Submitted By

Vikrant Rana
CH-6276
Index
 Control performance criteria
 Types of controllers
 Selection of controller type
 Computing controller settings by:
 Direct synthesis from reference model
 common performance criteria
 Frequency response
 Time integral performance criteria
 Open loop & closed loop expeimentation
Control Performance Criteria
 Product quality * meet specification
* violation cost
* over satisfaction cost

Quality Determinants

Error amplitude Roll gap control

Error integral Composition control in
Petroleum Refinery
Block diagram for general control system

U C
R + +
+
GC G1 G2
-

H
Controllers
 Relationship  Transfer function
 P type [P(s)/ε(s)]
p=kcε+ps kc
 PI type
P=kcε+ps+∫kcεdt/τI kc(1+1/τIs)
 PID type
kc(1+τDs+1/τIs)
P=kcε+ps+kcτDdε/dt+
∫kcεdt/τI
Selection of Controller Type

P controller
Offset with feasible Kc acceptable
Process model includes integrator so non offset
Liquid level or gas pressure control
PI controller
P controller results in unacceptable offset
Open loop dynamics fast enough so that slow down
in closed loop transient response is acceptable
Flow control
Continued………..
 PID Controller
 Zero steady state offset needed and
not achievable by P controller
 Process open loop response slow, so
additional slow down by PI control unacceptable
 Multi - capacity sluggish process – temperature
or composition control
Computing Controller Settings
 Direct Synthesis from Reference Model
 Process model of sufficient accuracy available
 Closed loop desired behaviour can be described by
reference model
 Analytically controller parameters can be solved from
the above two models
Example
let reference model = 1/(1+Tt)
equating with closed loop process model
y(s)/r(s)=GGt/(1+GGt)

If G=K/(1+T1s)(1+T2s)

Gt(s)=T1+T2/KTt[1+1/(T1+T2)s+T1T2s/(T1+T2)]

A PID CONTROLLER!
Common Performance Criteria
 Step Response Based
 Overshoot
 Rise time
 Settling time
 Decay ratio
 Stability Based
 Gain Margin
 Phase margin
Continued……..
Example

let G= KP/(1+sTP)

GC=KC(1+1/sTI)
Criterion : Quarter Decay Ratio
Since Decay Ratio = exp[-2Πζ /√ (1- ζ 2)]

f(KC,TI)=ln(1/4)
Continued………….
 Another criteria needed to determine KC & TI such
as

 Smallest Overshoot : ∂/∂KC(overshoot)=0

 Solve for KC & TI from above equations

Proportional Band &
Proportional Gain
 PB is defined as the error (expressed as % of the
range of measured variable) required to move valve
from fully closed to fully open

 A frequently used synonym is bandwidth

 PG is inversely proportional to PB
Example
 A pneumatic proportional controller is used to control
temperature with in the range of 60F to 100F.The
controller is adjusted so that the output pressure
goes from 3 psi (valve fully open) to 15 psi (valve
fully closed) as the measured temperature goes from
71 to 75F with the set point held constant.Find the
gain & PB?
Solution
PB= (75F-71F)/(100F-60F)=0.1
%PB=0.1*100=10%
Gain=ΔP/Δε=(15psi-3psi)/(75F-71F)=3psi/F

Now assume that the PB of the controller is changed to

75%.Find the gain & the temp. change necessary to
cause the valve to go from fully open to fully closed?

ΔT=PB*range=.75*40F=30F
Gain=12/30=0.4psi/F
Controller settings from frequency
response

U C
R
GC G1 G2

(block diagram for general control system)

Continued……..
 First plot the Bode diagram for the final control
element, process & measuring element in the series,
 G1G2H(jW)
 Make sure that the controller is omitted from this plot
 Bode stability criteria: A control system is unstable if
the open loop frequency response exhibits an AR
exceeding unity at the frequency for which the phase
lag is 180 degrees. This frequency is called Crossover
frequency
 From the plot note the CROSSOVER frequency Wco
 Open Loop Bode Diagram
for typical control systems

Gain Margin
AR
A

PA

Phase Margin
-180

Wco
W
Continued……….
 According to BC, the gain of proportional Controller
which would cause the system at the verge of
instability is 1/A , denoted as Ku
Ku=1/A

 The ultimate period Pu is defined as the period of

sustained cycling that would occur if a proportinal
controller with gain Ku were used

Pu=2π/Wco
Zeigler-Nichols Controller settings
Controller Gc(s) Kc τI τD

P Kc 0.5Ku - -

PI Kc(1+1/τIs) 0.45Ku Pu/1.2 -

PID Kc(1+τDs+1/τIs) 0.6Ku Pu/2 Pu/8

Merits & Demerits of Bode Criteria
 It applies readily to systems for which the gain &
phase curves decrease continuously with frequency.
 However, if the phase curve appears as in figure, the
more general nyquist criteria must usually be used to
determine stability.
 Fortunately, most process control systems can be
analyzed with the simple BC & it therefore finds wide
application.
Phase behavior of complex system for which bode
criteria is not applicable


0

-180

PA

Frequency
Time Integral Performance Criteria

 Integral Square Error (ISE) = ∫e2(t)dt {limits from 0

to infinity}

 Integral Absolute Error (IAE) = ∫‫׀‬e(t)‫׀‬dt {o to inf.}

 Integral Time Absolute Error (ITAE) =∫t‫׀‬e(t)‫׀‬dt {do}

 ISE : Strongly suppress large error
 IAE : Better for small errors
 ITAE: suppresses long persistence of errors
Continued……..
 More than one criteria may be used with inequality
constraints
 Software is available which perform the related
numerical optimisation from process data
 Controller settings may be obtained from empirical
tuning rules derived based on simple approximate
process models such as first order lag + delay
obtained from OL or CL experiments
 Open loop experimentation:
`
Reactive Curve
K e-std 1) Slope=M
G =
1+sτ 2) τ = K
Output M

td
t
Empirical Tuning rules for PI

Zeigler Nicholas:

KP=100/PB=0.9/Mtd

Ti=3.33 td
Continued…………

Cohen-Coon:

KP=100/PB=1/Mtd(0.9+td/12τ)

Ti=3.33td[1+td/11τ]/[1+11td/sτ]
Continued……
 Single experiment needed

 No trial & error

 For some processes loop cannot be opened

 Determining slope can be difficult with noise

Bibliography
 Process Systems analysis & Control by Donald R.
Coughanowr
 http://www.expertune.com/tutor
 http://en.wikipedia.org/wiki/PID
 www.scribd.com