Department of Chemical & Biomolecular Engineering

THE NATIONAL UNIVERSITY

of SINGAPORE
CN3121 Process Dynamics and Control Project 2015-16
Name, Matric No. & Role :

Abhishek Aravind (A0114117W)

Kuan Kai Cong(A0115167J)
Nicholas Lieu Jia Jun (A0108406M)
Sreekar Reddy Aparacherla (A0114139M)

Group:

Results and Discussion

Conclusion
Appendix

37

Pg. No
2
16
17

Results

andDiscussion:

a)Weassumethatsecondordertranferfunctionsinparallelcanbeaddedjustlikefirstorder
transferfunctionsinparallel.Inordertoverifythishypothesis,weusedtheparameters
providedfortheprojectonsimulinkandcomparedtheresultingplotswiththeplotsobtained
bysummingthetransferfunctions.Thehypothesiswasverified.

Therefore,thefollowingtransferfunctionresults:

2 2
2 2

1
s
+
2

s+1
(
)( 2 s + 2 2 2 s+1)
1 1
2 2

( 1 s +2 1 1 s+1)
K 1 ( s + 2 2 2 s+1 ) K 2

G ( s )=G 1 ( s ) +G 2 ( s ) =
2 2
2

( 1 s +2 1 1 s +1)( 22 s 2+2 2 2 s +1)

s 2 ( 22 K 1 21 K 2 ) +s ( 2 2 2 K 12 1 1 K 2 ) + K 1K 2
G ( s )=

2 2

M
Forstepinput, U ( s )= s

2 2
( 1 s +2 1 1 s +1)( 2 s +2 2 2 s +1)
2 2

s ( 2 K 1 1 K 2) +s ( 2 2 2 K 12 1 1 K 2 ) + K 1K 2

Y ( s )=G ( s ) U ( s )=

Aninverseresponseoccurswhentheresponsefunctioncontainsarighthalfplanezero.A
righthalfplanezerooccurswhentherootofthenumeratorhasapositiverealpart.
Let


( 1 s +2 1 1 s +1)( 22 s2 +2 2 2 s +1)
2
s A + sB+C

Y ( s )=
2 2

2
2
with A= 2 K 1 1 K 2 ; B=2 2 2 K 12 1 1 K 2 ; C=K 1K 2

Usingthequadraticformula,

s=

B B24 AC
2A

Forarighthalfplanezerotooccur,oneofthefollowingconditionshavetobesatisfied:

1. If

B2 4 AC 0

B+ B 24 AC
B B 24 AC
>0
>0
,then
and
2A
2A

2. If

B2 4 AC <0

B
,then 2 A >0

Aftermuchmanipulation(seeappendixAforthemanipulationcharts),werequirethe
followingtoholdfortheretobeaninverseresponseifcondition1aboveweresatisfied:
i.

22 K 2 1 2 2 K 2
> >
>
1 1
K1
21 K 1

ii.

22 K 2 1 2 2 K 2
< <
<
1 1
K1
21 K 1

iii.

22 K 2 2 2
< <
21 K 1 1 1

2 K2 22
> >
2
1 K1 11

iv.

Similarly,werecondition2abovesatisfied,thefollowingwouldhavetoholdfortheretobe
aninverseresponse:
i.

22 K 2 2 2
< <
21 K 1 1 1

ii.

22 K 2 2 2
> >
21 K 1 1 1

Weverifytheaboveconditionsfortheparametersetprovidedinalaterpart.
K1

ParameterSet
1
2
3
4

3
3
4
4

K2
2
2
2.5
2

2.000
2.000
5.099
3.606

1.732
1.732
2.646
2.646

1.750
2.750
0.196
0.139

1.732
0.866
0.189
0.945

Table 1

b)
Thefollowingplotsaregeneratedforsecondordertransferfunctionsinparallelwiththe
abovementionedparametersets(theassociatedsimulinkblockdiagramsandmatlabcodes
havebeenaddedtoappendixB):

Figure 1

Weobserveherethatforparameterset2andparameterset3,aninverseresponseisobtained.
Wefindthisanopportunemomenttoverifythattheconditionsderivedin1(a)dohold.
Forthecaseofparameterset2,thedeterminant

B2 4 AC >0

.Thisfallsundercondition

2 K2 22
1mentionedin1(a). 2 > K > isobservedtoholdsince
1
1 1
1

22
K 0.67 2 2
=0.75, 2 =
=0.27 therbyverifyingourresult.
2
K1
1 1
1

Forthecaseofparameterset3,thedeterminant

B2 4 AC >0

.Thisfallsundercondition

22 K 2 1 2 2 K 2
1mentionedin1(a). 2 < K < < K isobservedtoholdsince
1
1 1
1
1

22
K 0.63 2 2
=0.27, 2 =
=0.50 therbyverifyingourresultagain.
2
K1
1 1
1

c)Forparameterset1,theoutputresponseissimilartothatofaFirstOrdertransferfunction,
hencethefirstorderstepresponseestimationmaybeused.

Figure 2

FromtheplotobtainedbyMatlab,63.2%oftheresponsewasroughlyobservedatt=8and
maximum response was Y=1, hence we can approximate the process with a first order
1
transferfunctionmodelwith =8andK=1,i.e. G ( s )= 8 s+ 1
Forparameterset2,
Fromtheresponsecurve,itcanbeseenthatitresemblesastepresponseofasecondorder
process with numerator dynamics. Therefore, the Balaguer, Alfaro and Arrietas Method

(2011)willbeused.MaximumresponseisK=1andatY=0.47,t 47%=18,atY=0.9,t90%=
37.Atminimumpoint,yp%=0.63,tp=5.
T 1 =0.6(t90%t47%)=0.6(3718)=11.4,
b =1

1 y p
e

t 'p

=1

1(0.63)
=1.5274
e5 /11.4

Fromfigure4,m=1.0888,n=1.4900
t '47 n
a =
=0.0816
m

T2= a T 1 =0.9308,T3= b T 1 =17.4119

Theprocesswithparameterset2canthusbedescribedusingthefunction,
K ( T 3 s+1 )
(4.85982 s+1 )
(17.41236 s+ 1 )
G(s)= ( T s+ 1 )( T s +1 ) = ( 11.4 s +1 ) ( 0.93252 s+1 ) = 10.630728 s2 +12.33252 s+1
1
2
DetailedMATLABcodesfortheBAAmethodareprovidedintheAppendix.
Comparisonforset2,

Figure 3

Forparameterset3,weusetheempiricalmodelingpresentedbyDincel(EmreDincel,2013).
Thechoiceofthemodelisaconsequenceofthenatureofthestepresponseforparameterset
3,ascanbeseeninfigure1.Wehaveaninverseresponseinitiallyandasinusoidalresponse
afterthat.WeobservethattheDincelmodelcancaptureboththosefeatures.Thefollowing
parametersareevaluatedandasfollows:
Parameters

Formula

Value

Mp

y2 yf
y f y1

1.0947

ln(Mp )

2 +

ln( Mp)

n
tz

0.0288

( t 4 t 2 ) 1

0.2857

t 3 t 1

8.9313

t z 1 2
t z 1
sin( n )
t
( n )e
cos

2
+ 1
n

n2
z

yf

t 1 t 0

0.0842

1.4540
0

Table 2

ln( Mp) 2

+
NotethatDincelsmodelhasthefollowingformulafor :
.Thenegative

ln( Mp)
=

signinthemodelwasusedbecauseDincelsmodelhasavalueof Mp lessthan1.

Therefore,thenegativesignisusedsothatapositivevalueresultsforthedamping
coefficient, . However,ourresponsewassuchthatthevalueof Mp wasgreaterthan
1therebyrenderingthenegativesignredundantforouradoption.
ThetransferfunctionusingtheDincelmodelparametersisasfollows:

0.2857
2
s + 2(0.0288)(0.2857)s+
sL
K ( zs ) e
1.4540 ( 0.0842s )
G ( s )= 2
=
2

s +2 s+
n

Usingtheaboveinformation,weobtainthefollowingplotsinthetimedomain(associated
codesinappendixC):

Figure 4

TheprimaryreasonforusingtheDimcelmodelwastoincorporateboththefeaturesof
inverseinitialresponseandsinusoidalresponse.However,weobservethefitofthemodelis
notveryclosetotheresponsedatawhichisatradeoffwemustacceptinordertohavea
modelincorporatingtheabovementionedfeatures.

Forparameterset4,fromthefigure1,itcanbeseenthatitissimilartoanunderdamped
K
secondorderprocesswiththeformG(s)= 2 s2 +2 s+1 .Thepeaksoftheoscillationare
welldefinedandhavearoughlyconstantperiod.Hence,thetransferfunctionmodelcanbe
approximatedbyfindingtheovershootandperiod.Inthiscase,steadystategain,K=2.OS

4.652
=1.325andPeriod 3412=22.Sinceovershootwasfoundtobemorethan
2

1,resultinginanunstablestepresponse,thedecayratiowillbeusedinsteadtoapproximate
theparameters.Decayratio,DR=(3.12)/2.65=0.4151.AsDR=exp (2 1

and

2
Period= 1 2 ,solvingsimultaneouslyweget, =0.1386and =3.468.Thus,the
transfer function model to describe the step response of parameter set 4 is G(s)=
2
12.02 s +0.9613 s +1 .
2

Figure 5

10

:
d)Fortheregressionoftransferfunctionmodelstoobtaintherelevantparameters,thesame
method illustrated below has been applied to all 4 parameter sets achieve nonlinear
regression.First,anappropriatetransferfunctionmodelisselectedfromtheprovidedonesin
theproblemset.Next,thestepresponsefunction'sformulabasedontheselectedtransfer
function model is calculated in EXCEL based on the same time intervals used in the
SIMULINK simulation. Then, plots of both the SIMULINK function and the selected
functionaremappedonthesamemap.Finally,thesumofsquaredeviationbetweenboth
plotsiscalculated,andtheEXCEL'sSolverfunctionisusedtoobtaintheparameterswiththe
minimumsquaredeviationsum.

Simulink

Regressed plot

Figure 6

Forparameterset1,themodeltransferfunctionmodelselectedisthefirstordermodel.From
theEXCELSolverfunction,theregressedplotcanbeobtainedwhenK=1.005, =
9.452.Hencethetransferfunctionmodelforthissetderivedfromnonlinearregressionis
G ( s )=

1.005
9.452 s+1 .

Fig2:RegressionforParameterset2 Fig3:RegressionforParameterset3

11

Figure 7: Regression for parameter set 2

parameter set 3

Figure 8: Regression for

Forsecondordernumeratordynamics,thegeneraltransferfunctioncanbeexpressedinthe
timedomainas

1
e
y (t)=K+ K [ a ]
2
1

(t )

)}

t
sin 1
K e

(t)

cos

1 2 (t )

UsingMATLAB,regressionwascarriedoutforParametersset2and3andthepredefined
functionusedforthiswaslsqcurvefit.Thisfunctionusesleastsquareregressionmethodto
obtainthemodelparametersandthedetailedMATLABcodesusedforthisareprovidedin
theAppendix.Table3showsthevaluesofparametersobtainedandtheinitialguesses
providedinMATLABtoobtaintheseparameters.
Parameter

Parameter

set2
0.9905
6.5745

set3
1.5978
4.5368

v ( 3 )= a

3.6323

5.5765

v ( 4 )=

0.9969

0.1377

v ( 5 )=

12.6253

8.2649

v(1)=K
v(2)=

InitialGuess
providedin

[3;3;3;3;3]

[3;3;3;3;3]

MATLAB
Table 3: Parameters for noise free response regression

12

Forparameterset4,

Simulink

Regressed plot

Figure 9

Themodeltransferfunctionmodelselectedisthesecondordermodel.FromtheEXCEL
Solverfunction,theregressedplotcanbeobtainedwhenK=2.0786, =3.3924, =
0.14821.Hencethetransferfunctionmodelforthissetderivedfromnonlinearregressionis
2.0786
G(s)= 11.5084 s 2 +1.0056 s+ 1 .
e)

Noisyresponses:

13

Astheempiricalmodelsinvolvesthereadingoffofspecificpointsfromthegraphs,the
transferfunctionmodelsobtainedfornoisyresponsewouldbesimilartotheonesobtained
fornoisefreeresponseasthesimilarpointswouldbeused.
Usingnonlinearregression,theparametersobtainedarealsoverysimilarbetweennoisyand
noisefreeresponse.Thisisduetotherelativelylownoiselevelof5%.Thesamemethodin
parts(c)and(d)isemployedtofindtherelevantparametersaswell.Thesamemodelswere
alsousedforeachparametersetsaswell.
Empiricalmethodsfornoisyresponse:
Forempiricalmethodwithnoise,thesamemethodsusedinpartcareappliedhereaswell.
For parameter set 1,
From the plot obtained by Matlab, 63.2% of the response was roughly observed at t=11 and
maximum response was Y=1.0662, hence we can approximate the process with a first order
1.0662
transfer function model with =11 and K=1.0662, i.e. G ( s )= 11 s +1

Figure 10

For parameter set 2,

14

The Balaguer, Alfaro and Arrietas Method (2011) will be used again. Maximum response is
K=1.0651 and at Y= 0.47*1.0651, t 47% = 20.3, at Y= 0.9*1.0651, t 90% = 41. At minimum
point, yp%= 0.6643, tp= 6.4.
T 1 = 0.6(t90%-t47%) = 0.6(41-20.3) = 12.42,

b =1-

1 y p
e

t 'p

= 1-

10.6643
e6.4 /12.42

= 0.4381

Interpolating from table 4, m= 0.8412, n= 0.4495

t '47 n
a =
=
m

20.3
0.4495
12.42
0.8412

=1.4086

T2= a T 1 = 17.4953, T3= b T 1 = 5.4409

The process with parameter set 2 can thus be described using the function,
K ( T 3 s+1 )

G(s)= ( T s+ 1 )( T s +1 )
1
2

(5.4409 s+1 )
= ( 12.42 s +1 ) (17.4953 s+1 )

(5.4409 s+1 )
217.292+29.9153 s+1

Figure 11

Forparameterset3,

15

Figure 12

Theparametersfoundwere K=2.3683 , z=0.0499 , n=0.2806 and =0.0288

leadingtothefollowingtransferfunctionfortheempiricalmodel:
0.2806 2
s 2+ 2(0.0288)(0.2806)s+
K ( zs ) esL
2.3683 ( 0.0499s )
G ( s )= 2
=
2

s +2 n s+ n
Forparameterset4,

Simulink(noise)

Empirical(noise)

Figure 13

16

TherelevantparametersfoundwereK=2, =3.1267, =0.15698.Thiswillyielda

2
transferfunctionofG(s)= 9.7763 s2 +0.98166 s+1 .
Regressionfornoisyresponse:

Simulink(noise)

Regressed plot(noise)

Figure 14

Forparameterset1,usingtheEXCELSolverfunction,regressedplotcanbeobtainedwhen
K=1, =9.0126.Hencethetransferfunctionmodelforthissetderivedfromnonlinear
1
regressionis G ( s )= 9.0126 s+ 1 .
Parameters2and3

17

Figure 15: Noisy response set 2

regression

Figure 16: Noisy response set 3

regression

Usingthesamemethodofregressionwiththesameinitialguesses,theparameterswere
obtainedfornoisyresponse.Table4showsthevaluesofparametersobtainedandtheinitial
guessesprovidedinMATLABtoobtaintheseparametersfornoisyresponse.
Parameterset2
v(1)=K
v(2)=

Parameterset3

0.9930
5.9983

1.5733
4.6826

v ( 3 )= a

3.1536

6.4763

v ( 4 )=

1.0781

0.1425

v ( 5 )=

12.4878

7.9149

InitialGuessprovidedin
MATLAB

[3;3;3;3;3]

[3;3;3;3;3]

Table 4: Noisy response regression

Forparameterset4,usingtheEXCELSolverfunction,theregressedplotcanbeobtained
whenK=2.0751, =3.0044, =0.1400.Hencethetransferfunctionmodelforthis
2.0751
setderivedfromnonlinearregressionisG(s)= 9.0264 s 2+ 0.8412 s+1

Conclusion:

18

Weobservedthatinordertofitempiricalmodelstoresponses,acertaintradeoffhadtobe
madebetweenthefitofthemodelandthefeaturesexemplifiedbythem.Regressionmethods
seemedtoprovideabetterfitbutthenonlinearregressionisveryspecificforeachresponse.
Furthermore,extrapolationmustbedoneverycautiously.However,carewastakentoregress
the response until steady state was achieved thereby deeming extrapolation unnecessary
althoughsuchmaynotbethecasewithreallifemodels.Noiseofasmallmagnitudedidnot
heavilyinfluncetheresults.Albeitwithasmallsamplesize,ourhypothesisfrompart1(a)
wasverified.

APPENDIX B

19

The block diagrams for the 4 sets of parameters were done with their respective coefficients
on Simulink
Simulink Display:

After setting the stop time at 100.0 and running the Simulink simulation. The following
Matlab commands were used:
hold on;
grid on;
plot(t,h); plot(t,h1,'r'); plot(t,h2,'g'); plot(t,h3,'y')
title('Plot of process reponses against time'); xlabel('t'); ylabel('Y')
legend('set 1','set 2','set 3','set 4')

APPENDIXC:

20

FormodellingofParameter2(nonoise)usingBAAmethod:

RegressionforParameters2and3:
Forsecondordernumeratordynamics
functiony=SOND(v,t)
%v(1)=K
%v(2)=tau
%v(3)=taua
%v(4)=eta
%v(5)=theta
y=v(1)+v(1).*(v(3)v(2).*v(4)).*(1./(v(2).*sqrt(1(v(4)).^2)).*exp(v(4).*(t
v(5))./v(2)).*...
sin(sqrt(1(v(4)).^2).*(tv(5))./v(2)))...

21

v(1).*exp(v(4)./v(2).*(tv(5))).*cos(sqrt(1(v(4)).^2)./v(2).*(tv(5)));
end

ForParameter2:
v=lsqcurvefit(@SOND,[3;3;3;3;3],t,h1)
ymodel=SOND(v,t);
plot(t,ymodel,t,h1,'r')
ForParameter3
v=lsqcurvefit(@SOND,[3;3;3;3;3],t,h2)
ymodel=SOND(v,t);
plot(t,ymodel,t,h2,'r')
FormodellingofParameter2(noisyresponse)usingBAAmethod:

22

23