PROCESS DYNAMICS AND CONTROL

Class : B.E. Chemical

Pravara Rural Engineering College, Loni

Dr. Sunil A. Misal

 VISION AND MISSION OF THE INSTITUTE

 Vision:
 Enrich the youth with skills and values to enable them to contribute in the
development of society; nationally and globally.

 Mission:
 To provide quality technical education through effective teaching-learning and
research to foster the youth with skills and values to make them capable of
delivering significant contribution in local to global development.
 VISION AND MISSION OF THE DEPARTMENT

 Vision:
 The department is committed to provide quality technical education to students
in the field of Chemical engineering to meet the global expectations of industry
and society.
 Mission:
 To prepare the students to hold authority in Chemical Engineering, pursue
their education through advanced study & endow to the betterment of society.
PROGRAM OUTCOMES
 PROGRAM OUTCOMES

1. Engineering knowledge: 7. Environment and sustainability:

2. Problem analysis: 8. Ethics:
3. Design/development of solutions: 9. Individual and team work:
4. Conduct investigations of complex 10. Communication:
problems: 11. Project management and finance:
5. Modern tool usage:
12. Life-long learning:
6. The engineer and society:
 PROGRAM EDUCATIONAL OBJECTIVES (PEOS)

Graduates would demonstrate ability to,

 PEO1: To impart strong knowledge of fundamentals to the students so that they can
be good practicing engineers in Chemical Engineering.

 PEO2: To teach basic concepts, knowledge through experimentation, scientific

literature & prediction of system behavior by models & simulations.

 PEO3: To develop overall personality, inculcate team spirit & capability of

shouldering responsibility of nation building.
 PROGRAM SPECIFIC OUTCOMES

 PSO1: Apply the knowledge of basic science and basic courses of the Chemical
Engineering in industry.

 PSO 2: Acquire the skills of design and analysis of the Chemical process or system
to meet the desired needs within the practical limits.

 PSO3: Ability to use the innovative techniques, skills and modern engineering tools
necessary to industry and society.
MAPPING OF COURSE OUTCOMES TO POS AND PSOS

CO-PO CORRELATION MATRIX

PROGRAM OUTCOMES (POs) PSO
COs PO PO PO PSO PSO PSO
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9
10 11 12 1 2 3
1 3 1 1 3
2 2 2 3 1 1 1 2 1
3 2 2 2 1 1 1 1 2 1
4 2 1 1 2 1 1 1 2
 COURSE OUTCOMES (COS)

After successful completion of this course, students will be able to:

Course Bloom’s Taxonomy

Statements
Outcome Level Descriptor
1 Understand the fundamentals of process Understand
2
dynamic and control
2 Design of feedback control systems. 3 Design
3 Carry out Stability Analysis of feed-back Analysis
4
systems.
4 Application of advanced control 3 Application
 COURSE OBJECTIVES:

1. Understand the fundamentals of process dynamic and control

2. Design of feedback control systems.
3. Carry out Stability Analysis of feed-back systems.
4. Application of advanced control
 COURSE EVALUATION

 Theory- 100 Marks (Insem: 30 Marks; Endsem: 70 Marks)

 Practical Exam- 50 Marks
 MODULE- 1

 Fundamentals of Process Dynamic

and Control
 MODULE- 1: OVERVIEW
 In the processing industry, controllers play a crucial role in keeping our plants running—virtually
everything from simply filling up a storage tank to complex separation processes, and to chemical
reactors.
 In this module, introduction on the importance of process dynamics and control required is
discussed.
 The mathematical tools such as Laplace transform, Inverse Laplace transform, Initial, final value
and translation theorems are discussed with examples. The application of these mathematical
tools for process control is also elaborated.
 Mathematical model is written based on the knowledge of the physics and chemistry of the
process of interest. A mathematical model of a process is a set of differential, integro -differential
and algebraic equations whose solution provides the static and dynamic characteristics of the
process.
 Mathematical models can be useful in all phases of chemical engineering, from research and
development to plant operations, and even in business and economic studies.
 MODULE- 1: OVERVIEW
 The main justification for study of process dynamics prior to process control is due to the simple
fact that to succeed in forcing a system to behave in a desired fashion, one must first understand
the inherent, dynamic behavior of the system by itself, without assistance or interference from the
controller.
 The task of designing effective control systems can best be carried out only if it is based on the
understanding of its inherent process dynamics.
 In this module, the dynamic response of process systems with help of linear models especially
lower order models is understood.
 MODULE-1 UNITS

1. Objectives of Chemical Process Control

2. Mathematical Modeling
3. First Order system
4. Second order System
 LEARNING MATERIAL

Objectives of Chemical Process Control social conditions in the presence of ever-changing

external influences (disturbances).
 A chemical plant is an arrangement of processing
units (reactors, heat exchangers, pumps, distillation
columns, absorbers, evaporators, tanks, etc.), Among such requirements are the following:
integrated with each other in a systematic and
rational manner. 1. Safety:

 The plant's overall objective is to convert certain 2. Production specifications:

raw materials (input feedstock) into desired 3. Environmental regulations:
products using available sources of energy, in the
most economic, way. 4. Operational constraints:

 During its operation, a chemical plant must 5. Economics:

satisfy several requirements imposed by its
designers and the general technical, economic and
CONTROL SYSTEM TO SATISFY THREE GENERAL CLASSES OF NEEDS

1. Suppress the influence of external disturbances,

2. Ensure the 'stability of a chemical process, and
3. Optimize the performance of a chemical process.

Let us examine these needs using various examples.

1. Suppress the influence of external disturbances

Fig: 1.1
2. ENSURE THE STABILITY OF A PROCESS

Fig: 1.2 Fig: 1.3

 3. OPTIMIZE THE PERFORMANCE OF A CHEMICAL PROCESS.

• The economic objective for the operation of the batch

reactor is to maximize the profit over a period of time.
• Maximize profit = {[Revenue from the sales of product
B]- [cost of purchasing A + cost of steam]}dt.
• The question is how should we vary steam flowrate with
time so that the profit is maximized.
• Therefore, a control system is needed which will: (a)
compute the best steam flowrate for every time during
the reaction period and (b) will adjust the steam valve so
that the steam flowrate takes its best possible value as
computed above in (a).
• Such problems as the above are known as optimal
control problems.
FIG: 1.4 CSTR CONTROL
 DESIGN ASPECTS OF A PROCESS CONTROL SYSTEM

 The variables (flowrates, temperatures, pressures, concentrations, etc.) associated

with a chemical process are classified into:
 A) Input variables, which denote the effect of the surroundings on a chemical process,
and
 B) output variables, which denote the effect of the process on the surroundings.
The input variables can be further classified into the following categories:
1. Manipulated (or adjustable) variables, if their values :can be adjusted freely by the
human operator or a control mechanism and
ii. disturbances, if their values are not the result of adjustment by an operator or a
control system.
Example of I/P-O/P variables:
For the tank heater system shown in Fig ;
the inputs Fi and Ti are disturbances,
while Fs is manipulated inputs.

The output variables F and T can be measured

easily and they are considered measured
output.
 ELEMENTS OF THE DESIGN OF A CONTROL SYSTEM

1. Define Control Objectives:

2. Select Measurements:
3. Select Manipulated Variables:
4. Select the Control Configuration:
Three basic types of Control Configurations are:
a. Feedback Control
b. Inferential Control
c. Feedforward Control
Feedback Control
INFERENTIAL CONTROL LOOP
 Feedforward Control Configuration

Disturbance
Set Point Controller

Measured O/p
Process
Manipulating
variable
 MATHEMATICAL MODELING OF CHEMICAL PROCESSES

 In order to analyze the behavior of a chemical process, we need a mathematical

,expression of the physical and chemical phenomena taking place in it.. Such a
mathematical representation constitutes the model of the system, while the
activities leading to the construction,, of these model will be, referred as modeling.

 Uses of Mathematical Modeling

• To improve understanding of the process

• To optimize process design/operating conditions

• To design a control strategy for the process

• To train operating personnel

 A Systematic Approach for Developing Dynamic Models

1. State the modeling objectives and the end use of the model.
2. Draw a schematic diagram of the process and label all process variables.
3. List all of the assumptions that are involved in developing the model.
4. Write appropriate conservation equations (mass, component, energy, and so forth).
5. Introduce equilibrium relations and other algebraic equations (from thermodynamics,
transport phenomena, chemical kinetics, equipment geometry, etc.).
6. Perform a degrees of freedom analysis to ensure that the model equations can be
solved.
7. Simplify the model.
TYPES OF FORCING FUNCTIONS
 FIRST ORDER SYSTEMS

 A first-order system is one whose output, y(t), is

modeled by a first order linear differential equation.
 Consider the tank shown in Fig. The volumetric
(vol/time) flow in is Fi and the outlet volumetric flowrate
is Fo. In the outlet stream there is a resistance to flow
such as a pipe, valve, wire, etc. Assume that the effluent
flowrate F is related linearly to the hydrostatic pressure
of the liquid level h, through the resistance R, i.e.
At any time point, the tank has the capacity to store mass. The total mass balance gives:

…………[1]

fi-f …… [2]

fi- …… [3]
 R.fi ……..[4]

At Steady State R.fis …… [5]

R.Fi …… [6]

h-hs and Fi= fi - fis …… [7]

Kp.Fi …… [8]

AR and Kp= R
 Kp.Fi …… [8]

After Taking Laplace Transformation of above equation

Kp.Fi(s) …… [9]

After Rearranging the above equation

…… [10]

Equation 10 is called Transfer Function of the process.

 PURE CAPACITIVE SYSTEM

 Consider the tank discussed in Example

with the following difference, "The effluent
flowrate Fo is determined by a constant-
displacement pump and not by the
hydrostatic pressure of the liquid level h.
 In such case the total mass balance around
the tank yields.
\

MERCURY THERMOMETER
 SECOND ORDER SYSTEM

 A second-order system is one whose output, y(t), is described by the solution of a second-order
differential equation. For example, the following equation describes a second-order system:
 Systems with second or higher-order dynamics can arise from several physical situations. These can be
classified into three categories:
1. Multicapacity Processes, i.e. processes which consist of two or more capacities (first-order
systems) in series, through which material or energy must flow.
2. Inherently Second-Order Systems, like the fluid or mechanical solid components of a process
which possess inertia and are subjected to acceleration. Such systems are rare in chemical processes.
3. A Processing System With Its Controller, may exhibit second or higher order dynamics. In such
cases, the controller which has been installed on a processing unit introduces additional dynamics
which when together with the dynamics of the unit, give rise to second or higher-order behavior.
 Interacting vs. Non-interacting Systems
Chapter 6

Fig. 2 Two tanks in series whose

liquid levels interact.
Fig 1. A non-interacting system two surge
tanks in series.
38
 Inherently Second order Systems

Fig. 2
Pneumatic Valve
Chapter 6

Fig 1. U-Tube Manometer

39

Fig. 3: Damped Oscillator

SECOND ORDER SYSTEM DYNAMIC RESPONSE
 Under damped Response

 1. Overshoot: Is the ratio A/B, where B is the ultimate value of the response and A is the maximum
amount by which the response exceeds its ultimate value.
 2. Decay Ratio: Is the ratio C/A, i.e. the ratio of the amounts above the ultimate value of two successive
peaks. The decay ratio can be shown to be related to the damping factor through the equation
 3. Period of Oscillation
 4. Rise Time:
 5. Response Time
EFFECT OF DAMPING FACTOR ON OVERSHOOT AND DECAY RATIO
 MODULE-1: QUESTION BANK
Q.1 What is a mathematical model of a physical process and what do we mean when we talk about mathematical
modeling?
Q.2 Discuss the incentives for Chemical process control
Q.3 What are the state variables and what are the state equations? What are they used for?
Q.4 What are the design elements of control system? Explain with examples.
Q.5 Derive the Input-output model for stirred tank heater system
Q.6 Derive the transfer function and time domain equation for a pure Capacitive process subjected to unit step input.
Sketch the dynamic response of the same.
Q.7 A thermometer showing steady state temperature of 250 C is suddenly immersed into a hot bath at 1000 C. If the time
constant of thermometer is 5 sec, determine the following;
1. Thermometer reading after 5 sec. 2. Time required reading 750C on Thermometer.
3. Time required for 75% response.
Q.8 Define modeling and derive the Input-output model for CSTR.
Q.9 Discuss the history and importance of Chemical process control.
Q.10 Derive the transfer function for damped oscillator / vibrator system. Comment on type of dynamic response of the
system.
Q.11 Discuss the characteristics of underdamped response. Sketch the overshoot and decay ratio versus damping factor ξ if
damping factor ξ is varied from 0 to 1.
Q.12 Define second order system and derive the transfer function for non-interacting tanks system. Comment on type of
dynamic response of the system.
Q.13 A second order process with following transfer function is subjected to unit step change in input. Determine the
damping factor ξ and the ultimate value of response
Q.14 Derive the transfer function for U-Tube manometer.
 MODULE-2

 Design of feedback control systems

 MODULE-2 OVERVIEW

 The fundamental premise of process control is that the natural response of all dynamic processes can
be modified by the influence of a controller.
 The objective is therefore to design and implement the controller so that the dynamic closed loop
response of the process is modified to some desired form.
 However, the extent to which the process response can be modified will usually be determined by our
knowledge of the intrinsic process characteristics, by the versatility of the hardware elements available
for implementing the controller, and by nature of the inherent process limitations.
 The previous module provided the focus for understanding the intrinsic process characteristics. Utilizing
this knowledge in conjunction with design process controller is dealt in this module.
 The main objective of this module is to understand feedback control system. The concept of feedback
control is introduced and the elements of the control loop are discussed.
 The development of closed loop block diagram and transfer function for both disturbance rejection and
set point tracking is provided. They are used to investigate the dynamic behavior of feedback systems
using transient response analysis for various controllers.
 MODULE-2 UNITS

1. Classical controllers – P, PI, PD, PID and ON- OFF controllers

2. Concept of feed-back control system
3. Block diagram reduction of complicated control systems
4. Dynamic behavior of feed-back control processes
 LEARNING MATERIAL

PID CONTROLLER
 LEARNING
PID CONTROLLER MATERIAL
OPEN LOOP RESPONSE

𝐺𝑠=𝐶(𝑠)∈(𝑠)=𝐾c
CONCEPT OF FEED-BACK CONTROL SYSTEM
 BLOCK DIAGRAM REDUCTION OF
COMPLICATED CONTROL SYSTEMS
 BLOCK DIAGRAM REDUCTION OF
Step-1
COMPLICATED CONTROL SYSTEMS

Step-2
 BLOCK DIAGRAM REDUCTION OF
COMPLICATED CONTROL SYSTEMS
Step-3

Step-4
Step-5

Step-5

Step-6
CLOSED LOOP TRANSFER FUNCTION

Fig: Closed-Loop
 Servo Problem

Regulatory Problem
 MODULE-2: QUESTION BANK

Q.1 Define P, I & D controller and derive their transfer functions. Discuss their open loop response.
Q.2 A first order process with following transfer function is controlled by P controller. Assuming servo
problem and neglecting the dynamics of final control element and measuring instrument
i.e. Gf(s) = Gm(s) = 1;
1
The open loop process is Gp ( s ) 
Determine the following; s 1
i. Closed loop transfer function
ii. Order of response
iii. Closed loop gain and time constant
iv. Offset.

Q.3 Derive the open loop transfer function for P and PI controller and sketch the unit step response.
Q.4 Derive the closed loop transfer function and discuss the servo and regulatory problem.
 MODULE: 3

• Stability Analysis of feed-back systems

 MODULE-3 OVERVIEW
 The stability analysis for the closed loop requires amplitude (amplitude ratio, AR) and the out of phase
investigating the roots of the characteristic equation. by φ degrees from the input wave, i.e., phase lag is
important. The main concern of frequency response
 Thus, closed loop stability requires all closed loop
is how these quantities (AR and φ) vary with
poles to lie of left half plane just as open loop
frequency, ω.
stability requires all open loop poles to lie on left half
plane.  The dynamic behavior of the linear process system is
entirely characterized by the Bode diagram (AR vs ω,
 An algebraic method provided by Routh can be used
φ vs ω). The frequency response of the system
for analyzing the stability for systems with polynomial
provides direct information about the entire transfer
characteristic equations. A plot of the entire plot of
function, G(jω) .
the spectrum of values taken by each root of this
characteristic equation as KC varies from zero to  Thus, the frequency response plays an important role
infinity is known as the root locus. This offers an in the analysis and design of feedback control
insight in to the closed loop behavior of the system. systems. The design of controller using Bode and
Nyquist stability criterion is also introduced.
 The response to a sinusoidal input given is also a sine
wave. The investigation of ratio of output and input
 MODULE-3 UNITS

1. Notion of stability, Characteristic equation

2. Routh-Hurwitz criteria, Root locus
3. Controller tuning
4. Frequency response
5. Bode stability criteria, Gain margin, Phase Margin,
6. Nyquist Stability criteria,
 LEARNING MATERIAL

THE CHARACTERISTIC EQUATION

The stability characteristics of the closed-loop response will be determined by the poles of
the transfer functions Gsp and Gload. These poles are common for both transfer functions
because they have common denominator and are given by the solution of the following
equation;

Equation ) is called the characteristic equation for the generalized feedback system
THE ROUTH-HURWITZ CRITERION FOR STABILITY
Routh Array
 ROOT LOCUS
• Consider a unity feedback control system shown
below.
K
R(s) C (s )
s 1

• The open loop transfer function G(s) of the system

is G(s)  K
s 1

• And the closed transfer function is

C ( s) G( s) K
 
R( s ) 1  G ( s ) s  1  K
 Introduction
• Location of closed loop Pole for different values of K
(remember K>0). C (s) K

R( s ) s  1Pole-Zero
 K Map
K Pole 1

0.5 -1.5
1 -2 0.5

2 -3 Imaginary Axis
0
3 -4
5 -6
-0.5
10 -11
15 -16
-16 -14 -12 -10 -8 -6 -4 -2
 How to Sketch root locus?
• The root locus is the path of the roots of the
characteristic equation traced out in the s-
plane as a system parameter varies from zero K Pole
to infinity 0.5 -1.5
• One way is to compute the roots of the 1 -2
2 -3
characteristic equation for all possible values of
3 -4
K.
5 -6
C ( s) K
 10 -11
R( s ) s  1  K
15 -16
 Construction of Root Loci
• Finding the roots of the characteristic equation of degree higher than 3 is
laborious and will need computer solution.

• A simple method for finding the roots of the characteristic equation has been
developed by W. R. Evans and used extensively in control engineering.

• This method, called the root-locus method, is one in which the roots of the
characteristic equation are plotted for all values of a system parameter.

• The roots corresponding to a particular value of this parameter can then be

located on the resulting graph.

• By using the root-locus method the designer can predict the effects on the
location of the closed-loop poles of varying the gain value or adding open-loop
poles and/or open-loop zeros.
 Construction of root loci
• Step-1: The first step in constructing a root-locus plot is to locate the
open-loop poles and zeros in s-plane. 1
Pole-Zero Map

0.5

Imaginary Axis
0

-0.5

K
G( s) H ( s) 
s(s  1)(s  2) -1
-5 -4 -3 -2 -1 0 1 2
Real Axis

The angle is  s  (s  1)  (s  2)

 Construction of root loci
• Step-2: Determine the root loci on the real axis.
• To determine the root loci on 1
Pole-Zero Map

real axis we select some test

points.
0.5
• e.g: p1 (on positive real axis).

Imaginary Axis
0 p1

• The angle condition is not -0.5

satisfied.
-1
-5 -4 -3 -2 -1 0 1 2
• Hence, there is no root locus on Real Axis
the positive real axis.
 Construction of root loci
• Step-2: Determine the root loci on the real axis.
• Next, select a test point on the negative Pole-Zero Map
real axis between 0 and –1. 1

• Then
0.5

Imaginary Axis
• Thus 0 p2

-0.5

• The angle condition is satisfied.

Therefore, the portion of the negative -1
-5 -4 -3 -2 -1 0 1 2
real axis between 0 and –1 forms a Real Axis
portion of the root locus.
 Construction of root loci
• Step-2: Determine the root loci on the real axis.
• Now, select a test point on the Pole-Zero Map
negative real axis between -1 and 1
–2.
• Then
0.5

Imaginary Axis
• Thus 0
p3

-0.5

• The angle condition is not

satisfied. Therefore, the negative -1
real axis between -1 and –2 is not -5 -4 -3 -2 -1 0 1 2

a part of the root locus. Real Axis

 Construction of root loci
• Step-2: Determine the root loci on the real axis.
Pole-Zero Map
1

• Similarly, test point on the negative

real axis between -2 and – ∞ 0.5
satisfies the angle condition.

Imaginary Axis
0
• Therefore, the negative real axis p4

between -2 and – ∞ is part of the

-0.5
root locus.

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-2: Determine the root loci onMap
Pole-Zero the real axis.
1

0.5
Imaginary Axis

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci. That is, the root loci when s
is far away from origin.
Asymptote is the straight line approximation of a curve

Ψ Actual Curve
Asymptotic Approximation
𝜎

𝜎 𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 𝑜𝑓 𝐴𝑠𝑦𝑚𝑝𝑡𝑜𝑡𝑒𝑠
Ψ 𝐴𝑛𝑔𝑙𝑒 𝑜𝑓 𝐴𝑠𝑦𝑚𝑝𝑡𝑜𝑡𝑒𝑠
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
 180(2k  1)
Angle of asymptotes   
pz
• Where
• p-----> number of poles
• z-----> number of zeros

K
• For this Transfer Function G( s) H ( s) 
s(s  1)(s  2)
𝐾 𝐾
𝑎𝑝𝑝𝑜𝑎𝑐ℎ𝑒𝑠 𝑤ℎ𝑒𝑛 𝑠 𝑖𝑠 𝑙𝑎𝑟𝑔𝑒,
𝑠(𝑠 + 1)(𝑠 + 2) 𝑠+1 3
𝑎𝑛𝑔𝑙𝑒 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛 𝑖𝑠 − 3∠𝑠 + 1 = ±180°(2𝑘 + 1)
 180(2k  1)

30
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
 180(2k  1)
  60 when k  0 
30
 180 whenk  1
 300 whenk  2
 420 whenk  3

• Since the angle repeats itself as k is varied, the distinct angles

for the asymptotes are determined as 60°, –60°, and 180°.
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.

• Before we can draw these asymptotes in the complex plane, we need to

find the point where they intersect the real axis.
• Point of intersection of asymptotes on real axis (or centroid of
asymptotes) is
 poles   zeros

pz

3
G( s) H ( s) 
K   1
s(s  1)(s  2) 3
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
Pole-Zero Map
1

0.5

  60 ,60 , 180

Imaginary Axis
180 60

  1
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-4: Determine the breakaway/break-in point.
Pole-Zero Map
• The breakaway/break-in 1

point is the point from

which the root locus 0.5
branches leaves/arrives
real axis.

Imaginary Axis
0

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.

• The breakaway or break-in points can be determined from the roots of

dK
0
ds
• It should be noted that not all the solutions of dK/ds=0 correspond to actual
breakaway points.

• If a point at which dK/ds=0 is on a root locus, it is an actual breakaway or break-

in point.
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.

• The characteristic equation of the system is

K
1  G( s) H ( s)  1  0
s( s  1)(s  2)

K
 1
s( s  1)(s  2)

K  s(s  1)(s  2)

• The breakaway point can now be determined as
  s ( s  1)(s  2)
dK d
ds ds
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.

  s ( s  1)(s  2)
dK d
ds ds
dK
ds

d 3
ds

s  3s 2  2 s 
dK
 3s 2  6 s  2
ds
• Set dK/ds=0 in order to determine breakaway point.
 3s 2  6s  2  0
3s 2  6s  2  0

s  0.4226
 1.5774
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.
s  0.4226 G( s) H ( s) 
K
s(s  1)(s  2)
 1.5774
• Since the breakaway point needs to be on a root locus between 0 and –1,
it is clear that s=–0.4226 corresponds to the actual breakaway point.
• Point s=–1.5774 is not on the root locus. Hence, this point is not an actual
breakaway or break-in point.
 Construction of root loci
• Step-4: Determine the breakaway point.
Pole-Zero Map
1

0.5

s  0.4226
Imaginary Axis
180 60
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-4: Determine the breakawayPole-Zero
point.Map
1

0.5

Imaginary Axis
s  0.4226
0

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-5: Determine the points where root loci cross the imaginary axis.
Pole-Zero Map
1

0.5
Imaginary Axis

180 60
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
 Construction of root loci
• Step-5: Determine the points where root loci cross the imaginary axis.

• Let s=jω in the characteristic equation, equate both the real part and the
imaginary part to zero, and then solve for ω and K.

• For present system the characteristic equation is

s 3  3s 2  2s  K  0

( j )3  3( j ) 2  2 j  K  0

( K  3 2 )  j (2   3 )  0
 Construction of root loci
• Step-5: Determine the points where root loci cross the imaginary axis.

( K  3 2 )  j (2   3 )  0

• Equating both real and imaginary parts of this equation to zero

(2   3 )  0

• Which yields ( K  3 2 )  0
 Frequency Response of System
When a linear system is subjected to a sinusoidal input, its ultimate response (after a long time)
is also a sustained sinusoidal wave

Input output
Input
Amplitude Amplitude
Wave

output
Wave

Amplitude Ratio and Phase Lag

 Bode Diagrams
• A special graph, called the Bode diagram or Bode plot, provides a
convenient display of the frequency response characteristics of a
transfer function model. It consists of plots of AR and as a function
of . φ
• Ordinarily,  is expressed in units of radians/time.
Bode Plot of A First-order System
Recall:
1
AR N  and φ   tan 1  ωτ 
ω2 τ 2  1
 At low frequencies (ω  0 and ω 1) :
AR N  1 and   

 At high frequencies (ω   and ω 1) :

AR N  1/ ωτ and   
Figure Bode diagram for a first-order process.
96
Figure Bode diagram for a time delay, . e θs 97
 Frequency Response Characteristics of
Feedback Controllers
Proportional Controller. Consider a proportional controller with positive gain

Gc  s   Kc (13-57)
In this case , which is independent of . Therefore,

Gc  jω   Kc

AR c  K c (13-58)
and

φc  0 (13-59)

98
 PI Controller

 1   τI s 1 
Gc  s   K c 1    Kc   (13-60)
 τ I 
s τ
 I  s
Substitute s=j:

 1   jτ I  1   1 
Gc  j  K c 1    Kc    Kc 1  j
 τ I j   j τ I   τI  
Thus, the amplitude ratio and phase angle are:

1  ωτ I  2
1
AR c  Gc  jω   K c 1   Kc (13-62)
 ωτ I  2 ωτ I

φc  Gc  jω  tan 1  1/ ωτ I   tan 1  ωτ I   90 (13-63)

99
ᾠ AR/Kc ᶿ

0 ∞ -900

1 1 -450

∞ 1 00

 10 s  1 
Figure Bode plot of a PI controller, Gc  s   2  
 10 s 
100
Figure : Bode plots of an ideal PD
controller and a PD controller with
derivative filter.
Idea:
With Derivative Filter:

Gc  s   2  4s  1

 4s  1 
Gc  s   2  
 0.4 s  1 

101
  Bode plots of an ideal PD controller

ᾠ AR/Kc ᶿ
0 1 00

1 1 450

∞ ∞ 900

102
 Nyquist Diagrams
Consider the transfer function

1
G s  (13-76)
2s  1
with

1
AR  G  jω   (13-77a)
 2ω   1
2

and

φ  G  jω   tan 1  2ω  (13-77b)

103
Figure :The Nyquist diagram for G(s) = 1/(2s + 1) plotting and

Re  G  jω  Im  G  jω  .
104
 Gain and Phase margin
Consider the Bode plots for the open-loop transfer function of a feedback System.
The two important features of these plots are;
-the crossover frequency ᾠ where Ø = -180" and
- the point where AR = 1.
Let M be the amplitude ratio at the corssover frequency
According to the Bode criterion
- If M~1 the closed-loop system is stable and
- if M>l it is unstable.
Define,
Gain Margin = l/M
Then, for a stable system, M<l and
Gain Margin > 1
Phase Margin=180- Ø1
105
 Stability Criteria in Frequency analysis

AR

Ø = -180

106
 Gain and Phase margin

Ø1

107
 Nyquist Plot

Thus, as the
frequency varies
from 0 to ∞ we
trace the whole
length of the
Nyquist plot and we
find the
corresponding values
for the AR
and phase shift Ø.

108
Nyquist plot of PD Controller

ᾠ AR/Kc ᶿ
0 1 00

1 1 450

∞ ∞ 900

109
 MODULE: 3. QUESTION BANK
Q.1 Define stability of the process and discuss Characteristic equation and Routh-Hurwitz criteria for
stability.
Q.2 Draw the root locus diagram for the system with following transfer function; Kp
Gp ( s) 
ss  1s  2

Q.3 Draw the root locus diagram for the system with following transfer function; 1
Gp ( s) 
s  52
Q.4 What is the major advantage of the Routh-Hurwitz criterion for examining the stability of a system?

Q.5 If a closed-loop response is stable with respect to changes in the set point, is it stable to changes in the load? If yes,
why?
Q.6 How does the pole location determine the stability of an uncontrolled or controlled process?

Q.7 What conclusions can be drawn if one element in the first column of the Routh array is zero?

Q.8 Define what is known as bounded input, bounded output stability.

Q.9 What is meant by controller tuning
Q.10 Discuss the Ziegler Nichols Method of controller tuning
Q.11 What means could you use to represent the results of the frequency response analysis for a dynamic system

Q.12 Sketch the Bode diagram for the given first order system 1
Gp ( s) 
5s  1
Q.13 Sketch the Nyquist diagram for PD controller.
Q.14 Sketch the Bode diagram for PD controller
Q.15 Sketch the Nyquist diagram for PI controller
Q.16 Sketch the Bode diagram for PI controller
Q.17 Discuss the following;
 Gain margin & phase margin.
 Nyquist stability criteria.

Q.18 Define controller tuning and discuss the Time integral performance criteria
And process reaction curve method for tuning of controller.

Q.19 Compare the Bode and Nyquist Stability Criterion with suitable example
 MODULE: 4.

• Application of advanced control

 MODULE-4 OVERVIEW

 It is well recognized that feedback  Systems with large capacity (large time
controllers designed with tools discussed in constant/transfer lag) or connected multiple
the previous module may produce poor capacities or any other form of lags.
performance due to certain characteristics in
 Hence, in this module, the following
their dynamic nature or due to unavailability
techniques to mitigate the problems
of quality in the manipulated variables/utility.
indicated above are discussed.
 In order to provide better controller
1. Feed forward control
performance, the following characteristics of
the process are analyzed. 2. Cascade control
 Large time delay of the process 3. Selective Control
 Inverse response arising due to RHP zeros 4. Ratio Control
 MODULE-4 OVERVIEW

 A system is called a multivariable system if it has more than one variable to be controlled.
 Multivariable systems can be found almost everywhere. In the office, the temperature and
humidity are crucial to comfort. Similarly, water level and flow rate are two key measures of a
river.
 A number of examples in chemical engineering could be found for multivariable systems. A few
of them include distillation column, rotary dryer, absorption column, reactor etc.
 A main problem to be addressed in designing the control strategy for multivariable system is
dynamic characteristics called interaction.
 Plantwide control is a holistic approach about integrating process design with process
control at the level of the whole plant. The objective is to ensure a stable and flexible
operation when the plant is affected by various disturbances, including major changes
in the production rate and in the quality of raw materials. .
 MODULE-4 UNITS

 Cascade Control,
 Selective Control
 Split range control systems
 Feed forward control systems
 Ratio Control Systems
 PLC and SCADA
 Plant wide control
CASCADE CONTROL
CASCADE CONTROL SYSTEM FOR CSTR
 SLECTIVE CONTROL SYSTEM

1. Override Control
 SLECTIVE CONTROL SYSTEM

2. Auctioneering Control
Split range control systems
RATIO CONTROLSYSTEM
RATIO CONTROLSYSTEM
PLC AND SCADA
PLANT WIDE CONTROL
 MODULE-4: QUESTION BANK

Q.1 Feedback v/s Feed forward control.

Q.2 Give the Importance of controller tuning.
Q.3 ISE, IAE, ITAE performance criteria
Q.4 Draw a neat sketch and write short notes on Cascade control
Q.5 Draw a neat sketch of Inverse- response systems and explain with suitable examples.
Q.6 Apply the ratio control system to suitable case study.
Q.7 Apply the adaptive control system to suitable case study.
Q.8 Apply the Auctioneering control system to suitable case study.