5

Q1. Consider a feedback control system with process transfer function of , disturbance
10s + 1
−0.5 1 1
transfer function of , measurement dynamics and valve dynamics of . This
10s + 1 0.1s + 1 s +1
process is controlled by a P controller with gain 0.45. What will be the offset if the set point is
changed by 2 units? (Enter answer rounded up to 2 decimal place)

5 −0.5 1 1
Gp = , Gd = ,   Gm =   , Gv = ,
10s + 1 10s + 1 0.1s + 1 s+1
y~set=2, kc= 0.45
2 × k p*k c*k v
Offset= 2 − =0.62
1 + kp × kc × km × k v

Q2. Integral windup occurs in ……. controller/s

• I

• P-I,

• P-I-D

Q3. The closed loop system shown in the figure is subjected to a disturbance N(s)
H

+
- G1 G2 C(s)
+ +
N(s)

C(s) G2
The transfer function is given by

N(s) 1 + G1G2H

Q4. Which of the following has the highest maximum deviation? ( maximum overshoot possible for
any given controller)

• P-I
Q5. In ON-OFF control, the value of the controller output depends on

• The sign of the error

0.1
Q6. Consider a process with transfer function of and disturbance transfer function of
4s + 1
0.01
. The process is controlled with a P controller (gain of 0.5). If there is a step change in the
3s + 1
disturbance, we would see overshoot in the response.
• True

Q7. A proportional control with gain Kc is used to control a first order process. The offset will
increase, if
• Kc is reduced

Q8. Consider that a shell and tube heat exchanger is used to preheat a cold process stream by
condensing steam on the shell side. A PI controller is implemented to maintain process stream outlet
temperature by manipulating steam flow. In this case, the corresponding controller will be reverse-
acting controller.
Problem statement

Consider the block diagram of the closed loop system shown in figure
~
d(s)

1
Gd =
(s + 1)(3s + 1)

+
~ + Gc Gv = 1 2 + ~
y SP(s) Gp = y(s)
(s + 1)(3s + 1)
-

Gm = 1

For a unit step change in disturbance evaluate the following:

Q9. The offset if a Proportional controller with Kc = 5 is used is …0.9…….

1
(s + 1)(3s + 1) 1
GR = =
2
1 + 5 * 1 * (s + 1)(3s (s + 1)(3s + 1) + 10
+ 1)

Applying final value theorem,

Lim t →∞ y(t) = lim s→0 s * GR = 1/10

Offset = 1-1/10 = 9/10 = 0.9

Q10. The offset if a Proportional Integral controller with Kc = 5, τI = 0.1 used is ……0…

The offset is always zero for PI controller