Experimental Data

Table 1

Time Constant (𝜏)

33,33

Table 2
Reference Proportional Steady-State Steady-State
Rise-time (s)
point Gain (Kp) Value Error (%)
45 1 0.7376 98.36 71.9972

45 20 11.2486 75 54.8978

45 30 14.9981 66.69 48.7981

45 50 20.4520 54.56 39.9257

45 100 28.1215 37.51 27.4489

Table 3
Integral Steady- Steady-
Reference Proportional Rise-time
Gain State State Error
point Gain (Kp) (s)
(Ki) Value (%)
0.5
60 20 59.9053 0.167 271.9904

60 20 5 60 0 28.3325
20
60 20 60 0 12.0849
200
60 20 60 0 3.4511
500
60 20 60 0 2.14

Table 4
Integral Steady- Steady-
Reference Proportional Rise-time
Gain State State Error
point Gain (Kp) (s)
(Kd) Value (%)
1
30 20 7.4991 75 54.9253

30 20 5 7.4991 75 55.0351
 20
30 20 7.4991 75 55.4468
40
30 20 7.4991 75 55.9958
100
30 20 7.4992 75 57.6427

Data Analysis
From the experiments we have done, we get results about the Kp Ki Kd
relationship. When the system is given the controller P will increase the gain. This
can be seen in table 2, if Kp is added, the output will increase. The PI controller
affects the ride time of a system. This can be proven from table 3. Then the last is
the analysis of KD values. In the PD controller, it can be seen in table 4 that
increasing KD will prolong the rise time.

1.
 Experiment Data
1.1. What conclusions can you get from the impulse response test on
the system? How does the system response converge to zero? Explain your
reason for that!
Because the system is representing an Automobile, so the following
explanation is explained in real term. Impulse in this case is equivalent to a
person just press a gas pedal in full force, but a short one. If the system is
given an Impulse, then the car will move (slowly, the speed is .5 cm/s), but
soon will stop (like, 200 s) and go back to equilibrium (stopping).

1.2. From the data which was got from the experiment, answer the
following questions:
a. What is the effect of increasing the proportional gain (Kp) on the
system response?
The system will go faster in the end-state (as seen in increasing steady
state value), and will go faster to the end state too (as seen in
increasing rise time value).
b. What is the characteristic of a Proportional Controller (P)?
- System will never get to the input Steady State value (practically)
as the P Controller need the error to correct the error.
- Never produce any Overshoot.
- Simple
c. From Table 3, what is the effect of increasing the integral gain (Ki) on
the system response?
The system will have 0% steady state error immediately (or close to
that) and an increase in Rise Time. The side effect is an Overshoot and
decrease in Damping Ratio as the gain increase.
d. From Table 4, what is the effect of increasing the derivative gain (Kd)
on the system response?
The system will have steady Steady State value and Steady State error
(up to a point) and increase in Rise Time (although it is minor). The
side effect is an offset in the start, increasing as the gain increase.
e. What is the effect of using a PI Controller and PD Controller instead of
merely a P Controller?
The effect is the added advantage. The added integral gives the system
to eliminate steady state error while the added derivative gives the
system resist to sudden changes. An appropriate value must be used so
that the side effect of adding integral and derivative kept to minimal.
 Additional Task
(Note: K value in here is 1.57)
1.1. Test the impulse response for the system and save the figure!
For τ = 0.001 and N = 20

1.2. Simulate the system by inputting step signal and varying the time
constant (τ) as well N as follows, then observe and note the effect!
a. τ = 0.001 and N = 20
b. τ = 0.1 and N = 20
c. τ = 5 and N = 20
d. τ = 5 and N = -20
What is the effect of varying the time constant (τ) on the system response?
The effect is increase in Rise Time as well decrease in Peak Value

1.3. From the data obtained from question number 1, is the system
stable for all time constant and N-values combination? Why could it be
that?
System Stable for all value in question except for τ = 5 and N = -20 where
the value goes to infinity as time goes to infinity. Because the negative N
value …

1.4. Do the following experiment on the system above and fill the table
below
Reference Kp Kd Ki Steady Steady State Settling
Point State Value Error (%) Time
10 100 0 0 8.8689 11.31% 0.1103
10 100 10 0 8.8699 11.30% 0.4568
10 100 0 5 9.9313 00.69% 32.2678

1.5. Design a PI controller for that system, so the system response

After: