w load disturbance

Controller Plant
r + e u + + y
Gc(s) Gp(s)
reference -sensed control output
input, or error
set-point
+
+n
sensor
noise

Process Control and

Applications (Lect.1)
Dr. Nader A. Mansour
[email protected]
Mechanical Engineering Department
Assessment

 Homework’s and Projects >> 20%

 Mid-Term Exam >> 20%
 Final Exam >> 60%
Course Content

 Introduction … Review
 PI, PD, PID Controllers.
 PLC … An Overview.
 PLC Hardware Components
 Basics of PLC Programming
 Programming Timers & Counters
 Applications
Introduction to Process
Control
 Process Control

Continues Control Sequential Control

(On- Off Control)
Continues time Discrete time
Control Control
Intelligent Control
Adaptive Control
Stochastic Control
Robust Control
Open Loop Control System

 High sensitive to external disturbances.

 High sensitive to parametric variation in the plant G(s).
Open Loop Control System

Examples:
Stepper Motor
Clothes dryer
… (BUT, what if a feedback signal is added??)
Closed Loop Control System
(Feedback Control)
Closed loop control strategy involves:
Measurement of the actual output,
Comparison with the required reference value.
Employing a suitable correction compensating for any deviation
w load disturbance
Controller Plant
+
r + e u + y
Gc(s) Gp(s)
reference - sensed control output
input, or error
set-point
+
+ n
sensor
noise
Control Objectives

Regulation : Maintains a parameter at or near a set-point despite

disturbance.
Water level float regulator.
Position Control.
Cruise Control.
Control Objectives

Tracking: Cause the plant output to follow the changing input

command as closely as possible
 Auto Parking System.
 Remote controlled cars.
Transfer Function Of A Linear
Continuous System
Y ( s ) bm s m + bm -1s m -1 +  + b1s + b0
G (s)  
X ( s ) an s n + an -1s n -1 +  + a1s + a0

If the coefficients ai and bi are constants

The system is linear time invariant (LTI)
The highest order n of the denominator is
referred to as the order of the system.
For a physically realizable system,
m ≤ n. (Causal system)
Linear Time Invariant systems

Linear implies that the system follows the

superposition principle;
if input u1 gives an output y1 and input u2 gives an
output y2 then the input a*u1+b*u2 gives an output of
a*y1+b*y2
 Time Invariant implies;
The system behavior doesn’t change with time.
1st Order System Response
Typical 1st order system

𝑌(𝑠) 1 1
= ∴𝑌 𝑠 =𝑅 𝑠
𝑅(𝑠) 𝑇𝑠 + 1 𝑇𝑠 + 1
1 1 −𝑡 𝑇
𝑌 𝑠 = . ∴𝑌 𝑡 =1 −𝑒
𝑠 (𝑇𝑠 + 1)
1st Order System Response

At t = T, ∴ 𝑌 𝑡 = 1 − 𝑒 −1 = 0.63
Time Constant (T)
Time for the system output
to reach approximately 63%
of its final steady state value

indication of system
response speed
1st Order System Response

Settling Time (Ts)

Time for the system output
to reach and remain within 2%
of the final value (t >4T)

Rise Time (Tr)

 is defined as the time for
the waveform to go from 10%
to 90% of its final value.
2nd Order System Response
n 2
G (s)  2
s + 2 n s + n
2

s1, 2  - n  jn 1 -  2

s1, 2  -  jd
 2nd Order System Response

System poles determine the step response nature

Undamped step response
 Overdamped step response
Underdamped step response
Critically damped step response
 2nd Order System Response

Undamped step response (  0 )

Poles at  jn b
G (s)  2
s +b

Output response c(t )  A cos(nt -  )

Natural frequency G ( s )  b
 n  b
s2 + b
 2nd Order System Response

Undamped step response ( 0)

 2nd Order System Response

Overdamped step response (  1)

Poles at - 1 ,- 2
-1t - 2 t
Output response c(t )  k1e + k2e
 2nd Order System Response

Critically damped step response (   1)

Two real poles at - 1
-1t -1t
Output response c(t )  k1e + k2e
 2nd Order System Response

Underdamped step response (  1 )

Two complex poles at -   j d

Output response c(t )  Ae - d t cos(d t -  )

Transient Response
Controlled variable Overshoot

Steady state error

Reference

Steady State
Transient State

Settling time
23
Transient Response

Delay Time
is the time required for the response to reach half of
the final value the very first time.

y (t )

1
td
0.5

0
t
2nd Order System Response

Rise Time
is the time required for the response to rise from
10% to 90% of its final value.
𝜋−Θ 𝜋−Θ
𝑇𝑟 = = where Θ = cos −1 𝜉 (in rad)
y (t ) 𝜔𝑑 𝜔𝑛 1−𝜉 2

1
td
0.5

0
t t
2nd Order System Response

Peak Time
is the time required for the response to reach the
first peak of the overshoot.
 
tp tp  
y (t )
n 1 -  2 d
1
td
0.5

0
t
2nd Order System Response

Maximum overshoot
is the relative maximum peak value of the response
curve measured from the final value. y(t p ) - y()
Mp  100%
tp y ()
y (t ) 𝜉𝜋
−
Mp
%𝑂𝑆 = 𝑒 1−𝜉 2
1
td
0.5

0
t
tr
2nd Order System Response

Settling Time
is the time required for the response curve to reach
and stay within a range about 1% or 2% of the final
steady-state value. 4 4
y (t ) tp 𝑇𝑆 = =
𝜎𝑑 𝜉𝜔𝑛
Mp
1 ±1%
td
0.5

0
tr ts t
Transient Response

Steady State Value

The steady-state value of the system under the step
response is the output when t → ∞.
Using the final value theorem.
1
y ()  lim sG ( s )
s 0 s