UEMK3313 Chemical Process Control and Instrumentation

Discussion 5
A process consists of multiple disturbance U1 and U2 is controlled using a Feedback
system with the system block diagram is shown in Figure Q1. Answer the following
questions.
U1

GdA

+
KmB

Gc

Gv

Gp

+
U2

GdB

KmA

Figure Q1
Given the Gv = KmB = KmA = 2, GdA =

2
1
2
, GdB =
and Gp =
3s + 1
2s + 1
3s + 1

(a) Derive the overall closed loop transfer function.

(b) When the process is subjected to a unit step change for both U1 and U2
concurrently, what is the offset if the Gc = Kc = 5.
(c) Prove that by introducing Proportional-Integral-Derivative (PID) controller, the
offset can be eliminated for any set point step change.
Note 1: Transfer functions, Gc for three types controller
Type 1: Gc = K c

1
1
Type 3 : Gc = K c 1 +
+ D s
Type 2 : Gc = K c 1 +
Is
Is