Linearizing ODEs of a PID

Controller
Anchored by:
Rob Chockley
and
Scott Dombrowski
Basis for Linearization

dx
dt
f (x)

dx
dt
f (x) f (a) f ' (a) *(x a)
Linear Approximation
Taylor Series Expansion
Ordinary Differential Equation
Real Life Example
For our example, we
created a real world
situation.
In: 3 mol/s (const)
Out: Controlled by PID

We are using a PID
controller to maintain the
tank pressure at a constant
pressure of 8 atm.
Linearizing Our Model
Our system is being controlled by a
PID controller.

The first equation models the
differential pressure change.

The second equation is the
controller output.

The third is the function is the first
step of linearization. F(P) is equal
to the combined model of the
differential pressure change.

Finally, the four equation is the
derivative of the function f(P). This
is used in the linearization model at
the steady state pressure of 8 atm.
Model for the
System
The graph to the right is the
model for the system. The
pressure within the tank is
being controlled by the valve.
The valve is being throttled
according to the output from
the sensor.

The pressure fluctuates a great
deal at the beginning of the run
but eventually reaches steady
state at our desired pressure.



6
6.5
7
7.5
8
8.5
9
9.5
10
10.5
0 50 100 150 200 250
P
r
e
s
s
u
r
e

Time
Pressure
Gas Flow into a Tank: Controlling Pressure using a PID
Controller
timestep 1 s
V 100 L tank volume
T 300 K tank temperature
R 0.08206 Latm/molK gas constant
nin 3 mol/s flow rate in
F 5 mol/s max flow rate out
ni 40 mol initial tank contents
Pinitial 9.8472 atm initial tank pressure
Pset 8 atm tank set point
bias 0.6
Kc 0.1
Ti 10
Td 0.1
Linearization of dP/dt
This graph shows the plot
of
dP/dt vs. P and the linear
approximation from a
truncated linear expansion.

Because the pressure
oscillated there are multiple
values of dP/dt for one
pressure.

The linearization is not a
good approximation for the
behavior of the differential
equation.

Linear Approximation
behaving Like
Nonlinear Function
We change the coefficients
within the model to create a
new behavior.

Here, the ratio of change in the
output to the change in input is
three time what it was
previously , and the Integral
time is 10 times than before.

Here the desired pressure is
reached more quickly.
Gas Flow into a Tank: Controlling Pressure using a PID Controller
timestep 1 s
V 100 L tank volume
T 300 K tank temperature
R 0.08206 Latm/molK gas constant
nin 3 mol/s flow rate in
F 5 mol/s max flow rate out
ni 40 mol initial tank contents
Pinitial 9.8472 atm initial tank pressure
Pset 8 atm tank set point
bias 0.6
Kc 0.3
Ti 100
Td 0.1
Linearization of dP/dt
Again
For this trial the
model had no
oscillation so the
nonlinear equations
that govern the
change in pressure
are more easily
linearized.


Conclusion
This walkthrough and model shows that linearizing
nonlinear equations is not always the best idea. The PID
controller creates instances where the differential of
pressure is not an independent function of one variable.
Under certain conditions, however, The model can be
use. These models may not occur in real life.