University of Bahrain

College of Information Technology

Department of Computer Engineering

ITCE470: CONTROL SYSYTEM

Experiment No. 4
PID Controller Design

Name: Halima Mohamed Ismail Alturabi

ID: 20133684
Sec NO: 1
Date of submission: 14 \ 12 \ 2015
Objectives: In this lab we will introduce a simple feedback compensator structure, the Proportional-Integral-Derivative

(PID) controller. We will discuss the effect of each of the PID parameters on the closed-loop dynamics and demonstrate

how to use a PID controller to improve the system performance.

List of Equipment/Software

Following equipment/software is required:

 Matlab

Category:

 Soft-Experiment

Deliverables

A complete lab report including the following:

 Summarized learning outcomes.

 Models and plots
 Discussion on the results
Introduction: pid controller
• PID control consists of a proportional plus derivative (PD) compensator cascaded with a
proportional plus integral (PI) compensator.
• The purpose of the PD compensator is to improve the transient response while maintaining the
stability.
• The purpose of the PI compensator is to improve the steady state accuracy of the system without
degrading the stability.
Since speed of response, accuracy, and stability are what is needed for satisfactory response, cascading
PD and PI will suffice.

Let’s consider the following unity feedback system:

The block diagram of a basic PID controller looks like

The output of a PID controller, equal to the control input to the plant, in the time-domain is as follows:

de
(1) u (t )  K p e(t )  K i  e(t )dt  K d
dt
PROCEDURE AND RESULTS:

For the cruise control system developed in Lab 2 and analised in Lab 3, develop a PID controller that satisfies the

following design specifications:

 Rise time < 5 s

 Overshoot < 10%

 Steady-state error < 2%

With a reference signal of 10 m/s.

For this example, no implementation of a derivative controller was needed to
obtain a required output. and this step response meets all of the design criteria,
and therefore no more iteration is needed.

Conclusion:-

in this experiment we introduce a simple feedback compensator structure. A proportional–integral–

derivative controller (PID controller) is a control loop feedback mechanism (controller) commonly used in

industrial control systems .I conclude that Pid controller will no overshooting the system ,and will fast rise

time and no steady state error for the system. but with our requirements we design pd controller so that

Rise time < 5 s, Overshoot < 10% and Steady-state error < 2%.