LAB 4

Time Overshoot Decay Settling Rise Time of Period of Number

delay ratio time time first oscillation of
max oscillation
5 0.505 0.006 60.577 13.971 24.840 70.390 1
7 0.821 0.116 106.945 15.738 27.240 53.090 3
9 1.202 0.515 330.052 17.601 30.950 54.630 9

A time delay is also called dead time. Dead time is the delay from when a controller
output signal is issued until when the measured process variable first begins to respond or the
time at the first instance of the change in the measurement. In controller design, the systems
with dead time can be difficult to control.

Time taken for a material to travel from one point to another can add dead time to
loop. If a parameter is changed at one end of a pipe and the sensor is located at the other end,
the change will not be detected until the fluid has moved down the length of the pipe. Like a
time constant, dead time has units of time and must always be positive. As dead time gets
larger, the controller gain gets smaller.

By using the MATLAB Simulink software, a control loop was set up. In this system, a
5𝑠
process transfer function was set as 𝑠2 +10𝑠 with a process set point of 1. Transport delay was

added into the system and the time delay was set at 5 (TD 1). The value of the PID
parameters were P=0.2, I=0.01 and D=0 and the simulation was run at 600. For the second
and third trial, the value of time delay was 7 (TD 2) and 9 (TD 3), respectively.

Based on the graph plotted, TD 3 produced the highest curve compared to TD 1 and
TD 2. TD 3 also produced more oscillations compared to TD 1 and TD 2. Although TD 1 has
time delay of 5, it has no steady-state error and it takes the shortest time to reach steady-state
condition compare to TD 2 and TD 3. Small overshoot is required so that the process is as
close as possible to the set point.

CONCLUSION
Based on the discussion above, the higher the time delay, the longer the time taken
for the system to achieve a steady-state condition and the higher number of oscillations it
produced. This can be proven that the value of overshoot, decay ratio and settling time of
time delay 5 is the lowest among 3 time delays. Hence, time delay of 5 takes the shortest time
to reach the set point fixed and become stabile.
1
P1 = 0.05, I1 = 0.01 and D1 = 0
PID 2
P2 = 0.1, I2 = 0.01 and D2 = 0
PID 3
P3 = 0.2, I3 = 0.01 and D3 = 0

PID 3 better than PID 1 and PID 2

Settling time is shortest (how much) compared to PID 1 and PID 2 – Calculations needed, do
comparison
Overshoot is smaller compared to PID 1 and PID 2. Overshoot small is needed so that the
process is as close as possible to SP
Number of oscillations is fewer compared to PID 1 and PID 2. PID 1 – 4 cycles while PID 2-
2 cycles.
Peak ratio PID 3 – 0, no peak
Discuss the performance of the graph