Control Project1

ABSTRACT
This project aims to control a third order process with P-only, PI and PID by using the
internal model control and Ziegler-Nichols method. It also has an object of tuning a third
order process via Ziegler-Nichols method and integral model control approach. The process
time constants and process gain are set the values of τp1=2, τp2=3, τp3=7 and Kp=5,
respectively; and then the PID settings, which are the control gain, integral time constant and
derivative time constant, are calculated as Kc=2, τI=18.357, τD=0.34 by using the method
which is derived by Rivera et. al. In calculations, Matlab is used to manipulate the response of
controlled variable and the response of manipulated variable with respect to time for different
control settings. Calculations of third process are done for both IMC and Z-N methods, and
then calculation of first order process plus dead time is done by Z-N. As a result, it is
observed that when p-only controller is used to control the system, it leads to offset; whereas
the systems controlled by PI or PID settings reach the final value without any offset.
However, PI controller results in oscillation in the response and the speed of the response gets
slower. Then, if derivative action is added to PI, it increases the stability in order to reach the
sustained oscillation and the response of the system fastens. The responses of the first order
process with dead time are more robust compared to that of third order process.
ii
TABLE OF CONTENT
ABSTRACT............................................................................................................................... ii
TABLE OF CONTENT ............................................................................................................ iii
LIST OF FIGURE .................................................................................................................... iv
LIST OF TABLE ........................................................................................................................v
1. INTRODUCTION ..................................................................................................................1
2. RESULTS AND DISCUSSION .............................................................................................2
3. CONCLUSION .......................................................................................................................4
APPENDIX. A. INTERNAL MODEL CONTROL METHOD- THIRD ORDER PROCESS .5
APPENDIX B: THIRD ORDER PROCESS – ZIEGLER-NICHOLS METHOD ................13
APPENDIX C: FIRST ORDER PROCESS WITH TIME DELAY ........................................23
iii
LIST OF FIGURE

Figure A.1. Finding parameters with process reaction curve method 6
Figure A.2. IMC approach – Servo response of y(t) with a P-only controller to a step change 8
Figure A.3. IMC approach – Servo response of u(t) with a P-only controller to a step change 9
Figure A.4. IMC approach – Servo response of y(t) with a PI controller to a step change 10
Figure A.5. IMC approach – Servo response of u(t) with a PI controller to a step change 11
Figure A.6. IMC approach – Servo response of y(t) with a PID controller to a step change 12
Figure A.7. IMC approach – Servo response of u(t) with a PID controller to a step change 13
Figure B.1. Z-N – Servo response of y(t) with a P-only controller to a step change 16
Figure B.2. Z-N – Servo response of u(t) with a P-only controller to a step change 16
Figure B.3. Z-N – Servo response of y(t) with a PI controller to a step change 18
Figure B.4. Z-N – Servo response of u(t) with a PI controller to a step change 18
Figure B.5. Z-N – Servo response of y(t) with a PID controller to a step change 20
Figure B.6. Z-N – Servo response of u(t) with a PID controller to a step change 20
Figure B.7. Z-N – Servo response of y(t) with a P-only controller to a step change 22
Figure B.8. Z-N – Servo response of u(t) with a P-only controller to a step change 22
Figure C.1. Z-N– y(t) of a first order process with time delay with a P-only controller 25
Figure C.2. Z-N– u(t) of a first order process with time delay with a P-only controller 26
Figure C.3. Z-N – y(t) of a first order process with time delay with a PI controller 27
Figure C.4. Z-N – u(t) of a first order process with time delay with a PI controller 28
Figure C.5. Z-N – y(t) of a first order process with time delay with a PID controller 29
Figure C.6. Z-N – u(t) of a first order process with time delay with a PID controller 30
iv
LIST OF TABLE
Table 2.1. Results of Z-N closed loop oscillation method tuning parameters for third order
system .........................................................................................................................................3
Table 2.2. Results of Z-N closed loop oscillation method tuning parameters for first order
system with time delay…………………………………………………………………………3
Table B.1. Z-N closed loop oscillation method tuning parameters ..........................................14
Table B.2. Results of Z-N closed loop oscillation method tuning parameters.........................15
Table C.1. Results of Z-N closed loop oscillation method tuning parameters ........................24
v
1. INTRODUCTION
Control theory is the common interest of both mathematics and engineering areas. It deals
with the behavior of a dynamic system. Dynamic systems give response to any disturbance
which leads to the system out of steady-state condition. When a set point is determined for the
system, the controller manipulates the inputs to obtain the desired effect on the output of the
system. The controllers can be classified into two categories. The open-loop systems refer to
the systems in which the output of a system is not used as a variable to control the system.
The output is not fed back to modify the control output. However in closed-loop systems, the
system is controlled by a feedback. The feedback is compared with the input and any error is
added or subtracted from the input to get the required output.
In real systems, there is always a mismatch between the real process function and the modeled
process function due to system characteristics and the unknown disturbances. The IMC
method has the potential to achieve perfect control of the systems. It has many advantages: it
provides a transparent framework for control system design and tuning and compensates for
disturbances and model uncertainty.
The Ziegler-Nichols Closed Loop method is one of the common methods used to tune control
loops. The closed loop method determines the gain at which a loop with proportional only
control will oscillate, and then derives the controller gain, reset, and derivative values from
the gain at which the oscillations are sustained and the period of oscillation at that gain. It is
not a necessary method for perfect tuning.
The aim of this project is to see the responses of a third order system and first order system
with time delay to a step change by approaching the system with different methods. In the
project, the Ziegler- Nichols tuning and IMC approach are used for the third order system and
for the first order system with time delay, only Ziegler- Nichols approach is used.
The report contains results and discussion parts in which the final values are given and the
conclusion part. In appendixes, the graphs and MATLAB codes are given.
1
2. RESULTS AND DISCUSSION
This project aims at controlling a third order process and a first order process with dead time
with P-only, PI and PID controllers. The analysis is made for the third order process by using
both Internal Model approach and Ziegler - Nichols Method. For the first order system, only
Ziegler-Nichols method is used to find the controller settings.
In the first part of the project, IMC method is used to calculate the settings of P-only, PI and
PID. The time constant of the third order process are 𝜏" = 2, 𝜏& = 3 and 𝜏) = 7. The gain of
the process is 5. The λ value was chosen. So, the results for 𝜏, , 𝜏- and 𝐾/ are the followings:
𝜏, = 18.357
𝜏- = 0.34
𝐾5 = 2
The servo responses of manipulated variable u(t) and the controlled variable y(t) are
calculated by using MATLAB code by using these settings. For P-only controller, the many
oscillations are seen in the graph. Their magnitudes increase continuously with time. For PI
controller, the oscillations do not occur immediately but as time passes, the system response
the disturbance. For PID controller, the response of the system is the fastest one among other
controller responses.
In the second part, the Ziegler- Nichols method is used to tune the controllers. The ultimate
values of Ku , wu and Pu are found using Routh- Herwitz criterion. The calculated ultimate
values are the followings:
𝐾6 = 2.14
𝑤6 = 0.534
𝑃6 = 11.77
The parameters calculated for each type of controller are as follows:
2
Table 2.1. Results of ZN closed loop oscillation method tuning parameters for third order system
Controller type kc τı τD
P-only 1.07
PI 0.963 9.81
PID 1.284 5.885 1.47
The graphs for the calculated Ziegler-Nichols Setting are shown in the graphs for P-only, PI
and PID controllers. For P-only controller, after, several oscillations, the system is converged
to a point around 0.2. In PI controller, due to the integral effect, the number of oscillations
increase and converged value is around 0.2 again. For PID controller, derivative effect
eliminates the oscillations and makes the system more stable. The final value is 1.For the first
order system with time delay, the ultimate values are calculated. These are:
𝐾6 = 13/𝐾/
𝑤6 = 2.158
𝑃6 = 2.9
The controller parameters for P-only, PI and PID controllers are:
Table 2.2. Results of ZN closed loop oscillation method tuning parameters for first order system with time delay
P-only 5.5/Kp
PI 4.95/Kp 2.42
PID 6.6/Kp 1.45 0.3625
For each controller, Kp values are equal to 5. For P-only controller , the system becomes
stable around point 9.4. For PI controller, the system converges to 1. For PID controller, the
final value is 1.4. In all controllers, no oscillations are observed. So, the ultimate values
cannot be determined.
3
3. CONCLUSION
The aim of this project is to control a third order process with P-only, PI and PID by using the
internal model control and Ziegler-Nichols method. The models are used for tuning a third
order process plus time delay via Ziegler-Nichols method. The process time constants and
process gain are set the values of τp1=2, τp2=3, τp3=7 and Kp=5, respectively; and then the
PID settings, which are the control gain, integral time constant and derivative time constant,
are calculated as Kc=2, τI=18.357, τD=0.34 by using the method which is derived by Rivera
et. al. In calculations, Matlab is used to manipulate the response of controlled variable and the
response of manipulated variable with respect to time for different control settings.
Calculations of third process are done for both IMC and Z-N methods, and then calculation of
first order process plus dead time is done by Z-N.
It is observed that when p-only controller leads to an offset; whereas the systems controlled
by PI or PID settings reach the final value without any offset. However, when we compared
the responses of PI and PID controller, the latter gives quicker response to a step change. Both
controllers lead to oscillations. Derivative controller increases the stability of the system due
to the derivative action. It increases the stability of the system. As a result, for both IMC and
the Ziegler-Nichols method, PID controller gives the most accurate results. If we compare two
methods, the responses of Ziegler – Nichols method are more oscillatory and more sensitive
than the ones of IMC controller.
The responses of the first order process with dead time, no oscillations are observed in the
controller. The robustness of the controllers is high. For PI controller, there is a kick when we
put a step change in the system. After this, without oscillations the system becomes stable.
For PID controller the system becomes stable with the decreasing slope. If the first order
system with time delay and the third order system are compared, the first order system has a
greater degree of robustness compared to the third order system.
4
APPENDIX. A. INTERNAL MODEL CONTROL METHOD- THIRD ORDER
PROCESS
In the problem, there is a third order process which is generally in the form:
Kp
g p (s) =
(τp1s + 1)(τp 2 s + 1)(τp 3s + 1)
The time constants of the process and steady state process gain are set to the points that:
τp1=2, τp2=3, τp3=7 and Kp =5
5
g p (s) =
(2s + 1)(3s + 1)(7s + 1)
A.1. Matlab Code
A=10;
t(1)=0; x(1)=0; y(1)=0; z(1)=0;
tp1=2; tp2=3; tp3=7; Kp=5;
h=tp3/A;
N=100;
for i=1:N
y(i+1)=y(i)+h*x(i);
x(i+1)=x(i)+h*z(i);
B=tp1*tp2+tp1*tp3+tp2*tp3;
C=tp1+tp2+tp3;
D=tp1*tp2*tp3;
z(i+1)=z(i)+h*(-B*z(i)-C*x(i)-y(i)+Kp*A)/D;
t(i+1)=t(i)+h;
end;
plot(t,y)
5
A.1. Results
tp1=2 tp2=3 tp3=7 kp=5

50
40
30 X: 9.8
Y: 24.61
20
10
0
0 10 20 30 40 50 60 70 80
Figure A.1. Finding parameters with process reaction curve method
From the graph, the inflection point is read at (9.8, 24.61) and using these values in the
general line equation y = mx + c where the m is the slope and it equals to 2.70.
24.61 = 2.70 * 9.8 + c => c = -1.85

Finding Dm: 0 = 2.70 * x -1.85 => x = Dm = 0.685
τ1 is found from the graph which is 18.7.

So τm= 18.7-0.685=18.015
Km = Kp = 5
In order to calculate Kc, τI and τD, a last parameter λ is needed. Based on recommendation of
Rivera et al., λ should be selected for the process model so that both λ> 0.8Dm and λ>(τm/10)
are satisfied. Therefore a λ value of 1.5 is chosen. Then the PID controller settings are:
18.015
2 +1
1 0.685
Kc = = 1.99 ≅ 2
5 1.5
2 +1
0.685
6
0.685
τI = + 18.015 = 18.357
2
18.015
τD = = 0.34
18.015
2 +1
0.685
⎛ τ τ s 2 + τ I s + 1 ⎞ ⎛ 6.24 s 2 + 18.357s + 1 ⎞
For PID controller: g c ( s) = K c ⎜⎜ D I ⎟⎟ = 2⎜⎜ ⎟⎟
⎝ τIs ⎠ ⎝ 18.357s ⎠
⎛ τ s + 1 ⎞ ⎛ 18.357s + 1 ⎞
For PI controller: g c ( s) = K c ⎜⎜ I ⎟⎟ = 2⎜ ⎟
⎝ τ I s ⎠ ⎝ 18.357s ⎠
For P-only controller: g c ( s) = K c = 2
A.2. For P-Only Controller

For a P-only controller with the calculated settings, the servo response to a step change in the
set point is calculated with the following MATLAB code:
A.2. Matlab Code

clear;
tp1=2; tp2=3; tp3=7; Kp=5;
Kc=2;
K=Kp*Kc;
delt=min([tp1,tp2,tp3])/10;
a(1)=0; b(1)=0; c(1)=0;
x1(1)=0; x2(1)=0; x3(1)=0;
for i=1:1000;
x1(i+1)=x1(i)+x2(i)*delt;
x3(i+1)=x3(i)+(1/(tp1*tp2*tp3)*(-(tp1*tp3+tp2*tp3+tp1*tp2)*x3(i)-(tp1+tp2+tp3)*x2(i)-
x1(i)+Kp*c(i)))*delt;
b(i+1)=1-x1(i+1);
c(i+1)=Kc*b(i+1);
a(i+1)=a(i)+delt;
7
end
plot(a,x1);
legend('controlled variable y');
figure;
plot(a,c);
legend('manipulated variable u');
A.2. Results
tp1=2 tp2=3 tp3=7 kp=5 kc=2

50
controlled variable y
40
30
20
10
-10
-20
-30
-40
0 20 40 60 80 100 120 140 160 180 200
Figure A.2. IMC approach – Servo response of y(t) with a P-only controller to a step change
8
tp1=2 tp2=3 tp3=7 kp=5 kc=2
100
manipulated variable u
80
60
40
20
-20
-40
-60
-80
-100
0 20 40 60 80 100 120 140 160 180 200
Figure A.3. IMC approach – Servo response of u(t) with a P-only controller to a step change
A.3. For PI Controller

For a PI controller with the calculated settings, the servo response to a step change in the set
point is calculated with the following MATLAB code:
A.3. Matlab Code

clear all;
tp1=2; tp2=3; tp3=7; tI=18.357;
Kp=5; Kc=2;
K=Kp*Kc;
a(1)=0; b(1)=0; c(1)=0;
x1(1)=0; x2(1)=0; x3(1)=0;
es(1)=0;
for i=1:3000;
9
b(i+1)=1-x1(i+1);
es(i+1)=es(i)+b(i+1)*delt;
c(i+1)=Kc*(b(i+1)+es(i+1)/tI);
a(i+1)=a(i)+delt;
end
plot(a,x1);
figure;
plot(a,c);
A.3. Results
10 tp1=2 tp2=3 tp3=7 kp=5 kc=2 tI=18.357

x 10
2.5
2
1.5
0.5
-0.5
-1
-1.5
-2
0 100 200 300 400 500 600
Figure A.4. IMC approach – Servo response of y(t) with a PI controller to a step change
10
10 tp1=2 tp2=3 tp3=7 kp=5 kc=2 tI=18.357
x 10
4
3
-1
-2
-3
-4
-5
0 100 200 300 400 500 600
Figure A.5. IMC approach – Servo response of u(t) with a PI controller to a step change
A.4. For PID Controller

For a PID controller with the calculated settings, the servo response to a step change in the set
A.4. Matlab Code
clear all;
tp1=2; tp2=3; tp3=7;
tI=18.357; tD=0.34;
Kp=5; Kc=2; K=Kp*Kc;
a(1)=0; b(1)=0; c(1)=0;
x1(1)=0; x2(1)=0; x3(1)=0;
es(1)=0;
de(1)=0;
for i=1:800;
11
b(i+1)=1-x1(i+1);
de(i+1)=(b(i+1)-b(i))/delt;
c(i+1)=Kc*(b(i+1)+es(i+1)/tI+de(i+1)*tD);
a(i+1)=a(i)+delt;
end
plot(a,x1);
figure;
plot(a,c);
A.4. Results
tp1=2 tp2=3 tp3=7 kp=5 kc=2 tI=18.357 tD=0.34

3.5
3
2.5
1.5
0.5
-0.5
-1
-1.5
0 20 40 60 80 100 120 140 160
Figure A.6. IMC approach – Servo response of y(t) with a PID controller to a step change
12
tp1=2 tp2=3 tp3=7 kp=5 kc=2 tI=18.357 tD=0.34
6
-2
-4
-6
0 20 40 60 80 100 120 140 160
Figure A.7. IMC approach – Servo response of u(t) with a PID controller to a step change
APPENDIX B: THIRD ORDER PROCESS – ZIEGLER-NICHOLS METHOD
The transfer function of a third order process is in general form as:

Y ( s) Kp
G( s) = =
U ( s) (τ 1 s + 1)(τ 2 s + 1)(τ 3 s + 1)
The characteristic equation is evaluated by using the formula:

Kp
1+GpGc= 1 + K c
(τ 1 s + 1)(τ 2 s + 1)(τ 3 s + 1)
Following set are used in the first part:

τp1=2 τp2=3 τp3=7 Kp=5
5
1 + Kc =0
(2s + 1)(3s + 1)(7s + 1)
(2s + 1)(3s + 1)(7s + 1) + 5K c = 0 which is rewritten as;
13
42 s 3 + 41s 2 + 12 s + (1 + 5K c )=0
S3 42 12
2
S 41 1+5Kc
S1 [41*12-42*(1+5Kc)]/41 0
S0 1+5Kc
For the first stability criteria 1+ 5Kc > 0, so Kc should be greater than -0.20
41 * 12 − 42 * (1 + 5 K c )
>0
41
Rearranging and solving for Kc
41 *12 − 42
> K c gives the ultimate gain K value as; Kultimate = 2.14
42 * 5
Solving S2 row by setting K ultimate value in it gives:
41s 2 + 1 + 10.7 = 0
s = jw = ± 0.285 j
So wultimate = 0.285
2π
Ultimate period of sustained cycling is: Pu =
wu
2π
Pultimate = ≈ 11.77
0.21
Z-N method suggests using the following settings for feedback controllers.
Table B.1. ZN Closed loop oscillation method tuning parameters
P-only 0.5 ku - -
PI 0.45 ku Pu/1.2 -
PID 0.6 ku Pu/2 Pu/8
14
Then the calculated controller parameters are;
Table B.2. Results of ZN closed loop oscillation method tuning parameters
P-only 1.07 - -
PI 0.963 9.81 -
PID 1.284 5.885 1.47
Graphs for P-only, PI and PID controllers are prepared by the MATLAB code used in the
previous appendix. However, this time the values found by Ziegler-Nichols Method are used.
B.1. For P-Only Controller
B.1. Matlab Code

clear;
tp1=2; tp2=3; tp3=7; Kp=5; Kc=1.07;
K=Kp*Kc;
a(1)=0; b(1)=0; c(1)=0;
x1(1)=0; x2(1)=0; x3(1)=0;
for i=1:1000;
b(i+1)=1-x1(i+1);
c(i+1)=Kc*b(i+1);
a(i+1)=a(i)+delt;
end
plot(a,x1);
figure;
plot(a,c);
15
B.1. Results
tp1=2 tp2=3 tp3=7 kp=5 kc=1.07

1.4
1.2
0.8
0.6
0.4
0.2
0
0 20 40 60 80 100 120 140 160 180 200
Figure B.1. Z-N – Servo response of y(t) with a P-only controller to a step change
tp1=2 tp2=3 tp3=7 kp=5 kc=1.07

1.2
1
0.8
0.6
0.4
0.2
-0.2
-0.4
-0.6
0 20 40 60 80 100 120 140 160 180 200
Figure B.2. Z-N – Servo response of u(t) with a P-only controller to a step change
16
B.2. For PI Controller
B.2. Matlab Code
clear all;
tp1=2; tp2=3; tp3=7; tI=9.81; Kp=3; Kc=0.963;
K=Kp*Kc;
a(1)=0; b(1)=0; c(1)=0;
x1(1)=0; x2(1)=0; x3(1)=0;
es(1)=0;
for i=1:2000;
b(i+1)=1-x1(i+1);
c(i+1)=Kc*(b(i+1)+es(i+1)/tI);
a(i+1)=a(i)+delt;
end
plot(a,x1);
figure;
plot(a,c);
17
B.2. Results
tp1=2 tp2=3 tp3=7 kp=5 kc=0.963 tI=9.81
1.8
1.6
1.4
1.2
0.8
0.6
0.4
0.2
0
0 50 100 150 200 250 300 350 400
Figure B.3. Z-N – Servo response of y(t) with a PI controller to a step change
tp1=2 tp2=3 tp3=7 kp=5 kc=0.963 tI=9.81

1.2
1
0.8
0.6
0.4
0.2
-0.2
-0.4
-0.6
0 50 100 150 200 250 300 350 400
Figure B.4. Z-N – Servo response of u(t) with a PI controller to a step change
18
B.3. For PID Controller
B.3. Matlab Code
clear all;
tp1=2; tp2=3; tp3=7; tI=5.885; tD=1.47;
Kp=5; Kc=1.284; K=Kp*Kc;
a(1)=0; b(1)=0; c(1)=0;
x1(1)=0; x2(1)=0; x3(1)=0;
es(1)=0;
de(1)=0;
for i=1:500;
b(i+1)=1-x1(i+1);
a(i+1)=a(i)+delt;
end
plot(a,x1);
figure;
plot(a,c);
19
B.3. Results
tp1=2 tp2=3 tp3=7 kp=5 kc=1.284 tI=5.885 tD=1.47
1.6
1.4
1.2
0.8
0.6
0.4
0.2
0
0 20 40 60 80 100 120
Figure B.5. Z-N – Servo response of y(t) with a PID controller to a step change
tp1=2 tp2=3 tp3=7 kp=5 kc=1.284 tI=5.885 tD=1.47

12
10
-2
0 20 40 60 80 100 120
Figure B.6. Z-N – Servo response of u(t) with a PID controller to a step change
20
B.4. Sustained Oscillation By Inspection
The values for the Z-N method are found by manipulating Kc in the P-only calculation. By
inspection, the Kc value at which steady oscillations occur is determined.
B.4. Matlab Code
clear;
tp1=2; tp2=3; tp3=7; Kp=5; Kc=1.68;
K=Kp*Kc;
a(1)=0; b(1)=0; c(1)=0;
x1(1)=0; x2(1)=0; x3(1)=0;
for i=1:1000;
b(i+1)=1-x1(i+1);
c(i+1)=Kc*b(i+1);
a(i+1)=a(i)+delt;
end
plot(a,x1);
figure;
plot(a,c);
21
B.4. Results
tp1=2 tp2=3 tp3=7 kp=5 kc=1.68
1.8
1.6
1.4
1.2
0.8
0.6
0.4
0.2
0
0 20 40 60 80 100 120 140 160 180 200
Figure B.7. Z-N – Servo response of y(t) with a P-only controller to a step change
tp1=2 tp2=3 tp3=7 kp=5 kc=1.68

2
1.5
0.5
-0.5
-1
-1.5
0 20 40 60 80 100 120 140 160 180 200
Figure B.8. Z-N – Servo response of u(t) with a P-only controller to a step change
22
APPENDIX C: FIRST ORDER PROCESS WITH TIME DELAY
The characteristic equation of a first oreder process with time delay as:
D
K c K p (−
s + 1)
1+GpGc= 1 + 2
D
(τ p s + 1)( s + 1)
2
D −D
(τ p s + 1)( s + 1) + K c K p ( s + 1) = 0
2 2
D 2 D D
τp s + s(τ p + − K c K p ) + K c K p + 1 = 0
2 2 2
Setting D=1 and τp=6gives:
S2 3 1+Kc Kp
S1 6.5- 0.5Kc Kp 0
S0 1+Kc Kp
For the first criteria 1+Kc Kp > 0, so Kc should be greater than -1/Kp
6.5-0.5KcKp>0
Rearranging and setting the equation not greater than but equal to zero;
13
= Kc
Kp
13
gives the ultimate gain K value as; Kultimate =
Kp
Solving S2 row by setting K ultimate value in it gives:
13
3s 2 + 1 + Kp = 0
Kp
s = jw = ± 4.66 j
So wultimate = 4.66
23
2π
Ultimate period of sustained cycling is: Pu =
wu
2π
Pultimate = ≈ 2.9
4.66
Then the calculated controller parameters are;

Table C.1. Results of ZN closed loop oscillation method tuning parameters
P-only 5.5/Kp
PI 4.95/Kp 2.42
PID 6.6/Kp 1.45 0.3625
C.1. For P-Only Controller

For a P-only controller with the calculated settings, the servo response to a step change in the
set point is calculated with the following MATLAB code:
C.1. Matlab Code
clear all;
Kp=5; tp=6; Kc=5.5/Kp;
delt=0.005;
D=1;
N=D/delt;
A=zeros(1,N);
c=1;
y(1)=0; a(1)=0; c(1)=1; b(1)=0;
for i=1:10000;
y(i+1)=y(i)+((Kp*c(i)-y(i))/tp)*delt;
a(i+1)=a(i)+delt;
A(1)=y(i);
y(i)=A(N);
for j=1:N-1;
k=N+1-j;
24
A(k)=A(k-1);
end
b(i+1)=1-y(i+1);
c(i+1)=Kc*b(i+1);
end
plot(a,y);
figure;
plot(a,c);
C.1. Results
tp=6 kp=5 kc=1.1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0 10 20 30 40 50 60
Figure C.1. Z-N– y(t) of a first order process with time delay with a P-only controller
25
tp=6 kp=5 kc=1.1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0 10 20 30 40 50 60
Figure C.2. Z-N– u(t) of a first order process with time delay with a P-only controller
C.2. For PI Controller

For a PI controller with the calculated settings, the servo response to a step change in the set
C.2. Matlab Code
clear all;
c=1; Kp=5; tp=6;
Kc=4.95/Kp;
tI=2.42; delt=0.005;
D=1;
N=D/delt;
A=zeros(1,N);
y(1)=0; a(1)=0; b(1)=0; c(1)=1; es(1)=0;
for i=1:10000;
a(i+1)=a(i)+delt;
A(1)=y(i);
26
y(i)=A(N);
for j=1:N-1;
k=N+1-j;
A(k)=A(k-1);
end
b(i+1)=1-y(i+1);
c(i+1)=Kc*(b(i+1)+es(i+1)/tI);
end
plot(a,y);
figure;
plot(a,c);
C.2. Results
tp=6 kp=5 kc=0.99 tI=2.42
1.4
1.2
0.8
0.6
0.4
0.2
0
0 10 20 30 40 50 60
Figure C.3. Z-N – y(t) of a first order process with time delay with a PI controller
27
tp=6 kp=5 kc=0.99 tI=2.42
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0 10 20 30 40 50 60
Figure C.4. Z-N – u(t) of a first order process with time delay with a PI controller
C.3. For PID Controller

For a PID controller with the calculated settings, the servo response to a step change in the set
C.3. Matlab Code
clear all;
Kp=5; tp=6; Kc=6.6/Kp;
tI=1.45; tD=0.3625; delt=0.005;
D=1; N=D/delt; A=zeros(1,N);
y(1)=0; a(1)=0; c(1)=1;
b(1)=0; es(1)=0; de(1)=0;
for i=1:1000;
a(i+1)=a(i)+delt;
A(1)=y(i);
y(i)=A(N);
28
for j=1:N-1;
k=N+1-j;
A(k)=A(k-1);
end
b(i+1)=1-y(i+1);
es(i+1)=es(i)+b(i)*delt;
end
plot(a,y);
figure;
plot(a,c);
C.3. Results
tp=6 kp=5 kc=1.32 tI=1.45 tD=0.3625
1.4
1.2
0.8
0.6
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Figure C.5. Z-N – y(t) of a first order process with time delay with a PID controller
29
tp=6 kp=5 kc=1.32 tI=1.45 tD=0.3625
100
80
60
40
20
-20
-40
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Figure C.6. Z-N – u(t) of a first order process with time delay with a PID controller
30

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ABSTRACT

The parameters calculated for each type of controller are as follows:

PID 1.284 5.885 1.47

The controller parameters for P-only, PI and PID controllers are:

PID 6.6/Kp 1.45 0.3625

A.1. Matlab Code

tp1=2 tp2=3 tp3=7 kp=5

Figure A.1. Finding parameters with process reaction curve method

24.61 = 2.70 * 9.8 + c => c = -1.85

τ1 is found from the graph which is 18.7.

For P-only controller: g c ( s) = K c = 2

A.2. For P-Only Controller

A.2. Matlab Code

tp1=2 tp2=3 tp3=7 kp=5 kc=2

A.3. For PI Controller

A.3. Matlab Code

10 tp1=2 tp2=3 tp3=7 kp=5 kc=2 tI=18.357

A.4. For PID Controller

A.4. Matlab Code

tp1=2 tp2=3 tp3=7 kp=5 kc=2 tI=18.357 tD=0.34

APPENDIX B: THIRD ORDER PROCESS – ZIEGLER-NICHOLS METHOD

The transfer function of a third order process is in general form as:

The characteristic equation is evaluated by using the formula:

Following set are used in the first part:

Rearranging and solving for Kc

Solving S2 row by setting K ultimate value in it gives:

Table B.1. ZN Closed loop oscillation method tuning parameters

B.1. For P-Only Controller

B.1. Matlab Code

tp1=2 tp2=3 tp3=7 kp=5 kc=1.07

tp1=2 tp2=3 tp3=7 kp=5 kc=1.07

B.2. Matlab Code

tp1=2 tp2=3 tp3=7 kp=5 kc=0.963 tI=9.81

B.3. Matlab Code

tp1=2 tp2=3 tp3=7 kp=5 kc=1.284 tI=5.885 tD=1.47

B.4. Matlab Code

tp1=2 tp2=3 tp3=7 kp=5 kc=1.68

Setting D=1 and τp=6gives:

Then the calculated controller parameters are;

C.1. For P-Only Controller

C.1. Matlab Code

C.2. For PI Controller

C.2. Matlab Code

C.3. For PID Controller

C.3. Matlab Code

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