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ADDIS ABABA SCIENCE AND TECHNOLOGY UNIVERSITY

COLLEGE OF BIOLOGICAL AND CHEMICAL ENGINEERING

DEPARTMENT OF CHEMICAL ENGINEERING

Course Name: Process Dynamics and Control (ChEg4183)

By: Wondesen W.
Academic Year: 2017/2018

ANALYSIS METHODS, DESIGN AND

TUNING OF FEEDBACK AND
FEEDFORWARD CONTROL SYSTEMS
LECTURE 8

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Lessons left

Lessons to be cover

Introduction to feedback control (todays class)

Dynamic response of feedback control
Stability analysis FBC
Design of FBC
Frequency response of FCS and FFC (optional)

Feedback control

FEEDBACK CONTROL SYSTEM

Consider the generalized process

If the disturbance changes in
unpredictable manner, then the
control objective is: to put the
value of the output to the
Open loop system desired value…then the response
is open loop response.
y : output,
d: potential disturbance/process load &
m: manipulated variable

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Feedback control
Feedback control loop (closed loop)
If d changes, and the response is said
to be closed loop response
Examples Feedback control
Examples
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Steps for feedback control action
1. Measures the value of the output using the
appropriate measuring device. Let ym be the value
indicated by the measuring sensor.
2. Compares the indicated value ym to the desired
value ysp (setpoint) of the output. Let the deviation
(error) be = ysp-ym.
3. The value of the deviation is supplied to the main
controller. The controller in turn changes the value
of the manipulated variable m in such a way as to
reduce the magnitude of the deviation. Usually, the
controller does not affect the manipulated variable
directly but through another device (usually a
control valve), known as the final control element
(FCE).
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Feedback control

BASIC CONTROL MODES

Controller
A controller found between the FCE and the measuring device
and its function is to receive the measured output signals
(ym(t)) and after compare it with the setpoint value (ysp) to
produce the actuating signal c(t). (purpose to return the measured
signal to the setpoint value)
The input to the controller is the error , while the output is c(t).

The output from the controller can be either pneumatic signal

(compressed air)or electrical signal (electrical controller)

Types of Feedback control

Types Of Feedback Controllers

Proportional
Proportional -Integral
Proportional –Integral - Derivative

Their construction differ among d/t manufacturers but their

function same.

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Types of Feedback controller/P-controller

Proportional Controller (P-controller)

Its controller output (actuating output) is proportional to the error
signal
Where: Kc: proportional gain of the controller, Cs: controller’s bias
signal (steady state value) which equal to c(t) when error is zero.
It’s described by the value of proportional gain Kc or proportional
band (PB)
=

The PB characterizes the range over which the error must change in
order to drive the actuating signal of the controller over its full range.
Usually,

Types of Feedback controller/P-controller

Larger gain Kc or smaller PB, the higher sensitivity of the actuating

signal to the error will be.

The controller gain can be adjusted to make the controller output

changes as sensitive as desired to deviations b/n set point and
controlled variable. The sign for Kc can be chosen to make the
controller output increase (or decrease) as the error signal increases.

Kc is adjustable or tuned after the controller is installed and its

dimensionless

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Types of Feedback controller/P-controller

The transfer function for P-controller

Disadvantage of P-controller: offset occur or steady state error

after setpoint changes or disturbance changes.

If offset is tolerated, P-controller is attractive b/c of its simplicity

Types of Feedback controller/PI-controller

Proportional Integral controller (PI- controller)

Commonly called proportional plus reset controller

Its controller output (actuating output) is given by

ꚍI is integral time constant or reset time in min (its adjustable parameter)

And varies in the range between:

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Types of Feedback controller/PI-controller

Why its called reset time ?

Suppose the error changes with the step change of magnitude
Initially the controller output is the contribution for the
integral term is zero
After a period of one integral time constant, the contribution
of the integral term is

The integral control action has repeated the response of the

proportional action and this repetition takes place in every ꚍI.

Types of Feedback controller/PI-controller

Reset time is the time needed by

the controller to repeat the initial
proportional action change in its
output

Eliminates even small errors

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Types of Feedback controller/PI-controller

The transfer function of PI controller is

It tends to produce oscillatory response

Reduce the stability of the feedback systems (ref: Seborg) can
be overcome by introducing the derivative action

Types of Feedback controller/PID-controller

Proportional - Integral - Derivative controller (PID- controller)

Commonly known as proportional plus reset plus rate controller

The output of the controller is

Where ꚍD is derivative time constant in min

The derivative term dE/dt, anticipate what the error will be in the
immediate future (some times called anticipatory control)

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Types of Feedback controller/PID-controller

Drawbacks: for constant nonzero error it gives no control action

The transfer function for PID controller

Elements of FBC and its possible math. expressions

Other hardware elements of a feedback control system

Sensor

First order

Second order

Transmission line

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6. Februar 2008 / Dr. –Ing Naveed Ramzan

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