FIRST AND SECOND ORDER SYSTEMS

Objectives:

To study the transient response of first-order and second-order systems.

Block Diagram:

(b) First order system (a) Second order system

Specifications:

Product: First-order and second-order system

Thermometer Range: -100C - 1000C
Thermometer with thermo wellRange -10– 0-1000C
‘U’ tube manometer Tube ID (mercury) 5mm
‘U’ tube manometer Tube ID (water) 22mm
Heating bath Size 1.25BSP, 315mmL, SS304.
Heater Type Electrical 2 coil, Capacity 3 KW
Mini compressor type Diaphram
Overall dimensions 1000Wx225Dx485H mm

1
 Experiment – 1

Aim:
To study the step response of thermometer

Theory:

A thermometer bulb is a first-order system, whose response can be described by a first-order

linear differential equation. The dynamic response of first-order type instruments to a step
change can be represented by

Where = temperature indicated by thermometer

= Final steady state temperature
T = time
T = time constant
The linear first order differential has the particular solution for given initial conditions,

This represents a single exponential response. The time constant Τ is the time required to
indicate 63.2% of the complete change. The time constant T is numerically equal to the
product of resistance and capacitance.

Procedure:

• Fill the heating bath with clean water by opening the inlet valve of heating bath.
• Switch on Mains to heat the water in heating bath to its boiling point. Switch off the mains.
• The water in heating bath is now near its boiling point. Insert the thermometer in
heating bath suddenly after noting its initial temperature.
• Note the thermometer reading till the temperature reaches at steady state.

2
Observations:

1. Initial temperature (0C):

2. Final temperature (0C):

S. No. Time ( sec) Actual temperature (0C)

1
2
3
4
..

Calculations:

1. Step change = Final temp. - Initial temp.

2. Value of 63.2% of step = 0.632 x (Final temp. - Initial temp.) + Initial temp.

3. Plot the graph of Actual temperature Vs time and note the value of time at
63.2% of step change. This value is observed time constant of the thermometer.

4. Calculate theoretically predicated temperature by following equation:

Theoretical temp =
Initial temp. + ( step change × ( 1- exp (

5. Plot the graph of Theoretical temperature Vs time on the same graph plotted above.

Model Graph:

3
Summary and Conclusions:

The behavior of thermometer system is first order in nature and the theoretical step response
matches with the experimental observations.

4
 Experiment – 2
Aim:
To study the step response of thermowell

Theory:

A thermometer in experiment no.1 is added with additional resistance (thermo-well)

at its bulb to increase its time constant. The system can generally be considered as
first order system and response can be described as a first-order linear differential
equation.

Where = temperature indicated by thermometer

= Final steady state temperature
T = time
T = time constant

The linear first order differential has the particular solution for given initial conditions,

This represents a single exponential response. The time constant Τ is the time required to
indicate 63.2% of the complete change. The time constant T is numerically equal to the
product of resistance and capacitance.

Procedure:

• Fill the heating bath with clean water by opening the inlet valve of heating bath.
• Switch on Mains to heat the water in heating bath to its boiling point. Switch off the mains.
• The water in heating bath is now near its boiling point. Insert the thermometer in
heating bath with thermo well suddenly after noting its initial temperature.
• Note the thermometer reading till the temperature reaches at steady state.

5
Observations:

1. Initial temperature (0C):

2. Final temperature (0C):

S. No. Time ( sec) Actual temperature (0C)

1
2
3
4
..

Calculations:

1. Step change = Final temp. - Initial temp.

2. Value of 63.2% of step = 0.632 x (Final temp. - Initial temp.) + Initial temp.

3. Plot the graph of Actual temperature Vs time and note the value of time at
63.2% of step change. This value is observed time constant of the thermometer.

4. Calculate theoretically predicated temperature by following equation:

Theoretical temp = Intial temp. + ( step change × ( 1- exp (

5. Plot the graph of Theoretical temperature Vs time on the same graph plotted
above.

Model Graph:

6
Summary and Conclusions:

The behavior of thermometer system is first order in nature and the theoretical step response
matches with the experimental observations. The time constant of thermo-well is more than
that of the thermometer.

7
 Experiment – 3
Aim:

To study the step response of mercury manometer

Theory:

The dynamic response of a second order system to a step change can be described by a second-
order differential equation. The solutions to these equations involve three cases: an under
damped condition [ζ <1], critical damped condition [ζ =1] and over damped condition [ζ >1].

The response for under damped system (ζ <1) can be written as:

Following figure shows response of second order system for different damping coefficient
values.

For mercury manometer:

y(t) = response at any time t after step change (deviation value).

K= Gain factor =1
M= magnitude of step change

Damping coefficient (ζ) = √

8
(Where L = column length in meter,
= Dynamic Viscosity kg/m.s
= Mass density of the manometer fluid in kg/m3,
D= tube diameter in m,
G= Gravitational acceleration in m/sec2)

Characteristics time (τ ) = in sec.

√
Frequency of damped oscillation (f) =

Where Natural frequency ( )= √

1. Rise time = tr is the time the indicated value takes to first reach the new steady-
state value.
2. Time to first peak = tp is the time required for the indicated value to reach its
first maximum value.
3. Response/settling time = ts is defined as the time required for the indicated value
to reach and remain inside a band whose width is equal to +/-5% of the total
change in θ. The term 95% response time sometimes is used to refer to this case. Also,
values of +/-1% sometimes are used.
4. Decay ratio ( DR ) = c/a ( where c is the height of the second peak).

√
DR =
5. Overshoot (OS) = a/b =√
6. Period of oscillation = P is the time between two successive peaks or two successive valleys
of the response.
P=
√

Procedure:

• Ensure that mercury level in manometer is set at ‘0’ on the scale.

• Close vent connection by putting finger on it.
• Adjust the needle valve and vent to raise the mercury level to @200mm from ‘0’ level.
• Note the mercury level reading and quickly open the vent to apply step change. Note the top
peak and bottom peak readings. Also simultaneously note the period of oscillation. (This can be
noted by measuring time required for 4-5 oscillations and then calculating for each oscillation)

9
Observations:

Constants:

Manometer fluid = Mercury

Dynamic viscosity (µ) = 0.0016Kg/m.s.
Mass density (ρ) = 13550Kg/m3.
Column length (L) = 0.760m
Tube diameter (d) = 0.005 meter

Step change (mm):

Period of oscillation (sec):

S. No. Actual response ( mm) Period of oscillation (sec)

1
2
3
4
5

Calculations:

• Calculate natural frequency of oscillations

• Calculate damping coefficient
• Calculate period of oscillations
• Calculate decay ratio
• Calculate overshoot
• Calculate frequency of damped oscillations
• Calculate characteristics time
• Calculate theoretical response for different time values using equation

10
Model Graph:

Plot the graphs of Actual & Theoretical response Vs Time

Summary and Conclusions:

The behavior of mercury manometer system is second order in nature and the theoretical step
response matches with the experimental observations.

11
 Experiment – 4
Aim:

To study the step response of water manometer

Procedure:

• Ensure that water level in manometer is set at ‘0’ on the scale.

• Close the vent of water manometer by putting hand on it.
• Adjust the needle valve and vent to deflect the water column to @ 450mm from ‘0’ level.
• Note the water level reading and quickly open the vent to apply step change. Note the top
peak and bottom peak readings. Also simultaneously note the period of oscillation. (This can be
noted by measuring time required for 4-5 oscillations and then calculating for each oscillation)

Observations:

Constants:
Manometer fluid = water
Dynamic viscosity (µ) = 0.001Kg/m.s.
Mass density (ρ) = 998Kg/m3
Column length (L) = 1.050m
Tube diameter (d) = 0.022 meter

Step change (mm):

Period of oscillation (sec):

S. No. Actual response ( mm) Period of oscillation (sec)

1
2
3
..

Calculations:

• Calculate natural frequency of oscillations

• Calculate damping coefficient

12
• Calculate period of oscillations
• Calculate decay ratio
• Calculate overshoot
• Calculate frequency of damped oscillations
• Calculate characteristics time
• Calculate theoretical response for different time values using equation

Model Graph:

Plot the graphs of Actual & Theoretical response Vs Time as given in the case of Mercury
manometer.

Summary and Conclusions:

The behavior of water manometer system is second order in nature and the theoretical step
response matches with the experimental observations.

13
 INTERACTING AND NON-INTERACTING SYSTEMS

Objectives:

To study the dynamic response of single and multi capacity processes when connected in
interacting and non- interacting mode.

Block Diagram:

(a) Non-interacting system (b) Interacting system

Specifications:

Product :Interacting and Non interacting system

Product code :328

Rota meter :Make Eureka, Model MG 11, Range 10-100 lph, Connection

¼” BSP back, screwed, Packing PTFE +Silicon Make

Process tank Acrylic, Cylindrical, Inside Diameter 92mm With graduated

scale in mm. (3 Nos)

1
Supply tank :SS304

Pump : Make U.P. National Mfrs.Ltd., Model THS 3000, Type submersible,

Head 3 m, 1200 lph discharge, Watts 35, Volts 240 AC, 50Hz Fractional

horse power, type submersible

Overall dimensions :410Wx350Dx705H mm.

Theory:

Non-interacting system:

In non-interacting system, we assume that the tanks have uniform cross sectional area and the
flow resistance is linear. Writing a mass balance around the tanks gives the transfer function of
the system that relates h2 to q.

Writing mass balance for tank1

q- q1 = A1(dh1 / dt) ……………………………………………………………… (1)

Mass balance for tank 2

q1- q2 = A2(dh2 / dt) …………………………… ………………………….…….(2)

The flow head relationships for the two linear resistances in non-interacting system are given
by the expressions

q1= (h1 / R1) ………………………………………………………………………….(3)

q2= (h2 / R2) ………………………………………………………………………….(4)

From (1) and (3)

………………………………………………………………………..(5)

Where Q1 = q1 - q1s, Q = q - qs and 1 = A1 R1

From (2) and (4)

2
 …………………………………………………………………………(6)

Where

H2 = h2 - h2s and 2 = A2 R2

Overall transfer function is calculated as follows

……………………………………………………………..(7)

For a step change of magnitude A in Q,

Q(s) = A / s

………………………………………………………...(8)

H2 at time t is given by

{ }) …………………….(9)

For an impulse change of magnitude V (volume added to the system)

Q(t) = V TM(t); So, Q (s) = V

……………………………………………………………..(10)

For impulse change, H2 at time t is given by

……………………………………………………….(11)

Considering non-linear resistance at outlet valve of the tank R2 can be calculated as

R2 = 2 dH2 /dQ

Where dH2 is change in level of tank2 and dQ is change of flow from initial to final state.

Put the values in equation (11) to find out H (t) Predicted and plot the graph of H (t) Predicted
and H (t) Observed Vs time.

3
Interacting system:

Assuming the tanks of uniform cross sectional area and valves with linear flow
resistance the transfer function of interacting system can be written as:

…………………………………….…(12)

Let

……………………………………………………………………..(13)

√ ………………………………………………………………(14)

For a step change of magnitude A

……………………………………………………….(15)

In terms of transient response the interacting system is more sluggish than the non-interacting
system.

For an impulse change of magnitude V (volume added to the system)

Q(t) = V TM (t); So, Q (s) = V

…………………………………………………..(16)

For impulse change H2 at time t is given by

………………………………………………………(17)

Considering non- linear valve resistance, the resistance at outlet of tanks can be calculated as

R1 = 2 ……………………………………………………………………………………(18)

R2 = 2 ……………………………………………………………………………………(19)

4
 Experiment - 1

Aim:
To study the step response of two first order systems arranged in non-interacting mode.
Procedure:

 Start up the set up.

 A flexible pipe is provided at the rotameter outlet. Insert the pipe in to the cover of
the top Tank 1. Keep the outlet valves (R1 & R2) of both Tank 1 & Tank 2
slightly closed. Ensure that the valve (R3) between Tank 2 and Tank 3 is fully
closed.
 Switch on the pump and adjust the flow to @90 LPH. Allow the level of both the
tanks (Tank 1 & tank 2) to reach at steady state and record the initial flow and
steady state levels of both tanks.
 Apply the step change with increasing the rotameter flow by @ 10 LPH.
 Record the level of Tank 2 at the interval of 30 sec, until the level reaches at
steady state.
 Record final flow and steady state level of Tank1
 Carry out the calculations as mentioned in calculation part and compare the
predicted and observed values of the tank level.
 Repeat the experiment by throttling outlet valve (R1) to change resistance.

Observations:
Diameter of tanks ID : 92mm
Initial flow rate (LPH):
Initial steady state level of Tank 1 (mm):
Initial steady state level of Tank 2 (mm):
Final flow rate (LPH):
Final steady state level of Tank 1 (mm):

5
Final steady state level of Tank 2 (mm):

S. No. TimeGf Level of tank 2 H(t) observed H(t) predicted

(sec) (mm) (mm) (mm)
1 ()
2
3
4 --

Take readings till the steady state reached in level of tank 2, fill up columns H(t) observed and
H(t) predicted after calculations.

Calculations:
H 2(t) observed = (Level at time t - level at time 0) x 10-3

H 2(t) Predicted = { })

Where
H 2(t) Predicted is level in Tank 2 predicted at time t in mm.
A = magnitude of step change
= Flow after step input - Initial flow rate in m3/sec.
According to Harriot’s plot method:
From the graph, find the time taken to reach 73% of maximum observed height
t73/( 1+ 2) =1.3
Calculate 0.5( 1+ 2) , find the height corresponding for the same time from graph
find H/km ,where km is the maximum observed height
From Harriot’s chart shown below estimate 1, 2

Where 1 is time constant of tank1, A1 is area of tank1 and R1 is resistance of outlet valve of
tank1. 2 is time constant of tank2, A2 is area of tank2 and R2 is resistance of outlet valve of
tank2
Area of tank 1 = /4 (d12) in m2
Area of tank 2 = /4 (d22) in m2

6
Considering non-linear resistance at outlet valve of both tanks, it can be calculated

as R1 = 2

R2 = 2

Where dH1 is change in level of tank1 and dQ is change flow of from initial to final state and dH2
is change in level of tank2 at initial and final state. Put the values in the above equation to find
out H2 (t) Predicted and plot the graph of H2 (t) Predicted and H2 (t) Observed Vs time.

Model Graph:

7
Summary and Conclusions:

1. The step responses of two first order systems arranged in non-interacting mode is
studied and a graph is plotted between Time versus H2 (both observed and calculated).
2. It is noted that the theoretical value of height matches with the experimental values and
the response is found to be over damped.

8
 Experiment-2
Aim:

To study the step response of two first order systems arranged in Interacting mode.

Procedure:

 Start up the set up.

 A flexible pipe is provided at the rotameter outlet. Insert the pipe in to the cover of the
Tank 3. Keep the outlet valve (R2) of Tank 2 slightly closed. Ensure that the valve (R3)
between Tank 2 and Tank 3 is also slightly closed.
 Switch on the pump and adjust the flow to @90 LPH. Allow the level of both Tank2 and
Tank 3, to reach the steady state and record the initial flow and steady state levels of both
tanks.
 Apply the step change with increasing the rotameter flow by @ 10 LPH.
 Record the level of the Tank 2 at the interval of 30 sec, until the level reaches at steady
state.
 Record final steady state flow and level of Tank 3
 Carry out the calculations as mentioned in calculation part and compare the predicted and
observed values of the tank level.
 Repeat the experiment by throttling outlet valve (R1) to change resistance.

Observations:

Diameter of tanks: ID 92mm

Initial flow rate (LPH):

Initial steady state level of Tank 1 (mm):

Initial steady state level of Tank 2 (mm):

Final flow rate (LPH):

Final steady state level of Tank 1 (mm):

9
 S. No. Time Level of tank 2 H(t) observed H(t) predicted
(sec) (mm) (mm) (mm)
1 ()
2
3
4 --

Final steady state level of Tank 2 (mm):

Take readings till the steady state reached in level of tank 2, fill up columns H(t) observed and
H(t) predicted after calculations.

Calculations:

H (t) Observed = (Level at time t - level at time 0 ) x 10-3 m

H2(t) Predicted =

Where

A = magnitude of step change

= Flow after step input - Initial flow rate in m3/sec

Use the Harriot’s method and find 1 , 2.

Where 1 is time constant of tank1, A1 is area of tank1 and R1 is resistance of outlet valve of
tank1. 2 is time constant of tank2, A2 is area of tank2 and R2 is resistance of outlet valve of
tank2 . Considering non-linear resistance at outlet valve of both tanks, it can calculated as

R1 = dH1 /dQ and R2 = dH2 /dQ

Where dH is change in tank height for change in flow dQ. Calculate values of b, and from
equations given in theory part. Put the values in the above equation to find out H (t) Predicted
and plot the graph of H (t) Predicted and H (t) Observed Vs time.

10
Model Graph:

Summary and Conclusions:

1. The step responses of two first order systems arranged in interacting mode is studied
and a graph is plotted between Time versus H2 (both observed and calculated).

2. It is noted that the theoretical value of height matches with the experimental values and
the response is found to be over damped.

11
 Experiment-3
Aim:

To study the impulse response of two first order systems arranged in Non-Interacting mode.

Procedure:

 Start up the set up.

 A flexible pipe is provided at the rotameter outlet. Insert the pipe in to the cover of Tank
3. Keep the outlet valve (R2) of Tank 2 slightly closed. Ensure that the valve (R3)
between both Tank 2 and Tank 3 is slightly closedSwitch on the pump, adjust the flow
to @90 LPH. Allow the level of both thetanks to reach at steady state and record the
initial flow and steady state levels.
 Apply impulse input by adding 0.5 lit of water in Tank 3.
 Record the level of the Tank 2 at the interval of 30 sec, until the level reaches to steady
state.
 Record final steady state level of Tank3.
 Carry out the calculations as mentioned in calculation part and compare the predicted
and observed values of the tank level.
 Repeat the experiment by throttling outlet valve (R1) to change
resistance.

Observations:

Diameter of tanks: ID 92mm

Initial flow rate (LPH):

Initial steady state tank 3 level (mm):

Initial steady state tank 2 level (mm):

Volume added (lit.):

12
 Final steady state tank 3 level (mm):

Final steady state tank 2 level (mm):

S. No. TimeGf Level of tank 2 H(t) observed H(t) predicted

(sec) (mm) (mm) (mm)
1 ()
2
3
4 --

Take readings till the steady state reached in level of tank 2, fill up columns H(t) observed and
H(t) predicted after calculations.

Calculations:

H (t) observed = (Level at time t - level at time 0) x 10-3

V = Volume of liquid added as an impulse input (in m3)

(For 1, 2 and R2 refer values obtained in experiment 2)

Put the values in above equation to find out H (t) Predicted and plot the graph of H (t)

Predicted and H (t) Observed Vs time.

13
Model Graph:

Summary and Conclusions:

1. The impulse response of two first order systems arranged in non- interacting mode is
studied and a graph is plotted between Time versus H2 (both observed and calculated).

2. It is noted that the theoretical value of height matches with the experimental values.

14
 Experiment-4
Aim:

To study the impulse response of two first order systems arranged in Interacting mode.

Procedure:

 Start up the set up.

 A flexible pipe is provided at the rotameter outlet. Insert the pipe in to the cover of Tank
3. Keep the outlet valve (R2) of Tank 2 slightly closed. Ensure that the valve (R3)
between both Tank 2 and Tank 3 is slightly closedSwitch on the pump,adjust the flow to
@90 LPH. Allow the level of both the tanks to reach at steady state and record the initial
flow and steady state levels.
 Apply impulse input by adding 0.5 lit of water in Tank 3.
 Record the level of the Tank 2 at the interval of 30 sec, until the level reaches to steady
state.
 Record final steady state level of Tank3.
 Carry out the calculations as mentioned in calculation part and compare the predicted
and observed values of the tank level.
 Repeat the experiment by throttling outlet valve (R1) to change
resistance.

Observations:

Diameter of tanks: ID 92mm

Initial flow rate (LPH):

Initial steady state tank 3 level (mm):

Initial steady state tank 2 level (mm):

Volume added (lit.):

Final steady state tank 3 level (mm):

15
 Final steady state tank 2 level (mm):

Sr. No. Time Gf level of tank 2 H(t) observed H(t) predicted

(sec) (mm) (mm) (mm)
1
()
2
3
4 --

Take readings till the steady state is reached in level of tank 2, fill up columns H(t) observed and
H(t) predicted after calculations.

Calculations:

H (t) observed = (Level at time t - level at time 0) x 10 -3

V = Volume of liquid added as an impulse input (in m3)

(For calculating 1, 2, , and R2 refer experiment 3)

Put the values in above equation to find out H (t) Predicted and plot the graph of H (t)

Predicted and H (t) Observed Vs time.

16
Model Graph:

Summary and Conclusions:

1. The impulse response of two first order systems arranged in interacting mode is studied
and a graph is plotted between Time versus H2 (both observed and calculated).

2. It is noted that the theoretical value of height matches with the experimental values.

17
 CONTROL VALVE CHARACTERISTICS

Objectives:

To study characteristics of different control valves

Block Diagram:

Specifications:

Control valve (Linear) Type: Pneumatic; Size: 1/2", Input: 3–

15 psig, Air to open, Characteristics:
Linear

Control valve (equal %) Type: Pneumatic; Size: 1/2", Input: 3–

15 psig, Action: Air to close,
Characteristics: Equal %

Control valve (quick opening) Type: Pneumatic; Size: 1/2", Input: 3–

15 psig, Air to open, Characteristics:
Quick opening

1
 Pump Fractional horse power, type
submersible

Air Regulator Range 0-2.5 kg/cm2

Pressure gauge Range 0-2.5 kg/cm2

Theory:

Types of Control valves: Valve is essentially a variable orifice. Control valve is a valve with a
pneumatic, hydraulic, electric (excluding solenoids) or other externally powered actuator that
automatically, fully or partially opens or closes the valve to a position dictated by signals
transmitted from controlling instruments. Control valves are used primarily to throttle energy in
a fluid system and not for shutoff purpose. The figure shows basic elements and internal parts
of typical pneumatic control valve. Depending upon the valve plug design the control valves can
be classified as quick opening, linear and equal percent type.

Linear valve: Flow is directly proportional to valve lift.

Q = ky
Where Q = flow at constant pressure drop; y = valve opening; k = constant

Equal % valve: Flow changes by a constant percentage of its instantaneous value for each unit
of valve lift.
Q=b
Where Q = flow at constant pressure drop ay e b
y = valve opening
e = base of natural logarithms
a and b = constants.
Constants a and b can be evaluated to give more convenient form
( )
Q=Q0 x
Where Qo = Flow at constant drop at zero stroke
R = Flow range of valve, maximum to minimum at constant drop.
ymax = maximum rated valve opening

Quick opening valve: Flow increases rapidly with initial travel reaching near its maximum at a
low lift. It is generally not defined mathematically.

Valve actions and actuator mechanism: Different types of actuators are used to control the
stem travel of the valve, like electrical actuators, pneumatic actuator, Hydraulic actuators etc.
In this product pneumatic actuators are used for control valves. Spring opposed diaphragm
actuator positions the valve plug in response to the controller signals. Mostly the controller
signals are in the range of 3 - 15 psig.

2
Direct acting actuator (air to close): Direct acting actuators basically consist of a pressure tight
housing sealed by a flexible fabric reinforced elastomer diaphragm. A diaphragm plate is held
against the diaphragm by a heavy compression spring. Signal air pressure is applied to upper
diaphragm case that exerts force on the diaphragm and the actuator assembly. By selecting
proper spring rate or stiffness, load carrying capacity, and initial compression, desired stem
displacement can be obtained for any given input signal.

Reverse acting actuator (air to open): In case of reverse acting actuators the stem gets
retracted with increase in pressure.

Control valve flow coefficient: A control valve regulates the flow rate in a fluid delivery system.
In general a close relation exists between the pressure along the pipe and the flow rate so that
if pressure is changed, then the flow rate is also changed. A control valve changes the flow rate
by changing the pressure in the flow system because it introduces the constriction in the
delivery system so we can say that the flow rate through the constriction is given by
Q=K -------------- (1)
The correction factor K in above equation allows selection of proper size of valve to
accommodate the rate of flow that the system must support. This correction factor is called as
valve coefficient and is used in valve sizing.

Valve coefficient:
= 1.16 Q ) (In S I Units)
Where G is specific gravity of liquid, Q flow in m3/h, P pressure drop in bar.

Valve Characteristics: The amount of fluid passing through a valve at any time depends upon
the opening between the plug and seat. Hence there is relationship between stem position,
plug position and the rate of flow, which is described in terms of flow characteristics of a valve.
Inherent and Installed are two types of valve characteristics.

Inherent characteristics: The inherent flow characteristic of control valve is the relation
between the flow and the valve travel at constant pressure drop across the valve.

Installed characteristics: The Inherent characteristics of the valves described are subject to
distortion due to variations in pressure drop with flow. Line resistance distorts linear
characteristics towards that of quick opening valve and equal% to that of linear.

Hysteresis of control valve: Hysteresis is a predictable error resulting from the differences in
the transfer functions when a reading is taken from above and below the value to be measured.
In case of control valves for same actuator signal different stem travel (hence valve coefficients)
are obtained depending upon the direction of change in the signal. The maximum error in stem
travel (or valve coefficient) expressed in % for same actuator pressure while opening and
closing the valve is indicated as hysteresis. Ratio of maximum difference between flow

3
coefficients at same actuator pressure, to that of maximum flow coefficient is termed as
hysteresis.

Rangeability of equal % valve: Equal% valve has characteristics such that given percent change
in stem position produces an equivalent change in flow. Generally this type of valve does not
shut off the flow completely in its limit of stem travel. The Rangeability (R) is defined as the
ratio of maximum to minimum controllable flow.

R=Fmax/Fmin

Where F max is the flow when the valve stem is at extreme open position F min is the flow
when valve stem is at extreme closed position.
(Fmax, Fmin represents flow rates measured at constant pressure drop across control valve.
Hence rangeability R also can be defined as ratio of Cv max to Cv min.)
For equal percent valve flow have exponential characteristics of rangeability,
F=
Where R is the rangeability of the valve and m is its fractional stem position.

4
 Experiment – 1
Aim: To study valve characteristics

Procedure:

1) Start up the set up. Open the flow regulating valve of the control valve to be studied (Linear/
Equal%/quick opening). Open the respective hose cock for pressure indication. (Close the flow
regulating valves and hose cocks of other control valves.)
2) Ensure that pressure regulator outlet is connected to the valve actuator of the control valve
under study. Keep the control valve fully open by adjusting air regulator.
3) Adjust the regulating valve and set the flow rate. (Set 400 LPH flow for linear/equal% valve
or 600 LPH for quick opening valve). Note for measuring flow rates below rotameter minimum
range use measuring jar.
4) Note the pressure drop at control valve at full open condition.
5) Slowly increase/decrease air pressure by regulator and close the control valve to travel the
stem by 4mm. Note the pressure drop at control valve and corresponding flow rate.
6) Repeat above step and take the readings at each 2mm-stem travel till the valve is fully
closed.

Observations:

Type of control valve: Linear/ Equal%/ Quick opening (Fill up the column "valve coefficient"
after calculations)

S. No. Lift (mm) Flow (LPH) Pressure drop P Valve

(mm of H2O) Coefficient Cv
1
2
3
4
5
6

Calculations:

Cv = 1.16 Q x √ (G/ P)
Where, Q = Flow (m3/h) = Q in LPH/1000
P = Pressure drop across valve (bar) = P in mm of H2OX1.013/(10.33X103).
G = Specific gravity = 1 for water

5
Model Graph:

Plot the graph of valve coefficient versus lift to obtain inherent characteristic of the control valve.

Summary and Conclusions:

The inherent valve characteristics plotted for each valve fairly tallies with theoretical valve
characteristics.
 Inherent characteristics of control valve can also be studied by keeping constant pressure drop
across the control valve.
 Keep the valve fully open and adjust the flow rate. (400 LPH for linear/equal% valve or 600 LPH
for quick opening valve). Note the pressure drop.
 Gradually close the control valve in steps of 4mm of stem travel. The pressure drop across the
valve increases. Manipulate flow rates to maintain pressure drop constant. Note the flow rates.
Plot the graph of flow versus lift.

 Note that the nature of the graph is same as inherent valve characteristics.

6
 Experiment – 2

Aim: To Study the rangeability of equal percent control valve

Procedure:

1. Start up the set up. Open the flow regulating valve of equal % control valve. Open the
respective hose cock for pressure indication. (Close the flow regulating valves and hose
cocks of other control valves.)
2. Ensure that pressure regulator outlet is connected to the valve actuator of the equal %
valve. Keep the control valve fully open by adjusting air regulator.
3. Adjust the regulating valve and set the flow rate to 400 LPH.
4. Set actuator air pressure to 3 psig.
5. Note the flow rate and pressure at inlet of control valve.
6. Set actuator air pressure to 15 psig
7. Note down the flow rate and pressure at inlet of control valve.

Observations:

Type of control valve: Equal%

Pressure Pressure drop Flow Valve Rangeability

(Psig) (mm of H2O) (LPH) coefficient Cv Cv max/ Cv min

3 Cv max
15 Cv min

Calculations:

Cv = 1.16 Q x √ (G/∆P) where,

Q = Flow (m3/h)= Q in LPH/1000

∆P = Pressure drop across valve (bar)= ∆P in mm of

H2OX1.013/(10.33X103). G = Specific gravity= 1 for water

Rangeability R = Cv max/ Cv min

7
Summary and Conclusions:

 Many times the control valve remains completely closed at 3 psig actuator pressure and
no flow can be measured. Hence it is difficult to calculate the rangeability.
 The rangeability can also be calculated by keeping constant pressure drop across the
valve.

8
 FLAPPER – NOZZLE SYSTEM

Objective:

To study the characteristics of flapper nozzle system

Block Diagram:

Specifications:

Dial Gauge : Least count 1µm

Air filter regulator : Range 0-2.5 kg/cm2
Pressure gauge : Range 0-2.5 kg/cm2 (2 No’s)

Theory:

The set up helps in understanding conversion of mechanical motion to pressure signal. It

consists of flapper - nozzle mechanism, Dial gauge indicator, pressure gauges and air filter
regulator. A regulated supply of pressure, usually over 20 psig, provides a source of air
through the restriction. The nozzle is open at the end where the gap exists between the
nozzle and flapper and air escapes in this region.

Procedure:
1) Adjust the air supply to 20 psig by air regulator.
2) Increase the gap between flapper a n d nozzle by gap adjusting screw. Note
the pressure gauge reading for change in nozzle gap. Ensure that supply
pressure is maintained at 20 psi.
3) Repeat the set of observation by decreasing the gap.
Observations:
S.No. Nozzle Gap(µm) Signal
Pressure(Psig)

Calculations:

To calculate gain of flapper nozzle system.

Gain of flapper nozzle system = psi /mm.

Model Graph:

Summary and Conclusions:

Observed the variation of signal pressure with nozzle gap and gain of the flapper nozzle
system is calculated.
 TEMPERATURE CONTROL SYSTEM

Objectives:

To design PID controller based on Open loop method and to apply it on a temperature control
system.

Block Diagram:

SP
TT
Controller

Thyristor
Heater

Flow meter

Input flow

Specifications:

 Temperature sensor:
Type RTD PT-100
Mounting ¼” BSP
 Temperature transmitter:
Type RTD PT-100
Output 0-5V DC
Range 0-1000C
 Process tank:
Capacity 0.5 lit
Material SS 304

1
  Heater:
Capacity 1.5 KW
 Rotameter:
Range 100 LPH
Make Eureka
 Overall size: 500L × 700D × 500H
 Weight(approximate): 30 Kg
 Control panel: All extruded with switches, power supply, indicators make presidents.

 ADC/DAC card: 12 bit resolution

 Software: for experimentation, PID control, data logging, trend plot, offline analysis and
pricing

Theory:

In the reaction curve method of controller design, one needs to open the control loop just
before the final control element and create a small sudden step change in process input. From
the shape of the resulting reaction curve obtained, the controller parameters are calculated by
simple equations. From the curve, Slope (R) and Dead time (L) are calculated. Where R is the
slope of line drawn tangent to the point of inflection and L is the time between the step change
and the point where tangent line crosses the initial value of the controlled variable.

Procedure:

 Condition the equipment, set the water flow to the apparatus as 40 LPH by using
rotameter control.

 Switch on the control module and switch on the computer also.

 Open the temperature control trainer, select suitable port and start the process.

 Select the control (Open loop)

 The controller mode is selected as manual mode

 Log on and enter the filename

 Change the output (give a step change) by changing the corresponding field.

 Press F3 key to display the trend.

2
 Wait till steady state conditions achieved

 Press F6 key to record the process response values on time basis in computer in present
file

 Give a step change to process by changing the output (by say 30-40% which is taken as
∆P) by using the following keys

For 10% change “Page up” or “Page down”

For 1% change “+” or “-”

For 0.1% change “Insert” or “Delete”

 After the process value becomes steady, press F6 key to stop the data logging in
computer

 Come out from the online mode.

 Now, choose offline mode, open the file in which the data is stored. Press F4 key to see
the table.

 Plot the graph of Process variable Vs time.

 Find out the slope of the tangent drawn at the point of inflection and find the value of
dead time also.

 Process reaction curve method suggests the following values for PID parameters using R,
L and ∆P. (∆P is the step change applied in % i.e. initial output-final output of the
controller)

Mode Proportional Integral Derivative

P 100 RL/∆P

P+I 110 RL/∆P 0.3/L

P+I+D 83 RL/∆P 0.5/L 0.5L

 Select the controller in the PID mode and the control in closed loop and check the
process response for a step change in the set point.

3
Observations:

Tabulate the experimental values as shown below. Take the readings till the process variable
settles to a finite a value (in a band).

Sl. No. Time Process variable

Calculations:

The dead time and the slope of the tangent are found out. The values are

Dead time, L =

Slope of tangent, R =

Process output change, ∆P =

Model Graph:

4
Summary and Conclusions:

PID controller settings are calculated based on open loop data. The controller is loaded with the
PID values and the process is run with a step change in the set point. It is seen that the process
variable tracks the set point.

5
 PRESSURE CONTROL TRAINER

Objective:

To study the pressure control trainer.

Block Diagram:

Specifications:

Product : Pressure control trainer

Product code : 314A

Type of control : SCADA

Control unit : Digital indicating controller with RS485

communication

Communication : USB port using RS485-USB converter

Pressure Transmitter : Type Two wire, Range 0–5 bar, Output 4–20 mA

I/P converter : Input 4-20mA, Output 3-15 psig

Control valve : Type: Pneumatic; Size: 1/4", Input: 3–15 psig,
Air to close, Characteristics: linear
Process tank : Pressure vessel, MS

Air filter regulator : Range 0-2.5 kg/cm2

Pressure gauge : Range 0-2.5 kg/cm2(1No), Range 0-7 kg/cm2(2Nos)

Overall dimensions : 550Wx480Dx525H mm

Optional : SCADA software package; Compressor

Theory:

Pressure control trainer is designed for understanding the basic principle of pressure
control. The process set up consists of pressure vessel fitted with pneumatic control
valve. Pressure transmitter is used for pressure sensing. The process
parameter(pressure) is controlled by microprocessor based digital indicating
controller which manipulates pneumatic control valve fitted at outlet of pressure
tank outlet through I/P converter. These units along with necessary piping are fitted
on support housing designed for table-top mounting. The controller can be
connected to computer through USB port for monitoring the process in SCADA
mode.
 Experiment – 1
Aim:
Study of open loop response (Manual control).

Procedure:
1. Start the setup, adjust the vent valve.
2. Initialize Modbus communication on the computer i.e. Start| All programs |
Wonderware FactorySite | IO Servers | Modicon MODBUS
3. Execute Programs | Wonderware | InTouch for Pressure control. Select All in
Windows to open and Click “Runtime”.
4. Select open loop Experiment (click on “Change Expt.” Button, click on “Change”,
Click on “Open Loop” button.)
5. Close the control valve by increasing the controller output to 100%. Note down
steady state process value.
6. Apply the step change by 10% to controller output and wait for the process value to
reach the steady state value. Note down the process value.
7. Repeat the above step until the controller output reaches to minimum 0%.

Observations:

Tabulate the observations as follows:

Controller output in % Process Value in %
100
90
80
…
0

Summary and Conclusions:

The output required for maintaining the process at desired set points is studied for a
particular vent valve opening.
 Experiment – 2
Aim:
To study on/off controller for pressure regulation

Procedure:

1. Repeat the first three steps of experiment-3A.

2. Select “On-Off mode” option for the control from software. (click on “Change
Expt.” Button, click on “Change”, Click on “On-Off mode” button.)
3. Change Hysteresis value to 1%.(Range 0.1-10%)
4. Change the values of the set point and observe the On-Off control operation.

Observations:

Observe that if process value exceeds the set point and increases above the
value of (0.5x Hysteresis), control valve is full open and if process value
decreases below the set point by (0.5 x Hysteresis), the control valve closes
fully i.e. controller operates like On/Off switch.

S. No. Time Process Value

Model Graph:
 Experiment – 3C

Study of proportional controller

Aim:
Study of proportional controller.

Procedure:

1. Repeat the first three steps of experiment-3A.

2. Select P Mode option for control from software. (click on “Change Expt.”
Button, click on “Change”, Click on “P Mode” button.)
3. Keep the set point to 60%. Change output mode to Manual. Adjust output
value so as to match the process value with set point and apply this output
value as bias value to the controller. Adjust the proportional band to 50%.
4. Switch the controller to Auto mode.
5. Apply step change of 10% to set point and observe the response.
6. Switch the controller to Manual mode. Decrease proportional band to half of
the previous value & then shift controller to Auto mode. With each decrease,
obtain a new response of the step change. Ensure that the set point changes
are around the same operating point (@ 5-10% only).
7. Using trial and error approach, find a value of proportional band so that
the response to a step change has at most one overshoot and one
undershoot.
8. Set the controller to the settings obtained in the above step and wait for
the system to reach at steady state.

Observations:
1. Observe steady state error decreases as proportional band decreases.
2. Observe the effect of very low proportional band values (system
works in oscillatory mode).
3. Study of proportional integral controller.
Model Graph:
 Experiment – 3D

Study of proportional integral controller

Aim:
Study of proportional integral controller.

Procedure:

1. Repeat the first three steps of experiment-3A.

2. Select PI Mode option for control from software. (click on “Change Expt.”
Button, click on “Change”, Click on “PI Mode” button.)
3. Adjust the process value by changing the output of controller in manual
mode to a particular pressure (set point =60%).
4. Set the proportional band estimated from Proportional control (from
previous experiment). Start with derivative time=0 and integral time=1000
sec., which will cut off the derivative action and widen the effect of integral
action.
5. Set the set point to desired pressure (@60%). Allow the process to
reach at steady state. Record the steady state error.
6. Switch on the controller to manual mode. Reduce the integral time to half of
the previous value. Switch to Auto mode and apply step change to the set
point by 2 to 3%. Note the response of the system.
7. Using trial and error, find out an integral time, which gives satisfactory
response to the step change in set point.

Observations:

Observe the effect of reducing integral time on offset and on the response
of the process.
Model Graph:
 Experiment – 3E

Study of proportional derivative controller

Aim:
Study of proportional derivative controller.

Procedure:

1. Repeat the first three steps of experiment-3A.

2. Select PD Mode option for control from software. (Click on “Change
Expt.” Button, click on “Change”, Click on “PD Mode” button.)
3. Select PD controller. Set the proportional band estimated from Proportional
control (P only). Start with derivative time=0 and integral time=6000 sec.,
which will cut off the derivative action and widen the effect of integral
action.
4. Set the set point to desired pressure (@60%). Allow the process to reach at
steady state. Note the response of the system.
5. Switch on the controller to manual mode. Increase the derivative time by 1
sec.
6. Switch to Auto mode and apply step change to the set point by 2 to 3%. Note
the response of the system.
7. Increase the derivative time gradually and observe the process response for
step change.

Observations:

Observe the effect of increasing derivative time. Also note that the process
may show offset as effect of integral action is cut off.
 Experiment – 3F

Study of proportional integral derivative controller

Aim:
Study of proportional integral derivative controller.

Procedure:

1. Repeat the first three steps of experiment-3A.

2. Select PID Mode option for control from software. (click on “Change
Expt.” Button, click on “Change”, Click on “PID Mode” button.)
3. Switch the controller to manual mode.
4. Change the proportional band to the value that estimated in
proportional controller. Set integral time and derivative time based on
the responses in previous experiments.
5. Change the controller to Auto mode. Apply step change by 2 to 3% to the
set point and observe the response of the process.
6. Change the proportional band, integral time, derivative time and observe
the response of the process for step change for each change in setting.
Observations:

Compare the steady state response of the PID controller with P, PI and PD
controller obtained in the previous experiments.
 Experiment – 3G

Tuning of controller (Open loop method)

Aim:
Study of open loop controller tuning.

Procedure:

1. Repeat the first three steps of experiment-3A.

2. Select Process Reaction option for control from software. (Click on “Change
Expt.” Button, click on “Change”, Click on “Process Reaction” button.)
3. Adjust controller output, so that the process value is maintained at 60%.
4. Start data logging.
5. With the controller still in manual mode impose a step change apply a 20 -
30 % change to controller output. (Open the control valve) Record the step
response. Wait for the steady state.
6. Stop data logging.
7. Plot the step response (Process reaction curve) from stored data. Find out
the value of slope at the point of inflection and time lag.
8. Calculate P I D settings for different modes.
9. Select PID Mode option for control from software. (Click on “Change Expt.”
Button, click on “Change”, Click on “PID Mode” button.) Switch on the
controller to manual mode and Keep the set point to 60%. Adjust output
value so as to match the process value to set point.
10. Set the PID values obtained from the calculations. Switch on the controller
to
11. Auto mode. Apply the step change & observe the response of the system.
Allow the system to reach steady state.
Observations:
(Refer Theory of process control for formula.)
1. Step change to the system ∆P = Initial output - Final output of the controller.
2. Plot the graph of process value Vs. Time on a graph paper.
 3. From process reaction curve:
Slope of the process reaction curve R =
Time lag L=
4. Calculate P, PI, PID setting from above values.
5. Observe response of the system for different PID settings.

Model Graph:

Where

Slope R: Slope of line drawn tangent to the point of inflection.

R=%Change in variable/time(min) = Y/X.

Dead time L=time between the step change and point where tangent line crosses the
initial value of the controlled variable(in min.)

∆P=Step change applied in %.

Using these parameters ,the empirical equations are used to predict the controller
setting for a decay ratio of ¼.

For P, PI and PID controller the parameters are calculated as follows:

 Experiment – 3H

Tuning of controller (Closed loop method)

Aim:
Study of Closed loop controller tuning.

Procedure:

1. Repeat the first three steps of experiment-1A.

2. Select Close Loop option for control from software. (Click on “Change
Expt.” Button, click on “Change”, Click on “Close Loop” button.)
3. Set the proportional band value to maximum (Say 100). Set the
controller to manual mode and adjust the output so that the process is
nearly at set point (60%).
4. Set controller to auto mode and impose step on the process by moving
the set point for a few seconds & then return to its original value (or apply
the step change to the set point of 5%). Wait for some time & observe the
response.
5. Decrease the proportional band to the half of previous and impose step
on the process as mentioned above. Wait for some time & observe the
response.
6. Repeat the above procedure and find out correct value of proportional
band for which the system just goes unstable i.e. continuous oscillations
are observed in the output of controller.
7. Record the ultimate proportional band and ultimate period from the
response.
8. Calculate the PID values from the table. Select the PID controller and apply
the parameter values obtained from the above steps. Observe the
response of the process to a step change with these settings.
Observations:
1. Record the ultimate proportional band (Pbu) and ultimate period (Tu) from
above experiment.
2. Calculate PID values by referring theory part for different control actions.
3. Observe the process response for these settings.
4. Compare the values obtained with open loop response method.

Model Graph:

Fig .3H Response curve for ultimate gain and period

PID controller parameters are selected form the following table:

 Experiment – 3J

To study stability of the system (Bode plot)

Aim:
Study of stability of the system using Bode plot.

Procedure:

1. Repeat the first three steps of experiment 1.

2. Select Stability analysis option for control from software. (Click on “Change
3. Expt.” Button, click on “Change”, Click on “Stability analysis” button.)
4. Select function generator to apply the sinusoidal input to the output
of the controller.
5. Enter Reference point, Amplitude and Period.
6. Observe the sinusoidal output of the controller and sinusoidal response
of the process.
7. Log the data for records.
8. Change the period and repeat the observation for 3-4 different values of
the period.
Observations:
1. Form the data file stored note down the
2. Observe the output response of the process and note down the output
amplitude.
Measure output wave period and note down as T sec. Measure the phase
lag x and note down in sec.

Obs. Input Output Output Lag X Frequenc

y
No. amplitude amplitude Period In sec
A1 % A2 % T in sec
Calculations:
1. Calculate for each observation
Magnitude ratio as M = A2/A1
Phase angle = (X/T) x 360
Frequency = 1/T cycles / sec.
2. Draw the graphs of:
Magnitude Vs frequency on log - log scale
Phase angle Vs frequency on semi-log coordinates.
3. Study the graph for stability conditions mentioned in theory
Model Graph:

Let,
M Magnitude ratio

A1 Input amplitude(%)
A2 Output amplitude(%)

Ф Phase angle (degree)

X lag (seconds)
F frequency (cycles per seconds)=1/T.
Then, M=A2/A1
Ф =(X/T)*360.
BODE diagram:
 FLOW CONTROL SYSTEM

Aim:

To study the effect of PID controller parameters in a flow process

Block Diagram:

SPECIFICATION:

Flow control trainer: LLT mode

Output transmitter: Yokogawa make 5-40 VDC 4-20 mA output

Control valve ¼ inch BSP, air to close type

I/P converter: 4-20 mA input,

0.2-1 bar supply: 5.5 bars

Digital indicator , controller, moisture control filter, PC.

1
PROCEDURE:

1. Log in the system and open the icon which shows the computer diagram of the flow
system.
2. Start the simulation mode, make the process data from simulation login in order to start
the experiment.
3. Start by clicking the start button.
4. Set the flow at some particular value and allow some time to settle to steady state
value.
5. Set PID controller parameter to Kc =20, Ti=25, Td=0.01.
6. Give a set point change at set-point of magnitude 20.
7. Note down variation in flow till it reaches steady state.
8. Plot the graph between flow and time and study various parameters like rise time, peak
time, settling time, overshoot, decay ratio, damping coefficient and natural frequency
from the values.

Observations:

PID parameters: Kc = 15, Ti = 20,Td = 0.01

Time(Sec) PV

Calculations: From the graph, find out rise time, peak time, settling time, overshoot, decay
ratio, damping coefficient and natural frequency and compare them.
Decay Ratio = c/a
Overshoot =
Decay Ratio =

Summary and Conclusions: The flow control system is studied and observed the effect of
proportional gain, integral time and derivative time on the closed loop response.

2
 Study of the performance PID Controller in
MATLAB/Simulink

Aim:
To study the effect of gain, integral time and derivative time of PID Controller on the
closed loop performance.

Theory:

The most commonly used controller in industry is PID controller. Here three tuning
parameters are available in hand. The controller gain kc which will increase the closed loop
response, τi, which will eliminates the offset and τd which will makes the performance
robust.
The controller representation is:
Gc(s) = kc + (1/ τi)s + τds

Procedure:

 Get start with MATLAB and in Simulink

Case-1: Design and performance of PID controller using Z-N settings:

 Develop a Simulink model as below

 Bring the system to the desired operational level (design condition).
 Using the proportional controller only and with the feedback loop closed,
introduce a set point change and vary the proportional gain until the system
oscillates continuously. The frequency of continuous oscillation is the cross over
frequency.
  If M is the amplitude ratio of the system response at the cross over frequency ωco,

Ultimate gain = Ku=1/M

Ultimate period of sustained cycling Tu= 2 Π / ωco

Using the values of Ku and Tu, Zeiglar-Nicholas recommended the following settings
for the feed back controllers

Controller Kc τi τd
Type
P Ku/2 - -
PI Ku/2.2 Tu/1.2 -
PID Ku/1.7 Tu/2 Tu/8

 Evaluate the performance of P, PI and PID controllers and compare the closed
loop responses.

Case-2: Design and performance of PID controller using Cohen-Coon settings:

 Open M-file and form the transfer function model of the system
 Give a step response to the process and record the transient which is called
process reaction curve.
 Draw a straight line tangent to the curve at the point of infection as shown in
figure.
 The intersection of the tangent line is the apparent transportation lag (Td) ,
 The apparent first order time constant (T) is obtained from T=Bu/S
o Where Bu is the ultimate value of B at large t and S is the slope of the
tangent line.
 The steady state gain that relates B to M is given by Kp=Bu/M
  Calculate the controller parameters based on the following formulae

Kc τi τd
P (1/Kp)*(T/Td)*(1+(Td/3*T)) - -
PI (1/Kp)*(T/Td)*(0.9+(Td/12*T) Td*(30+3*Td/T)/(9+20*Td/T) -
PID (1/Kp)*(T/Td)*(1.33+(Td/4*T)) Td*(32+6*Td/T)/(13+8*Td/T) Td*4*(11+2*Td/T)

 Evaluate the performance of P, PI and PID controllers and compare the closed
loop responses.

Result: The performance of P, PI, PID controllers designed using Z-N and Cohen and
Coon is evaluated.
Feedforward Control

Name:
Roll No.:

1|P a g e
Aim:

To apply feed forward control in a heating process.

Description:

The system being simulated is a temperature control system based on feedforward control in
addition to feedback PID control from temperature measurement. The PID controller has
already been tuned (as a PI controller, actually) for good stability.

Procedure:

In all the task below, use feedback control in addition to feedforward control. In this process,
tank temperature is controlled by using manipulating the heat supplied to the tank through coil.
Temperature of the feed entering into the tank is one of the disturbances. All the data and
controller settings are given in the GUI. Use these default values and perform the following
experiments.

1. Feedforward control at set point changes:

a. Add a ramp to the temperature set point. What is the steady-state control
error with and without feedforward control?
b. Use feedforward control. Adjust the set point manually (e.g. like a step/ramp),
which will give more or less randomly abrupt set point changes. How does the
control signal react as compared to a smoother set point ramp, as in task no. a
above?
2. Feedforward control at disturbance changes: Change the inflow temperature. Is the
control error be reduced by introducing feedforward control?

Observations:

Graphs:

Draw relavant graphs

Inference and Conclusions:

2|P a g e