Exam Preparation Assignment No-8

Date : 06th nov 2014

MANUKUMAR BALARAMAN

Question no-1

Setpoint:
.0
(

Disturbance:

**************** PID Controller Parameters ********************

Improved IMC-PI Controller Parameters (Setpoint tracking):

IMC Filter Parameter Lambda is 2.314
Proportional Gain

Kc0 = 1.6277

Integral Time Constant tI0 = 2.134

Improved IMC-PI Controller Parameters (Dist. Rejection):

IMC Filter Parameter Lambda is 1.067
Proportional Gain

Kc1 = 3.53

Integral Time Constant tI1 = 2.134

ITAE-optimal Setpoint Tracking Parameters:

Proportional Gain

Kc2 = 3.4862

Integral Time Constant tI2 = 1.9103

Exam Preparation Assignment No-8

Date : 06th nov 2014

ITAE-optimal Load Rejection Parameters:

Proportional Gain

Kc3 = 5.5411

Integral Time Constant tI3 = 1.1341

Ziegler-Nichols tuning parameters:

Proportional Gain

Kc4 = 5.9854

Integral Time Constant tI4 = 1.665

Cohen-Coon tuning parameters:

Proportional Gain

Kc5 = 6.1325

Integral Time Constant tI5 = 1.0762

MANUKUMAR BALARAMAN

Exam Preparation Assignment No-8

Date : 06th nov 2014

MANUKUMAR BALARAMAN

IMC PI tuning rules, There is no big difference between control variable and manipulated variable. the
set point response the control variable display here is over damped response with 95% settling time
under 9 minute . Initial move size is nice ,The manipulated variable response is not aggressive enough.

By using IMC PI tuning rules, disturbance

response is shown . The behavior of the response is an ordinary and it looks that there is a Over damped
response ,and settling time is around 9 min. The deviation from the set point arm is around 0.080 and
seems manipulated variable slight undr damped,there is no big different between the control and
manipulated variables. The different will be just in the big shooting for the manipulated variable

Exam Preparation Assignment No-8

Date : 06th nov 2014

MANUKUMAR BALARAMAN

Control variable response little under damped setlling time is around 5 minute ,initial move size
is little aggressive. Comparing between the control and manipulated variable, I notice some different at
the beginning of the time when the over shoot happened and after the shoot happened it become at a
steady state.

By using ITAE-optimal tuning rules, disturbance response as it shown above. we can notice that
there is an under damping for the control variable. It seems that around 3 min to the response to
tolerance as considering 5% of the settle time. Plus, considering the 0.5 min of dead time.By using
Improved Ziegler-Nichols tuning rules, the set point response and disturbance response as it shown in
the two graphs below

Exam Preparation Assignment No-8

Date : 06th nov 2014

MANUKUMAR BALARAMAN

Control variable are under damped 95% of settling time occurs about 6 min

Control variable are under damped response , manipulated variable are aggressive response.the graph
shows that there is an oscillation for the response of the set point. Comparing between the control and
manipulated variable, let us notice some different at the beginning of the time when the over shoot
happened and after the shoot happened it become at a steady state. Yet, the return time of the original
value is way longer than 6 min

Exam Preparation Assignment No-8

Date : 06th nov 2014

MANUKUMAR BALARAMAN

By using Improved Cohen-Coon tuning rules, the set point response and disturbance response as it
shown in the two graphs below. Controlled variable on Cohen-coon set point change under damped
with 50% overshoot, the manipulated variable is highly oscillating and aggressive and have large initial
move.

Most under damped of all disturbance rejection and most ossilatonary and aggressive manipulated
variable.

Exam Preparation Assignment No-8

Date : 06th nov 2014

MANUKUMAR BALARAMAN

Appendix- 1A

Figure-9 : This process diagram was repeated 8 times in the Simulink to run different model.

Matlab File
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ChE 461 Process Dynamics and Control, Fall 2014

This matlab editted by Manukumar Balaraman
This matlab Created on 4th November 2014
This MATLAB M-file computes tuning parameters for six different
PI tuning rules for a first-order with deadtime system%
Eight simulations are required in the EPA based on these six tunings
(because Ziegler-Nichols and Cohen-Coon do not have separate disturbance
tuning rules)
Kp
theta
tau
alpha
alpha1
Lambda
Lambda1

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=

input('Enter the plant gain: ');

input('Enter the deadtime (in minutes): ');
input('Enter the time constant (in minutes): ');
1; % alpha value
0.5; % alpha1 value
alpha * (tau+0.5*theta); % setpoint value
alpha * (tau+0.5*theta); %distrubance

Improved IMC-PI disturbance rejection controller parameters

Define IMC filter parameter
LAM0
= input('Enter the IMC filter parameter (stpt. tracking): ');
if isempty(LAM0) , LAM0 = Lambda; end;
tI0
= tau + theta/2;
Kc0
= (tau+theta/2)/(Kp*LAM0);

Exam Preparation Assignment No-8

Date : 06th nov 2014
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MANUKUMAR BALARAMAN

Define IMC filter parameter

LAM1
= input('Enter the IMC filter parameter (dist. rej.): ');
if isempty(LAM1) , LAM1 = Lambda1; end;
tI1
= tau + theta/2;
Kc1
= (tau+theta/2)/(Kp*LAM1);

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% ITAE-optimal setpoint tracking parameters
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tI2
= tau/(1.03 - 0.165*(theta/tau));
Kc2
= (0.586/Kp)*(tau/theta)^0.916;
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% ITAE-optimal load rejection parameters
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tI3
= (tau/0.674)*(theta/tau)^0.680;
Kc3
= (0.859/Kp)*(tau/theta)^0.977;
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% Ziegler-Nichols tuning parameters
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tI4
= 3.33*theta;
Kc4
= (0.9/Kp)*(tau/theta);
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% Cohen-Coon tuning parameters
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tI5
=
theta*(30 + 3*(theta/tau))/(9 + 20*(theta/tau));
Kc5
= (tau/(theta*Kp))*(0.9 + theta/(12*tau));
%
disp (' ');
disp (' ');
disp ( 'Specify the Instrument Range for the Control Loop');
PVhi = input( ' PEUHI [100]: ');
if isempty(PVhi) ==1, PVhi=100; end;
PVlo = input('PVEULO [ 0]: ');
if isempty(PVlo) ==1, PVlo=0; end;
CVhi = input ('CVEUHI [100]: ');
if isempty(CVhi) ==1, CVhi=100; end;
CVlo = input ('CVEULO [ 0]: ');
if isempty(CVlo) ==1, CVlo=0; end;
Kscale = (PVhi - PVlo)/(CVhi - CVlo);
Kc0 = Kscale*Kc0;
Kc1 = Kscale*Kc1;
Kc2 = Kscale*Kc2;
Kc3 = Kscale*Kc3;
Kc4 = Kscale*Kc4;
Kc5 = Kscale*Kc5;
clc;
tstart = input ( 'Enter the start time for step input [1 min]: ');
if isempty(tstart) , tstart = 1; end;
tfinal = input('Enter stop time for simulation [30 min]: ');
if isempty(tfinal), tfinal = 30; end;
sim( 'ManuB', [0 tfinal]),
clc;
disp(' ');
disp('**************** PID Controller Parameters ******************** ');
disp(' ');
disp(['PVEUHI : ',num2str(PVhi)]);

Exam Preparation Assignment No-8

Date : 06th nov 2014

MANUKUMAR BALARAMAN

disp(['PVEULO : ',num2str(PVlo)]);
disp(['CVEUHI : ',num2str(CVhi)]);
disp(['CVEULO : ',num2str(CVlo)]);
disp(' ');
clc;
disp(' ');
disp('**************** PID Controller Parameters ******************** ');
disp(' ');
disp('Improved IMC-PI Controller Parameters (Setpoint tracking):');
disp([' IMC Filter Parameter Lambda is ',num2str(LAM0)]);
disp([' Proportional Gain
Kc0 = ',num2str(Kc0)]);
disp([' Integral Time Constant
tI0 = ',num2str(tI0)]);
disp(' ');
disp('Improved IMC-PI Controller Parameters (Dist. Rejection):');
disp([' IMC Filter Parameter Lambda is ',num2str(LAM1)]);
disp([' Proportional Gain
Kc1 = ',num2str(Kc1)]);
disp([' Integral Time Constant
tI1 = ',num2str(tI1)]);
disp(' ');
disp('ITAE-optimal Setpoint Tracking Parameters:');
disp([' Proportional Gain
Kc2 = ',num2str(Kc2)]);
disp([' Integral Time Constant
tI2 = ',num2str(tI2)]);
disp(' ');
disp('ITAE-optimal Load Rejection Parameters:');
disp([' Proportional Gain
Kc3 = ',num2str(Kc3)]);
disp([' Integral Time Constant
tI3 = ',num2str(tI3)]);
disp(' ');
disp('Ziegler-Nichols tuning parameters:');
disp([' Proportional Gain
Kc4 = ',num2str(Kc4)]);
disp([' Integral Time Constant
tI4 = ',num2str(tI4)]);
disp(' ');
disp('Cohen-Coon tuning parameters: ');
disp([' Proportional Gain
Kc5 = ',num2str(Kc5)]);
disp([' Integral Time Constant
tI5 = ',num2str(tI5)]);
disp(' ');
figure(1)
plot(tout,y,'-',tout,u,'--',tout,r,':',tout,d,'-.')
xlabel('Time (minutes)')
ylabel('Temperature (K)')
legend('controlled variable (y)','manipulated variable (u)','setpoint change
(r)','disturbance (d)')
title('IMC-PI Setpoint Change')
figure(2)
plot(tout,y1,'-',tout,u1,'--',tout,r1,':',tout,d1,'-.')
xlabel('Time (minutes)')
ylabel('Temperature (K)')
legend('controlled variable (y)','manipulated variable (u)','setpoint change
(r)','disturbance (d)')
title('IMC-PI Disturbance')
figure(3)
plot(tout,y2,'-',tout,u2,'--',tout,r2,':',tout,d2,'-.')
xlabel('Time (minutes)')
ylabel('Temperature (K)')
legend('controlled variable (y)','manipulated variable (u)','setpoint change
(r)','disturbance (d)')

Exam Preparation Assignment No-8

Date : 06th nov 2014

MANUKUMAR BALARAMAN

title('ITAE-optimal Setpoint Change')

figure(4)
plot(tout,y3,'-',tout,u3,'--',tout,r3,':',tout,d3,'-.')
xlabel('Time (minutes)')
ylabel('Temperature (K)')
legend('controlled variable (y)','manipulated variable (u)','setpoint change
(r)','disturbance (d)')
title('ITAE-optimal Disturbance')
figure(5)
plot(tout,y4,'-',tout,u4,'--',tout,r4,':',tout,d4,'-.')
xlabel('Time (minutes)')
ylabel('Temperature (K)')
legend('controlled variable (y)','manipulated variable (u)','setpoint change
(r)','disturbance (d)')
title('Ziegler-Nichols Setpoint Change')
figure(6)
plot(tout,y5,'-',tout,u5,'--',tout,r5,':',tout,d5,'-.')
xlabel('Time (minutes)')
ylabel('Temperature (K)')
legend('controlled variable (y)','manipulated variable (u)','setpoint change
(r)','disturbance (d)')
title('Ziegler-Nichols Disturbance')
figure(7)
plot(tout,y6,'-',tout,u6,'--',tout,r6,':',tout,d6,'-.')
xlabel('Time (minutes)')
ylabel('Temperature (K)')
legend('controlled variable (y)','manipulated variable (u)','setpoint change
(r)','disturbance (d)')
title('Cohen-Coon Setpoint Change')
figure(8)
plot(tout,y7,'-',tout,u7,'--',tout,r7,':',tout,d7,'-.')
xlabel('Time (minutes)')
ylabel('Temperature (K)')
legend('controlled variable (y)','manipulated variable (u)','setpoint change
(r)','disturbance (d)')
title('Cohen-Coon Disturbance')