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1.0 Introduction
1.1 Project Background
In many industries process such as petro chemical industries, paper
making industries and water treatment industries are using the tank system to
control the liquid level. The liquid level must be controlled by the proper
controller. The objective of the controller in the level control is to maintain a level
set point at a given value and be able to accept new set point. The conventional
proportional- integral- derivative (PID) is commonly utilized in controlling the
level. On the other hand, the fuzzy logic controller (FLC) is also popularly
implemented in many practical industries application.

The use of feedback control strategies is one of the most common ways to
control a process, but it is important to consider that feedback control is an error-
driven strategy; correction to any upset in the process we want to control depends
on the error or difference between the desired value of the controlled variable
and its current value. By the other hand, the feed forward control strategies use
the knowledge of the process behavior to take action before a perturbation to the
process has any effect on the controlled variable. Several methods has been
discussed to implement a feed forward control strategy, one of them is steady-
state models, which is the process to determinate the value that the manipulated
variable should has to compensate the effect of perturbations on the controlled
variable.






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1.2 Problem Statement
The control of liquid level in tanks and flow between tanks is a basic
problem in the process industries. The process industries require liquids to be
pumped, stored in tanks, then pump to another tank, as an example the water
closet (WC) toilet in our house is also a liquid level control system. The swinging
arm attached to the input valve of the WC water tank allows water to flow into
tank until the float rises to a point that closes the valve. Many times the liquids
will be processed by chemical or mixing treatment in the tanks, but always the
level of liquid in the tanks must be controlled, and the flow of the tank must be
regulated because of avoiding the water level at critically level due to
continuously operation. There are many alternative controller design theories that
can be used to control the level of liquid on tanks. Proportional integral derivative
control is one of a kind of control strategies that uses to control the level and flow
of liquid. Proportional control, PI control, PD control and PID control will be
investigate to determine which controller is the best for liquid level control.

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1.3 Objectives

The objectives of the project are:
To analyze the current system
To improve the system response of pump using PID controller with
desired condition
i. Rise Time < 0.2s
ii. Overshoot = 20%
iii. Settling Time < 0.8s
iv. Damping in between 0.4<x <0.7
Design the PID based on the reference performance system.

1.4 Scope of Project
1.4.1 Study a mathematical modeling of the system
1.4.2 Analyze the current system in term of stability, performance specification
and response.
1.4.3 Design the system to fulfill the desired requirement related to objectives
1.4.4 Study the simulation tools MATLAB and SIMULINK for analysis and
design to express system stability, performance specification and response.

.
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1.5 Schematic Diagram























Figure 1.5.1 - without PID


Reservoir
Pump
Tank
Figure 1.5.2 - with PID




Reservoir
Pump
Tank
Controller
Sensor
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2.0 Mathematical Modeling


Tank :-

Mass In = Mass Out
Rate Mass In Rate Mass Out = Accumulate fluid in tank

w (i) w (o) = rho*

= A

=
()()

sH(s) =
()()

H(s) =
()()

W (i)
W (o)
Figure 2.0 - Tank
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2.1 Block Diagram











()
()

Parameters:
A = (rho*area) = 2
a = 3
b = 1


()
()

Figure 2.1.1 - Block Diagram
C P T
S
h
input
Controller Pump Tank
Sensor
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b
U(s)
Y(s)

( )

b
Y(s)
U(s)

Y(s) U(s)
Figure 2.1.2
Figure 2.1.3
Figure 2.1.4
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3.0 Design Using Simulink

Without PID Controller:-





Figure 3.0.1 without PID
Figure 3.0.2 Response without PID
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With PID Controller:-










Figure 3.0.3 with PID
Figure 3.0.4 Response with PID
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The Simulink without PID and with PID result shown as below:-
Without PID With PID
Overshoot high <20%
Rise Time high <1s
Settling Time high <1s



















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4.0 Design Using Matlab

4.0.1 Design Requirement:-
i. Rise Time < 0.2s
ii. Overshoot = 20%
iii. Settling Time < 0.8s
iv. Damping in between 0.4<x <0.7

4.0.2 Without PID:-



Figure 4.0.2 Response without PID (Step Response, Bode Diagram,
Root Locus, Nyquist Diagram)
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4.0.3 With PID:-





The comparison result between PID and without PID in Matlab:-
Without PID With PID
Overshoot No overshoot <20%
Rise Time 4s 5s
Settling Time 15s 20s
Figure 4.0.3 Response with PID (Step Response, Bode Diagram,
Root Locus, Nyquist Diagram)
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4.0.4 Choosing The Value of Gain, K

K = 0.3 K = 0.4 K =0 .5 K = 0.6 K = 0.7
Peak 1.05 1.09 1.11 1.14 1.16
Overshoot (%) 4.81 9.37 11.4 13.8 15.9
Rise Time, s 5.38 3.92 3.44 2.96 2.62
Settling Time, s 14.9 12.5 11.4 13.9 13.5

The gain was chosen is K = 0.5.

4.0.5 Compensator Equation
By using the gain selected, an estimation of equation can be made using
Sisotool.
Compensator, C = 0.5 x
()()
()



Figure 4.0.5 Compensator Diagram
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5.0 Optimization of PID
Optimization is done by apply the compensator formula to the equation in
the PID using the Sisotool. The result shown as below:-





Figure 5.0 Root Locus, Bode Diagram
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Figure 5.1 Step Response, Bode Diagram, RootLocus,
Nyquist Diagram
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The poles located in between 0.4 to 0.7 damping ratio which is 0.56
whereas in the range of stability.
Figure 5.2 Root Locus,
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PID before Optimize PID after Optimize
Overshoot <20% 20%
Rise Time 5s 0.135s
Settling Time 20s 0,752s



Figure 5.2 Step Response
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6.0 Conclusion
The objectives are achieved after optimization, and the system operates
with the desired condition:-
Overshoot at 20%
Rise time at 0.1s
Settling time at 0.7s
Damping ratio at 0.56

7.0 References
Textbook Control System Engineering
Lecturer Notes
http://www.alexmichinel.net/1/post/2013/07/considering-
feedforward-strategy-for-process-control.html
http://www.plctalk.net/qanda/uploads/Tank_simulation_answ.jpg