Closed Loop PID Control of Temperature

Junaid Ahmad-403222
December 2024

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Contents
1 Objectives 4

2 Apparatus 4

3 Theoretical Background 4
3.1 Proportional Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.2 Integral Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.3 Derivative Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.4 Proportional Integral Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.5 Proportional Derivative Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.6 PID Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4 Circuit Diagram 7

5 Procedure 7

6 Observations 8

7 Table 9

8 Discussion 9

9 Conclusion 9

10 Safety Precautions 10

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List of Figures
1 Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2 Temperature control trainer integrated with D-controller . . . . . . . . . . . . . . . . . . . . . 8
3 Temperature control trainer integrated with I-controller . . . . . . . . . . . . . . . . . . . . . 8

List of Tables
1 D-Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 I-Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

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1 Objectives
• To verify the effects of the gain of the loop on the dynamic response of the system.
• To draw the curve of the dynamic response of the system.

2 Apparatus
• Temperature control trainer system
• Digital multimeter
• Set of leads

3 Theoretical Background
3.1 Proportional Controller
• The proportional gain in a proportional controller significantly influences the system’s behavior. In-
creasing amplifies the controller’s response to error, leading to a faster rise time and reducing the
steady-state error, although it does not eliminate it entirely.

• The proportional gain in a controller has a direct impact on the system’s rise time, which is the time
taken for the output to reach the set-point. Increasing typically reduces the rise time, allowing the
system to respond more quickly to changes in the input or disturbances.
• When Kp is increased the natural response frequency rises which decreases stability and rise time and
vice versa.

m(t) = Kp E(t) (1)

3.2 Integral Controller

• Integral controller eliminates the steady state error but at the cost of un-stability.
• When area will be positive the output will be increasing and when area is negative the output will
decrease.

• This produces output which is integral of the input signal. Degree of the system increases.
• Integral controller is less sensitive to input error which makes is less stable.
Ki
m(s) = E(s) (2)
s

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3.3 Derivative Controller
• A zero is added to the system which increases its stability. Output will be derivative of input error.
• Adding zero increases stability but now offset cannot be eliminated from the system.
• There is some over-shoot in the system because of extra zero added here.
• When (ζ) is greater than one then system is highly stable and over-damped.
• When (ζ) is less than zero then system critically damped and response is fastest.
• When (ζ) is between zero and one then the system is under-damped and hihgly overshoots.
m(s) = sKd E(s) (3)

3.4 Proportional Integral Controller

In P-I controller, there is a parallel configuration and characteristics of the system is both of those proportional
and integral controller.
• A PI controller combines proportional P and I actions to improve system performance.
• The proportional term provides an immediate correction based on the error, improving response speed.
• The integral term eliminates steady-state error by integrating the error over time and applying a
cumulative correction.
• It improves accuracy and ensures the system eventually reaches the set-point.
• The rise time is slightly slower than a proportional controller due to the added integral action.
• It offers better stability and precision compared to a pure proportional controller.
Ki
m(s) = (Kp + )E(s) (4)
s

3.5 Proportional Derivative Controller

• A PD controller combines proportional (Kp ) and derivative (Kd ) actions to enhance system perfor-
mance.
• The proportional term provides an immediate correction based on the error, improving the speed of
response.
• The derivative term predicts future error by calculating the rate of change of the error, helping to
dampen oscillations.
• It reduces overshoot and improves system stability by counteracting rapid changes.
• It does not eliminate steady-state error, as it lacks an integral term.
• The system’s rise time is faster than that of a pure proportional controller.
• Excessive Kd can lead to noise sensitivity and instability.
m(s) = (Kp + sKd )E(s) (5)

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3.6 PID Controller
• A PID controller combines proportional (Kp ), integral (Ki ), and derivative (Kd ) actions to provide a
comprehensive control solution.
• The proportional term provides an immediate correction based on the error, improving the speed of
response.
• The integral term eliminates steady-state error by integrating the error over time and applying a
cumulative correction.
• The derivative term helps reduce overshoot and oscillations by predicting future errors and applying
corrective action.
• The PID controller balances fast response, minimal steady-state error, and stability.
• It offers better accuracy and performance than PI or PD controllers alone.
• The controller’s behavior can be fine-tuned by adjusting the gains (Kp , Ki , Kd ) to suit specific system
dynamics.
• Excessive Kp or Ki can cause overshoot or instability, while too high a Kd may make the system too
sensitive to noise.
Ki
m(s) = (Kp + sKd + )E(s) (6)
s

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4 Circuit Diagram

Figure 1: Circuit Diagram

5 Procedure
• Connect the relevant bush pins by connecting wires.

• Adjust the SET POINT 1 knob as required.

• Make all relevant connections.
• Perform the experiment and record the data.
• Plot graphs and turn of the experiment.

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6 Observations

Figure 2: Temperature control trainer integrated with D-controller

Figure 3: Temperature control trainer integrated with I-controller

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7 Table

Temperature (Celsius) Time (second)

22 0
23 35.325
24 73.565
25 115.235
26 154.125
27 196.518

Table 1: D-Controller

Temperature (Celsius) Time (second)

22 0
23 50.16
24 94.25
25 132.33
26 179.49
27 218.80

Table 2: I-Controller

8 Discussion
When the integral controller was integrated with the apparatus, it effectively eliminated the steady-state
error by accumulating and compensating for the error over time. This led to a gradual and stable increase
in temperature as the system reached the desired set point, although at the expense of slower response time
compared to other configurations. However, the integral action introduced a degree of instability in dynamic
responses, particularly when subjected to disturbances, as evidenced by oscillations in temperature.
In contrast, the derivative controller enhanced system stability by anticipating the rate of change of the
error. The integration of the derivative controller allowed for faster convergence to the set point with reduced
overshoot and oscillations, making the system highly stable under dynamic conditions. However, it did not
eliminate the steady-state error, as the absence of an integral component limited its long-term precision. The
response times of the system were faster with the derivative controller compared to the integral controller,
as it adjusted the output more rapidly to account for changes in input.

9 Conclusion
The experiment demonstrated the distinctive advantages and limitations of integrating an integral and a
derivative controller with the temperature control apparatus. The integral controller eliminated steady-state
error, ensuring precision at the cost of slower response and potential instability. On the other hand, the
derivative controller provided rapid and stable responses by dampening oscillations but could not address
the steady-state error. These results highlight the complementary roles of integral and derivative control

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in achieving a balance between precision and stability, making them crucial components in the design of
comprehensive PID controllers.

10 Safety Precautions
• All lab regulations, guidelines, and standard operating procedures (SOPs) issued by the lab supervisor
or teacher must be followed.
• Before using any electrical equipment, inspect it for damage.
• Never overload power outlets.

• Keep liquids and water away from electrical equipment.

• Before making any electrical connections or alterations, always turn off any power sources.
• Check that all machinery and equipment are in good functioning order.
• When using heat sources such as soldering irons and hot plates, exercise extreme caution.

• Fire hazards should be kept away from heat sources.

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