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Gp
Ke-T s
Ws 1
(10)
LV WKH
Ds 1
Wcs 1
(11)
W s 1 Ds 1
(12)
2
K W c s 1 - e-T s D s 1
; WI
Process Variable
Kc
1.25
(13)
(a)
Wcs 1
s
0
1W
10
20
30
35
Proposed method
SIMC
Lee et al.
Process Variable
0.1
0.05
0
0
10
20
30
35
Time
0
0
(b)
Proposed method
SIMC
Lee et al.
0.15
0.5
0.25
Time
Ts
1
0.75
of magnitude 1 at t=0.
D
W 2
W 1 1 c e
W
TW
(14)
fr
Wcs 1
Ds 1
(15)
Tan et al. [9] also suggested this form of set-point filter. Due
to this type of lead-lag filter, resulting response will be first
RUGHU ZLWK WKH WLPH FRQVWDQW RI 2c for the set-point change.
W
I s W D N s 1
(a)
0.8
Proposed method
SIMC
TL
0.4
0
0
40
80
Time
120
Process Variable
160
Proposed method
SIMC
TL
1.5
(b) 0
0
40
80
Time
120
Process Variable
Process Variable
1.2
V. DISCUSSIONS
160
0
0
Proposed method
Yang et al.
5
10
15
20
25
Time
0.5
Proposed method
Yang et al.
0.4
Process Variable
of magnitude 1 at t=0.
0.3
0.2
0.1
(b) 0
0
10
15
20
25
Time
0.5
(a)
Proposed method
SIMC
Lee et al.
MV
2
(a)
0
0
10
Time
15
20
0.5
Proposed method
SIMC
Lee et al.
MV
0
-0.5
-1
(b)
-1.5
0
10
Time
15
20
magnitude 1 at t=0.
Table 1: PI/PID controller setting for proposed method (F=1) and performance matrix.
Case
Process model
Methods
C1
C2
C3
C4
e s
10s 1
0.2e 7.4 s
s
0.5 s
e
s 1
0.5 s
e
5s 1 2s 1 0.5s 1
Ms
Kc
2I
Setpoint
IAE (y)
Load
disturbance
IAE (y)
Proposed
2.46
1.60
4.57
4.85
3.1
1.06
SIMC
1.0
1.60
5.0
8.0
2.5
1.60
Lee et al.
1.0
1.60
5.12
10.25
2.17
2.0
Proposed
19.37 1.70
0.304
39.63
30.21
131.9
SIMC
7.4
1.70
0.338
59.2
28.8
174.5
TL
1.67
0.33
64.7
29.13
195
Proposed
1.36
6.0
1.646
8.25
6.72
5.01
Lee et al.
Proposed
1.4
2.9
6.0
2.2
1.668
3.22
8.67
9.50
6.77
6.37
5.20
2.95
Yang et al.
1.5
2.2
2.564
10.98
8.57
4.28
Note: For case C4: 2D =2.25 and 1.82 is used for the proposed and Yang et al. [10], respectively.
3.5
Proposed method without setpoint-filter (IAE=6.72, TV=11.98)
Proposed method with setpoint-filter (IAE=1.90, TV=2.26)
2c=
3
2c=2
Process Variable
2.5
2c=3
3
1.5
Ms
0.5
0
0
10
15
Time
Gp
0.5s
s 1
0.2
0.4
0.6
0.8
D
;
K 2W c D T F
W 2
W 1 1 c e
W
TW
WI
D F;
WD
W2