RESULTS AND CALCULATIONS

PV = Process variable; SV = Set variable; MV= Manipulated variable

Experiment 1: Proportional-only (P) mode

I. Setpoint, SV = 2.6

Table 1: Parameters of open loop system with set point 2.6

Time(s) PV SV MV
0 0 2.6 0
1 0 2.6 0
2 0 2.6 40.1
3 0 2.6 40.1
4 1.8 2.6 40.1
5 1.8 2.6 40.1
6 1.8 2.6 40.1
7 1.8 2.6 40.1
8 1.8 2.6 40.1
9 1.8 2.6 40.1
10 1.8 2.6 40.1
11 1.9 2.6 40.1
12 1.9 2.6 40.1
13 1.9 2.6 40.1
14 1.9 2.6 40.1
15 1.9 2.6 40.1
16 1.9 2.6 40.1
17 1.9 2.6 40.1
18 1.9 2.6 40.1
19 1.9 2.6 40.1
20 1.9 2.6 40.1
21 1.9 2.6 40.1
22 1.9 2.6 40.1
23 1.9 2.6 40.1
24 1.9 2.6 40.1
25 1.9 2.6 40.1
26 1.9 2.6 40.1
27 1.9 2.6 40.1
28 1.9 2.6 40.1
29 1.9 2.6 40.1
30 1.9 2.6 40.1
31 1.9 2.6 40.1
32 1.9 2.6 40.1
33 1.9 2.6 40.1
 34 1.9 2.6 40.1
35 1.9 2.6 40.1
36 1.9 2.6 40.1
37 1.9 2.6 40.1
38 1.9 2.6 40.1
39 1.9 2.6 40.1
40 1.9 2.6 40.1
41 1.9 2.6 40.1
42 1.9 2.6 40.1
43 1.9 2.6 40.1
44 1.9 2.6 40.1
45 1.9 2.6 40.1
46 1.9 2.6 40.1
47 1.9 2.6 40.1
48 1.9 2.6 40.1
49 1.9 2.6 40.1
50 1.9 2.6 40.1
51 1.9 2.6 40.1
52 1.9 2.6 40.1
53 1.8 2.6 40.1
54 1.8 2.6 40.1
55 1.8 2.6 40.1
56 1.8 2.6 40.1
57 1.8 2.6 40.1
58 1.8 2.6 40.1
59 1.8 2.6 40.1
60 1.8 2.6 40.1

II. Setpoint, SV = 3.3

Table 2: Parameters of open loop system with set point 3.3

Time(s) PV SV MV
0 0 3.3 0
1 0 3.3 50
2 0.2 3.3 50
3 2 3.3 50
4 2 3.3 50
5 2 3.3 50
6 2 3.3 50
7 2 3.3 50
8 2 3.3 50
9 2 3.3 50
10 2 3.3 50
11 2 3.3 50
12 2 3.3 50
13 2 3.3 50
14 2 3.3 50
15 2 3.3 50
16 2 3.3 50
17 2 3.3 50
18 2 3.3 50
19 2 3.3 50
20 2 3.3 50
21 2 3.3 50
22 2 3.3 50
23 2 3.3 50
24 2 3.3 50
25 2 3.3 50
26 2 3.3 50
27 2 3.3 50
28 2 3.3 50
29 2 3.3 50
30 2 3.3 50
31 2 3.3 50
32 2 3.3 50
33 2 3.3 50
34 2 3.3 50
35 2 3.3 50
36 2 3.3 50
37 2 3.3 50
38 1.9 3.3 50
39 1.9 3.3 50
40 2 3.3 50
41 1.9 3.3 50
42 1.9 3.3 50
43 1.9 3.3 50
44 1.8 3.3 50
45 1.8 3.3 50
46 1.8 3.3 50
47 1.8 3.3 50
48 1.7 3.3 50
49 1.7 3.3 50
50 1.7 3.3 50
51 1.7 3.3 50
52 1.7 3.3 50
53 1.7 3.3 50
54 1.7 3.3 50
55 1.7 3.3 50
 56 1.7 3.3 50
57 1.8 3.3 50
58 1.8 3.3 50
59 1.8 3.3 50
60 1.8 3.3 50

Experiment 2: Proportional-Integral-Derivative (PID) mode

I. Closed loop system: P = 3.00, I=0.4, D =0.4, set point = 3.3

Table 3: Parameters of closed loop system at constant P with set point 3.3

Time(s) PV SV MV
0 0 3.3 0
1 0 3.3 0
2 0 3.3 0
3 0 3.3 25.8
4 0.8 3.3 20.5
5 0.7 3.3 20.5
6 0.7 3.3 0
7 0.8 3.3 10.5
8 0 3.3 10.5
9 0 3.3 100
10 0.7 3.3 84.9
11 0.7 3.3 84.9
12 2.1 3.3 19
13 2.1 3.3 19
14 2.1 3.3 17.2
15 1.0 3.3 90.3
16 2.2 3.3 90.3
17 2.2 3.3 24.6
18 2.0 3.3 34.6
19 2.0 3.3 37.1
20 2.0 3.3 37.1
21 1.9 3.3 39.4
22 1.9 3.3 39.8
23 1.9 3.3 39.8
24 1.9 3.3 42.6
25 1.9 3.3 46.2
26 1.9 3.3 46.2
27 1.9 3.3 47.6
28 1.9 3.3 47.7
29 1.9 3.3 48.9
30 1.9 3.3 48.9
 31 1.9 3.3 48.3
32 2.0 3.3 47.1
33 2.0 3.3 47.1
34 2.0 3.3 45.1
35 2.0 3.3 44.6
36 2.0 3.3 42.4
37 2.0 3.3 42.4
38 2.0 3.3 43.4
39 2.0 3.3 44.9
40 2.0 3.3 44.9
41 2.0 3.3 44.8
42 2.0 3.3 44.9
43 2.0 3.3 44.9
44 2.0 3.3 45.0
45 1.9 3.3 46.9
46 1.9 3.3 47.7
47 1.9 3.3 47.7
48 2.0 3.3 46.5
49 2.0 3.3 46.7
50 2.0 3.3 46.7
51 2.0 3.3 46.9
52 2.0 3.3 47.0
53 2.0 3.3 47.1
54 2.0 3.3 47.1
55 2.0 3.3 47.2
56 2.0 3.3 47.3
57 2.0 3.3 47.3
58 2.0 3.3 47.4
59 1.9 3.3 49.4
60 1.9 3.3 49.4

II. Closed loop system: P = 3.00, I= 0.5, D = 0.4 , set point = 3.3

Table 4: Parameters of closed loop system at constant P with set point 3.3

Time(s) PV SV MV
0 0 3.3 0
1 0 3.3 0
2 0 3.3 0
3 0 3.3 32.4
4 0.8 3.3 32.4
5 0.8 3.3 24.5
6 1.7 3.3 0
7 1.7 3.3 0
 8 1.7 3.3 12.5
9 1.7 3.3 100
10 1.7 3.3 100
11 2.2 3.3 10.6
12 2.2 3.3 10.6
13 2.2 3.3 6.1
14 1.6 3.3 27.2
15 1.6 3.3 27.2
16 1.6 3.3 35.1
17 1.6 3.3 45.2
18 1.6 3.3 45.2
19 1.7 3.3 49.0
20 1.7 3.3 50.0
21 1.8 3.3 50.0
22 1.8 3.3 51.5
23 1.8 3.3 52.2
24 1.9 3.3 51.4
25 1.9 3.3 51.4
26 2.0 3.3 49.6
27 2.0 3.3 50.1
28 2.0 3.3 50.1
29 2.0 3.3 48.3
30 2.0 3.3 45.6
31 2.0 3.3 46.2
32 2.0 3.3 46.2
33 2.0 3.3 45.6
34 2.0 3.3 45.1
35 2.0 3.3 45.1
36 2.0 3.3 44.5
37 2.0 3.3 44.1
38 2.0 3.3 43.5
39 2.0 3.3 43.5
40 2.0 3.3 42.9
41 2.0 3.3 42.3
42 2.0 3.3 42.3
43 2.0 3.3 43.8
44 2.0 3.3 43.8
45 2.0 3.3 43.8
46 2.0 3.3 43.9
47 2.0 3.3 44.1
48 2.0 3.3 44.2
49 2.0 3.3 44.2
50 2.0 3.3 44.3
51 1.9 3.3 44.4
52 2.0 3.3 44.4
 53 2.0 3.3 46.8
54 2.0 3.3 45.5
55 1.9 3.3 47.8
56 1.9 3.3 47.8
57 1.9 3.3 48.4
58 1.9 3.3 49.3
59 1.9 3.3 49.3
60 1.9 3.3 52.5

III. Closed loop system: P = 2.00, I= 0.5, D = 0.5, set point = 3.3

Table 5: Parameters of closed loop system at constant I with set point 3.3

Time(s) PV SV MV
0 0 3.3 0
1 0 3.3 0
2 0 3.3 16.2
3 0.9 3.3 18.6
4 0.9 3.3 18.6
5 2.1 3.3 0
6 2.0 3.3 0
7 2.0 3.3 10.5
8 0.4 3.3 100
9 2.2 3.3 100
10 2.2 3.3 37.0
11 2.1 3.3 32.6
12 2.1 3.3 32.6
13 2.1 3.3 31.6
14 2.0 3.3 33.8
15 2.0 3.3 33.8
16 1.9 3.3 39.1
17 1.8 3.3 43.5
18 1.8 3.3 43.5
19 1.8 3.3 47.0
20 1.8 3.3 51.1
21 1.8 3.3 51.1
22 1.8 3.3 52.3
23 1.9 3.3 53.7
24 1.9 3.3 54.4
25 1.9 3.3 54.4
26 1.9 3.3 54.7
27 2.0 3.3 53.8
28 2.0 3.3 53.8
29 2.0 3.3 52.1
30 2.0 3.3 51.4
31 2.0 3.3 51.4
32 2.0 3.3 50.9
33 2.0 3.3 50.2
34 2.0 3.3 47.8
35 2.0 3.3 47.8
36 2.0 3.3 46.4
37 2.0 3.3 45.4
38 2.0 3.3 45.4
39 2.0 3.3 45.7
40 2.0 3.3 45.0
41 2.0 3.3 44.3
42 2.0 3.3 44.3
43 2.0 3.3 43.9
44 2.0 3.3 44.7
45 2.0 3.3 44.7
46 2.0 3.3 44.7
47 1.9 3.3 46.2
48 1.9 3.3 46.2
49 1.9 3.3 46.8
50 1.9 3.3 47.6
51 1.9 3.3 49.6
52 1.9 3.3 49.6
53 1.9 3.3 50.9
54 1.9 3.3 54.2
55 1.9 3.3 54.2
56 1.9 3.3 56.5
57 1.8 3.3 59.8
58 1.8 3.3 64.2
59 1.8 3.3 64.2
60 1.8 3.3 68.2
IV. Closed loop system: P = 3.00, I= 0.5, D = 0.5, set point = 3.3

Table 6: Parameters of closed loop system at constant I with set point 3.3

Time(s) PV SV MV
0 0 3.3 0
1 0 3.3 0
2 0 3.3 16.3
3 1.0 3.3 24.4
4 1.0 3.3 24.4
5 1.5 3.3 40.6
6 1.6 3.3 40.6
7 1.6 3.3 23.7
8 1.5 3.3 37.5
9 1.5 3.3 37.5
10 1.5 3.3 46.5
11 1.6 3.3 51.9
12 1.7 3.3 51.9
13 1.7 3.3 53.8
14 1.8 3.3 56.6
15 1.8 3.3 56.6
16 1.8 3.3 61.3
17 2.0 3.3 58.9
18 2.0 3.3 58.9
19 2.0 3.3 54.5
20 2.0 3.3 52.6
21 2.0 3.3 52.6
22 2.0 3.3 51.9
23 2.0 3.3 49.4
24 2.0 3.3 48.2
25 2.0 3.3 48.2
26 2.0 3.3 46.8
27 2.0 3.3 45.3
28 2.0 3.3 45.3
29 2.0 3.3 44.3
30 2.0 3.3 45.1
31 2.0 3.3 45.1
32 2.0 3.3 44.4
33 2.0 3.3 44.0
34 2.0 3.3 45.3
35 2.0 3.3 45.3
36 1.9 3.3 47.3
37 1.9 3.3 47.9
38 1.9 3.3 47.9
39 1.9 3.3 48.4
40 1.9 3.3 49.2
41 1.9 3.3 52.3
42 1.9 3.3 52.3
43 1.9 3.3 53.3
44 1.9 3.3 54.9
45 1.9 3.3 54.9
46 1.9 3.3 56.4
47 1.9 3.3 57.5
48 1.9 3.3 57.5
49 1.9 3.3 59
50 1.9 3.3 60.6
51 2.0 3.3 57.6
52 2.0 3.3 57.6
53 2.0 3.3 57.7
54 1.9 3.3 59.8
55 1.9 3.3 59.8
56 1.9 3.3 62.3
57 1.9 3.3 66.1
58 1.9 3.3 68.4
59 1.9 3.3 68.4
60 1.8 3.3 73.0