LINEAR CLOSED LOOP

SYSTEM
Christyfani Sindhuwati, ST., MT
Open Loop vs Closed Loop
Negative Feedback vs Positive Feedback
Disturbances (Ti)

Control Control
SP (TR) e Signal MV Variable (T)

X Controller
Final Control
Element X Process

Measurement
Signal (Tm)
Measurement
Error (e) = SP-PV Device

• Negative Feedback • Positive Feedback

Negative feedback ensures that the difference If the signal to the comparator were obtained by
between TR and Tm is used to adjust the control adding TR and T, we would have a positive feedback
element so that the tendency is to reduce the error. system, which is inherently unstable.
Ti ↑ → ε bernilai negatif → ε↓ → Q↓ Ti ↑ → ε bernilai positif → ε↑ → Q↑
Negative Feedback Positive Feedback
Control system for a stirred-tank heater The system may be divided into the following
components:
1. Process (stirred-tank heater)
2. Measuring element (thermocouple)
3. Controller
4. Final control element (control valve)

T
Development of Block Diagram 1 Neraca Energi pada Stirred-tank Heater
PROCESS
d(ρVCp(T − Tref )
= wCp Ti − Tref − wCp T − Tref + q
dt
dT
ρVCp = wCpTi − wCpT + q
dt

2 Deviasi
dT
USS ∶ ρVCp = wCpTi − wCpT + q
dt
dTs
SS ∶ ρVCp = wCpTis − wCpTs + qs
T dt
-
dT′
ρVCp = wCpTi ′ − wCpT′ + Q
dt
3 Transformasi Laplace 4 Diagram Blok
dT′
ρVCp L = wCp L Ti ′ − wCp L T′ + L Q
dt

ρVCp s T′(s) = wCpTi ′(s) − wCpT′(s) + Q(s)

ρVCp s T ′ s + wCpT′(s) = wCpTi ′(s) + Q(s)

1
(ρVCp s + wCp)T′(s) = wCpTi ′(s) + Q(s) ×
WCp

ρV 1
s + 1 T′(s) = Ti ′(s) + Q(s)
W WCp
1
1 WCp
T′(s) = Ti ′(s) + Q(s)
ρV ρV
W s+1 W s+1
1
1 WCp
T′(s) = Ti ′(s) + Q(s)
τs+1 τs+1

1 1
T′(s) = Ti ′(s) + Q(s)
WCp τs+1
 1
1 WCp
T′(s) = Ti ′(s) + Q(s)
τs+1 τs+1
 1
1 WCp
T′(s) = Ti ′(s) + Q(s)
τs+1 τs+1

1 1
T′(s) = Ti ′(s) + Q(s)
WCp τs+1
 Disturbance

SP + e MV PV
C FCE Gp

Sensor

Disturbance

SP + e MV PV
GC GV GP

GM
 Disturbance

SP + e MV PV
GC GV GP

GM

Ti(s)

+
TR + e Q(s) 𝟏 + 𝟏 T(s)
GC GV
𝑾𝑪 𝝉𝒔 + 𝟏
-
Tm
GM
Latihan Soal

Buatlah block diagram dari fungsi transfer berikut:

𝐻(𝑠) 1
1. 𝑄(𝑠)
=
𝑠+1
𝐹
𝑉
𝐹
𝐶(𝑠) +𝑘
𝑉 1
2. 𝐶𝑖 (𝑠)
= 1
𝐹 𝑠+1
+𝑘
𝑉 1
1
𝑇(𝑠) 𝑤𝑐𝑝
3. 𝑄(𝑠)
= 𝑉𝜌
𝑠+1
𝑤