Dynamic Behaviour of Feedback Controlled Process

Overall transfer function of a closed- loop control system:

d(s) Gd
Comparator
ysp E(s) C(s) m(s) y(s)
GC Gf Gp

Controller Final control Process

element

ym(s) y (s)
Gm
Process balance
y(s)  G p m( s)  Gd d ( s) Measuring Device

Measuring device
y m ( s )  Gm y ( s )
Controller system
E ( s)  ysp ( s)  ym ( s) Comparator
C ( s )  Gc E ( s ) Controller
Final control element
m( s)  G f C ( s)
Algebra manipulation of the above equations and arrange then
y( s)  G p m( s)  Gd d ( s)
y( s)  G p G f C ( s)  Gd d ( s)
y( s)  G p G f Gc E ( s)  Gd d ( s)
y( s)  G p G f Gc ( ysp ( s)  ym ( s))  Gd d ( s)
y(s)  G p G f Gc ( ysp ( s)  Gm y(s))  Gd d (s)
y(s)  G p G f Gc ysp ( s)  G p G f GcGm y( s)  Gd d ( s)
(1  Gc G f G pGm ) y( s)  Gc G f Gp ysp (s)  Gd d (s)
Gc G f G p Gd
y(s)  ySP ( s )  d (s)
1  Gc G f G p Gm 1  Gc G f G p Gm
Let G = GC Gf GP
G Gd
 y ( s)  ySP ( s)  d ( s)
1  GGm 1  GGm
G Gd
 GSP  Gload
1  GGm 1  GGm

Process Control /Lec. 8 93 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
Types of control proplems:
1) Servo systems:

The distubance does not change (i.e. d (s) = 0 ) while the set point undergoes change.
The feedback controller act in such away as to keep y close to the changing y sp . The
T.F. of closed loop system of this type is:
G p G f Gc
y ( s)  ySP ( s )
1  Gc G f G p Gm

2) Regulated systems:

In these systems the set point (desired value) is constant ( ysp (s) = 0 ) and the change
occurring in the load. The T.F. of closed loop control system of this type is:
Gd
y ( s)  d ( s)
1  Gc G f G p Gm
y(s)  Gload d (s)

The feedback controller tries to eliminate the impact of the load change d to keep y at
the desired setpoint.

Effect of controllers on the response of a controlled process:

(1) Effect of Propertional Control

The general T.F of the closed loop controller is:

Gc G f G p Gd
y ( s)  ySP ( s )  d ( s) (*)
1  Gc G f G p Gm 1  Gc G f G p Gm
Consider Gm  1 , G f  1
Also for propertional controller GC  K C
And eqn. (*) becomes
Kc G p Gd
y ( s)  ySP ( s )  d ( s) (**)
1  Kc G p 1  Kc G p
For a first order systems
dy
 p  y  K p m  Kd d
dt
Which gives
Kp Kd
y ( s)  m (s)  d ( s)
 ps  1  ps  1
Process Control /Lec. 8 94 Written by Assis. Prof.
Fourth Class Dr. Zaidoon M. Shakor
Thus for the uncontrolled system we have time constant= τp
Static gains: Kp for manipolation and Kd for load
Kp Kd
put G p  and Gd 
 ps  1  ps  1
Then by substitution in eqn. (**) and take the closed loop reponse as
Kp Kd
Kc
 ps  1  ps  1
y( s )  ySP ( s )  d( s )
Kp Kp
1  Kc 1  Kc
 ps  1  ps  1
K P KC Kd 1  K p KC
y ( s)  [ ySP ( s )  d ( s )] 
 p s  1  K p KC  p s  1  K p KC 1  K p KC
K P KC Kd
1  K p KC 1  K p KC
y (s)  ySP ( s )  d (s)
 ps 1  K p KC  ps 1  K p KC
 
1  K p KC 1  K p KC 1  K p KC 1  K p KC
Rearrange the last eqn.
KP Kd
y ( s)  ySP ( s)  d ( s)
 ps 1  ps 1
Where
P
p  Closed loop time constant
1  K p KC
K p KC
Kp  Closed loop ststic gain
1  K p KC
Kd
Kd  Closed loop ststic gain
1  K p KC
The close-loop response has the follwing charactrstics:-
1- It remains first order with respect to load and setpoint change
2- The time constant has been reduced ( p   P ) which mean that the closed-loop
response has become faster than the open loop response, to change in set point
or load.
3- The static gain have been decreased.

Disadvantage of Propertional control

Consider a servo problem with a unit step in the set point
1
ysp  d ( s)  0
s

Process Control /Lec. 8 95 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
 Kp 1
y 
 ps  1 s
t /  p
y( t )  K p ( 1  e )
y()  K p
The ultimate response of t   never reaches the desired new setpoint. There is
always a discrepancy called offset which is equal to:

Offset = New set point - Ultimate value

K p KC
=1  K p  1 
1  K p KC
1
 offset 
1  K p KC
Offset decreases as KC becomes larger an thoretically offset  0 when KC  
1
ysp(t) 𝑜𝑓𝑓𝑠𝑒𝑡 =
1+𝐾𝑃 𝐾𝐶
1
y(t)

0
2- Effect of Integral Control
Consider a servo problem, d ( s)  0
Gc G f G p
y ( s)  y SP ( s ) (*)
1  Gc G f G p Gm
Consider Gm  G f  1
kp
For the 1st order process G p 
 ps  1
For a simple integral control
1
Gc  K c
Is
Sub in eqn. (*)
KP K
 C
 ps  1  I s K P KC
y( s )  ySP ( s )  ySP ( s )
1
KP

KC (  p s  1 )(  I s )  K P K C
 ps  1  I s

Process Control /Lec. 8 96 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
 K P KC
K P KC
y( s )  ySP ( s )
 p I s 2 Is K P KC
 
K P KC K P KC K P KC
1
y ( s)  2 2 y SP ( s) (**)
 s  2 s  1
Where
 I p 1 I
 
K p Kc 2  p K p Kc
Eqn. (**) indicates an important effect of the integral control action:-
1- It increases the order of the dynamic for the closed-loop reponse.
Thus for a first-order uncontrolled process, the response of the closed-loop
becomes second order.
2- Increase K C decreases  more oscillatory
3- To examine the effect of integral on s.s error
1
y ( s)  2 2 y SP ( s)
 s  2 s  1
1
If y SP ( s) 
s
The ultimate value= AK=1*1=1
offset= New setpoint-ultimate value
=1-1=0
It indicate that the integral control eliminates any offset

3- Effect of Derivative Control Action

For derivative control
Gc  K c  D s
KP
K  s
 ps  1 c D K P K c D s
y( s )  ySP ( s )  ySP ( s )
1
KP
K  s  p s  1  K K
P c D s
 ps  1 c D
K P K c D s
y ( s)  ySP ( s) (*)
( p  K p K c  D ) s  1
Eqn. (*) indicates that:-
1- The derivative control does not change the order of the reponse.
2- The effective time constant of the closed-loop response (  p  K p KC  D   p )
This means that the response of the controlled process is slower than that of the
original first-order process and as K c increase the response become slower.
Process Control /Lec. 8 97 Written by Assis. Prof.
Fourth Class Dr. Zaidoon M. Shakor
Effect of Composite Control Action
1- Effect of PI control
Combination of propertional and integral control modes lead to the follwing effects
on the response of closed-loop system.
1- The order of the response inceases ( effect of I mode).
2- The offset is eliminated (effect of I mode).
3- As Kc increses, the response becomes fater ( effect of P and I modes) and more
oscillatory to set point changes [ovesrshoot and decay ratio increase (effet of I
mode)].
Large value of Kc create a very sensitive response and may lead to instability.
4- As I decreases, for constant Kc, the reponse become faster but more oscillatory
with higher overshoot and decay ratio (effect of I mode).

2- Effect of PID control

To increase the speed of the closed loop response, increase the value of the controller
gain Kc. But increasing enough Kc in order to have acceptable speed, the response
become more oscillatory and may lead to unstability.
The introduction of the derivative mode brings a stability effect to the system. Thus
to achive
1- Acceptable response speed by selecting an appropriate value for the gain Kc.
2- While maintaining moderate overshoot and decay ratios.

Example: Regular loop with the following elements

3
GP(s) = (process)
10s  1
1
Gd(s) = (Load)
10s  1
Gm(s) = 1 (measuring device) if not given take 1
Process Control /Lec. 8 98 Written by Assis. Prof.
Fourth Class Dr. Zaidoon M. Shakor
GC(s) = 2 (controller)
Gf (s) = 1.5 (valve)
Gd(s)
θd(s)
Determine the system response for a unit step in load 1
10 s  1
θSP(s) θo(s)
2 1.5 3
Set point
10 s  1
GC(s) Gf (s) GP(s)

Solution:
Gm(s)

o ( s) Gd ( s)
Regulator loop: 
 d ( s) 1  Gm ( s)G( s)
3 9
G(s) = GC(s) Gf (s) GP(s) = 2×1.5× =
10s  1 10 s  1
1
o ( s )
 10s  1
1
=
d ( s ) 1  9 10s  10
10 s  1
1
θd(s) = 1/10
s
1
o (s) = 10 θo(t) off-set
s( s  1)
o (t)  0.1(1 - e-t )
At t = 0 , o (t) = 0
At t =  ,  o () = 0.1
Or
1
1
o () = lim so ( s)  lim s 10 
s 0 s  0 s ( s  1) 10
Offset= New s.s value-Ultimate value= 0 - 0.1= -0.1

Example: the set point of the control system shown in the figure is gives a step
change of a 0.1 unit. Determine
1- The maximum value of C.
2- The offset.
3- The period of oscillation.

Process Control /Lec. 8 99 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
 5 C
R K c  1 .6
( s  1)(2s  1)
C (s) GcG p

R( s ) 1  GcG p
5
1.6 
C ( s) ( s  1)(2s  1) 8
  2
R( s) 1  1.6  5 2s  3s  1  8
( s  1)(2s  1)
8
C( s ) 8 9 0.8889
 2  
R( s ) 2 s  3s  9 2 s 2  1 s  1 0.222s 2  0.333s  1
9 3
  0.222    0.471
2

2  0.3333  0.3538 (Underdamped)

Ultimate Value=A*K=0.1*0.8889=0.08889
   3.1418  0.3538
Overshoot  exp( )  exp( )  0.3047
1  2
1  (0.3538) 2

1) The maximum value =Ultimate value*(1+Overshoot)

= 0.08889*(1.3047)=0.1160
To find the time required to reach maximum value apply K, A , Cmax , ψ and τ
in the equation.

Y ( t )  kA[ 1  e(  /  )t (cos wt  sin wt ]
1  2
1  2
w

2) The offset=New set point- Ultimate value
=0.1-0.088889=0.01111
2 2  0.471
3) Period of oscillation =   3.1640
1  2
1  (0.3538) 2

Example: Consider the figure below, a unit step change in load enters at either
location 1 or location 2.
What is the offset when the load enters at location 1 and when it enters at location 2
U1 G1 U2 G2
Gc
2 1
R Kc  5 C
(2s  1) (2s  1)

Process Control /Lec. 8 100 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
a-when the load enters in location 1
1
U 1( s )  , U2( s )  0
s
G1G2
C ( s)  U1 ( s)
1  GcG1G2
2 1

C( s )  2s  1 2s  1 U ( s )  2
U 1( s )
  
1 2
2 1 4 s 4 s 1 10
1  5
2s  1 2s  1
2 2 / 11
 2 U 1( s )  U 1( s )
4 s  4 s  11 4 2 4
s  s 1
11 11
2
K   0.1818
11
4
  0.6030
11
4 4 1
2       0.3015
11 11 2
Ultimate value=A.K=1*0.1818=0.1818
Offset=0 - 0.1818= -0.1818

b-when the load enters in location 2

G2
C ( s)  U 2 ( s)
1  GcG1G2
1
2s  1 2s  1
C (s)  U 2 (s)  2 U 2 (s)
1
2

1
5 4 s  4 s  1  10
2s  1 2s  1
2s  1 2s  1
 2 U 2 ( s) 
4s  4s  11 4 2 4
s  s  11
11 11
2s  1 1
C ()  lim   0.091
s 0 4 2 4
s  s  11 11
11 11
Offset= 0 - 0.0.091= -0.091

Example: For the figure

U

1 1 C
R K c (1    s)
Is D  1s  1

Process Control /Lec. 8 101 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
For D  I  1 and 1  2
a- Calculate ψ when Kc=0.5 and Kc=2
b- Determine the offset for a unit-step change in load if Kc=2
C (s) GcG p

R( s ) 1  GcG p
1 1 1 1
K c (1   D s) K c (1   s )
C (s) Is 1s  1 s 2s  1
 
R( s ) 1  K (1  1 1 1 1
  D s) 1  K c (1   s)
c
Is 1s  1 s 2s  1
s  1  s2 1
Kc ( )
s 2 s  1 Kc (s  1  s 2 ) Kc (s  1  s 2 )
  2 
s  1  s2 1 2s  s  K c ( s  1  s 2 ) (2  K c ) s 2  (1  K c ) s  K c
1  Kc ( )
s 2s  1
(s  1  s )
2

(2  K c ) 2 (1  K c )
s  s 1
Kc Kc
a-1) Kc=0.5
2  Kc 2  0.5
   2.2361
Kc 0.5
(1  K c ) 1  0.5 3 3
2     3     0.6708
Kc 0.5 2 2  2.2361
a-2) Kc=2
22
  1.4142
2
(1  K c ) 1  2 1.5 1.5
2     1.5      0.5303
Kc 2 2 2  1.41421
Gp
B) C ( s)   U ( s)
1  G pGc
1 1
1s  1 2s  1
C ( s)  U (s)  U (s)
1 1 1 1
1  K c (1    s) 1  K c (1   s)
 I s D 1s  1 s 2s  1
s s 1
 2 U ( s)  2 
2s  s  Kc ( s  1  s ) 2
2s  s  2( s  1  s ) s
2

1
 2
4s  3s  1

Process Control /Lec. 8 102 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
 2
3
2   3     0.75
4
1
C ()  lim s 2 0
s 0 4 s  3s  1

Offset=0-0=0

Example A PD controller is used in a control system having a first order process as

shown. For Servo problem
a-find expression for ψ and τ for the closed loop response.
b-if τ1=1 , τm=10 sec . Find Kc so that ψ=0.7 for two cases (1) τD=0 ,(2) τD=3 sec.
c- Calculate the offset in both cases. U Gp
Gc
1
R K c (1   D s) C
( 1s  1)
1
( m s  1)
Gm
For the closed loop T.F.
GcG p Gp
C R( s)  U (s)
1  GcG pGm 1  GcG pGm
1
K c (1   D s ) 
1s  1
C R( s)
1 1
1  K c (1   D s )  
1s  1  m s  1
Kc (1   D s)
C R( s )
1
1s  1  Kc (1   D s) 
 ms  1
Kc (1   D s)
C R( s )
1 m s 2  (1   m ) s  1  Kc  Kc D s
 ms  1
Kc (1   D s)( m s  1)
C R( s )
1 m s  (1   m  Kc D ) s  (1  Kc )
2

K c ( 1   D s )( m s  1 )
( 1  Kc )
C R( s )
 1 m s 2
(  1   m  K c D )
 s 1
( 1  Kc ) ( 1  Kc )
1 m

1  Kc

Process Control /Lec. 8 103 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor
 1   m  Kc D
2 
1  Kc
1   m  Kc D 1  Kc

2(1  K c ) 1 m
    K c D
  1 m
2 (1  K c ) 1 m

1   m  K c D
b)  for ψ=0.7
2 (1  K c )  1 m
1) τD=0
60  10  0 35
 0.7  
2 (1  K c ) 60  10 600  600 K c
600  600 Kc  50
600  600 K c  2500
K c  3.166

2) τD=3 sec
60  10  3K c 70  3K c
 0.7  
2 (1  K c ) 600 2 (1  K c ) 600
70  3Kc  34.292 (1  Kc )
2.04(1  0.042 Kc )  (1  Kc )
4.1616  0.355 Kc  0.0075 K c2  (1  Kc )
0.0075 K c2  0.0645 Kc  3.1616  0
 K c  80.73 or K c  5.266

(c) The offset

lim f ( t )  lim sf ( s )
t  s 0
1
R
s
K c (1   D s )( m s  1)
(1  K c ) 1 Kc 3.166
Ultimate value= lim s     0.76
s 0 1 m s ( 1   m  K c D )
2
s 1  K c 4.166
 s 1
(1  K c ) (1  K c )
Offset= 1- 0.76= 0.24

Process Control /Lec. 8 104 Written by Assis. Prof.

Fourth Class Dr. Zaidoon M. Shakor