PETROLEUM INSTITUTE

CHEMICAL ENGINEERING DEPARTMENT

Spring 2018

CHEG412

PROCESS DYNAMICS AND CONTROL LAB:

EXPERIMENT OF PID CONTROLLER ON LEVEL TANK
SYSTEM

TEAM MEMBERS:

Muhammad Fawwaz 1422

Mohamed Alhashmi 8190

Ibrahim AlAli 6980

Ali AlAli 7910

DATE: 2/05/2018

INSTRUCTOR: Mr. Ahmad Nafees

SECTION: 02
Table of Contents
1.0 Abstract ................................................................................................................................ 1
2.0 Introduction ......................................................................................................................... 2
2.1 Theory............................................................................................................................... 2
2.2 Objectives of The Experiment: ........................................................................................ 3
2.3 Working Equations........................................................................................................... 4
3.0 Apparatus ............................................................................................................................. 6
4.0 Procedure ............................................................................................................................. 8
5.0 Experiment Result.............................................................................................................. 10
5.1 Proportional (P) Only ..................................................................................................... 10
5.2 Proportional Integrated (PI) .......................................................................................... 10
5.3 Proportional Integrated Derivative (PID) ...................................................................... 11
5.4 Inflow rate ON-OFF Controller ...................................................................................... 12
5.5 Outflow rate ON-OFF Controller ................................................................................... 13
5.6 PID for Outlet and Inlet Flow Rate Controller .............................................................. 13
6.0 Discussion........................................................................................................................... 15
7.0 Conclusion .......................................................................................................................... 17
8.0 References ......................................................................................................................... 18
9.0 Appendices:........................................................................................................................ 19
9.1 Experiments Graph: ....................................................................................................... 19
9.1.1 Proportional (P) Only ................................................................................................. 19
9.1.2 Proportional Integrated (PI) Control ......................................................................... 20
9.1.3 Proportional Integrated Derivative (PID) Control..................................................... 22
9.1.4 Inflow rate ON-OFF Controller .................................................................................. 23
9.1.5 Inflow rate PID Controller .......................................................................................... 24
9.1.6 Outflow rate ON-OFF Controller ............................................................................... 24
9.1.7 Outflow rate PID Controller ....................................................................................... 25
Figure of Contents

Figure 1: Example to Identify ymax, ymin and time,t ........................................................................ 4

Figure 2: PCT40 Unit ....................................................................................................................... 6
Figure 3: Large Process Vessel Schematics .................................................................................... 7
Figure 4: Graph of Output Tank Level against Elapsed Time with Three Varies Proportional
Conditions...................................................................................................................................... 10
Figure 5: Graph of Output Level Tank Against Time Elapse with Three Varies Time Integrated,
τI Conditions. ................................................................................................................................. 11
Figure 6: Graph of Output Level Tank Against Time Elapse with Three Varies Time Derivative,
τD Conditions ................................................................................................................................. 12
Figure 7: Graph Output Level Tank Against Elapsed Time for Inflow rate on-off Controller. ... 12
Figure 8: Graph Output Level Tank Against Elapsed Time for Outflow rate ON-OFF controller
........................................................................................................................................................ 13
Figure 9: Graph Output Level Tank Against Elapsed Time for Inflow rate and Outflow rate PID
Controller....................................................................................................................................... 14
Figure 10:Graph of Output Level Tank against Elapsed Time with PB at 5% ............................. 19
Figure 11: Graph of Output Level Tank against Elapsed Time with PB at 10% .......................... 19
Figure 12: Graph of Output Level Tank against Elapsed Time with PB at 15% .......................... 20
Figure 13: Graph of Output Level Tank against Elapsed Time with PB at 5% and Integrated
Time at 1 secs ................................................................................................................................ 20
Figure 14: Graph of Output Level Tank against Elapsed Time with PB at 5% and Integrated
Time at 10 secs .............................................................................................................................. 21
Figure 15: Graph of Output Level Tank against Elapsed Time with PB at 5% and Integrated
Time at 30 secs .............................................................................................................................. 21
Figure 16: Graph of Output Level Tank against Elapsed Time with PB at 5%, Integrated Time at
1 secs and Derivative Time at 0.1 secs ......................................................................................... 22
Figure 17: Graph of Output Level Tank against Elapsed Time with PB at 5%, Integrated Time at
1 secs and Derivative Time at 1 secs ............................................................................................ 22
Figure 18: Graph of Output Level Tank against Elapsed Time with PB at 5%, Integrated Time at
1 secs and Derivative Time at 10 secs .......................................................................................... 23
Figure 19: Graph of Output Level Tank against Elapsed Time for Inflow rate ON-OFF Controller
........................................................................................................................................................ 23
Figure 20: Graph of Output Level Tank against Elapsed Time for Inflow rate PID Controller .. 24
Figure 21: Graph of Output Level Tank against Elapsed Time for Outflow rate ON-OFF
Controller ....................................................................................................................................... 24
Figure 22: Graph of Output Level Tank against Elapsed Time for Outflow rate ON-OFF
Controller ....................................................................................................................................... 25
1.0 Abstract

This experiment was carried out at the Process Control Lab under the supervision of Lab
Instructor Mr. Ahmed Nafees. The experiment was conducted to control the water level of
the tank to reach set point which is 190 mm by using PCT40 equipment. Furthermore, the
experiment used feedback controller method which have three types of controller such as
proportional, P integral, I and derivative, D controller. Each types of controller have their own
capabilities to smooth the response system and achieve the set point. For instance, P
controller can faster the response but it cannot eliminate the offset. Moreover, I controller
can eliminate offset by changing the output measured with time until error is zero. Where
output measured reached steady state. However, the response become more sluggish. In
addition, D controller must work with P or I or both controller to stabilize the response
system. Thus, the experiment is to identify the characteristic response of the system by using
different effect of PID parameter and to compare the PID controller between manipulating
outflow rate and inflow rate. Based on experiment result, the higher the proportional gain, Kc
the lower the offset. Moreover, the lower the integrated time, τI the faster the response
system. Other than that, based on theory, the best controller is to have optimum value of PID
parameter and combine three types of controller together to get highest performance of
response which can eliminate offset at shorter time and has better stability criteria. From the
experiment, we run on-off controller which is one of the way to get optimum value of PID
controller. Therefore, the optimum value of PID parameter in our experiment are 5% for P,
10 secs for I and 5 secs for D controller which is the value for outflow rate PID controller. In
conclusion, we can find the optimum value for PID parameter by running on-off controller to
achieve highest performance of system response.

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2.0 Introduction

This experiment was carried out at the Process Control Lab under the supervision of Lab
Instructor Dr. Ahmed Nafees. The experiment was conducted to control the water level of
the tank to reach set point which is 190 mm by using PCT40 equipment. PCT40 equipment is
The Armfield PCT40 which provides a cost-effective way of teaching a wide range of process
control techniques in a simple basic unit. Moreover, it is a multi-function process control
teaching system which is capable of demonstrating level, flow, pressure and temperature
control loops. However, in our experiment, we only have to measured level variable and
using feedback control method. The PCT40 contains everything that is needed to perform a
range of single-loop process control experiments in conjunction with a PC.

The PCT40 includes a computer interface (USB), and all of the parameters can be controlled
directly from the computer, (ie the pump speeds), the valve positions and the heater power.
The computer also displays the readings from the various measurement sensors. The
software supplied with the unit includes on/off, time proportioned and
proportional/integral/derivative (PID) algorithms where all the parameters are easily
accessed and adjusted by the user. This approach means that a separate electronic console is
unnecessary for most applications.

2.1 Theory
A proportional–integral–derivative controller (PID controller or three term controller) is
a control loop feedback mechanism widely used in industrial control systems and a variety of
other applications requiring continuously modulated control. A PID controller continuously
calculates an error value as the difference between a desired setpoint (SP) and a
measured process variable (PV) and applies a correction based on proportional, integral,
and derivative terms (denoted P, I, and D respectively) which give the controller its name.

Term P is proportional to the current value of the SP − PV error e(t). For example, if the error
is large and positive, the control output will be proportionately large and positive, taking into
account the Proportional gain, Kc. By increasing the Kc, the offset of the response system will
be lower. Nevertheless, the controller become saturates when its output reaches a physical
limit, either Kcmax or Kcmin when the controller reaches it saturates. If the Kc reaches over the
physical limit, the system will be unstable. (Agarwal, 2016)

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Furthermore, for Integral controller which prefer to term I accounts for past values of the
SP − PV error and integrates them over time to produce the I term. For example, if there is a
residual SP − PV error after the application of proportional control, the integral term seeks to
eliminate the residual error by adding a control effect due to the historic cumulative value of
the error. When the error is eliminated, the integral term will cease to grow. This will result in
the proportional effect diminishing as the error decreases, but this is compensated for by the
growing integral effect. In addition, the decreasing τI tends to speed up the response and
make the response become more oscillatory. Thus, the response become more sluggish. (PID
Theory Explained, 2011)

Next, other than P and I term, Derivative controller which is term D is a best estimate of the
future trend of the SP − PV error, based on its current rate of change. It is sometimes called
"anticipatory control", as it is effectively seeking to reduce the effect of the SP − PV error by
exerting a control influence generated by the rate of error change. The more rapid the
change, the greater the controlling or dampening effect. However, by providing anticipatory
control action, the derivative mode tends to stabilize the controlled process. Thus, it is often
used to counteract the destabilizing tendency of the integral mode. In addition, D controller
is never used alone, it is always used in conjunction with P or PI controller. Other than that,
increasing derivative time, τD will has less oscillation and slower the response of the system
This is due to derivative control action tends to improve dynamic response of the controlled
variable by settling time, the time it takes reducing to reach the steady state. (Seborg, Edgar,
Mellichamp, & Doyle III, 2011)

Running on-off controller is one of the ways to tune the controller to get the best PID values.
In order to turn to on off controller in PCT40 equipment, the PID values should be zero. After
that, specify a set point and choose the automatic button and run the experiment. The level
in the tank will keep increasing until a certain limit then PSV will turn off to decrease the
level. The level will continue to decrease until it reaches to a lower limit, where the PSV will
be on again and let the level raise again and so on.

2.2 Objectives of The Experiment:

1) To identify the characteristic response of system by using different effect of PID
parameter.
2) To identify the best value for PID parameter to achieve highest performance of response
system by using formulae given.
3) To compare the best PID controller between manipulating outflow rate and inflow rate
controller.

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2.3 Working Equations

Formula PID parameter calculation. Figure 1 shows the example to identify ymax, ymin and
time,t where is ymax is the highest over shoot and ymin is the lowest over shoot and t is the
time between those two.

Figure 1: Example to Identify ymax, ymin and time,t

The PID parameter from the value of inflow rate ON-OFF Controller:

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The PID parameter from the value of outflow rate ON-OFF Controller:

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3.0 Apparatus

The main equipment used in the experiment is called the Large process Vessel, which is part
of the PCT40. The PCT40 Unit is divided into several parts that were utilized in the
experiment which are listed below:
1- Small Process Vessel
a. Heating/Cooling Coil
b. Heating Element
c. Thermometer
d. Temperature Sensors
2- Large Process Vessel
a. Dip Tube
b. Cover Lid
c. Differential Level Switch
d. Float Switch
e. Scale
3- Inlet Flowmeter
4- Gear Pump
5- Manual valves
6- Control Software

The PCT40 can be seen in the figure below. Figure 2 shows the PCT40 Unit as a whole,
whereas Figure 3 focuses on the parts which were used in the experiment, the Large Process
Vessel.

Figure 2: PCT40 Unit

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 Figure 3: Large Process Vessel Schematics

The large process vessel is an acrylic container that contains yet another smaller vessel within
it. The vessel within is removable and is mainly used to change the volume of the vessel
(Either decrease or increase in this case). Other main parts of the vessel are the level scale,
float switch, and differential level switch which are strategically placed within the large vessel
as well as seen in the figure above. The lid that covers the whole vessel is utilized to support
an adjustable height level switch, a differential level switch as well as a dip tube that can be
used to fill or drain the vessel when in use. It is designed with several opening which allow for
any necessary connections and fittings that may be used for the experiment. Finally, a
piezoelectric pressure sensor can be seen mounted at the base of the large process vessel
which is mainly used to measure the level in the tank.

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4.0 Procedure

The procedure in this experiment is split into 4 sections. (Nafees A. , 2018):

1. Experiment Setup and Startup:
o Turn the power of the PCT40 on and make sure it is connected to a suitable
computer that has the PCT40 installed in it.
o Load section 2, and make sure the readings of the level are like the actual level
in the vessel.
o Connect the tubing supplied with the PCT40 equipment similarly to what is
shown in the diagram view of the section 2.

2. Start to test the effect of PB:

o Open the main pressure regulator and keep it unchanged during the
experiment (preferably keep it at the maximum).
o Manually fill the vessel using the PSV (for example, set manually the PSV value
to 70%).
o Open Sol Valve 2 and keep it on while the experiment is running.
o Adjust the SPV opening until the level in the tank stabilize ( flow in = flow out)
o The system should reach the steady state.
o Start with a Proportional controller by pressing the control button in the
software and adding a PB value of 5%. Set point was chosen to be 240mm.
o Run the experiment by pressing on the GO icon in the tool bar.
o keep running until the level almost settle to a certain value, then change the
PB value for example make it 10% and make sure that you begin a new set of
results.
o Keep changing the PB and logging the data.
o Save all your results to an excel sheet.
o Show all your results in clear graphs with legends showing values of PB.
o Discuss each graph in terms of the speed of the response, its ultimate value,
its ability to reach to set point, its oscillation, stability, etc.

3. The effect of the integral time:

o Keep the proportional band value constant at a certain value and add an
integral time to your controller (PI controller).
o Start with a chosen value for integral time.
o Run and save each run and keep changing the value of I and watch the
response.
o Save your file to an excel file.
o Generate plots for each and discuss the effect of integral action, similarly in
terms of the speed of the response, its ultimate value, its ability to reach to
set point, its oscillation, stability, etc.
o Compare it to the Proportional controller

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4. The effect of the Derivative time:
o Keep the Proportional band and the integral time values constant at a certain
value of your choice and add a derivative time of your choosing
o Run new results sheet and start logging the data for each different value of D
o Save your file to an excel file
o Generate plots for each case and discuss the effect that the derivative action
has done to the response of the system.

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5.0 Experiment Result

The graphs have been drawn between time elapse and output tank level with varies of
Proportional Band, Integrated time and Derivative time. The set point of the experiment is
190 mm level of the tank. These graphs are used to observe the response of the system.

5.1 Proportional (P) Only

The graph for proportional controller is to observe the offset between set point. The relation
is between output tank level against elapsed time with varies three Proportional Band
condition such as 5%, 10% and 15%. Figure 4 shows the graph of output level tank against
time elapse with three varies proportional conditions

Figure 4: Graph of Output Tank Level against Elapsed Time with Three Varies Proportional
Conditions

5.2 Proportional Integrated (PI)

For the graph of Proportional Integrated (PI), the relationship is between output tank level
and elapsed time. The experiment was conducted by constant the Proportional Band which is
5% and varies with three conditions of time integrated, τI such as 1, 10 and 30 secs to
observes the type of response system for each τI. The set point of tank level remains the same
which is 190 mm. Figure 5 shows the graph of output level tank against time elapse with
three varies time integrated, τI conditions.

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Figure 5: Graph of Output Level Tank Against Time Elapse with Three Varies Time Integrated,
τI Conditions.

5.3 Proportional Integrated Derivative (PID)

For the Proportional Integrated Derivative (PID) graph, the relation is between the output
level tank and elapsed time. The experiment was conducted by constant the Proportional
Band and Integrated time which is 5% and 1 secs respectively with varies three Derivatives
time, τD condition such as 0.1, 1, and 10 secs. The experiment is to observe type of response
system for each derivatives condition. Figure 6 shows the graph of output level tank against
time elapse with three varies time derivative, τD conditions.

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Figure 6: Graph of Output Level Tank Against Time Elapse with Three Varies Time Derivative,
τD Conditions

5.4 Inflow rate ON-OFF Controller

Inflow rate ON-OFF controller is to identify the limitations of maximum and minimum output
level tank and duration time for maximum goes to minimum output level tank when
manipulating inflow rate controller. The value of Proportional Band, Integrated time and
Derivative time is 0. Figure 7 shows graph output level tank against elapsed time for Inflow
rate on-off controller. Maximum and minimum output level tank are 201 mm and 183 mm
respectively. Meanwhile, duration for maximum goes to minimum output level tank is 20
secs.

Figure 7: Graph Output Level Tank Against Elapsed Time for Inflow rate on-off Controller.

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5.5 Outflow rate ON-OFF Controller
ON-OFF for outlet control is to identify the limitations of maximum and minimum output
level tank and duration time for maximum goes to minimum output level tank when
manipulating outflow rate controller. The value of Proportional Band, Integrated time and
Derivative time is 0. Figure 8 shows graph output level tank against elapsed time for ON-OFF
for outlet control. Maximum and minimum output level tank are 197 mm and 181 mm
respectively. Meanwhile, duration for maximum goes to minimum output level tank is 30
secs.

Figure 8: Graph Output Level Tank Against Elapsed Time for Outflow rate ON-OFF controller

5.6 PID for Outlet and Inlet Flow Rate Controller

The experiment was conducted to observe the two section which is outflow rate controller
and inflow rate controller. Use the value of maximum and minimum output level tank and
duration for maximum goes to minimum output level tank from ON-OFF Controller to identify
the value of Proportional Band, PB Integrated time, τI and Integrated derivative, τD. Thus, the
value of inflow rate PID Controller for PB, τI, and τD are 13.5%, 55 secs and 9 secs. Meanwhile,
the value for outflow rate PID Controller for PB, τI, and τD are 5%, 30 secs and 5 secs. Figure 9
shows the graph output level tank against elapsed time for inflow rate and outflow rate PID
controller.

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Figure 9: Graph Output Level Tank Against Elapsed Time for Inflow rate and Outflow rate PID
Controller.

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6.0 Discussion

Based on the experiment result, the effect of Proportional Band, PB for the P-Only controller,
as we observed, the PB at 5% has lowest offset compare to PB at 10% and 15%. This is
because the higher the PB will cause the lower of proportional gain, Kc, due to eq.
. Thus, the lower the Kc, the higher the offset of system response. Moreover, PB at
5% is the fastest response system compare to the PB at 10% and 15%. This is because, the
higher the Kc, the faster of the response system. Nevertheless, the Kc cannot eliminate the
offset due to output level system has physical limit, either Kcmax or Kcmin when the controller
reaches it saturates. If the Kc reaches over the physical limit, the system will be unstable.
(King, 2011)

Next, for the proportional integrated, PI controller, the integrated time, τI at 1 secs has the
highest oscillation for system response compare to τI at 10 secs and 30 secs. This is because,
based on the theory, the decreasing τI tends to speed up the response and make the
response become more oscillatory. Thus, the highest the τI, the less oscillation of the system
response. Thus, the faster the offset can be eliminated. The reason offset can be eliminated
in integral control because when integral action is used, the controller output level tank, p(t)
automatically changes until it attains the value required to make the steady-state zero error
due to eq.

Moreover, for the effect of the derivative time, τD, it does not eliminate the offsets. However,
by providing anticipatory control action, the derivative mode tends to stabilize the controlled
process. Thus, it is often used to counteract the destabilizing tendency of the integral mode.
In addition, τD at 5 secs has less oscillation and the slowest response of the system compare
to τD at 0.1 secs and 1 secs. This is due to derivative control action tends to improve dynamic
response of the controlled variable by settling time, the time it takes reducing to reach the
steady state. Therefore, the increasing τD will make the overall response become slower and
less oscillatory.

After that, for the experiment inflow rate and outflow rate of on-off controller was
conducted which is as one of the ways to tune the controller and get the best PID values for
manipulating inflow rate and outflow rate controller by using the formulae given. Therefore,
the best values of manipulating inflow rate controller for P, I and D, are 13.5%, 55 secs, and 9
secs respectively. Meanwhile, the best values of manipulating outflow rate controller for P, I
and D, are 5%, 10 secs, and 5 secs respectively. (Seborg, Edgar, Mellichamp, & Doyle III,
2011)

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From the observation based on figure 6 which is PID controller for outlet flow and inlet flow,
the best PID controller is manipulating outflow rate. This is because, outflow rate PID
controller can eliminate offset faster than inflow rate PID controller by using integral control
action. Moreover, outflow rate PID controller has better stability criteria compare inflow rate
PID controller. In addition, since the PB for PID inflow rate controller is higher which is 13.5%
compare to PB for PID outflow rate controller which is 5%. Derivative control action in PID
inflow rate controller tends to make slower overall response compare to PID outflow rate
controller to improve response of the controlled variable by the settling time, the time it
takes reducing to reach steady state.

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7.0 Conclusion

In conclusion, we have successfully achieved all the objectives from the experiment such as
from the P controller, the lowest PB which is 5% has the lowest offset and fastest response
due to the higher the Kc the lower the offset until certain limit. Increasing Kc also will provide
faster response. However, Kc will not eliminate the offset. Moreover, for PI controller, the
highest τI which is 1 sec has the highest oscillation system response due decreasing τI will
tends to speed up the response and make the response become more oscillatory. Other than
that, the system response at the highest τD in PID controller has less oscillation and slowest
response due to derivative control action tends to improve dynamic response of the
controlled variable by settling time, the time it takes reducing to reach the steady state.
Other than that, we conducted on-off controller to achieved the best value for PID
parameter. Moreover, by comparing response system between manipulating inflow rate and
outflow rate controller, we observe that, the manipulate outflow rate has the best
performance of system response compare to manipulating inflow rate. This is because,
outflow rate PID controller can eliminate offset faster than inflow rate PID controller by using
integral control action. Moreover, outflow rate PID controller has better stability criteria
compare inflow rate PID controller. In addition, since the PB for PID inflow rate controller is
higher which is 13.5% compare to PB for PID outflow rate controller which is 5%. Derivative
control action in PID inflow rate controller tends to make slower overall response compare to
PID outflow rate controller to improve response of the controlled variable by the settling
time, the time it takes reducing to reach steady state.

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8.0 References

Agarwal, T. (2016, February 13). How Does A PID Controller Work. Retrieved from Structure &
Tuning Methods: https://www.elprocus.com/the-working-of-a-pid-controller/

Dimian, A. C., & Bildea, C. S. (2008). Chemical Process Design (Computer-Aided Case Studies).
United Kingdom: WILEY-VCH Verlog GmBh & Co.

King, M. (2011). Process Control A Practical Approach. United Kingdom: John Wiley & Sons
Ltd.

Moulijn, J. A., Makkee, M., & Van Diepen, A. E. (2013). Chemical Process Technology (2nd
Edition). United Kingdom: John Wiley & Sons Ltd.

PID Theory Explained. (2011, March 29). Retrieved from National Instruments:
http://www.ni.com/white-paper/3782/en/

Seborg, D. E., Edgar, T. F., Mellichamp, D. A., & Doyle III, F. J. (2011). Process Dynamic and
Control (3rd Edition). United Kingdom: John Wiley & Sons Ltd.

Nafees, A. (2018). CHEG412 Process Dynamic and Control Lab. UAE: Khalifah University of
Science & Technology.

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9.0 Appendices:
9.1 Experiments Graph:

9.1.1 Proportional (P) Only

Condition: PB at 5%

Figure 10:Graph of Output Level Tank against Elapsed Time with PB at 5%

Condition: PB at 10%

Figure 11: Graph of Output Level Tank against Elapsed Time with PB at 10%

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Condition: PB at 15%

Figure 12: Graph of Output Level Tank against Elapsed Time with PB at 15%

9.1.2 Proportional Integrated (PI) Control

Condition: PB at 5% and Integrated Time at 1 secs

Figure 13: Graph of Output Level Tank against Elapsed Time with PB at 5% and Integrated
Time at 1 secs

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Condition: PB at 5% and Integrated Time at 10 secs

Figure 14: Graph of Output Level Tank against Elapsed Time with PB at 5% and Integrated
Time at 10 secs

Condition: PB at 5% and Integrated Time at 30 secs

Figure 15: Graph of Output Level Tank against Elapsed Time with PB at 5% and Integrated
Time at 30 secs

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 9.1.3 Proportional Integrated Derivative (PID) Control
Condition: PB at 5%, Integrated Time at 1 secs and Derivative Time at 0.1 secs

Figure 16: Graph of Output Level Tank against Elapsed Time with PB at 5%, Integrated Time at
1 secs and Derivative Time at 0.1 secs

Condition: PB at 5%, Integrated Time at 1 secs and Derivative Time at 1 secs

Figure 17: Graph of Output Level Tank against Elapsed Time with PB at 5%, Integrated Time at
1 secs and Derivative Time at 1 secs

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Condition: PB at 5%, Integrated Time at 1 secs and Derivative Time at 10 secs

Figure 18: Graph of Output Level Tank against Elapsed Time with PB at 5%, Integrated Time at
1 secs and Derivative Time at 10 secs

9.1.4 Inflow rate ON-OFF Controller

Condition: PB, Integrated Time and Derivative Time is 0

Figure 19: Graph of Output Level Tank against Elapsed Time for Inflow rate ON-OFF Controller

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9.1.5 Inflow rate PID Controller
Condition: PB at 13.5%, Integrated Time at 55 secs and Derivative Time at 9 secs

Figure 20: Graph of Output Level Tank against Elapsed Time for Inflow rate PID Controller

9.1.6 Outflow rate ON-OFF Controller

Condition: PB, Integrated Time and Derivative Time is 0

Figure 21: Graph of Output Level Tank against Elapsed Time for Outflow rate ON-OFF
Controller

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9.1.7 Outflow rate PID Controller
Condition: PB at 5%, Integrated Time at 10 secs and Derivative Time at 5 secs

Figure 22: Graph of Output Level Tank against Elapsed Time for Outflow rate ON-OFF
Controller

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