INTERNATIONAL JOURNAL OF SCIENTIFIC & TECHNOLOGY RESEARCH VOLUME 9, ISSUE 03, MARCH 2020 ISSN 2277-8616

Moth-Flame Optimization Based Radiant Thermal

Pattern Controller for Continuous Stirred Tank
Heater
V. Kabila, G. Glan Devadhas

Abstract: Managing a Continuous Stirred Tank Heater to maintain a uniform temperature within an automated system is complicated. Attaining a
constant temperature and sustaining it all through the process is a key challenge inferred in this system. This kind of systems finds its usefulness in
many of the automated manufacturing units and in some other chemical processing units too. The controller implemented is meant for regulating the
stirring function in order to accomplish a constant actual temperature within the tank. Conventional tuning methodologies trailed to influence the
controller experiences various shortcomings in realizing a feasible transient response within the stipulated time. Former Proportional Integral Differential
controllers find too hard to organize the entire stirring compartment in a pre-defined manner. Integrating a fuzzy approach augments the delay in
proposing a desired value. Those approaches escalated all those necessitated parameters that certainly assists in accomplishing a better performance.
In order to overcome all shortcomings inferred, this proposes a Moth Flame Optimization based Radiant Thermal Pattern. Augmented moth-flame
optimization methodology tends to initiate the stirring function with a feasible speed and hence, the temperature gets controlled without any delay. The
devised approach diminishes the variations of overshoot value in the initial state itself and mitigates the settling time too. The comparative analysis
carried out among the suggested mechanism with the traditional approaches like Zeigler-Nicholos, Genetic Algorithm, Particle Swarm Optimization and a
hybrid GA-PSO based tuning evidently proves the proficiency in terms of peak overshoot, settling time, rise time and delay time.

Index Terms: CSTH, Moth-Flame, Optimization, Radiant Patterns, Stirred tank Heater, Continuous Stirred Tank Heater, Continuous Stirred Tank Heater
————————————————————

1 INTRODUCTION
Irrepressible need of the hour that typically longs for an
automated control system in all sorts of industrial applications
serves as a key idea in establishing an optimal controlling
system. In order to endow with sufficient power insisted on
machinery for a certain amount of time in an unvarying
manner, a complete control is acquired through installation of
a Proportional Integral Derivative (PID) controller that
purposefully serves the industrial ambience without any
negotiation. It comprises of prominent and productive
features to a vast stretch. One among them is the feedback
loops that contributed as a crucial mainstay for alleviating the
erroneous inferences incorporated with the processes
accomplished in a steady state(Sabir & Ali, 2016).It is literally
explored through varied components involved within the
deployed PID structure(Jatoth, Jain, & Phanindra, 2013;
Rojjananil & Assawinchaichote, 2016)given as proportional
gain for unwrapping the errors presently occurred, an integral
gain is utilized for unveiling reactive action inferred as a
totality of all errors. Finally, derivative gain that is supposed
to discover the future samples framed on the basis of the rate
assessed with fluctuating errors. This sort of resourceful PID
finds its solicitations(Shi, He, Peng, Zhang, & Zhuge, 2016)in
several industrious applications such as domestic boilers, solar
thermal power generators, biological waste heaters,
geothermal power generators, robot manipulators.
————————————————
 V. Kabila, Research Scholar, Noorul Islam Centre for Higher
Education, Kumaracoil, Thucklay. E-mail: kabilaeee17@gmail.com
G. Glan Devadhas, Professor, Vimal Jyothi Engineering College,
Kannur, Kerala.
The real impact of heat energy integrated within these systems
are it should get sustained in an unceasing manner right from
the beginning until the end of the procedure. The electrical
load assigned to a DC motor is altered into a mechanical
energy to provide heat for the devised applications. The
applications may infer to accomplish a constant stirring effect
or maintain a standard heat or reiterate some sort of without
any lag in it. At this juncture, an optimal PID controller is
necessitated to manage the overall activities performed by the
system in a controlled manner. Intricacies prevalent in all of
this conventional PID controller is the accomplishment of
tuning constants in accordance with the Proportional ( ),
Integral ( ) and Derivative ( )in order to obtain an ideal
differential order to sustain the performance. On the
occurrence of a high differential order, the computational cost
incurred is high. These constants opt for selecting an initial
value to fine-tune the metrics through which the controller
stability is acquired. If the initial value is precise then the
controller stability is accomplished on time without any sorts
of additional delay or else the time span incurred for
accomplishing controller stability constantly surges up.(Sahib
& Ahmed, 2016)discussed several PID parameter tuning
methodologies that serve to accomplish an ideal parameter
within a precise time span.
A conventional methodology trailed to fine tune the PID is
given as, Ziegler-Nichols(Shah & Agashe, 2016)stating that the
constants are designated on the basis of varied minimizing
functionalities and sometimes the overall order of the entire
system may get altered. Another PID parameter tuning
methodology refers to the Iterative Feedback Tuning
(IFT)(Heertjes, Van der Velden, & Oomen, 2016).Though there
are many gains acquired owing to its optimized approach, the
stability of the entire controlling system is not assured at the
time of iterative procedures. The robustness of the whole

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procedure becomes questionable. Other than these
methodologies, some categories of Artificial Intelligence (AI)
based procedures are also utilized tune the parameters of PID
such as evolutionary algorithm, Differential Evolution (DE)
algorithm, Simulated Annealing (SA), multi-objective
optimization, Tabu Search (TS), Artificial Bee Colony (ABC)
algorithm, fuzzy systems, Particle Swarm Optimization (PSO)
algorithm, Many Optimizing Liaisons (MOL) and Genetic
Algorithm (GA)(Pi & Ye, 2015; Sharma, Verma, & Mathew,
2016).The devised objective function incorporates both time as
well as frequency metrics to optimize the PID parameters but
this results in a minimized overshoot time and a prolonged
settling time. The planned Continuous Stirred Tank Heater
(CSTH) in employed in a chemical industry that comprises of
heat exchangers, pumps, tanks etc. The complete functioning
of the deployed tank structure holds the responsibility for
accomplishment of the desired chemical reaction at an
expected time. The chemical additives utilized usually
undergoes varied transitions for every instance of temperature
variation. Owing to this property the temperature of the
devised tank structure is ought to sustain the temperature at a
constant level. Hence in this paper, an optimal controller is
opted to manage entire tank structure along with actual
temperature maintenance. The paper gets systematized as
follows: The comprehensive explanation about the related
works on machinery functionality accompanied with the PID
controller that is utilized for controlling fluid flow is presented
in section II. The implementation process of proposed MFO-
RTP based Continuous Stirred Tank Heater (CSTH) is
described in section III. The performance of proposed MFO-
RTP is scrutinized against the existing algorithms with the
various performance parameters in section IV. Latterly, the
conclusion in accordance with the proposed methodology for
controlling fluid flow in a sustained temperature level is
offered in section V.
1.1 Related Works
This section briefly converses the issues in the customized
controlling methodologies employed in prior that is implied
through manifold controllers to generate the regulated as well
as sustained temperature in industrial applications. Lei, et
al(Lei, Lin, He, & Zuo, 2013)concentrated on going through
Empirical Mode Decomposition (EMD) approach for
processing signals in terms of analyzing faults involved
machinery rotation on the basis of the time factor. The very
basic version of EMD approaches was involved in reiteration
of interpolation as well as sifting methodologies that literally
incurred a vast time constraint for analyzing the faults in
rotors, bearings and gears. Lin and Chen(Lin & Chen,
2013)evaluated an inventive mechanism for investigating the
vibration information rehearsed from a rolling bearing that
was found operational. Both Mahalanobis Distance Criterion
(MDC) as well as Multifractal detrended fluctuation analysis
(MF-DFA) were assimilated to design an effectual
methodology for unveiling features implanted within time
series that were dynamic and non-linear in nature. Crossover
functionality was left unconcerned and hence, the conditions
deliberated were filed around certain prefixed limits. It was
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not adaptable with highly fluctuating constraints that were
subjected towards varying chemical states of fluids residing in
a tank. The features abstracted through the realization of
products were not adaptive and compact for analyzing the
fault attributes. He, et al.(He, Zi, Chen, Wu, & He,
2015)projected an effective mechanism for examining the
faults generated on the rotating bearings of the motors
through irrelevant vibrating features designated as Ensemble
Super-Wavelet (ESW) transform. Hilbert transform and
tunable Q-factor Wavelet Transform (TQWT) methodologies
were amalgamated to formulate the ESW in order to unveil
the faulty attributes concealed to inhibit the quality of overall
performance of the system. The fault signatures and the
anomalies inferred with mechanical functionalities were
assessed through optimizing parameters of vast wavelet
dictionary acquired from TQWT. Convex optimization
incurred vast computational procedures for predicting the
non-optimal local minima and hence, the objective function
was left undetermined. The necessity of non-convex
regularization methodology arose to ensure the convexity. El-
Tantawy, et al.(El-Tantawy, Abdulhai, & Abdelgawad, 2013)
realized Multiagent Reinforcement Learning (MARL)
methodology to formulate an Adaptive Traffic Signal Control
(ATSC) in order to mitigate the traffic congestion observed in
urban areas as a real-time scenario. A proficient network that
was framed with an incorporation of these approaches was
capable of moderating the traffic congestion through a two-
fold procedure stated as independent mode and the integrated
mode. However, the metrics deliberated for optimizing the
controlling parameters were not managed in accordance with
the dynamically altering environment in a real-time scenario.
Ma, et al.(Ma, Jin, & Lei, 2014)designed a prototype to
enumerate the influence of environmental factors on the basis
of traffic present on roads and to manage the fuel existence in
accordance to that. The fuel management was accomplished
through the deployment of an optimization engine in a
stochastic manner that deliberated delay factor, economically
planned fuel consumption and varied policies that were
intended in a dynamic manner in par with that of the
environment. Conversely, the realized approach was feasibly
optimizing the surrounding environment-based parameters
only through adaptation of huge amount of attributes that
incurred cumbersome time for assessing it. Léchappé, et
al.(Léchappé, Moulay, Plestan, Glumineau, & Chriette,
2015)devised a rigorous control over Linear Time Invariant
(LTI) systems through an innovative prediction methodology.
It was deliberating both of the anonymous turbulences
involved and input with a predetermined delay criterion. The
projected methodology was capable of manipulating control
over the constant turbulences through manipulation of a
feedback mechanism. Still, the delay criterion involved for the
assessing the irregularity inferred among machineries were
not deliberated in a fluctuating manner and it leads to
erroneous suppositions. Jung, et al.(Jung, Leu, Do, Kim, &
Choi, 2015)suggested a fine-tuned speed control methodology
for managing a Permanent Magnet Synchronous Motor
(PMSM) drives through an implementation of an adaptable
Proportional-integral-derivative prototype. The supervisory
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term, decoupling term and a decoupling term were involved
in designating the devised controller prototype that converted
the conventional model that was capable of capturing the
uncertainties involved within the machine. Though it was
robust enough to probe with uncertainties involved in a real-
time scenario where the parameters deliberated usually vary
for every instance of time.Ouyang, et al.(Ouyang, Pano, &
Dam, 2015)devised a Position Domain Control (PDC) system
to mitigate the erroneous aspects convoluted in contour
tracking with an assistance of Proportional-Integral-
Differential control. The mechanism endorsed encompassed
no such criterion to alleviate the coupling effect involved
within the machinery procedure. Marino, et al.(Marino,
Bergeles, & Nelson, 2014)envisioned a drag-force uncertainty
pattern through a robust PID controller for quantifying linear
dynamics. Certain uncertainties pertained through
deliberation of minimized update ratings, a sustained form of
control maintenance was spare with respect to the existence of
adhesive forces in a liquid based environment (Jatoth et al.,
2013). Salazar and Méndez(Salazar & Méndez,
2014)incorporated CO2 for getting operative as a working
fluid in order to examine the transcritical refrigerating cycle
through the employment of a lumped energy balance
prototype. The preeminent controlling measures were
measured by means of utilizing a conventional PID
methodology. A viable numerical coding methodology was
assimilated to investigate the non-linear system in terms of
realizing a robust control measure. However, the evaporator
exhibited a feasible control over the operation, the linear
methodology devised for managing the overshoots were
incapable of deploying control over centrifugal compressors
with respect to the supercritical CO2. The influence of
temperature in a recycling procedure is uncontrollable owing
to the inference of response delay. Jouppila, et al.(Jouppila,
Gadsden, Bone, Ellman, & Habibi, 2014)deployed an
operational pneumatic muscle actuator system through an
amalgamation of Pulse Width Modulation (PWM) and Sliding
Mode Control (SMC) approaches. The deployed
methodologies were usually prompted for an enhanced
accuracy metric with an incorporation of PWM driven on/off
valves in a non-linear systematic model. Li, et al.(Li, Wang,
Huang, & Qiu, 2015)utilized a Eulerian model for fabricating a
PID controller influenced by an airplane in order to manage
the vibration response as well as acoustic nature of the vibro-
acoustic cavity implanted within. Two diverse set of
techniques were incorporated to manipulate the closed loop
control system by means of mitigating the overall dimension
of the specific model being framed. Though the noise was
immensely controlled, an influence of local optima with
respect to varied time-based domain inhibited the anti-
interference ability of the controller being designed. Xu, et
al.(Xu et al., 2016)recommended a robust Adaptive Fast Fuzzy
Fractional Order PID (AFFFOPID) to manage the Pumped
Storage Hydro Unit (PSHU) for pursuing the erroneous
attributes involved within reversing procedure of energy
integrating systems. Bhaskarwar, et al.(Bhaskarwar, Giri, &
Jamakar, 2015)concentrated on devising a heat exchanger
control structure that was formulated on the basis of tube
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criterion and shell automation for observing the SCADA
platforms through a PID approach. Additional functionality
augmented with the PLC-SCADA were data logging facility,
set points alterations investigating and exporting the data to a
NI-OPC server. LabVIEW prototype was utilized to assess the
attributes involved within the entire procedure. Tepljakov, et
al.(Tepljakov et al., 2016)evaluated the abruptly altering DC
motor control organization along with its dynamics engraved
through fractional order dynamic integration. The devised
methodology was valid until both the input as well as output
signals were retained in a synchronized manner and when the
armature winding was incorporated in a series manner with a
starter resistor, a significant amount of loss was incurred.
Beyond all of the improvements picked up from these
established methodologies the limitations inferred were,
 The settling time inferred with devised systems were
surging in a constant manner
 Occurrence of instability with the system owing to the
tendency exhibited by fluid existing within
 Sustaining the temperature for the whole procedure
becomes infeasible relating to the load being
augmented or the losses inferred
 Leftover of deliberating the physical functionality
system accounts for the faulty inferences.
2 MATERIALS AND METHODS
2.1 Proposed MFO-RTP
The devised CSTH is realized through the deployment of
regular differential equations through which the entire
procedure comprising differed inputs at stipulated
temperature levels are defined. In general, heat energy is not
directly subjected to get into the tank and the jacket layer
wrapping it in the outer part i.e., the jacket specified
comprises heated fluids that in turn heats the content of the
entire tank. Fig. 1 shows the workflow of the proposed MFO-
RTP modeling for the regulated temperature.
Fig. 1. Overall flow of MFO-RTP
The expected amount of heat is given into the heat transfer
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system for processing. The heat passes into the tank is reacted Tt and Tjaccount for the temperature in which both tank and
in accordance to the thermal conductivity of the tank material. jacket comprise of. The ultimate intention of sustaining the
The heat gained by the tank is due to the stirring function fluid existing within the tank at preferred temperature level is
controlled by the deployed MFO optimal controller. The processed through the accomplishment of this tank heater.
MFO_RTP methodology being employed holds the Straightforward mathematical prototype utilized for
responsibility for controlling the temperature by mean of completion this CSTH procedure is, material balance as well
getting the temperature from the tank as a feedback signal. as energy balance deployed around both jacket and tank.
Afterward, it performs an optimization in the amount of heat The model of material balance deployed around the tank is
incurred and that optimized form of heat is transferred into given by,
the CSTH for accomplishing a constant stirring function. Heat accumulation rate= Input flow rate – Output flow rate
( )
= 𝐹𝑖𝜌 − 𝐹𝜌 (2)
TABLE 1
TANK MATERIALS USED Material balance employed around jacket is specified as,
( )
= 𝐹 𝜌− 𝐹𝜌 (3)
Materials Thermal conductivity
Copper 398 w/mk
The model of energy balance employed all over the tank area
Aluminium 237 w/mk
is indicated as, Energy mounting up rate = Heat in –Heat out
Silver 427 w/mk + Heat flow rate
𝑉 𝜌 𝐶𝑝 = 𝜌 𝐹 𝐶𝑝 𝑇 − 𝜌 𝐹 𝐶𝑝 𝑇 + 𝑊 (4)
TABLE 2
DESIGN PARAMETERS OF TANK Energy balance organized around the jacket is stated as,
Variable Description Value
𝑉 𝜌 𝐶𝑝 = 𝜌 𝐹 𝐶𝑝 𝑇 − 𝜌 𝐹 𝐶𝑝 𝑇 − 𝑊 (5)
𝑕 Height 3m
𝑑 Diameter 1.5 m The devised stirred tank heater is formulated through
𝑡𝑕 Thickness 0.05 m
implication of few constraints defined as,
( )
𝐴 Surface Area 17.6715 m2 = (𝑇 − 𝑇 ) + 𝑈. 𝐴 . (6)
𝑣 Volume 5.3014 m3
The control implied for the jacket being surrounded is
TABLE 3 prompted as,
DESIGN PARAMETERS OF JACKET ( )
= (𝑇 − 𝑇 ) − 𝑈. 𝐴 . (7)
Variable Description Value
𝑕 Height 3m 2.3 Steady State space modelling of MFO-RTP
𝑡𝑕 Thickness 0.05 m The conditions implied for accomplishing asteady state
𝐴 Area 1.5080 m2 criterion is defined as,
𝐹 = 1 𝑓𝑡 3⁄𝑚𝑖𝑛
2.4 State space modelling of MFO-RTP
Taylor series is utilized to accomplish a state space form by
means of transforming the original model into a linear format
and it is transfigured as,
( )
= 𝑓1 (𝑇 , 𝑇 , 𝐹 , 𝑇 , 𝑇 ) = (𝑇 − 𝑇 ) + 𝑈. 𝐴 . (8)
( )
= 𝑓2 (𝑇 , 𝑇 , 𝐹 , 𝐹 , 𝑇 , 𝑇 ) = (𝑇 − 𝑇 ) − 𝑈. 𝐴
(9)

On substituting the steady state values in (8) and (9) the

differential states of both tank and the surrounding jacket with
respect to temperature are defined as,
Fig. 2. Structure of the CSTH
𝑇̇ = 0 + ,0.4-𝑇𝑡 + ,0.3-𝑇𝑗 + ,−7.5-𝐹𝑡 + ,0-𝐹𝑗 + ,0.1-𝑇𝑡𝑖 +
2.2 Mathematical formulation of the devised CSTH ,0-𝑇𝑗𝑖 (10)
The heat transmitted to tank from the outward jacket is 𝑇̇ = 0 + ,3-𝑇𝑡 + ,−4.5-𝑇𝑗 + ,0-𝐹𝑡 + ,50-𝐹𝑗 + ,0-𝑇𝑡𝑖 +
assessed through manipulation of Heat transmission rate (W) ,1.5-𝑇𝑗𝑖 (11)
and is given by,
𝑊 = 𝑈. 𝐴 (𝑇 − 𝑇 ), (1) The state variable are resembled ina standard form stated as,
Where, 𝑥̇ = 𝐴𝑥 + 𝐵𝑢 (12)
𝑦 = 𝐶𝑥 + 𝐷𝑢 (13)
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The deviated form of input, state and output vectors are The algorithm for controlling is listed as follows:
specified as, Optimal Controller Algorithm
𝑇 −𝑇 Step 1: Initialize thermal conductivity
𝑥 = [𝑇 −𝑇 ] (14)
𝜍 = 398 𝑤/𝑚𝑘
𝐹 −𝐹 𝜍 = 237 𝑤/𝑚𝑘
𝐹 −𝐹 𝜍 = 427 𝑤/𝑚𝑘
𝑢= (15)
𝑇 −𝑇 Step 2: Define tank details
[𝑇 −𝑇 ] Step 3: Define Jacket details
𝑇 −𝑇 Step 4: Compute heat transfer coefficient
𝑦 = [𝑇 −𝑇 ] (16)
𝐻 = 𝜍 𝜍 𝑜𝑟 𝜍 /𝑡𝑕
Step 5: Compute amount of T increase (oc)
−0.4 0.3 𝑇 = 𝐻 / 1900
State matrix, 𝑃 = [ ] (17)
3 −4.5 Step 6: Initialize 𝑇 (1) = 0; 𝑇 (1) = 0; 𝑘 = 1
0 −7.5 0.1 0 Step 7: for 𝑘 = 1: 𝑇
Input matrix, 𝑄 = [ ] (18) 𝑇 (𝑘 + 1) = 𝑇 (𝑘) + 𝑇 ;
50 0 0 1.5
𝑇 (𝑘) = 𝑇 (𝑘 + 1) ;
1 0 𝑇 (𝑘) = 𝑇 (𝑘) − 𝑇 ;
Output matrix, 𝑅 = [ ] (19)
0 1 Construct TF, p= 15/ S2 + 4.9S + 0.9
Compute Erri = 120 - 𝑇 (𝑘); Erro = 120 - 𝑇 (𝑘)
0 0 0 0
𝑆= [ ] (20) a=1/2;
0 0 0 0
c1=tf([0 0 a],[1 0]);
j=((2*eri)*c1*5)^2;
Type equation here. j1=eri+j;
Transmuting this defined state space models to the transfer t=(ero*c1)^2;
functions in order to sustain the overall temperature of tank in t1=ero+t;
stable manner, differed sorts of parameters are considered d=20;
such as, c2=tf([d 0 0],[1 0]);
( ) . . ( ) c3=tf([0 0 d],[1 0]);
= , ( )= (21)
( ) . . . . c4=c2+c3;
cj=c4*j1;
( ) . . ( ) .
= , = (22) T=feedback(cj*p,1);
( ) . . ( ) . .
To=feedback(ct*p,1);
Incorporation of several input parameters for managing the Tj=Dt*step(T,tm);
transfer function of jacket wrapping the tank in accordance to Tt=Dt*step(To,tm);
temperature of tank by means of controlling the rate of fluid Temp1(m) = Tj(m);
poured in for heating the tank is given as, Temp2(m) = Tt(m);
( ) k=k+1;
= (23)
( ) . . end for

TABLE 4 The algorithm formulated for optimizing the defined

DESIGN PARAMETERS INVOLVED IN CSTH PROCESS
Indicating terms Description
V Volume
Cp Capacity of specific heat
W Heat transmission rate
Ah Area of heat transfer
J Jacket
ref Reference Value
F Rate of change of volume
I Inlet
S Steady value
U Coefficient of heat transfer
Ji Jacket inlet
T Temperature in deg
ρ Density (mass/ volume)
t Time
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controller works as follows. In the beginning stage itself, the
metals being taken for manipulation of a tank is deliberated
and is confined with copper, aluminium and silver in
accordance its thermal conductivity. Afterward, the tank and
jacket details are defined as per the table II and III
aforementioned. After then the heat transfer coefficient 𝐻 is
computed by trailing the expression,
𝐻 = 𝜍 𝜍 𝑜𝑟 𝜍 /𝑡𝑕
Where,𝜍 ,𝜍 and𝜍 is thermal conductivity of the tank materials
copper, aluminium and silver respectively. At once when the
amount of heat being generated is transferred to the tank, the
overall temperature intensified within is assessed. Afterward,
the amount increase in temperature is computed in each and
every instant in both inlet and outlet valves are insisted on by
means of initializing and observing the temperature variables
as𝑇 and 𝑇 .The temperature optimization procedure is
carried out until both temperatures prevailing within inlet as
well as outlet valves of the jacket gets regulated. This process
gets subjected to the transfer function employed within the
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CSTH. The temperature being applied is assessed for the error below
values accomplished from the inlets of both jackets (Erri) as 𝑇 1−𝑇 /𝑇 1−𝑇 𝑖 = 𝑒 ∗ ∗/ ∗ ∗
(28)
well as the outlet of tank (Erro). This error value acquired is
analyzed and given as a feedback for controlling system. Now, The values utilized for variables are
the control system completely examines the error values in The flask dimensions are
accordance with the tank outlet value and adjusts the (100mL): O.D. by Height: 65 mm by 120 mm;
temperature given into the inlet valve of a jacket. Radius: 0.0325 m
(250 mL): O.D. by Height: 82 mm by 134 mm;
2.5 Controller design description Radius: 0.0410 m
The controller design for the proposed work is illustrated in (500 mL): O.D. by Height: 103 mm by 174 mm;
Fig.3. The output given as a requisite for the CSTH is fed as Radius: 0.0515 m
the input for the error𝑒(𝑡)and it is further passed into the (1000 mL): O.D. by Height: O.D. by Height: 132 mm by 213
proposed MFO-RTP controller. During integration procedure, mm;
the input given input is minimized if it gets increased beyond Radius: 0.066 m
the stipulated limit. Likewise, the differentiating portion 𝐴 =Surface Area (half-sphere): 𝐴 =2𝜋 𝑟 2
certainly increases the diminished value during the process of
attaining the actual temperature. Afterward, the implemented 𝑉 =Volume (half-sphere) = =23𝜋 𝑟 3
MFO algorithm is iterated in search of a feasible value to reach At 10 C, specific heat values and density is involved once it’s
the actual temperature. about the half-way point among the lowest and highest values of
temperature utilized
Cp = 4185.5 J/ kg* K, 𝜌 =999.8𝑘 𝑔 /𝑚 3, 𝑇 1= Ice
temperature; 0 °C
13

Fig. 3. Controller design diagram 𝑡 = time taken from 𝑇 𝑖 to 𝑇 in seconds to cool the water
𝑇 = Final temperature of the water while the timer was stopped
Implemented MFO-RTP controller achieves an actual U = Overall heat transfer coefficient in 𝑊 /𝑚 2∗
temperature at the initial stage itself without any sorts of 𝑇 𝑖 = the highest temperature remains initial temperature of water
negotiation in the values. The output values obtained from the attained once mixing identical amounts of cold and hot water
transfer function as if specified in (24) is again fed as the inputT The graphical representation of this concept can be plotted as
for the error function and a constant stirring function is time versus the natural log of 𝑇 1−𝑇 /𝑇 1−𝑇 𝑖 . The slope of
obtained. graph’s straight position is equal to −𝑈 ∗𝐴 ∗𝑡 𝜌 ∗𝐶 𝑝 ∗𝑉 , in which
( )
𝑢(𝑡) = ,∫ 𝑒(𝑡) . 𝑑𝑡 ∗ ∫ 𝑒(𝑡) . 𝑑𝑡- + ,𝑑 - (24) the surface area and volume of each flask is used for calculating
U.
In this experiment, concerning all the major heat transfer
2.6 MFO Algorithm
forms there are numerous portions in overall equation. The
Incorporation of Moth-Flame Optimization algorithm
following equation represents the container heat in and out of
significantly enhances the entire performance of the employed
PID controller towards the attainment of an actual
dQ/ dt = U*A*(T1-T) (25)
temperature level. It is worked out in a hyper-dimensional
space, where the moths tend to alter their position in search of
Where, overall heat transfer coefficient is U, A denotes Heat
a flame or flag i.e., a feasible solution through its usual
transfer area, T1 denotes ice bath temperature and T
movement trailing a transverse orientation. In this scenario,
represents inside temperature of the water at any point in
moths usually represent the search agents that move around
time.
in search of flags or pins dropped by moths particularly
known as flames within a search space. All moths (m) are
After this the ideal convection is assumed within the
resembled in a matrix form owing to its population-based
container, the heat quantity of the fluid changes for every
nature.
interval is labelled as 𝑚, 𝑚, 𝑚,
dQ/dt = 𝜌 ∗𝐶 𝑝 ∗𝑉 ∗𝑑 𝑇 /𝑑 𝑡 (26) 𝑚, 𝑚, ⋯ 𝑚,
𝑚= [ ⋮ ⋱ ⋮ ] (25)
The equation 25 and 26 are combined together and created the 𝑚, 𝑚, ⋯ 𝑚,
below equation
Where d indicates single dimension in which the moths gets
𝑈 ∗𝐴 ∗(𝑇 1−𝑇 )=𝜌 ∗𝐶 𝑝 ∗𝑉 ∗𝑑 𝑇 /𝑑 𝑡 traversed and l refers to the number of moths. The flags are
(27) also deliberated in the same format as the moth matrix given
as,
The variables are separated and integrating it and the
temperature affords overall heat transfer equation given
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𝑓, 𝑓, 𝑓,
⋯
𝑓, 𝑓, 𝑓, Where the spiral function is defined by E in which the
𝑓= (26)
⋮ ⋱ ⋮ 𝑔 moth exhibits a transverse orientation towards𝑕 flag, d
[ 𝑓, 𝑓, ⋯ 𝑓, ] accounts for the distance inferred between𝑔 moth and 𝑕
flag.On adapting these functionalities a moth is capable of
Where l specifies the total number of moths and d states the acquiring an optimal solution within a minimized amount of
total number of dimensions in which the flags are available. time and is given by,
Fitness value for both moths and flags are deposited in
respective arrays given by, 𝐶𝑜𝑠𝑡 = 𝑆𝑢𝑚(𝑀𝑜𝑡𝑕 ) (33)
𝑚 𝑓
𝑚 𝑓
𝑂 = [ ⋮ ]and 𝑓𝐴 = [ ] (27)
⋮ MFO Algorithm
𝑚 𝑓
S-1:Represent set of moths in a matrix m
S-2:Assume the array for storing the output values
Where O designates the fitness function of moths and fA
S-3:Construct flag matrix f
represents the fitness function of flags respectively.
S-4:Check the termination values (y)
A global optimal of the optimization in the MFO algorithm is
if m=false
provided in a three-tuple function given as,
then
𝑀𝐹𝑂 = (𝑖, 𝑝, 𝑦) (28)
Replace m by p
An arbitrary population of moths as well as the fitness value
S-5:For each moth construct fitness function O
are created by the function i and is given by,
S-6: Update the formulated fitness function
O=fitness_func (m)
𝐼: 𝜑 → *𝑚, 𝑂+ (27)
if iteration==1
f= sort(m);
The moths are driven to move around the search space
fA=sort(O);
through function p that particularly collects the moth matrix
else
and an updated matrix is returned.
f=sort(mt-1, mt);
𝑝: 𝑚 → 𝑚 (28)
fA=sort(mt-1, mt);
end
On reaching a termination condition, the entire search
for a=1:l;
procedure gets terminated and it’s denoted by the variable y.
for b=1:d;
𝑦 → 𝑚 *𝑡𝑟𝑢𝑒, 𝑓𝑎𝑙𝑠𝑒+ (29)
Update r and t
Compute the distance between flame and the analogous
An arbitrary distribution of values are utilized to create an
moth as in
initial set of solutions on the basis of objective functions. If the
Update the shape of the logarithmic spiral in
moths tend to move out of a defined search space, then it is
accordance with the corresponding moth using (32)
driven back into a specific search space by,
end
𝐹𝑙𝑎𝑔 = Moth > 𝑈𝑏 (30)
end
𝐹𝑙𝑎𝑔 = Moth < 𝐿𝑏 (31)
The settling time is reached for the proposed MFO-RTP
approach in 0.86 seconds itself.
The fitness function values are formulated on the basis of
those objective function given as,

𝑚 , = (𝑢𝑏(𝑔) − 𝑙𝑏(𝑔)) ∗ 𝑟𝑎𝑛𝑑() + 𝑙𝑏(𝑔) (30)

At once when those distributions are initiated, 𝑝 is reiterated
until the satisfying criterion 𝑦 is met. Location of each and
every moth is regularly updated in accordance with the
position held by each flag and that updating procedure is
given as,
Moth = Moth ∗ (~(𝐹𝑙𝑎𝑔 + 𝐹𝑙𝑎𝑔 )) + (Ub ∗ 𝐹𝑙𝑎𝑔 ) +
(Lb ∗ 𝐹𝑙𝑎𝑔 ) (31)

After computing the position of every Moth, the logarithmic

spiral functionality induced in search of a flame is computed
as, Fig. 4. Simulation Output Waveform

𝐸 (𝑚 , 𝑓 ) = 𝑑 ⋅ 𝑒 ⋅ cos 2𝜋𝑡 + 𝑓 (32) 2.7 Experimental Setup

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To signify the heat of reaction, an exothermic reaction was
preferred. In this reaction, the hydrogen peroxide is
decomposed into water and oxygen gas with an iodide
catalyst
The reaction involved
2 𝐻 2𝑂 2 (𝑎 𝑞 )−→2𝐻 2𝑂 (𝑙 )+𝑂 2(𝑔 )
The above reaction was used mainly in classrooms to estimate
the heat of the reaction and activation energy determined to be
-98,000 J/mol. There are several studies that published with
hydrogen peroxide decomposition reaction in Journal of
Chemical Education. The methods named as “Efficient Method
for the Determination of the Activation Energy of the Iodide-
Catalyzed Decomposition of Hydrogen Peroxide were
conducted in the lab. In this experimental study, Styrofoam
cup calorimeter was taken in which 4mL of 0.10 M potassium
iodide mixed to 30mL of 12% hydrogen peroxide. Initial
calorimeter experiment was tried to reform the temperature vs
time profile established in this study. The temperature
increase in the reaction was demonstrated once the heat was
removed unknown. Because of the absence of 12% hydrogen
peroxide for the experiment, 30% solution was diluted to the
required percentage. Then, 30 mL of the 12% solution were
included to a calorimeter with the two 8 ounce Styrofoam
cups. The experiment is initiated with 4 mL of 0.1 M
potassium iodide and it was poured into the cup. The entirety
of the run, and the temperature profiles of the container’s
inner and outer walls, and also the mixture itself were
enclosed in calorimeter and it was note down with the use of
type J, bare wire thermocouples. At every second after adding
potassium iodide, the data was recorded until the completion
of reaction.
Settling Time 250.1109 254.1147 257.9036 426.8621
Table IV depicts the Comparison of Existing and proposed
experimental procedure. The MSE, Undershoot time and
Settling time and rise time was achieved better than the other
existing algorithms.
3 RESULTS AND DISCUSSIONS
This section analyzes the performance exhibited by the
proposed Optimal PID controller that utilizes a Moth-Flame
Optimization algorithm for maintaining an optimum level of
temperature with in the CSTH. For the specified tank scenario,
the transient response inferred is investigated for realizing the
distortion of the entire system from an equilibrium to the
actual level, where a constant temperature is meant to get
maintained. The variations obtained in several transient
responses by means of deploying the conventional PID
controller, Fuzzy PID controller and the proposed MFO-RTP
based controller is exemplified here. The peak overshoot value
obtained for acquiring a constant temperature is shown in Fig.
5. The peak overshoot value measured for the employed MFO-
PID is of highly minimal value.

Fig. 6. Peak Overshoot analysis

MFO-RTP based controller implements stabilized temperature

at the initial stage itself due to the nature of transverse
orientation exhibited by moths, an initial moth itself gets
diverted toward a best flame i.e., a stable temperature. Hence,
the temperature is not necessitated initially to reach a peak
overshoot before reaching a stable level of temperature. Total
time required for rising the temperature from a minimal level
to a required actual level is inferred as rise time. Rise time
incurred for various controllers deployed on a CSTH is
Fig. 5 CSTH Photograph illustrated in Fig. 7.

TABLE 5
COMPARISON OF EXISTING AND PROPOSED EXPERIMENTAL
PROCEDURE
EBA
Hybrid (Enhanced
PSO- BA (Bat Bat Proposed
BFO Algorithm) algorithm) (MFO)
MSE 0.1578 0.0975 0.089531 0.04785
Undershoot
time 12.7 10.42 6.917 4.178
Rise Time 46.11 40.116 40.0815 30.7072
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Fig. 7. Rise Time analysis

Fig. 9. Delay Time analysis
Since the flames are optimized around hyper spheres, the
actual temperature is reached without going through manifold Devised MFO-RTP based controller is capable of diminishing
exploration stages in a search space. The PID controller that the delay time to a level of 35% when compared with existing
utilizes a fuzzy approach usually undergoes a sequence of CPID and FPID controllers. The delay time is significantly
updating strategies and hence, the time span incurred to reach mitigated owing to the reason that those best solutions so far
a stage of actual temperature is very high. In spite of various archived are retrieved from the matrix and hence, the finest
positions available, abrupt movement of moths tends to reach solution flame is opted for reaching actual temperature
a necessitated rise level within no time. Aggregated amount of through the reiteration of the periodical update procedure.
time suffered to reach an initial level of actual temperature
from the initial stage of the process is termed as settling time. TABLE 6
OUTPUT CHARACTERISTICS INFERRED FOR VARIOUS ALGORITHMS
The variation realized for various controllers deployed on
Algorithm Peak Settling Rise Time
CSTH is presented in Fig. 8. Overshoot Time
Z-N 7.306 7.5196 2.888
GA 28.21 11.494 1.549
PSO 0.015 7.3931 2.711
GA+PSO 0.016 3.6119 1.022
MFO-RTP 0 0.709 0.5

Among all these algorithms implemented for attaining a

Fig. 8. Settling Time analysis
The proposed MFO-RTP based controller is recognized for its
minimized settling time and infers a mitigation in reaching the
settling time by 89% than other CPID and FPID controllers.
The devised MFO-RTP based controller is capable of
alleviating the time span in reaching the actual temperature
with an enhanced proficiency because of an adaptive
convergence of updated flames in accordance with the growth
of iterations for which the feasible temperature is searched for.
The overall amount of time experienced to traverse form the
beginning of the process until the stage of reaching the actual
temperature is defined as the delay time and the variations
computed on incorporating different controllers is illustrated
in Fig. 9.
constant temperature GA assimilated with PSO algorithm
exposes a minimum result of all approaches analyzed (Kantha,
Utkarsh, & Kumar, 2014). The peak overshoot value acquired
for the proposed MFO-RTP methodology is a null value and
other parameters 80%, 51% and 99% for settling time, rise time
and delay time respectively.
4 CONCLUSION
This paper discussed the issues involved in deploying a
Continuous Stirred Tank Heater to maintain a uniform
temperature within an automated system within a
complicated scenario is managed. Issues inferred in those
conventional approaches in tuning the controller in terms of
sustaining the temperature by means of incurring faulty
inferences as feedback. Accomplishing a constant temperature
is made feasible with the devised MFO-RTP approach. The
comparative analysis carried out among the suggested
mechanism with the traditional approaches like Zeigler-
Nicholos, Genetic Algorithm, Particle Swarm Optimization
and a hybrid GA-PSO based tuning evidently proved the
proficiency in terms of peak overshoot, settling time, rise time
and delay time. Devised MFO-RTP methodology realized a

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mitigation of about 89 % in settling time and 35 % of delay [17]. Rojjananil, K., & Assawinchaichote, W. (2016). Optimized PIDI
time. 2 D 2 Controller Based on Genetic Algorithm for Three-tank
Liquid Level Control System. Procedia Computer Science, 86,
100-103.
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