1 2 3 4 5 6 7 8

LINE NUMBER FORMAT UTILITY CONNECTIONS

AAA-BBB-CCC-DDD-P-EE-INS 1. COOLING WATER DWG-488-006
108-300-40-TBHM-V-CS 112-100-40-HM-V-CS-INS
2. COOLING WATER RETURN FUEL GAS TO
AAA UNIQUE LINE NUMBER 3. MP STEAM TI STEAM BOILER
BBB LINE NOMINAL SIZE (MM) 4. CONDENSATE 106
A CCC PIPE SCHEDULE NUMBER 5. CHEMICAL SEWER
PE
101
A
DDD TRANSPORTED FLUID 6. CLEAR SEWER PRV-104 PRV-105
T TOLUENE 7. VENT TO FLARE
TI
B BENZENE 107 8 7 PT
8. VENT TO ATMOSPHERE 109-100-40-W-L-SS
101
W WATER
2
H HYDROGEN
PRC
M METHANE HV-124
110-100-40-W-L-SS 101
P PHASE 1
V VAPOUR HV-145

L LIQUID TI FI
E-102 HV-144
M MIXED
108 102 HV-126 CONDENSER 5
EE MATERIAL OF CONSTRUCTION
CS CARBON STEEL 5 HV-146 PCV-101
PY
101
B SS STAINLESS STEEL 316 TRC
B
102
INS INSULATION
TT 111-100-40-TBHM-M-CS
102 HV-143

PRV-103 TE
102
7 PRV-106 TI PI
109 104
7

SP
HH
FY FRC H

101 101 L HH
LL V-101 LE LT LIC H

102 102 102 L

TI
FT
REFLUX DRUM LL
105
C 101 C
SP

HV-123 FE ON/OFF/AUTO
101 HS
105
HV-127 HV-128 ON/OFF/AUTO
HS
MCC 106
HV-141 FCV-101 HV-139 PI
HV-140 5 SP
M 105
5

CV-103 HV-131

HV-142
HV-129 STR-103

LY
D T-101 HV-130 P-102A 102 D
DWG-488-003 HS
ON/OFF/AUTO

101-75-40-TBHM-L-CS 114-100-40-BT-L-CS-INS
LIQUID PRODUCT 107
113-100-40-BT-L-CS-INS 5
FROM FLASH DRUM PRODUCT TI
HS
ON/OFF/AUTO

104 MCC 108

HV-101 DISTILLATION
HV-102 PI
COLUMN M 105 DWG-488-005
116-50-40-BT-L-CS-INS
BENZENE TO
SP SP
STORAGE TANKS
HV-103 CV-104 HV-134 HV-135 LCV-102 HV-137
HV-136
HV-132 STR-104
5
HV-133 P-102B
BENZENE
E 5 PRODUCT HV-138 E
HH
TRC H TT TE PUMPS
101 L 101 101
LL 115-75-40-BT-L-CS-INS
LAH
101

103-150-40-TB-V-CS-INS
LE LT LIC
101 101 101

LSL LAL
101 101
TY I I-101
101
TI
PRV-102 103

7 HS
ON/OFF/AUTO

F PRV-101 HV-104
101
ON/OFF/AUTO
F
HS
PI TI FI 8 I-101 I MCC 102
101 101 101 SP
104-100-40-W-V-SS-INS
E-101 HV-105
PI
3 REBOILER M 102 LY
HV-106
101
HV-107 TCV-101 HV-109
HV-108 5 CV-101 HV-115
1
HV-112 HV-113 STR-101

P-101A DWG-488-002
HV-110 TI HV-115 P-39
107-50-40-TB-L-CS
102 6 HS
ON/OFF/AUTO
TOLUENE RECYCLE
103 TO HDA REACTOR
105-75-40-W-L-SS 102-100-40-TB-L-CS-INS 106-50-40-TB-L-CS-INS
5 ON/OFF/AUTO
HS HV-119 LCV-101 HV-121
G 4 MCC G
I-101 I 104
HV-120
HV-111 ST-101 5
PI
M 103

HV-122
CV-102 HV-118

HV-116 STR-102

HV-117 P-101B
TOLUENE
5 RECYCLE Design 488
PUMPS
H Toluene Hydro-dealkylation Process H
Stellenbosch University Product Distillation (Area 100)
Department of Process Engineering Piping & Instrumentation Diagram
ASSIGNMENT DRAWING TYPE DWG NO REV
Student Name : Example
# P&ID DWG-488-004 1
Date: ####-##-## SCALE 1:100 SHEET 1 OF 1
1 2 3 4 5 6 7 8
 CHAPTER 7: THE FEEDBACK LOOP
Class exercise: Given the following dynamics, sketch the
responses for a step in manual station to the displayed
value.
 CHAPTER 7: THE FEEDBACK LOOP

Class exercise: Given

the following dynamics,
sketch the responses for
a step in manual station
to the displayed value.
What you see (from the
display) is not always
what is occurring!!
 CHAPTER 7: THE FEEDBACK LOOP
The engineer must decide what measurement to control
and what valve to adjust (and provide the equipment to
support the decisions).
 CHAPTER 7: THE FEEDBACK LOOP
The engineer must decide what measurement to control
and what valve to adjust (and provide the equipment to
support the decisions).
CV to control ? Use seven categories of control objectives!

control objective process variable sensor

1) Safety
2) Environmental protection
3) Equipment protection
4) Smooth plant operation
and production rate
5) Product quality Concentration of reactant A Analyzer in reactor effluent
in the effluent measuring the mole % A
6) Profit optimization
7) Monitoring and diagnosis
 CHAPTER 7: THE FEEDBACK LOOP
The engineer must decide what measurement to control
and what valve to adjust (and provide the equipment to
support the decisions).

MV to adjust ?
1. Causal relationship
2. Automated
3. Fast dynamics
4. Compensate for large disturbances
5. Can adjust quickly with little adverse affect on process
performance
 CHAPTER 7: THE FEEDBACK LOOP
The engineer must decide what measurement to control
and what valve to adjust (and provide the equipment to
support the decisions).

Input variables that affect Selected adjustable flow Manipulated valve

the measured variable

Feed temperature
disturbances

We could use either valve.

Solvent flow rate
We will revisit this choice
Feed composition, before mix
Coolant inlet temperature later (Chapter13)
adjustable

Flow of pure A Flow of pure A vA

Flow of coolant
 CHAPTER 7: THE FEEDBACK LOOP
The figure shows the feedback loop We’ll see the calculation in the
next chapter.

Explain, including the

feedback concept.
Class exercise on the feedback loop: Using the methods just
described, select ONE variable to be controlled and for that
variable, ONE valve to be manipulated.

PI
1

AT PI
1 4

FT
1 TI
PI
1
5
TI
5
TI
2

TI
6
PT
1

TI
3
TI
7 TI TI
TI 9 10
4

FT TI
FI
2 8 TI
3
11

PI PI PI
2 3 6
Class exercise on the feedback loop: Using the methods just
described, select ONE variable to be controlled and for that
variable, ONE valve to be manipulated.
Control Obectives
PI
1 Safety
AT PI
Environmental Protection
1 4
Equipment Protection
FT
1 TI
1
PI Smooth Operation
5
TI Product Quality
5
TI
2
Profit Optimization
Monitoring and Diagnosis
TI
6
PT
1

TI
3
TI
7 TI TI
TI 9 10
4

FT TI
FI
2 8 TI
3
11

PI PI PI
2 3 6
Class exercise on the feedback loop: Using the methods just
described, select ONE variable to be controlled and for that
variable, ONE valve to be manipulated.
MVs
PI Causal relationship
1
Automated
AT
1
PI
4
Fast dynamics
FT
1 TI
Compensate for large
disturbances
PI
1
5

Little adverse effect on process

TI
5
TI
2
performance
TI
6
PT
1

TI
3
TI
7 TI TI
TI 9 10
4

FT TI
FI
2 8 TI
3
11

PI PI PI
2 3 6
 CHAPTER 7: THE FEEDBACK LOOP
Music: “I cannot define good music, but I know what I like.”
Control Performance: We must be able to define what we desire, so that we can design
equipment and controls to achieve our objectives.

Set point
1.5
entered by
Controlled Variable

person 1
0.5
Controlled variable, value from a sensor
0
0 5 10 15 20 25 30 35 40 45 50
Time

2
Manipulated variable, usually a valve
Manipulated Variable

1.5

0.5

0
0 5 10 15 20 25 30 35 40 45 50
Time
 CHAPTER 7: THE FEEDBACK LOOP
Let’s be sure we understand the
variables in the plot. We will see this 1.5

plot over and over and over …!

Controlled Variable
1

0.5

0
0 5 10 15 20 25 30 35 40 45 50
Time

2
Manipulated Variable

1.5

0.5

0
0 5 10 15 20 25 30 35 40 45 50
Time
 CHAPTER 7: THE FEEDBACK LOOP
Set point Change
= IAE = I |SP(t)-CV(t)| dt
1.5
A
B
1

0.5 Return to set point,

B/A = Decay ratio “zero offset
0
0 5 10 15 20 25 30 35 40 45 50
Time
Rise time
2

1.5
C/D = Maximum overshoot of manipulated variable
C
1

0.5 D

0
0 5 10 15 20 25 30 35 40 45 50
Time
 CHAPTER 7: THE FEEDBACK LOOP
Disturbance Response

= IAE = I |SP(t)-CV(t)| dt
0.8

0.6 Maximum CV deviation from set point

0.4

0.2

-0.2
0 5 10 15 20 25 30 35 40 45 50
Time

-0.5

-1

-1.5
0 5 10 15 20 25 30 35 40 45 50
Time
 CHAPTER 7: THE FEEDBACK LOOP
Disturbance Response

Often, the process is subject to many large and small

disturbances and sensor noise. The performance
measure characterizes the variability.
S-LOOP plots deviation variables (IAE = 5499.9786)
20
Controlled Variable

10
Variance or
0
standard
-10 deviation of CV
-20
0 100 200 300 400 500 600 700 800 900 1000
Time

20
Manipulated Variable

10
Variance or
0
standard
-10 deviation of MV
-20
0 100 200 300 400 500 600 700 800 900 1000
Time
 CHAPTER 7: THE FEEDBACK LOOP

Class exercise: For each of the performance measures

below, determine a good value, i.e., large/small,
positive/negative, etc.

• Offset • MV overshoot
• IAE • Maximum CV
deviation
• Decay ratio
• CV variance
• Rise time
• MV variance
• Settling time
Can we achieve good values for all at the same time?
What are the tradeoffs?
 CHAPTER 7: THE FEEDBACK LOOP
• To reduce the variability in the CV,
we increase the variability in the MV.
• We must design plant with MV’s 20

Controlled Variable
that can be adjusted at low cost. 10

-10

-20
0 100 200 300 400 500 600 700 800 900 1000
Time

20
Manipulated Variable

10

-10

-20
0 100 200 300 400 500 600 700 800 900 1000
Time
 Class exercise: Comment on the quality of control for the
four responses below.
S-LOOP plots deviation variables (IAE = 17.5417) S-LOOP plots deviation variables (IAE = 43.9891)
1.5 3

1 2
Controlled Variable

Controlled Variable
0.5 1

0 A 0
B
-0.5
0 20 40 60 80 100 120 -1
0 20 40 60 80 100 120
Time
Time

2
4

1.5
Manipulated Variable

Manipulated Variable
1
2
0.5
1
0
0
-0.5
0 20 40 60 80 100 120 -1
Time 0 20 40 60 80 100 120
Time
S-LOOP plots deviation variables (IAE = 34.2753) S-LOOP plots deviation variables (IAE = 24.0376)
1.5 1.5
Controlled Variable

1 1

Controlled Variable
0.5 0.5

0 C 0 D
-0.5 -0.5
0 20 40 60 80 100 120 0 20 40 60 80 100 120
Time Time

1 1.5
Manipulated Variable

1
Manipulated Variable

0.5

0.5

0
0

-0.5 -0.5
0 20 40 60 80 100 120 0 20 40 60 80 100 120
Time Time
 CHAPTER 7: THE FEEDBACK LOOP

We can apply feedback via many approaches

1, No control - The variable responds to all inputs, it
“drifts”.
2. Manual - A person observes measurements and
introduces changes to compensate, adjustment
depends upon the person.
3. On-Off - The manipulated variable has only two
states, this results in oscillations in the system.
4. Continuous, automated - This is a modulating control
that has corrections related to the error from desired.
5. Emergency - This approach takes extreme action
(shutdown) when a dangerous situation occurs.
 CHAPTER 7: THE FEEDBACK LOOP, WORKSHOP 1

The control valve is used to

introduce a variable resistance to
flow.
• What is the body of the valve?
• Describe three bodies and what
factors are important in selecting.
• What is the actuator?
• What power source is used? What
happens when the power source
fails?
 CHAPTER 7: THE FEEDBACK LOOP, WORKSHOP 2
Recommend the correct failure position (open or closed) for each of the
circled control valves.
PI
1

AT PI
1 4

FT
1 TI
PI
1
5
TI
5
TI
2

TI
6
PT
1

TI
3
TI
7 TI TI
TI 9 10
4

FT TI
FI
2 8 TI
3
11

PI PI PI
2 3 6
 CHAPTER 7: THE FEEDBACK LOOP, WORKSHOP 3
Find at least one variable that could be handled by each of the five
approaches; no control, manual, on/off, continuous, and emergency.
PI
1

AT PI
1 4

FT
1 TI
PI
1
5
TI
5
TI
2

TI
6
PT
1

TI
3
TI
7 TI TI
TI 9 10
4

FT TI
FI
2 8 TI
3
11

PI PI PI
2 3 6
CHAPTER 7: THE FEEDBACK LOOP, WORKSHOP 4

Select several pairs of controlled and manipulated

variables for the following process.
vS
F CA0
Solvent

Pure A CA
vA A→ B
T
V

TCout vc

FC TCin
CHAPTER 7: THE FEEDBACK LOOP

When I complete this chapter, I want to be

able to do the following.

• Identify the major elements in the feedback loop

• Select appropriate candidate variables to be
controlled and manipulated
• Evaluate the control performance data using
standard measures of dynamic performance

Lot’s of improvement, but we need some more study!

• Read the textbook
• Review the notes, especially learning goals and workshop
• Try out the self-study suggestions
• Naturally, we’ll have an assignment!
 CHAPTER 7: LEARNING RESOURCES

• SITE PC-EDUCATION WEB

- Instrumentation Notes
- Interactive Learning Module (Chapter 7)
- Tutorials (Chapter 7)
 CHAPTER 7: SUGGESTIONS FOR SELF-STUDY
1. Find a sample process in each of your previous courses
and select a pair of controlled and manipulated
variables
- Heat Transfer (heat exchanger)
- Fluid Mechanics (flow in a pipe
- Mass Transfer (stripper, distillation)
- Reaction Engr. (packed bed reactor)

2. Compare the measures of control performance in this

chapter with the seven control objectives given in
Chapter 2.

3. Describe the actions you would take if you measured a

disturbance and did not want to wait for feedback
corrections.