1.

Process, sensor, actuators, and controllers

2. Analytical tuning has a mathematical model of the process and the control algorithm is set by analytical
procedure. This process is more complicated, yet advantageous in finding factors that limit the achievable
performance. Empirical tuning has its parameter set by empirical adjustment, and is beneficial when there is one
input and one output process; however, it is difficult to adjust two parameters simultaneously.

3. Control error is the difference between the reference signal and the output of the system (e = r y)

4. The main disadvantage of the on-off control is that the system over-reacts to even a small change in error, while
PID does not.

5. Proportional controllers make the control signal proportional to the error. Integral controllers correct deviation
from its reference value that may occur with the proportional control. Derivative controllers make sure future
error can be predicted by linear extrapolation

6. A bump test is based on a step response of a stable system.

7. K = delt y / delt u = (3-0)/(1-0) = 3

y(t1) = 0.632yss+y0 , = t1 - t0 y(t1) = 0.632(3)+0 = 1.896 t1=0.25s , t0 = 0, = 0.25s
0.1
8. PO = 100e^( sqrt(12 )) = 100e^( sqrt(10.12 )) = 72.92%

tp = /wd , wd = wnsqrt(1-2) , wd = /0.05 = 62.83Hz , wn = 62.83/sqrt(1-0.12) = 63.15Hz

9. PID

10. A PID controller is used to infuse varying concentrations of anesthesia into patients during surgery. The
controllers input is brain wave activity and outputs a concentration of propofol to keep the patient stable.

Soltesz, Kristian, Klaske Heusden, and Guy Dumont. "Closed-Loop Anesthesia in Children Using a PID
Controller: A Pilot Study." IFAC Conference on Advances in PID Control (2012): n. pag. Web. 01 Oct. 2016.