A) from figure 44, the following information has been obtained:

PVf = 58.2%
PVi = 48.7%
PV = 58.2% - 48.7% = 9.5%
MV = 40.3% - 28.4% = 11.9%
a = 1% / 6 mm
b = 5s / 23.3 mm
Dead time (Equation 9),
Td (time) = Td (length) x b
= 16 mm x 5s / 23.3 mm = 3.4 s
Time constant (Equation 11),
Tc (time) = Tc (length) x b
= 20.5 mm x 5s / 23.3 mm = 4.4 s
Response rate (Equation 3),
RR = PV / t
MV
= 9.5 / 4.4
11.9
= 0.181 / s

B) since level loop is a fast process, then a P + I mode has been chosen for mode of
control.
Optimum controller setting based on Ziegler-Nicholss tuning rule:
P = 111.1 RR Td = 111.1 (0.181) (3.4) = 68.37%
I = 3.33 Td = 3.33 (3.4) = 11.32 s
Optimum controller setting based on Cohen-Coons tuning rule:
= Td = 3.2 = 0.727
Tc 4.4
P = 100 / [ 1 + ( / 11) ] RR Td = 100 / [ 1 + (0.727 / 11) ] 0.181 ( 3.4) = 57.72%
I = 3.33 [ [1 + ( / 11) ] / [ 1 + (11 / 5) ] Td
= 3.33 [ [1 + (0.727 / 11) ] / [ 1 + (11(0.727) / 5) ] 3.2 = 4.64 s

A) from figure 45, the following information has been obtained:

PVf = None . Level is a non self regulating process.
PVi = 50%
Based on Reformulated Tangent Method, the following data is extracted.
a = 2% / 6.4 mm
b = 5 s / 23.3 mm
= 33.5o
Response rate (Equation 8),
RR = tan a
MV b
RR = tan 33.5 2/6.4
(40.5-16.0) 5/23.3
RR = 0.0393 / s
Dead time (Equation 9),
Td (time) = Td (length) x b
= 18 mm x 5s / 23.3 mm = 3.86 s
B) Since water level control is a fast process, a P + I mode has been chosen for mode of
control.
Optimum controller setting based on Ziegler-Nicholss tuning rule:
P = 111.1 RR Td = 111.1 (0.0393) (3.86) = 16.85%
I = 3.33 Td = 3.33 (3.86) = 12.85 s

From table 7,
PVf = 57.0%
PVi = 48.8%
MV = 55 - 50 = 5 %
Table 7.1 summarized result of Response Rate Calculation
Time, s
0
1
2
3
4
5
6
7
8
9

PV, %
48.8
48.8
49.5
52.7
54.9
56.0
56.8
57.0
57.0
57.0

RR, 1/s
0.07
0.39
0.54
0.33
0.19
0.10
0.02
-

Example of calculation at time = 1 s

49.5 - 48.8 = 0.07 /s
(5) (2) (1)
Observe that RR increases until Time = 3 s, as in Table 7.1, then it keeps decreasing.
Response rate for this process is taken at maximum RR.
RRmax = RR3 = 0.54/s
Dead time (Equation 14),
Td = T1 - 2h [ (PV1-PVi) / (PV1 - PV -1) ]
= 4 - 2 (1) [ (54.9 - 48.8) / (54.9 - 49.5) ]
=1.74 s
Time constant (Equation 15),
Tc = 2h [ (PVf-PVi) / (PV1 - PV -1) ]
= 2 (1) [ (57.0 - 48.8) / (54.9 - 49.5) ]

= 3.04 s
A) From figure 46, the following information has been obtained:
PVf = 29.0%
PVi = 15.0%
PV = 29.0% - 15.0% = 14.0%
MV = 15.5% - 5.5% = 10.0%
a = 2% / 8 mm
b = 10s / 13.5 mm
= 60.0o
Dead time (Equation 9),
Td (time) = Td (length) x b
= 3.9 mm x 10s / 13.5 mm = 2.9 s
Response rate (Equation 8),
RR = tan a
MV b
= tan 60 2/8
10.0 10/13.5
= 0.0585 /s
B) Time Constant based on Tangent Method
Time constant (Equation 11),
Tc (time) = Tc (length) x b
= 31.0 mm x 10s / 13.5 mm = 23 s

Time Constant based on Tangent and Point Method

Using Equation 5b,
PV63.2% = PVi + 0.632 PV = 15.0 + 0.632 (14.0) = 23.8%
Tc,63.2% = 22.8 mm x 10 s = 16.9 s
13.5 mm
Time Constant based on Two-Point Method
Using Equation 7,
PV28.3% = PVi + 0.283 PV = 15.0 + 0.283 (14.0) = 19.0%
Tc = 1.5 x 13.8 mm x 10 s = 15.3 s
13.5 mm
Comparing all the time constants:
Methods
Tangent
Tangent and Point
Two-Point

Time, s
23.0
16.9
15.3

A) Response Rate (RR) and Dead Time (Td)

B) All Time Constant are compared numerically below
Time, s
0
1
2
3
4
5
6
7
8
9

PV, %
34.29
34.29
36.05
38.27
39.47
40.06
40.33
40.43
40.46
40.46

RR, 1/s
0.18
0.40
0.34
0.18
0.09
0.04
0.01

Td ,s
1.00
0.97

Tc, s
7.01
3.10
3.61
6.89
14.35
33.35
94.92
411.33

A) From figure 49 the following information has been obtained:

PVf = 47.8%
PVi = 26.7%
PV = 47.8% - 26.7% = 21.1%
MV = 38% - 23% = 15%
a = 5% / 10.8 mm
b = 50 s / 20.5 mm
Dead time (Equation 9),
Td (time) = Td (length) x b
= 9.5 mm x 50 s / 20.5 mm = 23.17 s
Time constant (Equation 11),
Tc (time) = Tc (length) x b
= 31.0 mm x 50 s / 20.5 mm = 75.61 s
Response rate (Equation 3),
RR = PV / t
MV
= 21.1 / 75.61
15
= 0.0186 / s

B) since temperature loop is a slow process, then a P + I +D mode has been chosen for
mode of control.
Optimum controller setting based on Ziegler-Nicholss tuning rule:
P = 83.3 RR Td = 83.3 (0.0186 ) (23.17) = 35.90%
I = 2 Td = 2 (23.17) = 46.34 s
D = 0.5 Td = 11.6 s
Optimum controller setting based on Cohen-Coons tuning rule:
= Td = 23.17= 0.306
Tc 75.61
P = 100 / 1.35 (1 + /5) RR Td = 100 / 1.35 (1 + 0.306/5) 0.0186 (23.17) = 30.08%
I = 2.5 [ [1 + ( / 5) ] / [ 1 + (3 / 5) ] Td
= 2.5 [ [1 + (0.306/ 5) ] / [ 1 + (3(0.306) / 5) ] ] 23.17
= 2.5 [ (1.0612/1.1836)] 23.17
= 51.93 s
D = 0.37 Td / (1 + /5) = 0.37 (23.17) / (1 + 0.306/5) = 8.08 s
Optimum controller setting based on Takahashis tuning rule:
P = 77 RR Td = 77 (0.0186) (23.17) = 33.18 %
I = 2.2 Td = 2.2 (23.17) = 51 s
D = 0.45 Td = 0.45 (23.17) = 10.43 s
Mode
Ziegler-Nichols
Cohen-Coon
Takahashi

P
35.90
30.08
33.18

I
46.34
51.93
51.00

D
11.6
8.08
10.43

Summarised Result (exercise 6)

MV = 16.5% - 11.5% = 5%
Process span = 200

time, s
0
60
120
180
240
300
360
420
480
540

RR
0.0026
0.0030
0.0023
0.0020
0.0018
0.0015
0.0012
0.0010

Td, s

Tc, s

21.57

421.35