Number of oscillations 4 2 1
Number of oscillations 3 5 7
Number of oscillations 4 4 4
The value of derivative time (D) was set differently to observe the behavior each of the systems. Derivative
control is able to remove the overshoot and to control errors. It reduced the magnitude of overshoot
produce by the integral and improve the combined controller-process stability. The PID mode is
recommended for the slower process as these are very sensitive to faster process and may become
unresponsive. From the result obtained, the value of overshoot decreases when the value of D increase.
It can concluded derivative controller does reduce the magnitude of overshoot. From the plotted graph,
it can be seen that the system PID 3 shows the lowest peak of overshoot but the transient response is
slowest compared to system PID 1 and 2.
PID 1 (P=0.2, I= 0.01, D=0, PID 2 (P=0.2, I= 0.01, D=0, PID 3 (P=0.2, I= 0.01, D=0,
Criteria
Time delay = 5) Time delay = 7) Time delay = 9)
Number of oscillations 1 2 7
The value of time delay was set differently to observe the pattern each of the system. The meaning of
delay is units that cause a time-shift but do not affect the system but delays the signal for an exact amount
of time. By increasing the time delay with 5, 7 and 9 s, the process start a little bit later depends on the
time delay inserted. As the time delay inserted, the rise time also affected. The higher the value of time
delay, the later the rise time of the system and the time first maximum peak. Compared to system PID 3
and PID 1, the rise time of PID 3 is much larger than PID 1 due to larger value of delay time. It can be
concluded that, time delay does not affect the system but affect the amount of time for system to reach
steady state, time of first maximum peak and rise time.