11 Chapter6

108
CHAPTER 6
RESULTS AND DISCUSSION
6.1
INTRODUCTION
A comparison of both FPIC and STFPIC under both normal tuning
conditions as well as under tuning using analytically determined scaling

factors is executed in this chapter. The simulation results obtained for
conventional FPIC, Analytically tuned FPIC, STFPIC and Analytically tuned
STFPIC are compared in terms of the performance measures settling time,
Integral Absolute Error (IAE), Integral Square Error (ISE) and Integral Time
Absolute Error (ITAE).
6.2
RESULTS AND DISCUSSION

The simulation results obtained for FPIC, Analytically tuned FPIC,
STFPIC and Analytically tuned STFPIC for all the four processes considered
for study are shown below. The simulation results obtained under various
conditions namely, the output responses for unit step input and their
interaction with other parameters, the output responses for unit step input with
disturbance at different time instants,under variations in time constant,
variations in gain, and output responses under step change in set point at
different time instants for all the four processes are compared and discussed
109
below. The comparison is made in terms of the performance measures,

settling time (ts), IAE, ISE and ITAE and are given below.
1.
Settling time (ts) is the time required for the response to reach
and stay within a specified tolerance band (2%) of its final
value.
2.
Integral Absolute Error (IAE)
IAE
3.
(6.1)
e 2 (t)dt
(6.2)
Integral Time Absolute Error (ITAE)
ITAE
6.2.1
e(t) dt
Integral Square Error (ISE)
ISE
4.
t e(t) dt
(6.3)
Second Order SISO Process

The simulation results obtained for all the four controllers (FPIC,
Analytically tuned FPIC, STFPIC and Analytically tuned STFPIC) for the
second order SISO process obtained under various conditions namely, the
output responses of pressure for unit step input, the output responses of
pressure with disturbance for unit step input, with 10% variation in time
constant, with 20% variation in gain, and output responses under step change
in set point are represented below in comparison with one another.(Sampling
time =0.1sec.)
110
1.4
FPIC
AFPIC
STFPIC
ASTFPIC
1.2
0.8
0.6
0.4
0.2
Figure 6.1
10
20
30
40
Time (Sec.)
50
60
70
80
Output responses of pressure for unit step input (FPIC,

AFPIC, STFPIC and ASTFPIC)
Table 6.1 Performance analysis of FPIC, AFPIC, STFPIC and ASTFPIC

for unit step input (Second order SISO process)
Performance Measures
Process
variable
Pressure
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
0.48
0.39
0.13
20.7
AFPIC
0.46
0.38
0.12
13.9
STFPIC
0.43
0.35
0.11
20.4
ASTFPIC
0.42
0.34
0.10
10.6
Figure 6.1 shows the output responses of the pressure for all the
four controllers (FPIC,AFPIC,STFPIC and ASTFPIC) for unit step input.
111
Table 6.1 shows the performance analysis of output responses of all the four
controllers (FPIC, AFPIC, STFPIC and ASTFPIC) for unit step input. The
analysis shows that FPIC provides settling time of 20.7sec., IAE of 0.48, ISE
of 0.39 and ITAE of 0.13. Analytically tuned FPIC provides settling time of
13.9 sec., IAE of 0.46, ISE of 0.38 and ITAE of 0.12. STFPIC provides
settling time of 20.4 sec., IAE of 0.43, ISE of 0.35 and ITAE of 0.11.
Analytically tuned STFPIC provides settling time of 10.6 sec, IAE of 0.42,
ISE of 0.34 and ITAE of 0.10. Hence, it is inferred that Analytically tuned
STFPIC gives minimum settling time, minimum errors and more improved
performance in comparison with all the other three types of controllers.
1.4
FPIC
AFPIC
STFPIC
ASTFPIC
1.2
0.8
0.6
0.4
0.2
Figure 6.2
10
20
30
40
Time (Sec.)
50
60
70
80
Output responses of pressure with disturbance for unit step

input (FPIC, AFPIC, STFPIC and ASTFPIC)
112
Table 6.2 Performance analysis of FPIC,AFPIC,STFPIC and ASTFPIC

with disturbance for unit step input (Second order SISO
process)
Process
variable
Pressure
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
0.49
0.39
0.12
52.5
AFPIC
0.46
0.37
0.11
52.2
STFPIC
0.43
0.35
0.10
52.1
ASTFPIC
0.41
0.33
0.09
51.5
Figure 6.2 shows the output responses of the pressure with

disturbance for all the four controllers (FPIC,AFPIC,STFPIC and ASTFPIC )
for unit step input. Table 6.2 shows the performance analysis of all the four
controllers (FPIC,AFPIC, STFPIC and ASTFPIC) with disturbance for unit
step input. Performance analysis shows that inspite of the negative step
disturbance of magnitude 0.05 given at 45sec., FPIC provides settling time of
52.5sec., IAE of 0.49, ISE of 0.39 and ITAE of 0.12. Analytically tuned FPIC
provides settling time of 52.2 sec., IAE of 0.46, ISE of 0.37 and ITAE of
0.11. STFPIC provides settling time of 52.1sec., IAE of 0.43, ISE of 0.35 and
ITAE of 0.10. Analytically tuned STFPIC provides settling time of 51.5 sec.,
IAE of 0.41,ISE of 0.33 and ITAE of 0.09. It is inferred that Analytically
tuned STFPIC gives minimum settling time, minimum errors and more
improved performance in comparison with all the other three types of
controllers.
113
1.4
FPIC
AFPIC
STFPIC
ASTFPIC
1.2
0.8
0.6
0.4
0.2
Figure 6.3
10
20
30
40
Time (Sec.)
50
60
70
80
Output responses of pressure with 20% variation in gain for

unit step input (FPIC, AFPIC, STFPIC and ASTFPIC)

with 20% variation in gain for unit step input (Second order
SISO process)
Process
variable
Pressure
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
0.53
0.46
0.15
39.9
AFPIC
0.52
0.45
0.14
20.6
STFPIC
0.48
0.40
0.12
21.0
ASTFPIC
0.46
0.38
0.11
18.0
Figure 6.3 shows the output responses of the pressure with 20%
variation in gain for all the four controllers (FPIC, STFPIC, AFPIC and
114
ASTFPIC) for unit step input. Table 6.3 shows the performance comparison
of all the four controllers (FPIC, AFPIC, STFPIC and ASTFPIC) with 20%
variation in gain for unit step input. Despite the 20% variation in gain, FPIC
provides settling time of 39.9sec., IAE of 0.53, ISE of 0.46 and ITAE of 0.15.
Analytically tuned FPIC provides settling time of 20.6sec., IAE of 0.52, ISE
of 0.45 and ITAE of 0.14. STFPIC provides settling time of 21sec., IAE of
0.48, ISE of 0.40 and ITAE of 0.12. Analytically tuned STFPIC provides
settling time of 18 sec., IAE of 0.46, ISE of 0.38 and ITAE of 0.11. Even
though the gain varies by 20%, Analytically tuned STFPIC provides more
improved performance compared with all the other 3 types of controllers.
Hence, the system is robust.
1.5
FPIC
AFPIC
STFPIC
ASTFPIC
1
0.5
Figure 6.4
20
40
60
Time (Sec.)
80
100
120
Output responses of pressure with 10% variation in time

constant for unit step input (FPIC, AFPIC, STFPIC and
ASTFPIC)
115

with 10% variation in time constant for unit step input
(Second order SISO process)
Process
variable
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
Pressure
FPIC
0.67
0.57
0.29
85.6
AFPIC
0.61
0.47
0.23
47.2
STFPIC
0.57
0.41
0.22
14.6
ASTFPIC
0.51
0.39
0.16
12.2
Figure 6.4 shows the output responses of the pressure with 10%
variation in time constant for all the four controllers (FPIC,STFPIC, AFPIC
and ASTFPIC) for unit step input. Table 6.4 shows the performance
comparison of output responses with 10% variation in time constant for all the
four controllers (FPIC, AFPIC, STFPIC and ASTFPIC) for unit step input to
the second order SISO process. Despite the 10% variation in time constant,
FPIC provides settling time of 85.6 sec., IAE of 0.67, ISE of 0.57 and ITAE
of 0.29. Analytically tuned FPIC provides settling time of 47.2 sec., IAE of
0.61, ISE of 0.47 and ITAE of 0.23. STFPIC provides settling time of
14.6sec., IAE of 0.57,ISE of 0.41 and ITAE of 0.22. Analytically tuned
STFPIC provides settling time of 12.2 sec., IAE of 0.51,ISE of 0.39 and ITAE
of 0.16. Hence, Analytically tuned STFPIC gives minimum settling time and
minimum errors.Even though the time constant varies by10% output response
shows that Analytically tuned STFPIC provides more improved performance
116
compared with all the other 3 types of controllers. Hence, the system is
robust.
2.5
2
FPIC
AFPIC
STFPIC
ASTFPIC
1.5
0.5
Figure 6.5
10
20
30
40
50
60
Time (Sec.)
70
80
90
100
Output responses of pressure for different set points (FPIC,


for set point change (Second order SISO process)
Process
variable
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
Pressure
FPIC
1.00
1.03
0.22
68.7
AFPIC
0.92
0.89
0.20
61.7
STFPIC
0.94
1.00
0.21
67
ASTFPIC
0.88
0.81
0.19
57.7
117
Figure 6.5 shows the output responses of the pressure with two
different set points for all the four controllers (FPIC, AFPIC, STFPIC and
ASTFPIC). Table 6.5 shows the performance analysis of all the four
controllers (FPIC, AFPIC, STFPIC and ASTFPIC) with two different set
points . Inspite of the change in set point at 50 sec., FPIC provides settling
time of 68.7 sec., IAE of 1.00, ISE of 1.03 and ITAE of 0.22. Analytically
tuned FPIC provides settling time of 61.7 sec., IAE of 0.92, ISE of 0.89 and
ITAE of 0.20. STFPIC provides settling time of 67 sec., IAE of 0.94, ISE of
1.0 and ITAE of 0.21. Analytically tuned STFPIC provides settling time of
57.7 sec., IAE of 0.88, ISE of 0.81 and ITAE of 0.19. Hence, Analytically
tuned STFPIC gives minimum settling time and minimum errors than other 3
types of controller.Eventhough the time constant varies by10% the analysis
shows that Analytically tuned STFPIC provides more improved performance
compared with all the other 3 types of controllers.
From Figure 6.1 to Figure 6.5 and Table 6.1 to Table 6.5 it is
inferred that ASTFPIC provides more improved performance compared with
FPIC,STFPIC and AFPIC for the second order SISO process.
6.2.2
Third Order SISO Process

The simulation results obtained for all the four controllers (FPIC,
third order SISO process under various conditions namely, the output
responses of force for unit step input, the output responses of force for unit
step input with disturbance, with 10% variation in time constant,with 20%
variation in gain, and output responses with set point changes are shown
below.(Sampling time =0.1sec.)
118
1.4
FPIC
AFPIC
STFPIC
ASTFPIC
1.2
0.8
0.6
0.4
0.2
Figure 6.6
10
20
30
Time (Sec.)
40
50
60
Output responses of force for unit step input (FPIC, AFPIC,

STFPIC and ASTFPIC)

for unit step input (Third order SISO process)
Process
variable
Force
Type of
Controller
IAE
ISE
ITAE
Settling time
ts (Sec.)
FPIC
0.34
0.22
0.07
14.9
AFPIC
0.05
0.05
0.0021
1.4
STFPIC
0.15
0.07
0.03
11.2
ASTFPIC
0.04
0.044
0.0020
1.0
119
Figure 6.6 shows the output responses of the force, for all the four
controllers (FPIC, AFPIC, STFPIC and ASTFPIC) for unit step input.
Table 6.6 shows the performance analysis of output responses of all the four
controllers (FPIC, AFPIC, STFPIC and ASTFPIC) for unit step input.
Performance analysis shows that FPIC provides settling time of 14.9 sec., IAE
of 0.34, ISE of 0.22 and ITAE of 0.07. Analytically tuned FPIC provides
settling time of 1.4 sec., IAE of 0.05 ISE of 0.05 and ITAE of 0.0021.
STFPIC provides settling time of 11.2 sec., IAE of 0.15, ISE of 0.07 and
ITAE of 0.03. Analytically tuned STFPIC provides settling time of 1.0 sec.,
IAE of 0.04, ISE of 0.044 and ITAE of 0.0020. Hence, it is inferred that
Analytically tuned STFPIC gives minimum settling time, minimum errors and
more improved improved performance in comparison with all the other three
FPICs.
1.4
FPIC
AFPIC
STFPIC
ASTFPIC
1.2
Force(N)
0.8
0.6
0.4
0.2
Figure 6.7
10
20
30
40
Time (Sec.)
50
60
70
80
Output responses of force with disturbance for unit step

120

with disturbance for unit step input (Third order SISO
process)
Process
variable
Force
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
3.58
16.08
1.36
52.6
AFPIC
3.26
13.33
1.27
42.1
STFPIC
3.36
14.16
1.29
52.0
ASTFPIC
3.25
13.31
1.26
41.9
Figure 6.7 shows the output responses of the force with disturbance
for all the four controllers (FPIC, AFPIC, STFPIC and ASTFPIC ) for unit
step input. Table 6.7 shows the performance analysis of all the four
controllers with disturbance (FPIC, AFPIC, STFPIC and ASTFPIC) for unit
step input. Performance analysis shows that inspite of a negative step
disturbance of magnitude 0.05 given at 40 sec., FPIC provides settling time of
52.6 sec., IAE of 3.58, ISE of 16.08 and ITAE of 1.36. Analytically tuned
of 1.27. STFPIC provides settling time of 52sec., IAE of 3.36, ISE of 14.16
and ITAE of 1.29. Analytically tuned STFPIC provides settling time of 41.9
sec., IAE of 3.25, ISE of 13.31 and ITAE of 1.26. Hence, it is inferred that
Analytically tuned STFPIC gives minimum settling time, minimum errors and
more improved performance in comparison with all the other three types of
controllers.
121
1.4
FPIC
AFPIC
STFPIC
ASTFPIC
1.2
0.8
0.6
0.4
0.2
10
Figure 6.8
20
30
Time (Sec.)
40
50
60
Output responses of force with 20% variation in gain for


with 20% variation in gain for unit step input (Third order
SISO process)
Process
variable
Force
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
0.33
0.21
0.07
13.6
AFPIC
0.06
0.04
0.002
2.05
STFPIC
0.13
0.06
0.02
9.7
ASTFPIC
0.06
0.04
0.002
1.3
122
Figure 6.8 shows the output responses of the force with 20%
variation in gain for all the four controllers (FPIC, STFPIC, AFPIC and
ASTFPIC) for unit step input. Table 6.8 shows the performance comparison
of unit step responses of all the four types of controllers with 20% variation in
gain. Analysis shows that FPIC provides settling time of 13.6sec., IAE of
0.33, ISE of 0.21 and ITAE of 0.07. Analytically tuned FPIC provides settling
time of 2.05 sec., IAE of 0.06, ISE of 0.04 and ITAE of 0.002. STFPIC
provides settling time of 9.7 sec., IAE of 0.13, ISE of 0.06 and ITAE of 0.02.
Analytically tuned STFPIC provides settling time of 1.3 sec., IAE of 0.06,ISE
of 0.04 and ITAE of 0.002. Hence, Analytically tuned STFPIC gives
minimum settling time and minimum errors.Eventhough the gain varies by
20%, output responses show that Analytically tuned STFPIC provides more
1.4
FPIC
AFPIC
STFPIC
ASTFPIC
1.2
0.8
0.6
0.4
0.2
Figure 6.9
10
20
30
Time (Sec.)
40
50
60
Output responses of force with 10% variation in time

ASTFPIC)
123

with 10% variation in time constant for unit step input (Third
order SISO process)
Process
variable
Force
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
2.74
12.58
0.78
14.8
AFPIC
2.46
10.12
0.71
1.4
STFPIC
2.55
10.88
0.73
10.8
ASTFPIC
2.45
10.11
0.70
1.3
Figure 6.9 shows the output responses of the force with 10%
variation in time constant for all the four controllers (FPIC,STFPIC, AFPIC
and ASTFPIC) for unit step input. Table 6.9 shows the performance analysis
of output responses of force with 10% variation in time constant for all the
four controllers (FPIC, AFPIC, STFPIC and ASTFPIC) for unit step input.
Analysis shows that FPIC provides settling time of 14.8sec., IAE of 2.74, ISE
of 12.58 and ITAE of 0.78. Analytically tuned FPIC provides settling time of
1.4sec., IAE of 2.46, ISE of 10.12 and ITAE of 0.71. STFPIC provides
Analytically tuned STFPIC provides settling time of 1.3 sec., IAE of 2.45,
ISE of 10.11 and ITAE of 0.70. Analytically tuned STFPIC gives minimum
settling time and minimum errors.Eventhough the time constant varies
by10%, output responses show that Analytically tuned STFPIC provides more
124
2.5
2
FPIC
AFPIC
STFPIC
ASTFPIC
1.5
0.5
10
20
30
40
50
60
Time (Sec.)
70
80
90
100
Figure 6.10 Output responses of force for different set points (FPIC,
AFPIC, STFPIC and ASTFPIC )
Table 6.10
Performance analysis of FPIC, AFPIC, STFPIC and

ASTFPIC with set point change (Third order SISO process)
Process
variable
Force
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
0.91
0.93
0.20
62.5
AFPIC
0.57
0.56
0.14
51.25
STFPIC
0.67
0.63
0.15
58.0
ASTFPIC
0.56
0.55
0.13
51.19
125
Figure 6.10 shows the output responses of the force for all the four
controllers (FPIC, AFPIC, STFPIC and ASTFPIC) with two different set
points. Table 6.10 shows the performance analysis of the force with set point
change for all the four types of Controllers. Inspite of the change in set point
at 50sec FPIC provides settling time of 62.5 sec., IAE of 0.91, ISE of 0.93
and ITAE of 0.20. Analytically tuned FPIC provides settling time of 51.25
sec., IAE of 0.57, ISE of 0.56 and ITAE of 0.14. STFPIC provides settling
time of 58 sec., IAE of 0.67, ISE of 0.63 and ITAE of 0.15. Analytically
tuned STFPIC provides settling time of 51.19 sec., IAE of 0.56, ISE of 0.55
and ITAE of 0.13. Analytically tuned STFPIC gives minimum settling time,
minimum errors and hence more improved performance compared with all the
other 3 types of controllers and the system is robust.
From Figures 6.6 to 6.10 and Tables 6.6 to 6.10, it is inferred that
ASTFPIC provides more improved performance compared with FPIC,
STFPIC and AFPIC for the third order SISO process.
6.2.3
Second Order MIMO Process

The simulation results of all the four controllers (FPIC,
second order MIMO process obtained under various conditions namely, the
output responses for unit step input, the output responses with disturbance for
unit step input, with 10% variation in time constant,with 20% variation in
gain, and output responses under set point change for the temperature on left
(Tleft) and the temperature on right (Tright) are represented below in
comparison with each other.(Sampling time =0.1sec.)
126
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
100
200
300
400
500
600
Time (Sec.)
700
800
900
1000
Figure 6.11 Output responses of Tleft for unit step input (FPIC, AFPIC,
STFPIC and ASTFPIC)
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
100
200
300
400
500
600
Time (Sec.)
700
800
900
1000
Figure 6.12 Output responses of Tright for unit step input (FPIC,
127
Table 6.11

ASTFPIC for unit step input (Second order MIMO process)
Process
variable
Tleft
Tright
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
9.32
8.74
44.55
744.6
AFPIC
8.95
8.13
41.62
536.6
STFPIC
8.98
8.19
41.92
706.5
ASTFPIC
8.66
7.70
39.41
512.5
FPIC
8.87
7.99
44.44
532.4
AFPIC
7.90
6.55
34.41
415.3
STFPIC
8.37
7.22
37.69
479.9
ASTFPIC
7.34
5.81
30.80
402.2
Figure 6.11 shows the output responses of Tleft of all the four
controllers (FPIC, AFPIC, STFPIC and ASTFPIC ) for unit step input. Table
6.11 shows the performance analysis of output responses of all the four types
of controllers for unit step input for the second order MIMO process.
Performance analysis of Tleft shows that FPIC provides settling time of
744.6sec., IAE of 9.32, ISE of 8.74 and ITAE of 44.55. Analytically tuned
of 41.62. STFPIC provides settling time of 706.5 sec., IAE of 8.98, ISE of
STFPIC gives minimum settling time and minimum errors. Hence, it is
inferred
that Analytically tuned
STFPIC
provides more improved
performance compared with all the other 3 types of controllers.
128
Figure 6.12 shows the output responses of Tright of all the four
controllers (FPIC,AFPIC,STFPIC and ASTFPIC) for unit step input.
Performance analysis of Tright shows that FPIC provides settling time of
532.4 sec., IAE of 8.87,ISE of 7.99 and ITAE of 44.44. Analytically tuned
402.2 sec., IAE of 7.34, ISE of 5.81 and ITAE of 30.80. Hence, it is inferred
that Analytically tuned STFPIC gives minimum settling time, minimum errors
and improved performance compared with all the other three types of
controllers.
1.4
FPIC
AFPIC
STFPIC
ASTFPIC
1.2
0.8
0.6
0.4
0.2
200
400
600
Time (Sec.)
800
1000
1200
Figure 6.13 Output responses of Tleft with disturbance for unit step
129
1.4
FPIC
AFPIC
STFPIC
ASTFPIC
1.2
0.8
0.6
0.4
0.2
200
400
600
Time (Sec.)
800
1000
1200
Figure 6.14 Output responses of Tright with disturbance for unit step
Table 6.12

ASTFPIC with disturbance for unit step input (Second
order MIMO process)
Prcess
variable
Tleft
Tright
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
10.78
9.81
60.65
1054
AFPIC
10.16
8.87
54.97
1051
STFPIC
10.24
8.98
55.72
1044
ASTFPIC
9.73
8.27
51.09
965.4
FPIC
10.15
8.80
55.40
1061
AFPIC
8.77
6.94
43.98
954.9
STFPIC
9.40
7.75
48.92
1059
ASTFPIC
8.13
6.13
39.39
950.3
130
Figure 6.13 shows the output responses of the temperature on left

(Tleft) with disturbance for all the four controllers (FPIC,AFPIC,STFPIC and
ASTFPIC) for unit step input. Table 6.12 shows the performance analysis of
output responses with disturbance for all the four Controllers (FPIC, AFPIC,
STFPIC and ASTFPIC) for unit step input for the second order MIMO
process. Performance analysis of Tleft shows that inspite of a negative step
disturbance of magnitude 2 given at 850 sec., FPIC provides settling time of
1054 sec., IAE of 10.78, ISE of 9.81 and ITAE of 60.65. Analytically tuned
FPIC provides settling time of 1051 sec., IAE of 10.16, ISE of 8.87 and ITAE
of 54.97. STFPIC provides settling time of 1044 sec., IAE of 10.24, ISE of
965.4 sec., IAE of 9.73, ISE of 8.27 and ITAE of 51.09. Despite the
disturbance, Analytically tuned STFPIC gives minimum settling time,
minimum errors and hence improved performance in comparison with all the
other three controllers.
Figure 6.14 shows the output responses of the temperature on right
(Tright) with disturbance for all the four controllers (FPIC,AFPIC,STFPIC
and ASTFPIC) for unit step input. Performance analysis of Tright show that
inspite of a negative step disturbance of magnitude 2.5 given at 850 sec.,
FPIC provides settling time of 1061sec., IAE of 10.15, ISE of 8.80 and ITAE
of 55.40. Analytically tuned FPIC provides settling time of 954.9 sec., IAE of
8.77, ISE of 6.94 and ITAE of 43.98. STFPIC provides settling time of 1059
sec., IAE of 9.40, ISE of 7.75 and ITAE of 48.92. Analytically tuned STFPIC
39.39. It is inferred that Analytically tuned STFPIC provides gives minimum
settling time, minimum errors and hence more improved performance
compared with all the other three types of controllers.
131
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
100
200
300
400
500
600
Time (Sec.)
700
800
900
1000
Figure 6.15 Output responses of Tleft with 20% variation in gain for
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
100
200
300
400
500
600
Time (Sec.)
700
800
900
1000
Figure 6.16 Output responses of Tright with 20% variation in gain for
132
Table 6.13

ASTFPIC with 20% variation in gain for unit step input
(Second order MIMO process)
Process
variable
Tleft
Tright
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
9.26
8.64
44.13
767.0
AFPIC
9.02
8.26
42.27
547.9
STFPIC
9.06
8.31
42.53
724.5
ASTFPIC
8.76
7.85
40.19
517.4
FPIC
8.97
8.13
42.12
557.1
AFPIC
8.03
6.74
35.34
405.0
STFPIC
8.49
7.40
38.55
497.7
ASTFPIC
7.44
5.96
31.40
422.9
Figure 6.15 shows the output responses of the temperature Tleft

with 20% variation in gain for all the four controllers ( FPIC,STFPIC, AFPIC
and ASTFPIC) for unit step input. Table 6.13 shows the performance analysis
of all the four Controllers (FPIC,AFPIC,STFPIC and ASTFPIC) with 20%
variation in gain for the second order MIMO process for unit step input.
Despite the 20% variation in gain performance analysis of Tleft shows that
FPIC provides settling time of 767sec., IAE of 9.26, ISE of 8.64 and ITAE of
44.13. Analytically tuned FPIC provides settling time of 547.9 sec., IAE of
724.5sec, IAE of 9.06, ISE of 8.31 and ITAE of 42.53. Analytically tuned
ITAE of 40.19.
133

(Tright) with 20% variation in gain for all the four controllers ( FPIC,STFPIC,
AFPIC and ASTFPIC) for unit step input.Performance analysis of Tright
shows that FPIC provides settling time of 557.1sec., IAE of 8.97, ISE of 8.13
and ITAE of 42.12. Analytically tuned FPIC provides settling time of 405
time of 497.7 sec., IAE of 8.49, ISE of 7.40 and ITAE of 38.55. Analytically
and ITAE of 31.4. ASTFPIC gives less settling time and less error compared
with FPIC, STFPIC, and AFPIC.
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
100
200
300
400
500
600
Time (Sec.)
700
800
900
1000
Figure 6.17 Output responses of Tleft with 10% variation in time

ASTFPIC)
134
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
100
200
300
400
500
600
Time (Sec.)
700
800
900
1000
Figure 6.18 Output responses of Tright with 10% variation in time

ASTFPIC)
Table 6.14

ASTFPIC with 10% variation in time constant for unit step
input (Second order MIMO process)
Process
variable
Tleft
Tright
Type of
Controller
IAE
ISE
ITAE
FPIC
AFPIC
STFPIC
ASTFPIC
FPIC
AFPIC
STFPIC
ASTFPIC
9.37
9.02
9.05
8.75
8.95
7.99
8.46
7.41
8.82
8.24
8.30
7.83
8.10
6.68
7.35
5.20
44.92
42.18
42.44
40.08
41.92
35.02
38.28
31.11
Settling
time ts
(Sec.)
730.0
525.4
686.0
492.0
518.0
409.1
456.3
391.8
135

(Tleft) with 10% variation in time constant for all the four controllers
(FPIC,STFPIC, AFPIC and ASTFPIC ) for unit step input. Table 6.14 shows
the performance analysis of all the four Controllers (FPIC,AFPIC,STFPIC
and ASTFPIC) with 10% variation in time constant for the second order
MIMO process for unit step input. Despite the 10% variation in time constant
performance analysis of Tleft shows that FPIC provides settling time of
730sec, IAE of 9.37, ISE of 8.82 and ITAE of 44.92. Analytically tuned FPIC
42.18. STFPIC provides settling time of 686 sec, IAE of 9.05, ISE of 8.30 and
ITAE of 42.44. Analytically tuned STFPIC provides settling time of 492 sec,
IAE of 8.75, ISE of 7.83 and ITAE of 40.08. Analytically tuned STFPIC
gives minimum settling time and minimum errors. Hence, it is inferred that
Analytically tuned STFPIC provides more improved performance compared
with all the other 3 types of controllers.
(Tright) with 10% variation in time constant for all the four controllers
(FPIC,STFPIC, AFPIC and ASTFPIC) for unit step input.Performance
analysis of Tright shows that FPIC provides settling time of 518 sec., IAE of
8.95, ISE of 8.10 and ITAE of 41.92. Analytically tuned FPIC provides
ITAE of 38.28. Analytically tuned STFPIC provides settling time of 391.8
sec., IAE of 7.41, ISE of 5.20 and ITAE of 31.11. Analytically tuned STFPIC
gives minimum settling time and minimum errors. Hence, it is inferred that
with all the other 3 types of controllers.
136
2
1.8
FPIC
AFPIC
STFPIC
ASTFPIC
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
200
400
600
800 1000 1200

Time (Sec.)
1400
1600
1800
2000
Figure 6.19 Output responses of Tleft for different set points (FPIC,
2
FPIC
AFPIC
STFPIC
ASTFPIC
1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
200
400
600
800
1000 1200
Time (Sec.)
1400
1600
1800
2000
Figure 6.20 Output responses of Tright for different set points (FPIC,
137
Table 6.15

ASTFPIC with set point change (Second order MIMO
process)
Process
variable
Tleft
Tright
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
25.35
34.50
122.09
1627
AFPIC
23.57
29.60
111.90
1453
STFPIC
23.98
30.73
114.43
1578
ASTFPIC
22.60
27.19
106.61
1426
FPIC
23.75
30.19
112.82
1448
AFPIC
21.03
23.86
97.65
1348
STFPIC
22.05
26.02
103.31
1394
ASTFPIC
20.04
22.00
92.02
1331

(Tleft) with two different set points for all the four types of controllers.
Table 6.15 shows the performance analysis of all the four controllers
FPIC,AFPIC,STFPIC and ASTFPIC) with set point change for the second
order MIMO process. Inspite of the set point change at 1000 sec.,
performance analysis of Tleft shows that FPIC provides settling time of 1627
sec., IAE of 25.35, ISE of 34.5 and ITAE of 122.09. Analytically tuned FPIC
provides settling time of 1453 sec., IAE of 23.57, ISE of 29.6 and ITAE of
111.90. STFPIC provides settling time of 1578 sec., IAE of 23.98, ISE of
30.73 and ITAE of 114.43. Analytically tuned STFPIC provides settling time
of 1426 sec., IAE of 22.6, ISE of 27.19 and ITAE of 106.61. Analytically
tuned STFPIC gives minimum settling time and minimum errors. Hence, it is
138
inferred
that Analytically tuned
STFPIC
provides more improved
performance compared with all the other 3 types of controllers.

(Tright) with two different set points for all the four types of controllers
(FPIC, AFPIC, STFPIC and ASTFPIC). Inspite of the set point change at
1000 sec., FPIC provides settling time of 1448 sec., IAE of 23.75, ISE of
30.19 and ITAE of 112.82. Analytically tuned FPIC provides settling time of
1348 sec., IAE of 21.03, ISE of 23.86 and ITAE of 97.65. STFPIC provides
settling time of 1394 sec., IAE of 22.05, ISE of 26.02 and ITAE of 103.31.
Analytically tuned STFPIC provides settling time of 1331 sec., IAE of 20.04,
ISE of 22.00 and ITAE of 92.02. Analytically tuned STFPIC gives minimum
settling time and minimum errors. Hence, it is inferred that Analytically tuned
STFPIC provides more improved performance compared with all the other 3
types of controllers.
From Tables 6.11 to 6.15 and Figures 6.11 to 6.20 it is inferred that
with FPIC, STFPIC and AFPIC for the second order MIMO process.
6.2.4
Third Order MIMO Process

The simulation results for all the four controllers (FPIC,
Analytically tuned FPIC,STFPIC and Analytically tuned STFPIC) for the

third order MIMO process under various conditions namely, the output
responses for unit step input and their interaction with other parameters, the
output responses for unit step input with disturbance, with 10% variation in
time constant,with 20% variation in gain, and output responses under the set
point change for all the three process variables namely, the temperature of
tank 1 (T1), the temperature of tank 2 (T2) and the level of tank 2 (H2) are
represented below in comparison with each other. (Sampling time =0.1sec.)
139
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
Time (Sec.)
Figure 6.21 Output responses of T1 for unit step input (FPIC, AFPIC,
STFPIC and ASTFPIC)
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
Time (Sec.)
2000
2500
3000
Figure 6.22 Output responses of T2 for unit step input (FPIC, AFPIC,
STFPIC and ASTFPIC)
140
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
Time(Sec)
Figure 6.23 Output responses of H2 for unit step input (FPIC, AFPIC,
STFPIC and ASTFPIC)
Table 6.16

ASTFPIC for unit step input (Third order MIMO process)
Performance Comparison
Process
variable
T1
T2
H2
Type of
Controller
IAE
ISE
ITAE
FPIC
AFPIC
STFPIC
ASTFPIC
FPIC
AFPIC
STFPIC
ASTFPIC
FPIC
AFPIC
STFPIC
ASTFPIC
13.63
13.58
13.32
12.99
28.16
27.19
27.74
26.58
12.22
11.35
11.73
10.82
12.53
12.12
12.04
11.54
26.57
24.94
25.86
23.98
10.32
9.19
9.65
8.54
96.27
93.27
92.64
88.72
406.35
383.61
396.29
369.08
81.56
72.32
76.43
67.01
Settling
time ts
(Sec.)
897.3
776.1
886.3
753.5
2245
1912
2223
1866
674.4
520
674.2
517
141
Figure 6.21 shows the output responses of T1 for all the four
Table 6.16 shows the performance analysis of the output responses of all the
four types of controllers for unit step input. Performance analysis of T1 shows
that FPIC provides settling time of 897.3sec., IAE of 13.63, ISE of 12.53 and
ITAE of 96.27. Analytically tuned FPIC provides settling time of 776.1 sec.,
IAE of 13.58, ISE of 12.12 and ITAE of 93.27. STFPIC provides settling time
of 886.3 sec., IAE of 13.32, ISE of 12.04 and ITAE of 92.64. Analytically
and ITAE of 88.72. Hence, it is inferred that Analytically tuned STFPIC gives
minimum settling time, minimum errors and improved performance of T1 in
comparison with all the other three FPICs.
Figure 6.22 shows the output responses of T2 for all the four
Performance analysis of T2 shows that FPIC provides settling time of
2245sec., IAE of 28.16, ISE of 26.57 and ITAE of 406.35. Analytically tuned
FPIC provides settling time of 1912 sec., IAE of 27.19, ISE of 24.94 and
ITAE of 383.67. STFPIC provides settling time of 2223 sec., IAE of 27.74,
ISE of 25.86 and ITAE of 396.29. Analytically tuned STFPIC provides
Hence, it is inferred that Analytically tuned STFPIC gives minimum settling
time, minimum errors and improved performance of T2 in comparison with
all the other three FPICs.
Figure 6.23 shows the output responses of H2 for all the four
142
Performance analysis of H2 shows that FPIC provides settling time of

517 sec., IAE of 10.82, ISE of 8.54 and ITAE of 67.01. Hence, it is inferred
that Analytically tuned STFPIC gives minimum settling time, minimum errors
and more improved performance of H2 in comparison with all the other three
FPICs.
1
0.9
FPIC
AFPIC
STFPIC
ASTFPIC
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
Time(Sec.)
Figure 6.24 Output responses of T1 with disturbance for unit step input
(FPIC, AFPIC, STFPIC and ASTFPIC)
143
1
FPIC
AFPIC
STFPIC
STFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
2000
Time(Sec.)
2500
3000
3500
Figure 6.25 Output responses of T2 with disturbance for unit step input
1
0.9
FPIC
AFPIC
STFPIC
ASTFPIC
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
200
400
600
800
1000 1200
Time (Sec.)
1400
1600
1800
2000
Figure 6.26 Output responses of H2 with disturbance for unit step input
144
Table 6.17

ASTFPIC with disturbance for unit step input (Third order
MIMO process)
Process
variable
T1
T2
H2
Type of
Controller
IAE
ISE
ITAE
Settling
time ts
(Sec.)
FPIC
13.63
12.53
96.27
1216
AFPIC
13.37
12.12
93.27
1172
STFPIC
13.32
12.05
92.64
1195
ASTFPIC
13.02
11.59
89.04
1166
FPIC
38.74
34.06
799.32
3084
AFPIC
36.08
30.25
712.70
2819
STFPIC
37.43
32.16
755.63
3052
ASTFPIC
34.63
28.34
667.50
2806
FPIC
14.53
11.40
121.68
1746
AFPIC
13.11
9.86
102.24
1576
STFPIC
14.51
11.39
121.13
1566
ASTFPIC
13.08
9.80
102.23
1500
Figure 6.24 shows the output responses of T1 with disturbance for

all the four controllers (FPIC,AFPIC,STFPIC and ASTFPIC) for unit step
input. Table 6.17 shows the performance analysis of output responses with
disturbance for all the four controllers (FPIC,AFPIC,STFPIC and ASTFPIC)
for unit step input for the third order MIMO process. Performance analysis of
T1 shows that inspite of a negative step disturbance of magnitude 0.1 given at
1000 sec., FPIC provides settling time of 1216 sec., IAE of 13.63, ISE of
12.53 and ITAE of 96.27. Analytically tuned FPIC provides settling time of
1172 sec., IAE of 13.37, ISE of 12.12 and ITAE of 93.27. STFPIC provides
145
Analytically tuned STFPIC provides settling time of 1166 sec., IAE of 13.02,
ISE of 11.59 and ITAE of 89.04.Hence, is inferred that Analytically tuned
STFPIC gives minimum settling time, minimum errors and more improved
performance in comparison with all the other three types.
Figure 6.25 shows the output responses of T2 with disturbance for
input. Performance analysis of T2 shows that inspite of a negative step
disturbance of magnitude 0.1 given at 2500 sec., FPIC provides settling time
of 3084sec., IAE of 38.74, ISE of 34.06 and ITAE of 799.32. Analytically
tuned FPIC provides settling time of 2819 sec., IAE of 36.08, ISE of 30.25
and ITAE of 712.70. STFPIC provides settling time of 3052 sec., IAE of
37.43, ISE of 32.16 and ITAE of 755.63. Analytically tuned STFPIC provides
settling time of 2806 sec., IAE of 34.63, ISE of 28.34 and ITAE of
667.50.Hence, it is inferred that Analytically tuned STFPIC gives minimum
settling time, minimum errors and more improved performance of T2 in
comparison with all the other three types.
Figure 6.26 shows the output responses of H2 with disturbance for
input. Performance analysis of H2 shows that inspite of a negative step
disturbance of magnitude 0.1 given at 1000 sec., FPIC provides settling time
of 1746 sec., IAE of 14.53, ISE of 11.40 and ITAE of 121.68. Analytically
tuned FPIC provides settling time of 1576 sec., IAE of 13.11,ISE of 9.86 and
settling time of 1500 sec., IAE of 13.08, ISE of 9.80 and ITAE of
102.23.Hence, it is inferred that Analytically tuned STFPIC gives minimum
settling time, minimum errors and more improved performance in comparison
with all the other three types.
146
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
Time (Sec.)
Figure 6.27 Output responses of T1 with 20% variation in gain for unit
step input (FPIC, AFPIC, STFPIC and ASTFPIC)
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
Time(Sec.)
2000
2500
3000
Figure 6.28 Output responses of T2 with 20% variation in gain for unit
147
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
Time (Sec.)
Figure 6.29 Output responses of H2 with 20% variation in gain for unit
Table 6.18
Performance
analysis
of
FPIC,AFPIC,STFPIC
and
ASTFPIC with 20% variation in gain for unit step input

(Third order MIMO process)
Process
variable
T1
T2
H2
Type of
Controller
IAE
ISE
ITAE
FPIC
AFPIC
STFPIC
ASTFPIC
FPIC
AFPIC
STFPIC
ASTFPIC
FPIC
AFPIC
STFPIC
ASTFPIC
13.41
13.12
13.07
12.72
27.84
26.72
27.36
26.03
11.86
10.94
11.41
10.50
12.17
11.72
11.65
11.50
26.02
24.19
25.21
23.15
9.83
8.67
9.21
8.13
93.69
90.25
89.62
85.56
398.73
372.60
387.12
356.53
77.90
68.15
73.29
64.17
Settling
time ts
(Sec.)
871.2
762
861
745
2191
1871
2153
1849
656
527.5
654.6
510.6
148
Figure 6.27 shows the output responses of T1 with 20% variation in

gain for all the four controllers (FPIC,STFPIC, AFPIC and ASTFPIC) for unit
step input.Table 6.18 shows the performance comparison of all the four
controllers with 20% variation in gain (FPIC,AFPIC,STFPIC and ASTFPIC)
for unit step input to the third order MIMO process. Despite the 20% variation
in gain, FPIC provides settling time of 871.2 sec., IAE of 13.41, ISE of 12.17
and ITAE of 93.69. Analytically tuned FPIC provides settling time of 762
time of 861 sec., IAE of 13.07, ISE of 11.65 and ITAE of 89.62. Analytically
tuned STFPIC provides settling time of 745 sec., IAE of 12.72, ISE of 11.50
and ITAE of 85.56. Hence, Analytically tuned STFPIC gives minimum
settling time and minimum errors. Eventhough the gain varies by 20% output
responses show that Analytically tuned STFPIC provides more improved
performance compared with all the other 3 types of controllers. Hence, the
system is robust.
gain for all the four controllers (FPIC,STFPIC, AFPIC and ASTFPIC) for unit
step input. Despite the 20% variation in gain, FPIC provides settling time of
2191sec., IAE of 27.84, ISE of 26.02 and ITAE of 398.73. Analytically tuned
FPIC provides settling time of 1871sec., IAE of 26.72, ISE of 24.19 and
Hence, Analytically tuned STFPIC gives minimum settling time and
minimum errors.Eventhough the gain varies by 20%, output responses show
that Analytically tuned STFPIC provides more improved performance
compared with all the other 3 types of controllers. Hence, the system is
robust.
149
Figure 6.29 shows the output responses of H2 with 20% variation

in gain for all the four controllers (FPIC,STFPIC, AFPIC and ASTFPIC) for
unit step input. Despite the 20% variation in gain, FPIC provides settling time
of 656 sec., IAE of 11.86, ISE of 9.83 and ITAE of 77.90. Analytically tuned
FPIC provides settling time of 527.5sec., IAE of 10.94, ISE of 8.67 and ITAE
510.6 sec., IAE of 10.50, ISE of 8.13 and ITAE of 64.17. Hence, Analytically
tuned STFPIC gives minimum settling time and minimum errors.Eventhough
the gain varies by 20% output responses show that Analytically tuned
STFPIC provides more improved performance compared with all the other 3
types of controllers. Hence, the system is robust.
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
Time (Sec.)
Figure 6.30 Output responses of T1 with 10% variation in time constant

for unit step input (FPIC, AFPIC, STFPIC and ASTFPIC)
150
1
FPIC
AFPIC
STFPIC
ASTFPIC
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
Time (Sec.)
2000
2500
3000
Figure 6.31 Output responses of T2 with 10% variation in time constant

1
FPIC
0.9
AFPIC
STFPIC
ASTFPIC
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
500
1000
1500
Time (Sec.)
Figure 6.32 Output responses of H2 with 10% variation in time constant

151
Table 6.19

ASTFPIC with 10% variation in time constant for unit step
input (Third order MIMO process)
Process
variable
T1
T2
H2
Type of
Controller
IAE
ISE
ITAE
FPIC
AFPIC
STFPIC
ASTFPIC
FPIC
AFPIC
STFPIC
ASTFPIC
FPIC
AFPIC
STFPIC
ASTFPIC
13.72
13.48
13.43
13.14
30.02
30.01
30.02
30.00
12.34
11.50
11.85
10.94
12.67
12.30
12.22
11.78
30.04
30.03
30.04
30.02
10.49
9.39
9.82
8.70
97.23
94.53
93.92
90.52
450.25
450.29
450.35
450.23
82.74
73.70
77.51
67.99
Settling
time ts
(Sec.)
880.00
760.40
849.30
728.00
2203
1874
2126
1864
665.00
518.30
652.70
499.00

time constant for all the four controllers (FPIC,STFPIC, AFPIC and
ASTFPIC) for unit step input.Table 6.19 shows the performance comparison
of output responses with 10% variation in time constant for all the four
controllers (FPIC,AFPIC,STFPIC and ASTFPIC) for unit step input to the
third order MIMO process. Despite the 10% variation in time constant, FPIC
97.23. Analytically tuned FPIC provides settling time of 760.40 sec., IAE of
STFPIC provides settling time of 728 sec., IAE of 13.14, ISE of 11.78 and
ITAE of 90.52. Hence, Analytically tuned STFPIC gives minimum settling
time and minimum errors.Eventhough the time constant varies by10% output
152
responses show that Analytically tuned STFPIC provides more improved

system is robust.
time constant for all the four controllers (FPIC,STFPIC, AFPIC and
ASTFPIC) for unit step input. Despite the 10% variation in time constant,
FPIC provides settling time of 2203 sec., IAE of 30.02,ISE of 30.04 and
ITAE of 450.25. Analytically tuned FPIC provides settling time of 1874 sec.,
IAE of 30.01,ISE of 30.03 and ITAE of 450.29. STFPIC provides settling
time of 2126 sec., IAE of 30.02, ISE of 30.04 and ITAE of 450.35.
Analytically tuned STFPIC provides settling time of 1864 sec., IAE of 30,ISE
of 30.02 and ITAE of 450.23. Hence, Analytically tuned STFPIC gives
minimum settling time and minimum errors.Eventhough the time constant
varies by10% output responses show that Analytically tuned STFPIC
provides more improved performance compared with all the other 3 types of
controllers. Hence, the system is robust.
Figure 6.32 shows the output responses of H2 with 10% variation
in time constant for all the four controllers (FPIC,STFPIC, AFPIC and
ASTFPIC) for unit step input. Despite the 10% variation in time constant,
of 82.74. Analytically tuned FPIC provides settling time of 518 sec., IAE of
11.50,ISE of 9.39 and ITAE of 73.70. STFPIC provides settling time of
STFPIC provides settling time of 499 sec., IAE of 10.94, ISE of 8.70 and
ITAE of 67.99. Hence, Analytically tuned STFPIC gives minimum settling
time and minimum errors.Even though the time constant varies by10% output
response shows that Analytically tuned STFPIC provides more improved
system is robust.
153
2
1.8
FPIC
AFPIC
STFPIC
ASTFPIC
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
500
1000
1500
Time (Sec.)
2000
2500
3000
Figure 6.33 Output responses of T1 for different set points (FPIC,

FPIC
AFPIC
STFPIC
ASTFPIC
1.5
0.5
-0.5
1000
2000
3000
Time (Sec.)
4000
5000
6000
Figure 6.34 Output responses of T2 for different set points (FPIC,

154
2
FPIC
AFPIC
STFPIC
ASTFPIC
1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
500
1000
1500
Time (Sec.)
2000
2500
3000
Figure 6.35 Output responses of H2 for different set points (FPIC,

Table 6.20

ASTFPIC with set point change (Third order MIMO
process)
Process
variable
T1
T2
H2
Type of
Controller
IAE
ISE
ITAE
FPIC
AFPIC
STFPIC
ASTFPIC
FPIC
AFPIC
STFPIC
ASTFPIC
FPIC
AFPIC
STFPIC
ASTFPIC
36.25
35.01
35.07
33.86
76.90
72.43
74.69
70.50
32.49
30.02
31.44
29.16
46.78
43.47
43.69
40.65
105.97
93.41
99.54
88.48
37.82
32.51
35.63
31.02
263.00
248.63
255.66
239.44
1113.03
1036.58
1075.63
1005.68
227.56
206.91
218.75
199.56
Settling
time ts
(Sec.)
2248
2158
2222
2132
4886
4578
4850
4544
2064
1947
2002
1929
155
Table 6.20 shows the performance analysis of all the four

controllers (FPIC,AFPIC,STFPIC and ASTFPIC) for different set points for
third order MIMO process.Figure 6.33 shows the output responses of T1 for
FPIC, Analytically tuned FPIC,STFPIC and Analytically tuned STFPIC with
two different set points. Performance analysis of T1 shows that FPIC provides
settling time of 2248 sec., IAE of 36.25, ISE of 46.78 and ITAE of 263.
Analytically tuned FPIC provides settling time of 2158 sec., IAE of 35.01,ISE
of 43.47 and ITAE of 248.63. STFPIC provides settling time of 2222 sec.,
IAE of 35.07, ISE of 43.69 and ITAE of 255.66 Analytically tuned STFPIC
239.44. Analytically tuned STFPIC gives minimum settling time and
minimum errors.Eventhough the time constant varies by10%, output
responses show that Analytically tuned STFPIC provides improved
system is robust.
Figure 6.34 shows the output responses of T2 for FPIC,Analytically
tuned FPIC,STFPIC and Analytically tuned STFPIC with two different set
points. Performance analysis of T2 shows that FPIC provides settling time of
4886 sec, IAE of 76.90,ISE of 105.97 and ITAE of 1113.03. Analytically
tuned FPIC provides settling time of 4578 sec, IAE of 72.43,ISE of 93.41 and
ITAE of 1036.58. STFPIC provides settling time of 4850 sec, IAE of
74.69,ISE of 99.54 and ITAE of 1075.63 Analytically tuned STFPIC provides
settling time of 4544 sec, IAE of 70.50,ISE of 88.48 and ITAE of 1005.68.
Hence, it is inferred that Analytically tuned STFPIC gives minimum settling
time and minimum errors and improved performance of H2 in comparison
with all the other three FPICs.
Figure 6.35 shows the output responses of H2 for FPIC,
Analytically tuned FPIC,STFPIC and Analytically tuned STFPIC with two
156
different set points. Performance analysis of T1 shows that FPIC provides

Analytically tuned FPIC provides settling time of 1947 sec., IAE of 30.02,ISE
of 32.51 and ITAE of 206.91. STFPIC provides settling time of 2002 sec.,
IAE of 31.44, ISE of 35.63 and ITAE of 218.75. Analytically tuned STFPIC
199.56. However, ASTFPIC shows more improvement in the response than
the other three FPICs.
From Tables 6.16 to 6.20 and Figures 6.21 to 6.35 it is inferred that
with FPIC,STFPIC and AFPIC for the third order MIMO process.However
computation time is very large compared with other processes .
6.3
CONCLUSION
The simulation results obtained for all the four processes are
discussed in this chapter and they show that the Analytically tuned STFPIC
gives more improved response under all conditions compared with
FPIC,STFPIC and Analytically tuned FPIC.

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108

conditions as well as under tuning using analytically determined scaling

RESULTS AND DISCUSSION

below. The comparison is made in terms of the performance measures,

Integral Absolute Error (IAE)

Integral Time Absolute Error (ITAE)

Integral Square Error (ISE)

Second Order SISO Process

Output responses of pressure for unit step input (FPIC,

Table 6.1 Performance analysis of FPIC, AFPIC, STFPIC and ASTFPIC

Output responses of pressure with disturbance for unit step

Table 6.2 Performance analysis of FPIC,AFPIC,STFPIC and ASTFPIC

Figure 6.2 shows the output responses of the pressure with

Output responses of pressure with 20% variation in gain for

Table 6.3 Performance analysis of FPIC, AFPIC, STFPIC and ASTFPIC

Output responses of pressure with 10% variation in time

Table 6.4 Performance analysis of FPIC,AFPIC,STFPIC and ASTFPIC

Output responses of pressure for different set points (FPIC,

Table 6.5 Performance analysis of FPIC, AFPIC, STFPIC and ASTFPIC

Third Order SISO Process

Output responses of force for unit step input (FPIC, AFPIC,

Table 6.6 Performance analysis of FPIC, AFPIC, STFPIC and ASTFPIC

Output responses of force with disturbance for unit step

Table 6.7 Performance analysis of FPIC,AFPIC,STFPIC and ASTFPIC

Output responses of force with 20% variation in gain for

Table 6.8 Performance analysis of FPIC, AFPIC, STFPIC and ASTFPIC

Output responses of force with 10% variation in time

Table 6.9 Performance analysis of FPIC, AFPIC, STFPIC and ASTFPIC

Performance analysis of FPIC, AFPIC, STFPIC and

Second Order MIMO Process

Performance analysis of FPIC, AFPIC, STFPIC and

that Analytically tuned

provides more improved

performance compared with all the other 3 types of controllers.

Performance analysis of FPIC, AFPIC, STFPIC and

Figure 6.13 shows the output responses of the temperature on left

Performance analysis of FPIC, AFPIC, STFPIC and

Figure 6.15 shows the output responses of the temperature Tleft

Figure 6.16 shows the output responses of the temperature on right

Figure 6.17 Output responses of Tleft with 10% variation in time

Figure 6.18 Output responses of Tright with 10% variation in time

Performance analysis of FPIC, AFPIC, STFPIC and

Figure 6.17 shows the output responses of the temperature on left

800 1000 1200

Performance analysis of FPIC, AFPIC, STFPIC and

Figure 6.19 shows the output responses of the temperature on left

that Analytically tuned

provides more improved

performance compared with all the other 3 types of controllers.

Third Order MIMO Process

Analytically tuned FPIC,STFPIC and Analytically tuned STFPIC) for the

Performance analysis of FPIC, AFPIC, STFPIC and

Performance analysis of H2 shows that FPIC provides settling time of

Performance analysis of FPIC, AFPIC, STFPIC and

Figure 6.24 shows the output responses of T1 with disturbance for

ASTFPIC with 20% variation in gain for unit step input

Figure 6.27 shows the output responses of T1 with 20% variation in

Figure 6.29 shows the output responses of H2 with 20% variation