Set Point Tracking

The main aim of the controller is to track the set point and to reject disturbances. When the set point of the controlled variable (temperature in this case) is changed, the controller should work in such a manner that the actual temperature follows the set point as close as possible.

In this project, several experiments were conducted with the self tuning and conventional PI/PID Controllers. Table 9.3 shows the set point changes given during the various experiments that were conducted with conventional and self tuning controllers designed using several methods.

Table 9.3: Set point changes in experiments conducted for set point tracking

	Conventional Controller	Self Tuning Controller
Direct Synthesis PI	32$^0$C to $37^0$C	32$^0$C to 37$^0$C
	35$^0$C to 45$^0$C	35$^0$C to 45$^0$C
Ziegler Nichols PI	32$^0$C to 37$^0$C	32$^0$C to 37$^0$C
	35$^0$C to 45$^0$C	35$^0$C to 45$^0$C
	40$^0$C to 45$^0$C	35$^0$C to 45$^0$C
Ziegler Nichols PID	31$^0$C to 45$^0$C	32$^0$C to 46$^0$C
	32$^0$C to 37$^0$C	32$^0$C to 37$^0$C