Theoretical Consideration of Retarded Control By G, H, COHEN! auo G. A. COON,* ROCHESTER, N. Y. ‘This paper is concerned with a theoretical study of the control of a single-capacity process with dead-period lag. Characterietic equations corresponding to the application of proportional, proportional-plus-derivative, propor= tional-plus-reset, and proportional-plus-reset-plus-deriv tive responses are used fo graph the controller parameters necessery to obtain a desired degree of stability. The Ungree of stability s taleen to be associated with the ampli tude ratio of the lowest-frequency harmonic mode. Ef fects of the various controller parameters are shown and & ‘method it euggested to determine the adjustable parame- s for a desired degree of stability. VER since the publication hy Callender, Hartree, and Porter (1)! considerable attention has been directed to the study ‘of the dynamies of control of retarded systems, Some interest has been shown in the “optimum adjustment” of the control parameters for patticular types of control functions and process characteristict (2-7) Tt is the purpose of this paper to study the control of a single-eapacity process with dead-period Jag. The controler wil be assumed to be conventional; Le, it ‘will have available proportional, integral or reset, and derivative responses ‘The two principal eomponents ofthe control loop are the proc: ess and the controller. The process is considered to include all, parts of the installation exclusive of the controle. For this, ‘iseussion the nal contro element or valve will be included with the proce. "The process can be characterized by its reaction curve which is the chart record obtained when the valve is given a sudden su tained disturbance with the controller disconnected. Such a ‘record is shown in Fig. 1(a) for a unit change in pressure. There ‘appears to be a period of time during which the pen moves but litle and this dead time or lag Z may be of some magnitude in ‘mparison with the transfer lag (the lag due to the lumped ca- pacity of the procers), ‘The dead time is due to the fact that the ‘process ie really continuum where the parameters which describe the process are distributed. ‘The lng due to the finite time of transport of the signal (for example, along tube which carries 0 compressible uid) is called a distance-velocity lng. If the eon- tinuum contains no inertia, it may be represented by a number fof cascaded lumped resistance-capacity networks, Increasing the number of the easeaded elements gives a better approxima- tion to the continuum since the order of contact srith the time taxis inereasee with the number of elements in the lumped eieuit, ‘approximation. However, the complexity of he rubles ine tetenses with the number of elements, TRemeerch Bagineer, Engineering, Research Department, Taylor Anatrament Companies. Jun, ASME. “'Niathematican, Engineering Research Department, Taylor Tne strament Companies ‘Numbers in parentheses refer to Bibliography. at end of paper. ‘Contabuted by, the Tnduatial Instruments and Regulators Di sion and presentad atthe Fall Meeting, Chicago, lL, Sepzembee 7-11, {ago, of Pre Aamnreax Socinev or Mzcnaxtest Exorveens, ‘Nove: Statements and opinions advanced in papers are to. be ‘understood a8 individual expressions of their authors and not those MitheSocety. Manuserit recived at ASME Headquarters. Septom- Tier 12, 1861 |A good approximation which has the advantage of simplicity may be obtained by introducing a certain amount of dead time flong with one oF two resitance-capacity elements, In this paper se approximate the reaction eurve by using dead time and a single-eapacity log. "The following differential equation ean be used as the first ap- proximation to the process ak +2y-ral a RARE D0. ceeeeeee fd where Y= pen deviation from set point, ia, B = anit reaction rate, in/pst min t= time, min AL = proceas sensitivity, in/ps 1, = dead-period lag, min AF = controller output change, psi Z = process time constant, min ‘The frequency response G: fs shown in Fig. 1(0) where ay is the applied angular frequency. ‘We will consider a controller to regulate the process which has proportional, integral and derivative response funetiona. controller may be represented by the following differential equa tion Haro =s[o frees re + 22). where $= proportional sensitivity, psi/in U = reset rate, min T = derivative time, ‘The controler response to a unit step in pen deviation and fre- quency response Gj are shown in Figs, (a) and 2(b), Tt is move \ereating to make phase-magnitude plot for s sinusoidal varia- tion in ¥() as shown in Fig. 3. This shows that the conven- tional controller ean be considered as a band-rejection filter and amplifier the low-frequency corner being determined by the reset rate and the high-frequeney corner by the derivative time. Pro- portional sensitivity seta the amount of gan in the rejection band, Since we are concerned with “regulator” we ill consider aT Journal: Trons, ASME veh. S \A53 , p. STF - BBY CoH 1953823 ‘TRANSACTIONS OF THE ASME (2) Contraller transient response Fra. 2 ©) Controller Nyquitt plot only those disturbances which can be represented by a change inload and not by a change in setpoint. One-can easily go from, one to.the other. In this investigation the load chaiige occure ‘atthe valve.end of the process at zero time and produces the sume reaction curve asa.step change in pressure atthe valve, For the approximation to a single-apacity process with dend-period Jag weean write 20 4B yy pane + 2aDU—D,..0) Where A.D is the load change, psi. In order to get the control. Joop equation in nondimensional form, we introduce the follow ing notation: selF-regulation indes of process (a+ 0 when f+ 2) ‘ 1 = £ = dimensiones “time” i eda “time Yur) RLAD, SRL = dimensionless proportional sonstivty setting UL = dimensionless resot “rate’ setting dimensionless derivative time setting by = SRL(UL) = integral parameter v2 = SRL = sensitivity parameter Hr) = = dimensionless “pen deviation” nna stu (2) = dave prance teens ihe Dh top may et apatites 7 “ Btwn anf Kee — nr — 1) ‘The ultimate aim in the adjustment of ‘response curve which will satisfy the users requirement for good control. ‘The quality of control is therefore relative to the appli cation, The user usually wantaminimum area under the response curve, minimum deviation, and minimum eyeling. Ziegler and ‘Nichols (2) suggest that the amplitude ratio ofthe response curve be about 0.25, and this is » commonly accepted rule of thumb in the process industry. ‘Since retarded action implies that the response curve consists ‘of an infinite number of harmonic modes, it would be fruitless to prescribe the amplitude ratio for each mode. We shall, there. fore, designate the ‘degree of stability” to be associated with the ‘amplitude ratio of the fundamental (lowest-frequency) harmonic mode, ‘Adjustment of the controller will be based on information oh= JULY, 1953, 20 Loss, i ie wo apa (o) Logmagnjude versus requency ° Fro. vate tained rom th ntl region. We ine the coat! efoto beth grepie olny between he adjustable cone su, ttre vanty to oa prsred deges of bly ts Tespane sure =e chars sqnton of he conta a iad plot he conto “ad Theconta sexi may tn be obtained by mest the Se Joon mtiods ef fequnay sala Intend of sng the tmplitade ratio ofthe fundaentl harmon mode as a ear eof degen of wait tele of aman agate’ ae commonly tied. ace ii method har reseed soos ‘tnt inthe pak year we wl ot conser it art bof thal Moreover, Seo Une teow ror in einai ‘bit osname from thas dagame (3), ‘We wl now cider the eps ass of proportiond cone tah proportional gae-dvative emt propordosspinaeat Sone and proprtoon eset ps deraive cone Proronttoxas, Connon (n = ms = 0) ‘The control relationships are obtained from the eharacterstie ‘equation which for this ease becomes Pte tne ao. 18) ‘There is an infinite sumber of roots corresponding to Equation [8], the real roots (p = —6,) being shown in Fig. 4. We are interested primarily in the pair of complex roots with the lowest frequency component which we denote by PW ED ceeeectei reece EB] where a = amplitude ratio of fundamental mode Fio.4 Reat Roors or Cuanscrentsrie Bacaroy {6} i iCOHEN, COONTHEORETICAL CONSIDERATION OF RETARDED CONTROL oar dimensionless angular frequeney of fundamental mode P= peo nia Substivation of Equation [6] nto {6} and separation ofthe real and imaginary part yields tne and nm aS ‘The foregoing equations define the control region for propor- tional control. as shown in Fig. 5, ‘The sensitivity parameter is plotted against the self-regulation index x. The solid Tines are ‘Contours of constant amplitude ratio a of the fundamental while the broken lines are loc of constant dimensionless period P/L. ‘the disturbance ie a Heaviside step of height ADs Laer oe) = + Do tere om uae 89 sae oe provided there are no repeated roots of the characteristic equa- ton and where A, = harinonic amplitudes: ® ‘oy = barmonie frequencies by = associated phase angles rua, = dampiig constants for each harmonic mode ‘8, = damping constants corresponding to real roote ‘The amplitudes ofthe frst three harmonics are shown in Table 2 TABLE | APPROXIMATE AMPLITUDES OF HARMONICS, PRO- WORRONAL ContRoL (Amplitude ratio of fundamental = 0.25) . “te oe B10 ome 388 a2 Sie Sip 82 Se do 82 8 Se 9010 tS: Same Slo Fro.5 Coxmmot Reotox yon Proronrioxat, Covrnot fa Fie. 6 Resroxsn Comves rox Paoronrioxat Com0t, Fro, 7 Costranisox or Unmntare ax 0.25 Auputrons Ratio TABLE? OFFSET, INTIAL PEVIATION, AND PERIOD, PROPOR TONRE USSR 7 (mpltude ratio of fundamental = 025) ey = tne of ina deviation of 7 iagitade o iit deviation fo IGE HE Tis evident that for 0 < 4 < 1 all of the higher barmonics in Equation (7) ere negligible io comparison with the fundamental, ‘Thus, fone chocees the amplitude ratio of the fundamental to 'b60.35, the response curve will have approximately this degree of stability "The offset 1/(vs + 1) and the time and magnitude of the initial deviation (height of the Srat peak) ofthe response curve sre shown. {jn Table 2 for various value of self-regulation and an amplitude rutlo of 0.25. It is eeen that the initial deviation is about one ‘and one-half times the offset, "A few representative responge curves are shown in Fig. 6 for the caso of proportional control, These curves are easily aketebed by obtaining from Fig 6 the sensitivity setting v» and period for the process characteritic and desired degree of stability. For fn amplitude ratio of 0.25, the time and amount of initial devia- ton as well asthe offet may be determined from Table 2. ‘Tshows the ratio of the sonstivity eettings Su necessary to obtaia an amplitude ratio of 0,25 to the settings necessary to bain an amplitude ratio of unity (the ultimate seasitivity S.) fs well as the period corresponding to this ultimate sensitivity. Paorosroxat-Puvs-Demtvartve Conmnot. (91 = 0) ‘The characteristic equation corresponding to this case is Pte bern trp) 0 ‘As before we obtain the equations for the control region y= (rain @ — cos we — we “HF ESt Pm (Lt ee sino wen" (rn w+ 08 4) Figs 8 and 9 show the y-contours in the control rion for amplitude ratios of 0.25 and 1.0 (the stability-timit case). As onc chooses settings along a 0.25-amplitude contour for a fixed y, it ls found that the controlled response changes considerably in character. Table 3 shows what happens to the offet, the time of initisl deviation, the magnitude of the inital deviation, and period for x = 0 {ein ovident that for the offet to be & minimum » should be between 0.3 and 0.4. For largor valucs of » the offset increases at a rapid rate. The corresponding values are shovin in Table 4 for a self-regulation index u of 0.3, 1f0.25-amplitude ratio is desirable and if minimum afst ia re- aquired, then the controller ean be adjusted according to Table 5, ‘The period, initial deviation, magnitude of initial deviation, off fet, and linear approximatione for the settings also are shown {or various values of 1. TABLES CHARACTORISTICS OF RESPONSE CURVES pROFON- CTNONRTRSEIOnaIVAEIVe CONTROL o eon TABLE CHARACTERISTICS OF RESPONSE CURVES PROVOR- NONRLAALCE DERIVREIVE CONTROL #03 = 038 on 82 TG ae ORR OEE 83 tee ga be OES TAPES vis GHABACTERISTICS FoR PropoRTiONAL-rLUs-DE- AN Give SOSTRSE Wit iNIad BPSE ROO AE, m= 0181 + 1.240 nm —ontt + 0338 BP wep by bP be O82 8e Fle ER aat or 8h Me be oR Yo 08 ER ORR Be TRANSACTIONS OF THE ASME JULY, 1958 ‘The response curves for w= O and = 0. are shown in Fig 10, Pnoronriovat-Puus-Reser Coxtnot. (1) = 0) ‘The addition of reset response removes offset, but tends to make the rystem more unstable, The characteristic equation for this ease may be written bE emmy + mp) = 0 nd the control region ie defined by Mm we" [Br C08. + (1 — 7) gin wl] + be" tr sin wo — cos wl Pym vera + te (7) c08 w — Br sin + Hee" ™ fr con w + sin ‘These equations allow one to plot the control region shown in Fig, 1. The control parameter» is plotted against » for various j. id for an amplitude ratio of 0.25. ‘The eontours for the st bilityslimit ease and for ertical damping are shown in Figs. 12 and 13, respectively. ‘also known thatthe control area is ‘one progresses along a particular contour of 0.25 amplitude ratio, it is found that the control area does not change very much in the neighborhood of maximum » but the frequeney docs. Tt is desirable to keep the frequency as large as possible and retain minimum control arca, ree 5 8 Covraot Reuton von PhoronriowatePuumDenative ‘Cowrnot, «= 05 4 i 9 Srisiuiey Litera yor Protontionai-Puue Demvanive Covernow Fis1) J Foto. Rowone Gonves ron Puorononst-Peos-Dearyaive "Gomrnots a= 0.25, Miwratac O» (Wppeesurvep = 0 iower curse = | a Fro, 11 Cowrnot: Reotow ron Provonniosat-Puue-Restt Cox ‘mon, @ = 028 Fig. 14 shows response curves for settings chosen along the 10.25 amplitude contour in the eontrl region. ‘titi desirable that the response curve be critically damped so that most of the area of the curve is above the control point ‘then Fig. 13 is used, For this ease the criterion of minimum con- trol ates is the election of the maximum value of », on the con tour of eritieal damping. 1 derivative action is added to a proportionsl-plus-reset con- troller, ne characteriatie equation le PPE peer(s bop + vpt) = 0 Again we find "(Ora — wh ot a + [ur +o — 79) X sin we) + ran Fro, 12. Seasrsry Lisres =A on Prorowtionat-PLvs-Reser CONTRO! oe Fro, 18 Cxinteat, Dasenva Coxravns ron PROFORSYONAL-PLUS ‘Haart Cowsnow mee Cunvns rom Paorontiowat-Puva-Reart Con- 1) = On = 0.18, m= 0.90; Go eas nS 048, m= 092 ‘TRANSACTIONS OF THE ASME = Gr + we [ur + WL —19)] 08. +(e — Br) X sin w] + or) ‘The control regions obtained fromthe fereyuing equations are shown in Figs. 15 and 16 whan the fundamental harmonie com. ponent of the response curve ss an amplitude ratio of 0.25. ‘There isan infinite number of modes whieh add up tothe actual response, The introduction of derivative makes it possible to have a set of values of v4, 4 and » yield not only a mode having 0.25 amplitude ratio but also « critically damped mode, ‘The contours for the stability limit are shown in Figs, 17 and 18, Representative response ourves for parameters chosen on a 0.25 amplitude ratio contour for u = O and ye = 0.3 are shown in Figo. 19 and 20. ‘The values of the parameters in Fig. 20 were taken so a3 to make the control area a minimum when # = 0.5 (curve a), tomake the parameter »yamaximum when » = 0.5 (curve b), and to satisfy both 0.28 amplitude ratio and ential damping when v5 = 0.5 (curve 0). ‘The parameter », = 05 gives approximately the largest possible value of v satisfying simul ‘taneously the condition of the eritical damping and 0.28 ampli- tude ratio. Curve e may be eonsidered optimum, Conexustons We have shown how the control rogions are used to determine the control-parsmeter settings for a prescribed, degree of sta bility of the response curve. One must be able to obtain the Process constants y, R, and Z from the procese-reaction curve ‘and to write the linearized approximate equations for the con troller, Since there is degree of latitude in the setual controller set~ tings, this method sufices for most practical eases. ‘This is evi- Fro, 15 Contmot Recion ron Paorontionat-PuceRese-Piie ‘Denivarive Common, 4 = 0, Fio. 19 Coxrtot, Reatox son Prorontioxa-Prve-Reset-Puvs Dantvarive Cowrnot, n= 03,4 = 0.95, dent by the fact that the settings preseribed by Ziegler ‘and Nichols have been commonly accepted. However, the Ziegle ‘Nichols settings do not take into consideration the eelf-egulation ofthe proces. We therefore suggest the following settings, if the degree of stability specified by 0.25 amplitude ratio for the fundamental ‘mode s desirable: Proportional control (eriterion, 25 amplitude ratio) = 1.08 +035 4. <8] Proportional-plusderi ‘and minimum offset) ive (criteria, 0.25 amplitude ratio mr epeael 01 vy = 034— O41 Proportionalplusreset (oriteria, 0.25 amplitude ratio and compromise between minimum ares and period) 909400832 = 027 +06 u......[10) Proportional-plus-resetplus-derivative ritera, 0,25 amplitude ratio and critical damping modes dominant, maximum ») rm 1a +024 = 0544083" = 05..[11) If there is no interaction between controller adjustments then ‘one can obtain the actual controller adjustments as Follows vity, adjustment knob setting(Sa ere COHEN, COON-THEORETICAL CONSIDERATION OF RETARDED CONTROL = Fic, 19 Redroxer Convis rox Paorontionat-Pvs-Resen Pure Brnivanren Cavznot (0) = 08, = LAL, w= 05; () m= 0.54, 2 = 1.85, m =O. O87, m= 12h = 03:0 034, n= 12. “Fro, 1EiSrxeurey_Limrzs ron Prorontionai Blur iteses Pio ‘Denivarrme Cowmnon, » = 0 Fro, 18 Sranttrry Lise ron Paoronrrowat-PLoe-Rases-Po0t- ‘Denivasive Conmaat, p= 03 _= reset rate, adjustment knob setting tT. a LL = derivative time, adjustment knob setting If thore ie interaction between controller settings, then the parameters #3, and Ps are Grst obtained from the linearized Controller equation. For example, a cascade controller (0) has the following relation between adjustable parameters and the control constants Fro, 20° Resronsn Conve ros Puoronrioxst-PuoeRase-PLoe ‘Demrvanive Covrm0 (n= 19k m= 145, nm 08 () m= Loz, m2 15, n= 05 {9 m= G04, = 148, m= 05 ne SLE UTORL = SURI = S'T'R..[12) where 5’ = adjustable knob labeled “Sensitivity” U! = adjustable knob Inbeled “Reset Rate” 17" w adjustable knob labeled “Derivative Time” ‘Relationships [11] yield », vs and zs, and then Equations [12] ‘are used to obtain S', U’, 7%, the actual knob settings of the cascade controller. ‘The control regions show that inereasing the exlf-regulation index # makes the loop gain $30 smaller eo that fora xed proo- fess eenstivity, M, the controller sensitivity S decreases, Also, ‘the control area and period deorease aa 1 increases "The use of reeet to remove offst makes the control lest stable since s smaller value of sensitivity must be used in comparison ‘eith proportional alone. Moreover, the control-region graphs tow thet the period inereases with the addition of reset to Bro~ portional control. "The addition of derivative action allows one to use increased sensitivity and reset rate, Hence the period is deereased further ‘nd the control area is dereased, giving much better contrat. Te is appareat that the addition of derivative action decidedly improves coatrol for values of self-regulation 0 I derivative offers litte advantage from the Flandpoint of load-change disturbances, However, as pointed satin reference (9) starlup of & batch process requires the use Gf derivative to prevent overpeaking. Hence derivative is al ost always a desirable response. Acaxowtsooneye ‘The authors wish to acknowledge the aid of Mra, Doreen ind Ray Johnson, both of the Engineering Tesearch in computational and graphical work. ‘Tessaro a Department, for their aid iteo BiBLiocRaPHy {Time Lag in a Control System," by A. Callender, D. It. Ua luee, and A. Porter, Philosophical Transactions ofthe Taye! Sonety ‘of London, val. 296; 1990, np, 415-448 2 “Optimum Settings for Automatic Controllers," by J. G. ‘ager and N.B. Nichol, Trans. ASME, vl, 64, 1045, pp. 750-708 3 Brocan Ings in Automat Contra Clee’ 89 3, Or Bioger snd N.B. Nichols, Trans. ASME, vol 65,1049, pp. 488-444 ‘4 The Dynamics of Automatis Contra: by R. C. Oldentou and H, Sartoriua, bok translated from the German hy it Le Maat ‘nd published by ASME, New York, N. Ya fn 1038, '§ "The Optimum Adjustment of Regulators” by P. Hazebrock and B, L.'van der Waerden, Trans, ASME, vol 72.1080, 9, 317, 8 ,*Theoretieal Considerations on the Optimum Adjuatesn of Regulators.” by P. Hasebroek aid B. L: van der Wasrdcn, Trane ASME, vel. 72,1960, pp. 200-216, ‘Controtier Stings for Optimum Control," hy W. A. Welle, ‘Trane, ASME, vol 78,1061, pp. 419-418 8 “Importance of Extending Nyauiet Servomechanismn Analysis to Include Prensient Response,” by TL. Johnson and J. B. Hen, Sournal ofthe Aeronautical Science, vol. 18.1981, Pah 9 A'New Concept of Automatic Contra" by'f. B. Claridge, Inatraments, vol. 23, Deseo, 1950, pp. 1248-1354 Discussion 'Y, Tamawasut.'| The authors are to be congratulated on pro= tenting a paper with very clear conclusions and very useful con- ‘robregion diagrams, ‘The authors statements on the complexities of industrial proce ‘esses and the presence of continuum are highly important, con sidering auch complexities were occasionally ignored by some control mathematicians, leading to utopian conclusions auch as infinite gain as an optimum. ‘Theoretically the horizontal asymptote in Fig. 3 (2) should be defined by S' of the following equation AF/Y = SL + U'/p) (1 + 1'p) Putting this identical to the corresponding form of Equation [2] of the paper we got ‘Bat, in most cases, especially near the optimum settings, the dif= ference between $ and "is vory slight; moreover, the authors hhorizorita line of the height “20 log S” comes nearer to the exact jsnuation curve than that of § Compared with the results of other papers the values from, the authors' equation are among the higher. Generally, the eon. clusions depend upon the deGuition of “optimum,” to if the (transient response itself is considered instead of the fundamental mode of oscillation, they are influenced by the nature of disturb- ‘ance, fined statistically or as a time function, For the latter case the writer tried an analysis, Assuming the disturbance of the form a0 = angi er sn eine the oti be tn misma cnt re af fF Mote wat wan thatthe bag the Ty th ange { Professor, University of Tokyo, Chiba-City, Japan. { Authors’ Bibliography (2. 2,5, 6, 7), and “On the Automatic Gontrol of Generalized Pasive Systems,” by: Kun Li Chin, Tk Hrones, J.B. Reswick, Trane. ASME, vol 741003, p. 178. TRANSACTIONS OF THE ASME SULY, 1955 the optimum settings; for example, the optimum settings of pro- portional controlsare weOnad SRL= 0.89 0.91 forT,=0 + SRE = 107 1.40 tor Ty = 2L Finally, the writer would like to point out Dr. Oppel's eom- ‘ments on the importance of Ziogler-Nichole’ ultimate sensitivity ‘method. This enables us to take into necount the self-regulation ‘of the proces, and according to Oppelt, its results approximately coincide with Hazebrock-Waerden’s optimum values for propor- tionalplus-rset controle Actions’ Cuosune For the process = 0 Fig. 21 below shows the integral £ fe) — Lae ea th ait dn or = 00 | N 40 30 i } Eas fie i po ie . Fro. 21 dlofined by the integral has a very broad minimum. It apposts that changing » from 0.58 to 1.25 does not change the absolute rea more than 25 per cent whereas the offet changes about 80 Percent, Hence, 0.25 amplitude ratio appears to give « good ‘compromise between offset und minimum absolute area in the nase ‘of proportional control. Tt can also be shown that this criterion ofabeolutearen agrees with our results fora three-term controller. ‘The authors wish to point out that Profesor Takahashi hss done considerable work along these lines? Professor Takahashi’ discussion brings out ome interesting ‘aspects concerning the interaction of knob settings in the cascade type of controler. As long ns U” < 1/T", the knob settings cor- rectly describe the controller functions. ‘However, when U" > 41/7’, the straight line approximations to the frequency response of the controller indicate that the knob labeled reset actually controls the derivative response and vice verse. Also, the se sitivity depends more strongly on the settings of the reset and Aorivative knobs. Tk may be noted that the optimum settings given by Huze- broek and van der Waerdon aro based on a change in set point. yon Regelvorgingen.” by i, mieur Techniche, vol. 23, 1081, by 190 + “Automatic Control,” by Y. Takahashi, The Science aad Tock nique Book Co., Kansas, Japan, 1040 (it Japanese)