SUMMARY

The objective of this experiment was to learn how to develop a first order plus time delay
(FOPTD) model using step change data and then designing and tuning controllers using the
developed models. The experiment was done by using MATLAB Simulink tools using
appropriate Simulink blocks. The open loop response of the system to a step change in the input
was observed and from the output plot the value of Steady State Gain (K), Time Constant (),
and Time Delay () were determined and a standard transfer function was developed for the
process. For Direct and IMC Method the controller parameters Kc, I and D were determined
assuming an appropriate value for C and the controller transfer function was developed using
appropriate formula. A close loop controlled system was also developed for the given unknown
process. The responses of the process to a step change in input with both PI and PID controller
were observed. For a better response, the controller settings were tuned for better performance.

OBSERVED DATA

Step time = 2 seconds

Figure 01: Observed Data from a given step

KM = 10

63.2% of gain (10) = 6.32

19 s

Figure 02: Observed Data from a given response

CALCULATED DATA
Open loop system
Here, from figure 1,
Step input, M=1
Step time= 2 seconds
From figure 02,
Final height reached for step response, KM= 10

K M 10
=10
M
1
Time delay, = (12-2) seconds
Therefore, K=

= 10 seconds

At 63.2% response value of K= 0.63210

= 6.32
For K=6.32, time, = (19-12) seconds
= 7 seconds

Measurement of Controller Parameters

PI controllers, direct synthesis and IMC method is used
For Direct Synthesis Method,
It is assumed C =

Therefore, C =

Kc =

7
seconds = 2.33 seconds
3

1
7

=
= 0.0568
K C 10 10 2.33

I = = 7 seconds

PID controllers, Internal Model Controller settings are used.

Using IMC Method,

10
1
2 = 0.1636
2 = 1
Kc =

10
10
K
C
2.33
2
2

10
= 12 seconds
2

7 10

2.917 seconds
2 (2 7) 10

Simulation and Tuning of Response Curve

Block Diagram for Open loop system

Figure 03: Process Block Diagram for an Open Loop System

Response Curve Generated for Open Loop system

Figure 04: Response curve for an open loop system

Block Diagram for a Closed Loop System

Figure 05: Process Block Diagram for a closed loop

Response of system with PI controller

Figure 06: Response with PI controller for P= 0.0568 and I= 0.0568/7 (Initial Curve)

Figure 07: Response with PI controller for P= 0.05 and I= 0.0568/11

Figure 08: Response with PI controller for P= 0.045 and I= 0.0568/12

Figure 09: Response with PI controller for P= 0.04 and I= 0.0568/11

Response of system with PID controller

Figure 10: Response with PID controller for P= 0.1636, I= 0.1636/12 and D= 0.1635*2.917
(Initial Curve)
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Figure 11: Response with PID controller for P= 0.11, I= 0.1636/15 and D= 0.1635*2.5

Figure 12: Response with PID controller for P= 0.1, I= 0.1636/18 and D= 0.1635*2

Figure 13: Response with PID controller for P= 0.09, I= 0.1636/25 and D= 0.1635*1.5

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RESULTS AND DISCUSSION

The results obtained for controllers are as follows:
Type of Controller

Parameters Before Tuning

Parameters after Tuning

Kc = 0.0568

Kc = 0.04

I = 7 seconds

I = 11 seconds

Kc = 0.1636

Kc = 0.09

I = 12 seconds

I = 25 seconds

D = 2.917 seconds

D = 1.5 seconds

PI controllers

PID controllers

In this experiment, the objective was to set up a controller for a closed loop process and tune
the controller so that the process responded to step input very quickly. The parameters for PI
and PID controllers were calculated and using these values the controllers response curves
were observed. Then the values of proportional and integral control were manipulated to tune
the controllers.
It was noticed that increase in controller gain, makes process reach set point quickly. But if Kc
is too large then degree of oscillation or unstable response can be obtained. I, make PI and PID
more sluggish. Theoretically, offset will be eliminated for all value of I. but very large value
of I can make variable return to set point very slowly after a disturbance or set point change
occurs.

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