1 st order polynomial)
d = 1.5 [mm] d = 0.5[mm]
-0.015 d = 1[mm]
Fitted curve (1 st order polynomial)
2.5 d = 1.5[mm]
d = 2 [mm]
-0.02 d = 2[mm]
Fitted curve (1 st order polynomial)
-0.025
2 0 50 100 150 200 250 300
0 50 100 150 200 250 300
Distance [mm]
Distance [mm]

Fig. 5: Voltage as a function of distance Fig. 7: Signal voltage difference as a function of distance

first order polynomial fit. Moreover, with the increase in the

from d = 0.5[mm] to d = 2[mm] in steps of 0.5[mm].
The target at a maximum distance of 300[mm] is performed
successfully. From Figure 5 it is observed that, the signal
voltage decreases by an average of 20%, with the increase
in the distance of the target from the sensor. Furthermore, it
is noted that, with the increase in the distance ’d’ between
the LED and the reflective RGB color coded paper, the signal
voltage keeps decreasing by an average of 4%. This is due to
the fact that, with the increase in the distance of the LED from
the reflective RGB color coded paper, the angle of incident
light changes effecting the light intensity, thereby varying the
voltage. Therefore, an optimum distance which provides the
maximum incident light on the LDRs from the reflective RGB
color coded paper is further investigated in detail. The linear
sensing distance was found to be 300[mm], which is obtained
by ensuring the linear correlation coefficient to be above 99%.
The output power as a function of the distance is shown in
Figure 6. A linear correlation among the power output and the
distance is found, by ensuring the linear correlation coefficient
of first order polynomial fit to be 99%. The power output
decreases with the increase in the distance of the target object
from the sensor, as the signal to noise ratio decreases with
the increase in the distance. The trend of the power output as
a function of linear distance is captured effectively using the
distance ’d’ of the LED with the reflective paper, it is found
that the power output decreases by an average of 22% from
d = 0.5[mm] to d = 1.5[mm]. However, for the distance
d = 2[mm], the power output decreases considerably by 40%
from the previous consecutive distance ’d’.
C. Repeatability and Hysteresis Analysis
1) Repeatability Observations: Two trial experimental tests
were performed under same testing conditions within a time
span of 10[min] to analyze the repeatability of the obtained
results. The repeatability test results are shown in Figure
7. From the figure it is observed that the difference in the
signal voltages of the consective test runs, were low for small
distance (d = 0.5[mm]), which increases with the increase
in the distance (d = 2[mm]). The maximum deviation of
the voltages with d = 0.5[mm] is ±0.005[V ]. On the other
hand, with d = 2[mm], the maximum deviation obtained is
±0.02[V ] which is an increase in the deviation of 75%. The
repeatability test for distance d = 2[mm], is on the lower end
(±0.02[V ]), however, it is not as reliable as the positioning of
the LED, more closer towards the reflective RGB color coded
paper. It is to be noted that with the increase in the distance
between the sensor and the reflective surface, the sensitivity
increases and it is more prone to noise (low S/N ratio). The

244

Hysteresis Analysis - Distance [mm] v/s Output Power [mW]
2
Observations-1 (150[mm] to -150[mm])
1.8 Observations-2 (-150[mm] to 150[mm])
1.6
1.4
Power Output [mW]
1.2
1
0.8
0.6
0.4
0.2
0 in the coming section. To eliminate the steady state error,
-150 -100 -50 0 50 100
Distance [mm]
Fig. 8: Hysteresis effect for power output with distance
deviations in the test runs with d = 2[mm] could also be
due to the greater amount of the reflective region being in red
color wavelength, which gives a lower reading of the voltage
as seen earlier in Figure 4, and the non suitability of working
of the LDR with the red and infra-red wavelengths as seen
from [11].
2) Hysteresis Analysis: is performed in order to check the
reliability of the results at any given time without being depen-
dent on the previous consecutive experimental observations.
Therefore, in this study, the hysteresis effect on the output
power for the variation in the linear displacement is shown
in Figure 8. The sensor’s hysteresis gain is evaluated by
changing the linear position consecutively from −150[mm]
to 150[mm] and then back from 150[mm] to −150[mm]. The
distance ’d’ between the LED and the reflective surface is
kept as d = 0.5[mm] which yields the optimum results, as
observed from the previous subsubsection III-C1. From Figure
8, it is observed that the two observation results are in good
agreement with each other and overlap well. This is indicative
of the fact that the sensor used in this system has low hysteresis
for the configuration of d = 0.5[mm] and is the optimum
position.
D. Controller Design
The feedback information of the linear position measure-
ment is given to the microcontroller from LDR1 and the dif-
ference in the voltage measurements (from LDR1 and LDR2)
is calculated as the error of the signal which is corrected using
a PID controller. The PID controller, controls the motor to
correct the position of LED w.r.t the reflective paper by a
linear movement of rack and pinion arrangement. For stability
of the system, Bounded Input Bounded Output (BIBO) is
considered. The open loop behavior of the plant is observed
and is found to be growing in an unbounded manner for the
step input response. This is indicative of the fact that for the
motor positioning system, a suitable controller is required to
bound the output of the plant.
Initially, a proportional (P) controller is implemented and
the control input to the plant in time domain is equal to
the proportional part of the equation 1. P-controllers are
Disturbance
PLANT Output
Set Point (Actual Voltage)
LDR2
(Desired Voltage)
Input
+- Error
CONTROLLER ++ MOTOR
LDR1
Fig. 9: Controller overview for the position measurement system
essential to reduce the steady state errors, but eliminating
them completely is not possible with them as will be seen
150
Proportional Integral (PI) controller is implemented, and the
control input to the plant in time domain is given by the
proportional and integral part of the equation 1. This results
in the elimination of the steady state error, but increases the
settling time, which is not efficient in the real motion system.
To reduce the settling time and overshoot from PI-controller, a
derivative term is added to the controller design, thus forming
a proportional integral derivative (PID) controller. The output
of a PID-controller is the control input to the plant in the time
domain, as given by the equation 1

de(t)
u(t) = Kp e(t) + Ki e(t)dt + Kd (1)
dt
1) P controller: A simple proportional controller design is
investigated to observe the BIBO stability criteria for the given
system. Response to a step reference for different values of
Kp is observed in Figure 10. The rise time decreases with the
increase in the Kp value. For further investigation, the system’s
response to the disturbance by itself is observed with a zero
reference. From Figure 11, it is observed that irrespective of
the value of the proportional gain Kp , the system has no
steady-state error in response to the step reference by itself,
due to the fact that the plant has an integrator. Moreover, the
system has steady-state error when the disturbance is added.
According to the property of superposition for linear systems,
the response due to the reference and disturbance applied
simultaneously is equal to the sum of the two. In order to
achieve a zero steady state error in the presence of disturbance,
the disturbance response is required to attenuate to zero. Also,
it is noticed that, with the increase in the value of Kp , the
smaller will be the steady state error, however, it will never
reach zero. To eliminate the steady state error, an integral term
is added in the next section III-D2.
2) PI controller: To reduce the steady state errors observed
previously, PI controller is designed. Considering the worst-
case scenario of Kp = 0.25, the response to a step reference
for different value of Kp is shown in Figure 12. The integral
term has reduced the previously observed steady state error
to zero. It is also noticed that, apart from the amount of
oscillation increasing slightly with the increase in the Ki value,
all of the responses look similar. The settling time has however,
increased by twice the previous controller output. Such a long
settling time is not desired in the real motion system, and
245
 Fig. 10: Proportional gain controller for different values of Kp
Fig. 11: Step disturbance for different values of Kp
Fig. 12: Step response for PI controller Kp = 0.25 with varying Ki
therefore a derivative control is to be added in the control
design to take care of the overshoot and the settling time.
3) PID controller: For the linear position measurement sys-
tem using LDR, Proportional-Integral-Derivative (PID) con-
troller, is implemented to enhance the system performance by
tuning the PID parameters. The PID-controller is developed by
tuning the PID gain constant at a time and the resulting closed
loop step response is shown in Figure 13. From the PID control
design, the system with the low rise time of t = 0.26[s],
overshoot of 5.81%, settling time of t = 1.96[s], and steady
state error of 0% is achieved, with PID gain constants as
246
Fig. 13: Step response for PID controller Kp = 10, Ki = 10, Kd = 1
TABLE I: Characteristics of PID controller on
Linear Positioning System
Response (CL) Rise Time Overshoot Settling Time S-S Error
Kp Decrease Increase Changes Decrease
Kp & Ki Decrease Increase Increase Eliminates
Kp , Ki & Kd Changes Decrease Decrease No Effect
Kp = 10, Ki = 10, Kd = 1. Moreover, the resolution of the
linear position measurement system is achieved as 0.1[mm]
which can be observed from the overshoot value in the step
response (Figure 13). The characteristic features of the P, PI,
and PID controller as observed from the linear positioning
system is tabulated in table I
IV. C ONCLUSION
From this experimental research study, the following can be
concluded:
1) A simple, economical and efficient linear position mea-
surement system has been developed using PIC mi-
crocontroller interfaced to an LED-LDR system and a
reflective RGB color coded paper for enhanced range of
operation in the visible light spectrum.
2) The signal voltage for the blue wavelength region of
light (475[nm] − 480[nm]) shows peak amplitudes,
suggesting the high sensitivity of the LDR for this
wavelength.
3) The positioning distance of the LED-LDR with respect
to the RGB color coded paper is optimized by extensive
experimental observations of voltage, power, repeata-
bility and hysteresis analysis for the linear distance
measurement, and was found to be 0.5[mm].
4) Extensive controller design is performed on the system
to reduce the error by implementing a P-controller and
PI-controller which yielded stable results, however it
was a compromise on the performance of the system.
Therefore, a PID controller is tuned (Kp = 10, Ki = 10,
Kd = 1) for the efficient performance of the system’s
response (low rise time of t = 0.26[s], overshoot of
5.81%, settling time of t = 1.96[s], and steady state
error of 0%) enabling a resolution of 0.1[mm].
 ACKNOWLEDGMENT [18] Ghosh, B. B., Sarkar, B. K., & Saha, R. (2015). Realtime performance
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