IDENTIFICATION AND PID CONTROLLER TUNING

OF HIGHER ORDER SYSTEMS

Submitted by:
CH12B023-D.Anil Kumar
CH12B024 E. AswinJayan
CH12B025 E. Sai Krishna Koushik
CH09B068 - KanigantiPrudhviVamsy Krishna
CH08B009 A Chakravarthy Thalluri
Identification of transfer function models is essential for design of controllers. Identification is carried out in an
open loop or a closed loop in this study. Open loop identification of a higher order model is done and controller
tuning of the identified model is done by IMC method of Skogestad (2003).
Objective:

Identification of FOPTD (first order plus time delay) model

PID controller tuning for the identified FOPTD model.

Step response identification

Identification of a first order plus time delay model is obtained by process reaction curve method. FOPTD
model parameters are obtained from the transient step response curve using Sundaresan [1978] method which
utilizes two points in the curve. In this method from the transient step response curve, the time t1 and t2 are
obtained when the fractional responses are y1= 0.353 and y2= 0.853 respectively. Using the following formula
the time constant and the dead time are obtained for FOPTD model.
= 1.31 0.292
= 0.67 (2 1)
(1)
.
Controller design for FOPTD model.
For controller design, the following formulae of SOPTD systems of Skogestad [2003] is used with 2 = 0 for
FOPTD model.
Ideal PID settings (Skogestad[2003]) c
= ; for 8

d= 0

(2)

Calculations and results:

Figure 1: Step response of 2ndorder system

The transfer function:

0.5
() =
(2 + 1)(0.5 + 1)
From figure 1,we get
1 = 2.0343
2 = 5.909
Equation (1) can be applied to get the following relations
= 2.0343
1 = 2.0274s
kp= 1
So now the 2ndorder system is approximated to:
() =

2.0343
(2.0274 + 1)

Designed controller settings are Kc = 0.4983, I = 2.0274and D = 0

Servo and regulatory responses are shown in the below figures.

Figure 2: Servo response of the given problem. For

Regulatory Response:

Figure 3: Response for regulatory problem using PID control

Robustness analysis

Figure 4: Robustness response for Servo and Regulatory Control

Bio Reactor Coupled model.

Where
max = 0.4
D1 = 0.36
X2f = 1.0
= 0.4 km
= 0.05
FOPTD function corresponding to above model is obtained by following the same method as earlier.
To summarize the work done:

Find the time corresponding to response 0.353 and 0.853.

Find PID parameters using IMC method of Skogestad (2003).

Figure 5: Simulink diagram of open loop bioreactor system.

Figure 6: Simulink diagram of sub-system (open loop system).

After giving step input:

Steady state points are: 0.22 and 0.45
X2f= 1 to 1.02; t1 = 17.24, t2 = 50.82
= 7.6742, = 22.4986, kp= 0.4 The
transfer function is:

7.6742
( ) =
(22.4986 + 1)
The PI controller has
Kc = 3.6646
= 22.4986

Final model

Figure 7: Simulink diagram of closed loop bioreactor system.

Figure 8: Open loop response of the bio reactor system.

Figure 9: Controlled response for bio reactor model with PID control.