Nama : Muhammad Jabber

NRP : 07111745000051
Mata Kuliah : Sistem Pengaturan Proses

17.3 It is required to control a certain inverse-response system whose transfer-function

model is given as :
2(1 - 4s )
g ( s) =
(2 s + 1)(5s + 1)
And several control strategies are to be investigated
(a) Under pure proportional control, what is the range of values the kc can take for the
closed-loop system to be stable ? (Assume there are no other elements in the
feedback loop, just the process and the feedback controller).
(b) When the system operates under pure proportional control with kc = 0.5, in
response to a unit step change in set-point, what will the steady-state offset in the
process output be ?
(c) Using an inverse-response compensator in aminor loop around a pure proportional
controller, if g '(s) , the transfer function in this minor loop, is chosen to be :
10s
g '( s ) =
(2 s + 1)(5s + 1)
Now find the range of values which Kc can take for the overall system to be stable.
(d) If the pure proportional controller and the inverse-response compensator in the
minor loop around it are combined into “apparent controller” block referred to as
gc *( s) , show that in the limit as Kc � �, this apparent controller, gc *( s) , in
t ,t
fact tends to a PID controller. What are th value of Kc, i D for this controller ?
(e) Implement the limiting PID controller derived in part (d) on the process model
given in Eq. (P17.5) and obtain the closed-loop system response to a unit step
change set point.

17.3 The dynamic behavior of abiological process which consist of two subprocesses in
opposition is represented by following transfer function :
3 3
g (s) = +
(7 s + 1) ( s + 1)( s + 3)
(a) Assume that the process is to be under proportional feedback control and obtain a
root locus diagram for the closed-loop system, and from it determine the range of
Kc values required for closed-loop stability. What is the frequency of oscillation
when the closed-loop system is on the verge of instability ?
(b) Use this information to design a PI controller for the process. Implement this
controller and obtain the closed-loop response to a unit step change in the set-point.
Briefly comment on the control system performance vis-a-vis the nature of the
process transfer function.
(c) For Extra Credit Only. Derive an inverse-response compensator for the class of
systems with two right-half plane zeros, whose transfer functions are of the form :
K (1 - h1s )(1 - h 2 s )
g (s ) =
(t 1s + 1)(t 2 s + 1)(t 3 s + 1)

17.8 Prove l = 2h , the inverse-response compensator is exactly the same as the Smith
predictor with a first-order Pade approximation.
Answer :
(a) Under pure proportional control, what is the range of values the kc can take for the
closed-loop system to be stable ? (Assume there are no other elements in the
feedback loop, just the process and the feedback controller).
Open-loop :
2(1 - 4 s)
g ( s) =
(2 s + 1)(5s + 1)
(2 - 8s )
g ( s) =
(2 s + 1)(5s + 1)
Closed-loop :
Kc(2 - 8s )
CLTF ( s) = 1 +
(2s + 1)(5s + 1)
(2 s + 1)(5s + 1) + Kc(2 - 8s)
=
(2 s + 1)(5s + 1)
(2 s + 1)(5s + 1) + (2 Kc - 8Kcs )
=
(2s + 1)(5s + 1)
(10s 2 + 2s + 5s + 1) + (2 Kc - 8 Kcs )
=
10 s 2 + 7 s + 1
10 s 2 + (7 - 8 Kc) s + (1 + 2 Kc)
=
10 s 2 + 7 s + 1

The characteristic equation for the closed-loop system is given by :

10 s 2 + (7 - 8 Kc) s + (1 + 2 Kc)
7 - 8 Kc = 0 1 + 2 Kc = 0
8 Kc = 7 2 Kc = -1
7 1
Kc = Kc = -
8 and 2
1 7
- < Kc <
The stable range of controller gain is 2 8 . Thus the system exhibits
conditional stability.

(b) When the system operates under pure proportional control with kc = 0.5, in
response to a unit step change in set-point, what will the steady-state offset in the
process output be ?

Simulink :

Gambar 1. Blok Diagram Simulink

 Response :

Gambar 2. Respon System Using Kc=0,5

Dengan Kc = 0,5, respon keluaran dari sistem menjadi stabil karena nilai Kc masih
1 7
- < Kc <
memenuhi range 2 8 untuk batas kestabilan.

(c) Find the range of values which Kc can take for the overall system to be stable.
10 s
g '( s) =
(2 s + 1)(5s + 1)
Open-Loop :
g * ( s ) = g ( s ) + g '(s )
2(1 - 4 s ) 10 s
= +
(2s + 1)(5s + 1) (2 s + 1)(5s + 1)
(2 - 8s) + 10 s
=
(2s + 1)(5s + 1)
(2 + 2 s)
=
(2s + 1)(5s + 1)
Close-Loop :
 CLTF = 1 + g * (s )
Kc(2 + 2 s)
= 1+
(2 s + 1)(5s + 1)
(2 s + 1)(5s + 1) Kc(2 + 2 s )
= +
(2 s + 1)(5s + 1) (2 s + 1)(5s + 1)
(2 s + 1)(5s + 1) + Kc(2 + 2 s)
=
(2 s + 1)(5s + 1)
10 s 2 + (7 + 2 Kc) s + (1 + 2 Kc)
=
(2 s + 1)(5s + 1)
The characteristic equation for the closed-loop system is given by :
10s 2 + (7 + 2 Kc) s + (1 + 2 Kc)
7 + 2 Kc = 0 1 + 2 Kc = 0
2 Kc = -7 2 Kc = -1
7 1
Kc = - Kc = -
2 and 2
7 1
- < Kc < -
The stable range of controller gain is 2 2 . Thus the system exhibits
conditional stability.

17.8 Prove l = 2h , the inverse-response compensator is exactly the same as the Smith
predictor with a first-order Pade approximation.

Pade approximation
a
1- s
-a s
e = 2
a
1+ s
2
a � a �-a s
1- s = � 1+ s � e
2 � 2 �

a
=h
2
1 - h s = ( 1 + h s ) e -2h s

Design Inverse-Response Compensator :

1
g '( s ) = ( 2h s )
( t1s + 1) ( t 2 s + 1)
2h s
g '( s ) =
( t1s + 1) ( t 2 s + 1)
Design Smith Predictor
 g ( s) =
( 1 + h s ) e -2h s
( t 1s + 1) ( t 2 s + 1)
(
g m *( s ) = g ( s ) 1 - e
-2h s

)
( 1+hs)
( t 1s + 1) ( t 2 s + 1) ( )
-2h s
g m *( s ) = 1- e
-2h s -2h s
(1 + h s ) + (-e - h e s)
=
( t 1s + 1) ( t 2 s + 1)
-2h s -2h s
(1 - e ) + (h - h e ) s
=
( t 1s + 1) ( t 2 s + 1)
1 -h s 1 -h s
(1 - ) + (h - h )s
1 +h s 1 +h s
=
( t 1s + 1) ( t 2 s + 1)
�(1 + h s) - (1 - h s ) � � h + h 2 s h -h 2 s �
� 1 +h s � �1 + h s - 1 + h s �s
+
= � �� �
( t 1s + 1) ( t 2 s + 1)
�2h s � �2h 2 s �
� +� �s
�1 +h s � � � 1 +h s �
=
( t 1s + 1) ( t 2 s + 1)
�2h 2 s 2 + 2h s �
� �
1+hs �
= �
( t 1s + 1) ( t 2 s + 1)
� 1 +h s �
2h s �
� 1 +h s �
�
=
( 1 ) ( 2 1)
t s + 1 t s +
2h s
=
( t 1s + 1) ( t 2 s + 1)

Dengan pendekatan Pade, desain smith predictor sama dengan desain inverse-response
compensator.