Q1

1) Controlled variable, T
Manipulated variable, FB
Disturbance variable, Ti (it is ok if F is counted as DV also)
Control scheme: feedback
2)
If T increases from steady state, we must increase coolant flowrate, since it is
air-to-close valve, we must decrease air pressure,  need to decrease
controller output.
In summary, as controlled variable increase, controller output decrease, so it
should be a reverse acting controller.

There is another way to answer this question based on a principle given in the
textbook (section 8.3.2): ”for all components on the loop, the product of their
gain should be positive”, For this example, you will see from part (3) that Gv
has negative gain, Gp has negative gain, Gm has positive gain, so Gc must
have positive gain such that GcGvGpGm has positive gain, hence it is a
reverse acting controller.
3)

From the given equations, we have

(1  0.5e10 s )
G p ( s)  ,
(40s  1)(15s  1)
Gd ( s )  0.5e 10 s ,
Gc ( s )Gv ( s )  K c
Air-to-close valve and negligible valve dynamics  Gv ( s )  1 , and
Gc ( s )   K c
Negligible measuring dynamics  Gm ( s )  1 (sensor normally has positive
gain)

4) Transfer function between setpoint and output

(1  0.5e10 s )
Kc
GcGv G p (40s  1)(15s  1)  K c (1  0.5e10 s )
G(s)   
1  Gc GvG p Gm (1  0.5e 10 s ) (40s  1)(15s  1)  K c (1  0.5e 10 s )
1  Kc
(40s  1)(15s  1)

5) Transfer function between disturbance and output

 Gd 0.5e10 s 0.5e 10 s (40s  1)(15s  1)
G(s)   
1  Gc GvG pGm (1  0.5e 10 s ) (40s  1)(15s  1)  K c (1  0.5e 10 s )
1  Kc
(40s  1)(15s  1)

7) Use the disturbance transfer function

2 2  0.5e 10 s (40 s  1)(15s  1) 1
T '()  lim sG ( s )  lim 2G ( s )  lim 10 s

s 0 s s  0 s  0 (40 s  1)(15s  1)  K c (1  0.5e ) 1  0.5 K c

1 1
Offset = 0  = (notice that disturbance changes, set point is
1  0.5K c 0.5Kc  1
unchanged)
Q2
Y (s) GcGvGp
Closed loop transfer function 
Ysp (s) 1  GcGvGpGm
4(1  5s)
Process transfer function G p ( s) 
(25s  1)(4s  1)(2s  1)
Controller transfer function Gc ( s )  K c
and Gv ( s)  Gm (s)  1
4(1  5s)
Kc
Y ( s) (25s  1)(4s  1)(2s  1) 4Kc (1  5s)
 
Ysp (s) 1  K 4(1  5s) (25s  1)(4s  1)(2s  1)  4Kc (1  5s)
(25s  1)(4s  1)(2s  1)
c

Characteristic equation:
(25s  1)(4 s  1)(2 s  1)  4 K c (1  5s )  0
200 s 3  158s 2  (31  20k ) s  4 K c  1  0
Routh test based stability criterion:
Necessary condition:
31  20k  0
  0.25  k  1.55 (1)
 4k  1  0
Rough array:
200 31-20 Kc
158 4 Kc +1
b1 b2
c1
158(31  20 K c )  200(4 K c  1)
b1= b2=0
158
b1 (4 Kc  1)  0
c1=
b1
First column must be positive
let b1>0, c1>0, we get
0.25  K c  1.1864 (2)

Combine the above results (1) and (2), we get

0.25  K c  1.1864
Q3 Solution:
Characteristic equation 1  GOL  0
0.5K c e3s
1 0
10s  1
Pade approximation
1  1.5s
e3s 
1  1.5s
New equation
15s 2  (11.5  0.75Kc )s (1  0.5Kc )  0
For second order characteristic equation, Routh array (sufficient condition) will be same as necessary
condition.
11.5  0.75K c  0
  2  Kc  15.33
1  0.5K c  0