2016 International Conference on Automatic Control and Dynamic Optimization Techniques (ICACDOT)

International Institute of Information Technology (I²IT), Pune

Design of two degree of freedom PID controller for

temperature control system

Mr. G.L.Deshmukh Mr. C.B.Kadu

Department of Instrumentation & Control Engg. Department of Instrumentation & Control Engg.
Pravara Rural Engg. College Pravara Rural Engg. College
Loni, Maharashtra, India Loni, Maharashtra, India
deshmukhganesha16@gmail.com* chandrakant_kadu@yahoo.com

Abstract— In every process industry two important aspects Y(s) G(s)P(s)

Gyr = = (1)
are there, first one is the set-point tracking and another one is R(s) 1+G(s)P(s)
the disturbance rejection. But practically these two aspects
Y(s) P(s)
conflict with each other and cannot be fulfilled by the one Gyd = = (2)
D(s) 1+G(s)P(s)
degree of freedom (1DOF) PID controller. So this problem can
be solved by using two degree of freedom (2DOF) PID
controller. Here in this paper we have tuned 2DOF PID Among these two closed-loops transfer functions Gyr and
controller by using different PID tuning techniques and the Gyd , Gሺsሻis the only one tunable element, so we cannot
performance of the tuning methods are analyzed on the basis change them independently [1]. This shows that the system
of time domain response specifications. By using the best
in fig. 1 has one degree of freedom control system.
tuning technique i.e. CHR 2DOF PID controller is tuned for
temperature control laboratory set-up.

Keywords—2DOF; temperature control; PID controller tuning

I. INTRODUCTION
In the conventional PID control system; set-point kick
phenomenon is there because of derivative term. By using
PI-D or I-PD control schemes we can avoid this set-point
kick phenomenon. In the literature, PI-PD control and PID-
PD control has been used. Such control schemes are two
degree of freedom (2DOF) control schemes [1].
Control system’s degree of freedom is nothing but Fig. 1 1DOF PID control system
quantity of closed-loop transfer functions that are
This type of control system causes the difficulty that if we
autonomous. In [2-4] various 2DOF PID controllers, there
are trying to obtain the disturbance response then the set-
analyses, equivalent transformations and effects of the
point response will be oscillatory and if we are trying to
2DOF structure are shown. The paper is organized as
obtain set-point response then the disturbance response
follows: In section 2 two degree of freedom PID controller
deviates [5] as these two necessities clash with each other
is described; section 3 explains the system description of
and cannot fulfilled by using the 1DOF control so that here
temperature control setup with its model, in section 4 two
we have used 2DOF PID controller to satisfy these two
simulation examples are taken, section 5 describe
necessities. The 2DOF PID Controller has set point
experimentation and results, section 6 has some conclusion
weighting on the proportional and derivative action to
remarks.
achieve both smooth set point tracking and good disturbance
II. 2DOF PID CONTROLLER rejection. It has two inputs, one is reference signal and
another is from feedback and output is the difference
Fig. 1 shows the one degree of freedom control system
between these two signals. 2DOF PID controller has two
[1], where d is the load disturbance, r is the set-point, Gሺsሻ
controllers, one is in feed-forward path for set-point tracking
is the controller and Pሺsሻ is the process transfer function. purpose and another is in feedback path for disturbance
Assume that Pሺsሻis unchangeable. rejection. Fig. 2 shows the structure of 2DOF PID
For this system, two closed loop transfer functions Gyr controller. There are different equivalents forms of 2DOF
and Gyd are as- PID controller explained in [3].

978-1-5090-2080-5/16/$31.00 ©2016 IEEE 586


Fig. 2 2DOF PID control structure
Fig. 2 shows 2DOF control system [6], where P(s) is
process transfer function, X(s) set-point controller transfer
function, C(s) is the feedback controller transfer function,
D(s) is the load disturbance, R(s) is the set-point, and Y(s) is
the controlled variable. The closed loop transfer functions
from y to r i.e. servo-control closed loop transfer function
and closed loop transfer function from y to d i.e. regulatory
control closed loop transfer functions are given by-
(1.5 kW each) is fitted on process tank. Two coils are
connected to the SSR. Hence maximum achievable
temperature of setup (at 230 VAC supply voltage) is 90°C at
60 LPH flow rate. To identify the model of system we have
given step input to solid state relay (SSR) and the
corresponding output i.e. temperature is recorded in excel
format and by using this recorded data we have plotted open
loop step response in MATLAB by using Identification
toolbox. The identified FOPDT process model is-
2.2
Pሺsሻ= 40.484s+1 e-6s (7)
Fig 3 shows the experimentation setup of temperature
control system.

Y(s) C(s)Pሺsሻ X(s)Pሺsሻ

Gyr = = + (3)
R(s) 1+C(s)Pሺsሻ 1+C(s)Pሺsሻ

Y(s) P(s)
Gyd = = (4)
D(s) 1+C(s)P(s)
Fig. 3 Experimental setup of temperature control system
Here are two tunable elements i.e. C(s) and X(s) because
X(s) is independent of Gyd . We assumed that C(s) and G(s) IV. SIMULATION EXAMPLES
are the same controllers in both 1DOF and 2DOF control Here we have taken FOPDT and higher order system with
system so that the disturbance responses of these systems time delay for simulation study.
are similar and the set-point responses are different from
A. Example 1
each other because of the second term of the 2DOF PID
controller. 2DOF PID controller has the additional Consider first-order plus time delay system
parameter called set-point weighting factors. 1
Where the controllers transfer functions are- Pሺsሻ= e-0.2s (8)
s+1

1
C(s)=Kc ቄ1+ +Td sቅ (5) For this FOPDT system we have designed 2DOF PID
Ti s
controller by using chien-hrones-reswich (CHR) for
disturbance optimal parameters, Integral time absolute error
X(s)=Kc ሼb+cTd sሽ (6)
(ITAE), Ziegler-Nichols (ZN) open loop method and
Analytical robust tuning (ART) with maximum sensitivity
Where, Kc , Ti , Td are the PID parameters i.e. controller
Ms = 1.4 [6]. Table I shows the PID tuning parameters for
gain, integral time constant and derivative time constant
these methods. Fig. 4 shows the set-point tracking response
respectively, b is set point weight on proportional term and c is
and fig. 5 shows set-point tracking response with load
set point weight on derivative term [7]. There is no effect of b
disturbance. Table II shows time domain specifications for
and c on the closed loop stability because the closed loop
these methods.
poles location depends only on the C(s) parameters.
TABLE I. PID TUNING PARAMETERS
III. SYSTEM DESCRIPTION
Tuning method Kc Ti Td b c
The temperature control process setup consist of heating
CHR
tank of 0.5 liter fitted with solid state relay (SSR) controlled (20% overshoot)
6 0.4 0.084 0.6 0.63
heater for heating of water. Here RTD PT100 type ITAE 6.2302 0.3621 0.0768 0.6 0.63
temperature sensor is used for sensing temperature of water.
The water flow can be measured and adjusted by Rota meter ZN 6 0.4 0.1 0.6 0.63
which is fitted on process setup. One heater with two coils ART (Ms =1.4) 1.65 0.8633 - 0.6 -

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 Fig. 4 Unit step response for set-point tracking Fig. 6 Unit step response for set-point tracking for plant uncertainty

C. Example 2
Consider the following 5th order system with time delay-
1
Pሺsሻ= e-2s (10)
s5 +5s4 +10s3 +10s2 +5s+1

FOPDT model is obtained by using half rule method [8-10,

12]-
1
Pሺsሻ= e-5.5s (11)
1.5s+1

For this model 2DOF PID controller is designed by the

different methods. Table III shows PID parameters and table
Fig. 5 Unit step response for set-point tracking with load disturbance
IV shows the time domain specifications. Fig. 7 shows set-
point response for this system.

TABLE II. TIME DOMAIN SPECIFICATIONS

Settling time Overshoot
Tuning method
(sec) (%)
CHR
1.46 2.32
(20% overshoot)
ITAE 1.48 5.5585

ZN 1.58 5.35
ART (Ms =1.4) 2.37 2.58

B. Robustness analysis
For robustness analysis of controller we have increased IJ
by 20% and ș has been decreased by 20%. Then obtained
model is-
1
Pሺsሻ= e-0.16s (9)
1.2s+1

The controller settings are those provided for the nominal

Fig. 7 Unit step response for set-point tracking
process. Fig. 6 shows the set-point tracking response under
uncertainty.

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 TABLE III. PID TUNING PARAMETERS TABLE V. EXPERIMENTATION RESULTS

Tuning method Kc Ti Td b c Controller parameters Specifications

CHR
0.3272 11 2.31 1 0.4
(20% overshoot) Overshoot in Settling
‫ܭ‬௖ ܶ௜ ܶௗ ܾ c
ITAE 0.3964 4.6482 2.0818 1 0.4 % Time in Sec.
ZN 0.2181 11 2.75 1 0.4
3.68 3.06 0.08 0.62 0.67 11.06 133
ART (Ms =1.4) -0.05 -0.6545 - 1 -

TABLE IV. TIME DOMAIN SPECIFICATIONS

VI. CONCLUSION
Settling time Overshoot The problem of the conventional PID controller (1DOF)
Tuning method i.e. the set-point response and load disturbance response
(sec) (%)
cannot meet simultaneously. This problem can be solved by
CHR
(20% overshoot)
32.13 0 using 2DOF PID controller. By using the proportional and
ITAE 42.87 0
derivative set-point weighting factors we can improve the
set-point tracking performance of the system. Here we have
ZN 40.23 5.18 compared four tuning methods of 2DOF PID controller and
ART (Ms =1.4) 41.30 11.87 it can be seen from table 2 and 4 that CHR PID tuning
method performs better with very less percentage of
overshoot and good load disturbance rejection with a
V. EXPERIMENTATION AND RESULTS minimum settling time than other three methods. We have
designed 2DOF PID controller for temperature control
Real time experimentation is carried out on the
system by using CHR method which works satisfactory.
temperature control system. The process model of the
temperature control system is identified as in the (7). Here REFERENCES
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