Process Dynamics and Control CH2405

Tutorial 05 -Stability analysis and Controller tuning

1. a) A second order transfer function of the process is given by equation

1
𝐺𝑝 = 2𝑠2 +10𝑠+1

This process is controlled by a proportional derivative controller transfer function of which

is given:
𝐺𝑐 = 𝐾𝑐 (3 + 𝑠) Assume Gf=Gm=1
Using the Routh- test compute values of Kc that will result in closed loop stability.
a1a6  a0a7 B1  A1a3  a1 A2
A1  a1a 2  a 0a3 A2  a1a 4  a 0 a5 A 3
a1 A1 B2  A a5 a1 A3
1 
a1 a1 A 1

C1  B1 A2  A1B2 C 2  B1 A3  A1B3
B1 B1

b) To tune PID controller the Cohen and Coon experiment was performed and a control room
chart recorded a Process Reaction Curve as shown in Figure 1. Cohen and Coon expressions
for controller settings are shown in Table 1
i) Describe the experiment performed
ii) Take necessary measurements from the graph in order to recommend tuning parameters for
PID controller, including static gain (Kc), integrating (τI) and derivative (τD) time constants
iii) Write transfer function for PRC (process reaction curve)

Figure 1

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Process Dynamics and Control CH2405

Table 1

b) i) What is the meaning and application of IAE, ISE, ITAE

ii) Describe all methods of tuning feedback controllers you know
iii) Consider the scenario shown in Figure 2 and derive the transfer function for the servo and
regulator control scenarios.

Figure 2
c) The CSTR reactor system shown in Figure 3 carried out an exothermic reaction as follows.
There the reactants and product are in liquid phase. A cooling jacket is used to control the
temperature of the reactor.
𝐴(𝑎𝑞) + 𝐵(𝑎𝑞) → 𝐶(𝑎𝑞)
Product quality is the highly concerned control objective in this process and it is determined by
measuring the mole fraction of C in reactor outlet
i) Briefly describe two other control objectives you can identify in this reactor system.
ii) Suppose you are asked to develop a control system to control the temperature inside the reactor.
Construct one control loop to control the temperature and clearly mentioned the controller
configuration, control variable and manipulated variable in your system.

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Process Dynamics and Control CH2405

Figure 3
iii) Consider that a PID controller is used in the temperature controller in reactor system. Write
down the transfer function of a PID controller.

Explain what is meant by critical (or ultimate gain) in Ziegler-Nichols tuning procedure
In the tuning process Figure 3 was obtained for the value of proportional gain at 12. Accordingly
calculate all the values of parameters involved in PID controller.

Figure 4

2. a) A second order process is given by equation below:

1
𝐺𝑝 =
𝑠2 + 2𝑠 + 1
This process is controlled with a proportional derivative (PD controller given by 𝐺𝑐 = 𝐾𝑐 (1 + 𝑠)
Compute values of the controller gain (Kc) that will result in stable close loop. Use Routh test.
ii) If instead of a PD, a proportional only controller Gc=2 is used, compute the closed loop
response as a function of time for a unit step change in set point.

b) A control room chart record shows a Process Reaction Curve (Figure 5).
Describe the experiment performed and draw a block diagram of the loop tested.
Take necessary measurements from the graph in order to recommended tuning parameters for
i) Proportional controller, including proportional band (P.B) and static gain (Kc)
ii) PID controller, including static gain (Kc), integrating (τI) and derivative (τD) time constants.

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Process Dynamics and Control CH2405

Figure 5
c) i) Describe experiment methods of tuning feedback controllers proposed by Cohen and Coon
Ziegler and Nichols.
ii) The process reaction curve of a level control system gave the following values;
static gain-20
time constant-4min
dead time-0.2 min
Compute the settings of a PID controller using Cohen-Coon tuning methodology you may use
following:
𝑡
1 𝜏 4 𝑡 32+6 𝑑⁄𝜏 4
𝐾𝑐 = 𝑘 𝑥 𝑡 (3 + 4𝜏𝑑 ) 𝜏𝑖 = 𝑡𝑑 𝑥 𝑡 𝜏𝑑 = 𝑡𝑑 𝑥 𝑡
𝑑 13+8 𝑑⁄𝜏 11+2 𝑑⁄𝜏