KON 425E PROCESS CONTROL

HOMEWORK 2
(Submission Date: 14.12.2016)
(You can prepare the homework by yourself or as a group of two students)
QUESTION 1.
In Fig.1, a schematic diagram of an isothermal chemical
reactor is illustrated. The transfer function of the reactor
is found as
0.5848(0.3549+1)
() =
2

0.5

0.1858 +0.8627+1

Figure 1. isothermal chemical reactor

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It is desired to design an Internal Model Control (IMC)

scheme.

a. Design an IMC controller Q(s) without factorizing the right hand zero. Establish a Simulink file and
employ a unit step reference signal. Plot the process output (y(t)), the output of the Q(s) controller
(u(t)) and comment on them.
For (b), (c), (d) and (e) employ the all-pass factorization.
b. Under the perfect modelling assumption ( () = ()), choose various values (at least 4 values)
and plot the reference input (r(t)), the process output (y(t)) and the Q(s) controller output (u(t)). (PS:
Plot the process outputs for various values together; plot the control signals for various values
together.)
c. Examine the closed loop control performance when there is a variation of the process time delay (keep
the time delay in the obtained model constant). In this context, increase and decrease the process time
delay and examine the control performance for various values (at least 4 values). Comment on the
sensitivity of time delay variations with respect to .
d. Examine the closed loop control performance when there is a variation of the process gain (keep the
gain in the obtained model constant). In this context, increase and decrease the process gain and
examine the control performance for various values (at least 4 values). Comment on the sensitivity
of process gain variations with respect to .
e. Examine the disturbance rejection performance (under the assumption the reference is constant) and
the disturbance model is the process model (given in Equation 1). For one Q(s) controller (choose an
appropriate vale), examine the disturbance rejection of the IMC scheme. Plot the system response
and control signal. Comment on the results.
For (f), (g), (h) and (i) employ simple factorization.
f. Under the perfect modelling assumption ( () = ()), choose various values (at least 4 values)
and plot the reference input (r(t)), the process output (y(t)) and the Q(s) controller output (u(t)). (PS:
Plot the process outputs for various values together; plot the control signals for various values
together.)
g. Examine the closed loop control performance when there is a variation of the process time delay (keep
the time delay in the obtained model constant). In this context, increase and decrease the process time
delay and examine the control performance for various values (at least 4 values). Comment on the
sensitivity of time delay variations with respect to .
h. Examine the closed loop control performance when there is a variation of the process gain (keep the
gain in the obtained model constant). In this context, increase and decrease the process gain and
examine the control performance for various values (at least 4 values). Comment on the sensitivity
of process gain variations with respect to .
i. Examine the disturbance rejection performance (under the assumption the reference is constant) and
the disturbance model is the process model (given in Equation 1). For one Q(s) controller (choose an
appropriate vale), examine the disturbance rejection of the IMC scheme. Plot the system response
and control signal. Comment on the results.

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KON 425E PROCESS CONTROL

HOMEWORK 2
(Submission Date: 14.12.2016)

QUESTION 2.
A transfer function for a process is given as follows:
4(5s+1)

G(s) = (12s+1)(6s+1)(2s+1) e5s

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a) Perform an open loop simulation and obtain the FOPDT model. In this context, establish a Simulink
file and employ a step input signal with a magnitude of 2. Plot both the step input signal (u(t)) and
system response (y(t)) together. Obtain the FOPDT model via the tangent method (G1(s)).
b) Design a PID controller for the model G1(s) via the Ziegler-Nichols method. Apply a unit step
reference at 10th second and a step disturbance with a magnitude of 0.2 when the steady state error
disappears. In your simulations, use the same transfer function for the disturbance transfer function as
the process transfer given in Eq. 5. Give the process response and the control signal separately.
c) Design a set-point weighting PID controller (c=1) to improve the transient response performance.
Draw the transient responses obtained for different b values in the same figure, and then define a
criteria to determine the appropriate b value. Show whether the change of the b value influences
the disturbance rejection performance or not via simulations and then discuss your results.

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