EXPERIMENT 13

DIGITAL PID CONTROLLER

13.1 OBJECTIVE OF THE EXPERIMENT
a.

To test a proportional controller using square wave input.

b.

To test a Proportional Integral controller using a step input.

c.

To test proportional derivative controller using a sinusoidal input.

d.

To study the gain and time constant of processes.

e.

To study PID controller response

f.

To study closed loop tuning of process

g.

To study the networking of controllers

h.

Cascade control

i.

Feed forward control

j.

Supervisory control

k.

Direct Digital Control

13.2 INTRODUCTION
Frequency response is a measure of the ability of a circuit or a system to respond or transmit
input signals of various frequencies that are applied to it. Frequency response measures the
ability of the device to respond to changes in the input that are changing with respect to time. It
therefore measures the dynamic characteristics of the system as against the first four
experiments in this series that measures the static characteristics like accuracy and resolution of
the device. Frequency response can also be used as a technique for parameter estimation of
unknown system. By determining the frequency response of unknown system we can determine
the order of the system as well as its dynamic parameters like time constant, gain and delay time.
13.2.1 Sinusoidal response of a first order system
Consider a first order system represented by the transfer function,

G ( s)

Y
K

X
s 1

where

217

X,Y

input and output variables respectively, in the Laplace domain

system gain

time constant

Laplace operator

If the input in the time domain x is a sinusoidal signal such that,

X A sin t
then, the corresponding Laplace domain input is given by

A
s 2
2

Substituting and simplifying we can obtain the frequency response of the system. A simpler
method for determining the frequency is to substitute s =j and simpify the resulting complex
function complex function. Using the technique we get,

G ( j )

1
1 j

On rationalizing by multiplying the numerator and denominator by (1-j) and separating the real
and imaginary factors we get

G ( j )

j
2 2
1
1 2 2

The complex numbers in the rectangular form a+jb can be converted to polar form by the
relationships,

a 2 b 2 and angle z tan 1

b
a

Converting into polar form using, we get

218

Amplitue ratio AR

2 1
Phase angle tan 1 ( )
2

The above analysis shows that when the transfer function of a system is known, we can
determine its frequency response by substituting j for s and then after rationalizing the complex
function convert it to the polar form and determine the magnitude and argument (angle) of the
complex number in the polar form. The substitution of j for the Laplace transform operator s is
the result of the De Moivres theorem that relates the exponential functions with trigonometric
functions.
13.2.2 Bode diagrams
The frequency response of s system is presented in the form of the Bode diagrams. For obtaining
the Bode diagram of a system its response at a number of frequencies from = 0 to very large
values of is determined and the AR and determines at each value of . Then log AR is plotted
against log and is plotted against log . These two graphs are called the Bode diagrams of a
system. An example of a theretical Bode diagram of a first order system given by 1/(1+2s) is
given by Figure 13.1.

Figure 13.1 Bode diagram of a first order system (T=2s)

219

From figure 13.1 we can summarise the following characteristics of frequency response of a first
order system.
The bode diagram consists of two graphs:
a.

Logarithm of the AR logarithm of the frequency versus

b.

Phase angle versus logarithm of the frequency

The unit of the frequency is radians/s or Hz. The AR is the output amplitude divided by the input
amplitude. Where the input and output are the same variables and they have the identical
magnitudes when the frequency is 0 then the AR vs f response starts at a value of 1.
However this, may not always be the case. If the input and output are different variables and have
different magnitudes at zero frequency, then the AR f curve will not start at a value of 1. To
ensure that the curve starts at 1, then results are normalized by dividing by AR 0, AR0 is the zero
frequency gain often called DC gain. In literature AR 0 is often plotted as decibels. Decibels and
AR0 are related by the relationship,
Decibels = 20 log10 AR0
Thus an AR0 of 1 corresponds to 0 decibels and AR 0 = 0.1 corresponding to 20 decibels. The
abbreviation for decibel is dB,
At low frequencies the amplitude ratio is nearly 1 as the frequency is increased keeping the input
amplitude constant the output amplitude progressively decreases. This is called the attenuation.
At low frequency the AR is a straight line at o dB. This is called the high frequency asymptote.
The low frequency asymptote and the high frequency asymptote intersect at appoint called the
frequency c. c is related with the time constant T by the relationship, c =1/T where c is in
radians/s and T is in s.
For the first order system the phase lag is zero at low frequencies. As the frequency increases
the phase lag increases and asymptotically reaches a maximum value of 90 deg. There is a
point of inflexion in the - curve. This point of inflexion occurs at =c. We can use the above
properties of the frequency response of a first order system to determine the time constant of
unknown first order system from its experimental frequency response curve.
13.2.3 Response of Higher Order System

220

Consider a system whose transfer function is given by the equation,

G ( s)

1
( s 1)(0.2 s 1)

The equation represent the transfer function of a second order system obtained by combining
two first order systems of time constants 1 and 0.2 respectively. The overall gain of the system is
represented by the numerator and is 1. The frequency response of this second order system can
be obtained as before by substituting j for s and then writing the complex number in the polar
form.
Alternatelt we can combine the frequency response of the two component first order systems to
determine the overall second order system response. The graphical method for combining two
first order system responses to determine the second order response is discussed in
Coughnanowr (1981).A simple method for generating frequency response is to use software like
Matlab. Figure 13.2 is generated using Matlab software. Frequency response of higher order
cascaded like 3rd, 4th and 5th order system can be generated in a similar manner.

Figure 13.2 Frequency response of second order system (T 1 = 1s, T2 = 0.2s)

The response of the 2nd order system as shown in Figure 13.2 satisfies the following conditions.

221

a.

The low frequency asymptote is a horizontal line at AR =1

b.

The high frequency asymptote has a slope of -2

c.

If the c is the frequency at which the two asymptotes intersect and G is the amplitude
ratio of the frequency response curve at this frequency, then the following equations are
satisfied:

T1 T2
T1T2
d.

1
cG

1
c 2

If 1 and 2 are the frequencies at which the phase is -/4 and -/2 respectively, then the
following equations are satisfied:

T1 T2 1 1
2
T1T2

1
2
2

The equation gives us methods for determining the time constants of a second order system from
its frequency response diagrams.
13.2.4 Controllers
The controller used in the present experiment is the YS-170 Microprocessor based controller.
This controller can be used as proportional controller, Proportional Integral Controller,
Proportional Derivative Controller or Proportional Integral Derivative controller. The controller
equations are as follows:

Error , E X R X
Y Kc E

Pr opotional controller :
Pr oportional Integral controller
Pr opotional Derivative controller
Pr opotional Integral Derivative controller

process variable (controlled variable)

XR

setpoint variable

controller output

222

1
Y Kc E
E dt

dE

Y K c E D
dt

1
dE
Y Kc E
E dt D

I
dt

error

Kc

proportional gain

TI

integral time

TD

derivative time

13.2.5 Response of Controlled to different inputs

The proportional controller can be studied by making a square wave input. For a proportional
controller the response to a square wave is shown in Figure 13.3

Figure 13.3 Response of a proportional controller to a square wave input (Proportional gain K c=2)
The response of a Proportional Integral controller to a step input is shown in Figure 13.4

Figure 13.4 Response of Proportional Integral controller to a step input

The proportional derivative controller cannot be tested using a step input. We can use a
sinusoidal input to test the Proportional Derivative controller.

223

The equation of a proportional derivative controller is given by

Y/Kc = TDs+1
Substituting s=j we can determine its frequency response as

Y/Kc = j TD+1
Therefore,

AR

(1 2TD

tan 1 (TD )
A typical response curve of the proportional derivative controller is shown in Figure 15.5. The
value of TD can be determined from the relationship, TD =1/c.

Figure 13.5 Bode diagram of Proportional Derivative controller, T D = 1

13.3 EXPERIMENTAL APPARATUS

224

The equipment required for performing the experiments are shown in Table 12.6.
Table 15.6 Equipment required
Unit name
PID controller
Function generator
Paperless recorder

Model No
Yokogawa Model YS 170
Yokogawa Model FG120
Yokogawa Model DX104

13.3.1 YS170 PID controller

The YS170 controller an able to carry out flexible control and arithmetic operations which are
required for process control and have following features:
i.

Display, setting and operations of I/O value, various constants, and built in control
functions can be controlled easily from the full dot LCD and key switches on the front
panel

ii.

Trend display of process variable (PV) is possible.

iii

The built in adjustable set point filter can provide a better response to set point changes.

iv

Communication functions can be installed to enable easy connection with a distributed

process control system or computer

The self diagnosis function can be used to check the operation of the instrument and the
status of the input and output signal lines.

13.3.2 FG120 Function generator

The FG120 Synthesized Function Generator is used to provide the sinusoidal function required
for testing the system. The model 706012 synthesized function generator can provide voltages in
the frequency range 1 Hz to 2 MHz. It can provide sine, square, tringuler, ramp and pulse
functions. There are two channels which are independent. The output can be adjusted
continuously in the range of 10 V.

225

13.3.3 DX10-4 Paperless recorder

The DX104 Paperless recorder is used to record the result of the testing. The measured data can
also be save to external storage media such as floppy disks, zip disks and ATA flash memory
cards.
The data that have been saved to an external storage medium can be displayed on a PC by
using the standard software that comes with the package. The data can also be loaded onto the
DX104 to be displayed.

226

13.4 PROCEDURE
13.4.1 General outlook of the control panel

227

13.4.2 Equipment connections

Figure 13.7 Equipment Connections

Before the set up of the experiment, please read the following Instruction Manual for the
operation of each button/key function and how to do the data setting.
a)

IM1B7C1-01E model YS170 single loop programmable controller

b)

IM706011-01E Fg120 Synthesized Function Generator

c)

IM04L01A01-01E Model DX104 DAQSTATION DX100.

d)

Appendix in this manual.

13.4.3 Proportional Controller (PB1)

1.

Connect the equipment as shown in Figure 13.7. For the recording device we can use the
LR recorder, X-Y-t plotter or the 2 channel Oscillograph or the paperless recorder. In the
present experiment we will be using the paperless recorder DX104 together with the
recorder software.

228

2.

At the YS170 controller please make sure P01, P02, P03,P04, P05, P06 and P10 (in
Tuning Menu, P&T REG) are set to zero. Also set ACT1 (in ENG.MENU1, CONFIG2) to
DIR (Direct Action

3.

For calibrating the Proportional band (PB1) at YS170 (in Tuning Menu, PID 1), set the
integral time (TI1) to 9999 and derivative time (TD1) to zero.

4.

Choose square wave function at the FG 120 function generator. The frequency is not
important in this experiment. Choose any convenient frequency (small value should be
chosen). Refer to table 13.8 for the DC voltage setting for the data of PB1 set. Also set
time period to 60 sec.

5.

Set the YS170 to Manual mode (M), MV=0 and at YS170 (Tuning Menu, PID 1) set the
proportional band (PB1) to 400%.Turn on the output key of FG120 and make sure the
input YS170 at base value before change it to AUTO mode (A). Determine the input and
output value and enter in table 13.8. Calculate the system gain and compare it with the
set value as shown in Figure 13.9.

6.

Repeat step (v) for others data of PB1 as shown in table 13.8.

Table 13.8 Proportional band of the controller

Set FG120 to square wave with high level = 4.00 and low level to 1.00 V
Controller

V input

PB1

Vb1

(%)

set

V1

Difference

V out

Vin=(V1-

Vb2

V2

Vb1)

Difference

Gain (G)

Actual Gain

Vout=(V2-

Vout/Vin

100/PB

Vb2)

400
350
300
250
200
150
100

229

Set FG120 to square wave with high level = 2.00 and low level to 1.00 V
Controller

V input

PB1

Vb1

(%)

set

V1

Difference

V out

Vin=(V1-

Vb2

V2

Vb1)

Difference

Gain (G)

Actual Gain

Vout=(V2-

Vout/Vin

100/PB

Vb2)

100
80
60
50
40
30
25

Figure 13.9 Proportional gain of the controller

7.

Vary the input voltage to the proportional controller from1 volts to 2 volt keeping the PB1
at 100%. Determine the output

8.

Change the input to 3 volts and repeat..Repeat the experiment in steps till the input
voltage is 4 volts. Enter the data in Table 13.10.

13 Repeat the experiment with the PB1 set at 50% and 150%. Plot the graph between the input
voltage and the output voltage of the controller Figure 13.11

230

Table 13.10 Input-Output relationship in a proportional controller

PB100%
V input
Vb1

V1

Difference

V out

Vin=(V1-

Vb2

V2

Vb1)

Difference

Gain (G)

Actual Gain

Vout=(V2-

Vout/Vin

100/PB

Difference

Gain (G)

Actual Gain

Vout=(V2-

Vout/Vin

100/PB

Difference

Gain (G)

Actual Gain

Vout=(V2-

Vout/Vin

100/PB

Vb2)

PB50%
V input
Vb1

V1

Difference

V out

Vin=(V1-

Vb2

V2

Vb1)

Vb2)

PB150
V input
Vb1

V1

Difference

V out

Vin=(V1-

Vb2

Vb1)

V2

Vb2)

Figure 13.11 Proportional controller output change with input

231

13.4.4 Proportional Integral Controller

14 Set the PB at 400% and TI at 100 s. Record the output. The output will show a step change
due to the proportional contribution and ramp change due to the integral contribution.
15 The value of the step change in the output has a value of KCA and the slope of the ramp is
given by (KCA/TI). Measure the value of A from the base and the slope dy/dx and enter in
table 13.12. Repeat the experiment keeping the Pb constant at 400% and decreasing the TI
values to 90, 80, 70, 60, 50, 40, 30, 20 and 10 s.
16 Draw a graph between the measured and set value of TI. Figure 13.13.
TI
(S)

setting

Offset (A)

Offset A

Gradient B

(Vbase)

(V1)

DX

DY

DX/DY

Offset A

TI meas (S)

V1-Vbase

Figure 13.13 Measured and experimental values of TI.

13.4.5 Proportional Derivative controller
17 A step change cannot be applied to the Proportional derivative controller because of the
presence of the derivative term will saturate the output. The proportional derivative controller
can be tested using the sinusoidal output of the FG120 function generator

232

18 Set the controller for Proportional Derivative operation. Set the PB=100% , TI = 9999s and
TD =15 s.
19 Set the FG frequency to 0.01 Hz.Set DC voltage high level at 3.25 V and low level at 2.75 V.
Plot the input and output sinusoid.
20 Now set the TD1=4 s, frequency at 0.01 Hz. Enter the data in the table 12.14. Increase the
frequency in steps till a frequency of 1 Hz is reached.
21 Plot the AR- bode diagrams and determine the corner frequency.TD is given as 1/c.
22 Repeat the experiment for several values of TD and enter in table 12.15. Plot a graph
between the experimental value and the set value of the derivative time Figure 12.16.

Table 13.14 Derivative controller values

Input frequency Hz

Input (CH 1)

Output (CH 2)

AR=V2/V1

Max

Min

Amplitude

Max

Min

Amplitude

V1

V2

0.01
0.05
0.10
0.20
0.30
0.40
0.50
0.60
0.70
0.80
0.90
1.00
Table 13.15 Derivative Set Value and Measure Value
TD 1 Set

From Bode Diagram

Time Measure (1/F)

sec
0
4

Hz

sec

233

13.4.5 Process Characteristics

Most processes
Can be modelled by equations of the following form in the Laplace domain. Many processes may
be higher order than second order plus delay time model. The present experiment illustrates the
experimental determination of the model characteristics, gain K and Time constant T and delay
time .

First order
Y
K

X
Ts 1
First order delay time
Y
Ke s

X
Ts 1
Second order
Y
K

X
(T1s 1)(T2 s 1)
Second order delay time
Y
Ke s

X
(T1s 1)(T2 s 1)
X

input

output

T, T1, T2 = time constants

= delay time
s = Laplace operator

13.5 PROCEDURE
Table 13.16 Equipment required
Unit name
Synthesised Function generator
Programmable controller
Paperless recorder
Process simulator

Model No
Yokogawa Model FG120
Yokogawa Model YS170
Yokogawa Model DX104
Software program in YS170

13.5.1 FG120 Function generator

234

The FG120 Synthesized Function Generator is used to provide the sinusoidal function required
for testing the system. The model 706012 synthesized function generator can provide voltages in
the frequency range 1 Hz to 2 MHz. It can provide sine, square, tringuler, ramp and pulse
functions. There are two channels which are independent. The output can be adjusted
continuously in the range of 10 V.
13.5.2 DX10-4 Paperless recorder
The DX104 Paperless recorder is used to record the result of the testing. The measured data can
also be save to external storage media such as floppy disks, zip disks and ATA flash memory
cards.
The data that have been saved to an external storage medium can be displayed on a PC by
using the standard software that comes with the package. The data can also be loaded onto the
DX104 to be displayed.
13.5.3 Process simulator
The process simulator is a software where it was programmed into the YS170 controller. The
software process simulator schematic diagram Figure 13.17 provides the first, second and third
order system used in this present study. The process gain (K) is set to 2.

Figure 13.17 Software Process simulator schematic diagram

235

13.5.4 Equipment connections

Figure 13.18 Equipment connections

1.

Set the time constant P01 = 15 and PO2 = PO3 = 0 (TUNING MENU, P&T REG). Set at
ACT1 (in ENG.MENU 1, CONFIG 2) to RVS (Reverse Action)

2.

Put the YS170 to Manual mode and set the output MV = 50% at YS136 set to Cascade
mode C

3.

Change the controller output MV to 70%.

4.

Record the process system input, X (CH01) and the process system output Y, (CH02)

5.

Enter the data as shown in table 13.19

Table 13.19 Response of first order process

Time (sec)

Process Output
Output (%)

0
5

236

Incomplete response (%)

10
15
20
25
30
35
40
45
50
55
60
65
70
75
80
13.5.5 Data reduction, results and graphs
1.

Plot the output of the system against time.

2.

Determine the final value of the curve, Ymax

3.

The value of the input change was taken as from 50% to 70% and equal to 20%. Hence
gain K =Ymax/20

4.

Plot the percent incomplete response. The percent incomplete respoose is

PIR = (Y-Y0)/(Ymax-Y0)
Where Y is the value of the output at any time t, Y 0 is the value at time t=0 and Ymax is
the final value.

5.

Determine the slope of the straight line in the fraction incomplete response. This gives the
value at the time constant T.

13.5.6 PID Control Response

For this experiment also the same equipment as used in 13.4.5. But this time we need the
disturbance point to disturb the output.

237

13.5.6.1 PROCEDURE
1.

Connect the equipment as shown in figure 13.20

Figure 13.20 Equipment connections

2.

For third order system in the software process simulator we need to set P01, P02 and
P03.

3.

At YS170 in Manual mode (M) perform the following:

Process simulator : Disturbance point is not connected. Set the disturbance value
(P10) =20, Time constant P01, P02 and P03 are set to 10
YS170 controller set PV=SV=50% and MV=50%, PB1=70%, TI=20s and TD1=5s.

4.

Set the YS170 to Auto mode. With the disturbance point is connected recording the
simulator input and output for 3 to 4 minutes. Record down the file name by refer to
recorder where the response waveform already obtained was saved.

5.

Transfet YS170 to Manual mode. Select the next step of PB, TI and TD from table 13.21
and set it to YS170.

6.

Repeat steps 3 to 5 for all the sets of PB1, TI1 and TD1 in table table 13.21.

7.

From the data saving from recorder calculate the maximum amplitude, A, settling time
Tset, decay ration, D, Oscillation frequency ,P and Offset amount E. Enter all the
calculation data in table 13.21.

238

Figure 13.22 To calculate the value of A, Tset, D, P and E

Table 13.23 Effect of PB, TI and TD on system response
PB

70
150
30
70
70
70
70
70
70
70
70
70
70
150
30

TI

20
20
20
30
12
20
20
60
6
9999
9999
9999
9999
9999
9999

TD

Max

Settling

Decay

Oscillation

Error

amplitude

time

ratio

Frequency

A (%)

(min)

T (min)

5
5
5
5
5
30
0
0
0
5
60
3
0
0
0

13.6 OPTIMUM PID SETTINGS

For this experiment also the same equipment as used in 13.5.6.
13.6.1 PROCEDURE

239

1.

Set the following conditions in the process; Operation mode of YS170 controller to
manual mode (M). Disconnect the disturbance point and set PV=SV=50% and MV=50%.
PB1=100%,

TI1=9999,

TD1=0.

Time

constant

of

the

process

simulator,

PO1=P02=P03=10.
2.

Set the operation of YS170 to Auto mode.

3.

Produce a disturbance in the process by increasing the SV to 70% and bringing it quickly
back to 50%

4.

if the response curve quickly dampens out (Figure 12.22) then the PB is too high. Reduce
the PB and repeat step 3. Continue the process till the PV and MV continuously oscillate.

5.

Note the values of PB which is called the ultimate value, PBu. Note the corresponding
period of the oscillations which is called the PU.

6.

Set the value of PB, TI and TD using the recommended values given in table 15.23.

Table 13.23 Ziegler Nichols Settings

Mode
P
PI
PID
7.

PB
2PBu
2.2PBu
1.7PBu

TI

TD

0.83PU
0.5PU

Set the above values of the controller settings and determine the response of the system
to a disturbance. Check whether a quarter decay ratio response is obtained. If not slightly
adjust the parameter obtained from the tabe 13.23 til a decay ratio is obtained.

13.6.2 Ziegler Nichols second method.

1.

Set the following conditions in the process; Operation mode of YS170 controller to
manual mode (M). Disconnect the disturbance point and set PV=SV=50% and MV=50%.
PB1=100%,

TI1=9999,

TD1=0.

Time

constant

of

the

process

simulator,

PO1=P02=P03=10.
2.

Increase MV by 10%. The response curve will be obtained as shown in Figure 12.24.

240

Figure 13.24 Typical reaction curve for step change in manual output
3.

Draw a tangent to the curve at the point of inflexion. Determine the values of L = time in
seconds between the step change and the point where the tangent crosses the intial
value of the controlled variable =
T = time constant =

sec

sec

4.

The system gain K

5.

The controller settings are given in table 13.25.

Table 13.25 Ziegler Nichols Settings

Mode
P
PI
PID
7.

PB
100KL/T
110KL/T
83KL/T

TI

TD

3.3L
2L

0.5L

Set the above values of the controller settings and determine the response of the system
to a disturbance. Check whether a quarter decay ratio response is obtained. If not slightly
adjust the parameter obtained from the tabe 13.26 til a decay ratio is obtained

13.7 CASCADE CONTROL OF PROCESS

241

In cascade control two control loops are nested one inside the other. The output of the UT350
controller becomes the set point of the YS170 controller. The UT350 gets an external setpoint.
The structural diagrams of the connection is shown in figure 13.27.

Figure 13.27 Cascade control structure connection

13.7.1 PROCEDURE
1.

Connect the equipment as shown in figure 12.27. UT350 is primary controller variable
while YS170 is the secondary controlled variable. The YS36 auto manual selector
provides the signal input to the YS170 and YS135 auto set selector provides the signal
input to the UT350

2.

Set the P01, P02, P03 and P06 of the process simulator to 10 each. Set P10 to 20

3.

At the UT350 controller, set PB, TI and TD at the tuned values obtained from 12.6.

4.

Set the YS136 and YS135 to cascade mode

5.

Set YS170 to manual mode and set MV=50%. Set the YS170 PB1=150, TI1=10 and
TD1=20

6.

Set YS170 to Auto

7.

Introduce a disturbance by changing SV to 70% at YS170. Record the output (CH02) of

the system

242

8.

Bring the SV value to 50%. Set the operation of UT350 controller to Auto

9.

Now bring the YS170 controller to cascade mode

10.

Introduce a disturbance by connecting the disturbance point a few second and

disconnect it . Record the output of the system

11.

Tuning the cascade control system

a.

if the output of YS170 controller takes longer time to stable. Try to change the
PB, TI and TD of YS170 to get ratio

b.

If changing the PID setting still not satisfy. Try to change the PID setting of UT350
controller

Figure 13.28 Response of the system to cascade control

243

13.8

FEED FORWARD CONTROL

Feedforward is a method in which the correction to a load disturbance enters the system. In
normal feedback system the effect of the disturbance has to be seen at the PV before the
correction can be introduced. IN FF we measure the value of the disturbance and introduce an
approprtiate correction to the MV. The structure in Figure 12.28.

Figure 13.28 Single loop mode

13.7.1 Equipment connections

244

Figure 13.29 Equipment connections

13.8.1 PROCEDURE
1.

Connect the equipment as shown in figure 15.29.

2.

Set the time constant P02=P03=10. Set the P01=15 and P05=20

3.

Set the PB,TI and TD values at the optimum values obtained in section 12.6.

4.

Set the feed forward gain, PO4=4.

5.

Set the output of YS136, MV=0

6.

Changing the YS136 to 10% and by introduce the disturbance with perform the
connection of feed forward point. Record the output of the system.

7.

Set the feed forward gain, PO4=1

8.

Repeat step 6. Record the output. Compare the response with that obtained in step
There will be improvement. Change the FFG to 1.2 and repeat the experiment. Continue
increasing the FFG in steps of 0.1 till effect of the disturbance is removed from the
process output

9.

Even after the FFG is tuned as in step 8. There will be temporary small effect on the
output. This can be removed by introducing the dynamic element in the feed forward

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path. Increase the feedforward lag FLG time constant to 1s. Repeat step 6. Continue
increase the FLG step of 1 s till the effect of the disturbance is completely removed from
the output.

13.9 REVIEW QUESTIONS

1.

What is the function of integral and derivative action in controllers?

2.

What is meant by offset?

3.

What is meant by derivative kick?

4.

Write the equation of ideal and actual PID controllers?

5.

For the controllers used in the study find out what other functions besides PID is the
controller capable?

6.

What is the advantage of cascade control?

7.

What is the advantage of feed forward control?

13.10 REFERENCES
1. Coughanowr, D. R, Process System Analysis and Control, 2 nd edition McGraw Hill New
York 1991.

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