FINAL PROJECT

SISTEM PENGENDALIAN MODERN

Oleh :

MUH AGIL FALAL 02311440000085

ALFIAN HARIDA MAULANA 02311440000087
MUHAMMAD MUJAHID ABRORI 02311440000090
LUCKY RIZKY FEBRIANSYAH 02311440000094
KADEK SUNANTARA WIPAYANA 02311440000098

PROGRAM STUDI S-1 TEKNIK FISIKA

DEPARTEMEN TEKNIK FISIKA
FAKULTAS TEKNOLOGI INDUSTRI
INSTITUT TEKNOLOGI SEPULUH NOPEMBER
SURABAYA
2017
1. Process Model 1

Figure 1 CSTR
According to MIMO control system assignment, the plant we used is a continuous
stirred tank reactor (CSTR), where there is an exothermic reaction. Cooling process in the
reactor occurs due to the coolant that enters through the jacket around the reactor. The
mixing of the reaction depends on the mass and energy of the reactants inside the reactor.
For the process model 1 We used one of the transfer function (process, H11, or
H22) from that adaptive control system. The process is assumed won’t be affecting on
another process. We choose H11 as a plant transfer function. Then, on this model is added
by gain control valve and transmitter. Transfer function H11, gain control valve and
transmitter arranged in open loop function block. Beside arranged in open loop, transfer
function, gain control and transmitter arranged in third order system simulink to find the
value y and u.

Figure 2 Function Block MIMO System with Gain control valve and transmitter
 From simulink above, we may determine the responses from the system, as the graphic
below:

Figure 3 Responses form function block

The first graphic determined the system when added noise, and the second graphic
determined the system respond with gain control valve and transmitter which is the
respond was more stabil.

2. Process Model 2
In this process model 2, we determined FOPDT (First Order Plus Dead Time) from
transfer function in Simulink. FOPDT (first order plus dead time) is a one-order system that
has dead time (the time between inputs is given until it produces a response at the output).
FOPDT is widely used as a modeling system in the simplification of high-order systems into
a single-order system that has dead time. This model is considered sufficient to describe the
dynamics of high-order systems.

 Differential equation of of FOPDT system are express by the equation below,

𝑑𝑦
𝑇𝑝 + 𝑦(𝑡) = 𝐾𝑝 𝑢(𝑡 − 𝜃𝑝)
𝑑𝑡

 Function Transfer of FOPDT system are express by the equation below,

 𝑌(𝑠) 𝐾𝑝 𝑒 −𝜃𝑝𝑠
𝐺𝑝(𝑠) = =
𝑢(𝑠) 𝑇𝑃 𝑠 + 1

Figure 4 Open loop function block with step input

From function block above, we get the response of system like graphic below.

Figure 5 The Respond of open loop function block with step input

From graphic above, we get Δy = 4.78 and t = 251 s.

 First step, we find t2/3 dan t1/3 from graphic we got.

2 2 2
𝑡 3 = 𝑡(3 ∆𝑦) = 𝑡(3 4.78) = 𝑡(3.19) 𝑡(3.19) = 66 s
1 1 1
𝑡 3 = 𝑡(3 ∆𝑦) = 𝑡( 3 4.78) = 𝑡(1.59) 𝑡(1.59) = 45 𝑠
  Second step, we find Tp
1 2 1
𝑇𝑃 = (𝑡 − 𝑡 )
0.7 3 3
1
= (66 − 45)
0.7
= 30

 Third step, we find θp

𝜃𝑝 = 𝑡 − 0.4 𝑇𝑃
= 251 − 0.4 𝑥 30
= 239
 Fourth step, we find Kp. We assumed Δu =1
∆𝑦 4.78
𝐾𝑃 = ∆𝑢 = = 4.78
1

Then, the value Tp , θp and Kp is used to Function Transfer, so

𝐾𝑝 𝑒 −𝜃𝑝𝑠
𝐺𝑃 (𝑠) =
𝑇𝑃 𝑠 + 1
4.78 𝑒 −239𝑠
=
30𝑠 + 1

Thus, on SIMULINK we create the function block of FOPDT.

Figure 6 Function Block FOPDT

And from simulation we get the response of FOPDT.
 Figure 7 FOPDT response

3. Process Model 3
There are several steps to get the value of A(q-1) and B(q-1). The steps are :
1. First step, we set the value of input and output.

Figure 8 Workspace Display

2. Second step, we wrote “ident” in command window, then the new window of ident show
up
 Figure 9 Window of system identification Tool
3. After that, we choose “Time domain Structure” in combo box of input data.

Figure 10 Display of window Import data

4. The result of input data become like window below.
 Figure 11 Display Of window system identification tool after added input data
5. After that, we klik combo box estimate. Then, the window of “polynomial models” . We
choose the order [1 1 1] and order [2 2 1] then klik estimate button.

Figure 12 Display of linier parametric window

6. Then, the output appear in window. After that, clickchecklist of model output so graphic
will show up.
 Figure 13 The window of system identification tool after estimate

7. In the square of output which show the graphic was click, the “Discrete-time ARX
model” in orde [2 2 1] would show up like :

Discrete-time ARX model:

Model for output “y1”: A(z)y_1(t) = A_i (z) y_i(t) + B(z) u(t) + e_1(t)
A(z) = 1
A_2(z) = -1.279e-15 z^-1 -9.967e-16 z^-2
B1(z) = 0.2z^-1 – 0.1 z^-2
B2(z) = 6.746e-16 z^-1 +8.843e-16 z^-2
Model for output “y2” : A9z) y_2(t) = -A_i(z) y_i(t) + B(z) u(t) +e_2(t)
A_1(z) = 0
B1(z) = -0.25 z^-1 + 0.2511 z^-2
B2(z) = 0.06977 z^-1 – 0.01098 z^-2

Name: arx221
Sample time: 1 seconds
 Parameterization:
Polynomial orders: na=[2 2;2 2] nb==[2 2;2 2] nk==[1 1;1 1]
Number of free coefficients: 16
Use "polydata", "getpvec", "getcov" for parameters and their uncertainties.

Status:
Estimated using ARX on time domain data "mydata".
Fit to estimation data: [100; 4.9114]% (prediction focus)
FPE: 5.351e-28, MSE: 0.5049

Figure 14 Data model info: arx221

8. The output model in orde [2 2 1] like graphic below:

 Figure 15 Graphic orde [2 2 1] in channel y

9. In the square of output which show the graphic was click, the “Discrete-time ARX
model” in orde [1 1 1] would show up like :

arx111 =
Discrete-time ARX model:
Model for output “y1”: A(z)y_1(t) = -A_i (z) y_i(t) + B(z) u(t) + e_1(t)
A(z) = 1
A_2(z) = 0.004737 z^-1
B1(z) = 0.1001z^-1
B2(z) = 0.0398 z^-1
Model for output “y2” : A9z) y_2(t) = -A_i(z) y_i(t) + B(z) u(t) +e_2(t)
A(z) = 1 – 0.01428 z^-1
A_1(z) = 0
B1(z) = 0.0007696 z^-1
B2(z) = -0.01639 z^-1
Name: arx111
Sample time: 1 seconds
 Parameterization:
Polynomial orders: na=[1 1;1 1] nb=[1 1;1 1] nk=[1 1;1 1]
Number of free coefficients: 8
Use "polydata", "getpvec", "getcov" for parameters and their uncertainties.

Status:
Estimated using ARX on time domain data "mydata".
Fit to estimation data: [99.85;3.893]% (prediction focus)
FPE: 0.002077, MSE: 0.5167

Figure 16 Data model info: arx111

10. The output model in orde [1 1 1] like graphic below:

 Figure 17 Graphic orde [1 1 1] in channel y

4. Merged Process Model 1 and 3

5. Show the effect of variation of ° both for the MIT rule and the modified MIT rule

% file: problem4_2.m
% HR August 2003

clear

% system b/(s+a)
a=1; b=0.5; %initiation first order system (1/2+s)

% reference system bm/(s+am)

am=2; bm=2; %sub initiation tested

% simulation
Tstop=100; h=0.01; Nstop=Tstop/h; %initiate value of Tstop, h,
and nstop
a1 =-exp(-h*a); b1=b/a*(1+a1); %is a equation of value “a1”
and “b1” from main system
am1=-exp(-h*am); bm1=bm/am*(1+am1); % is a equation of value
“a1” and “b1” from reference system tested

% adaptation
gamma=5; alpha=0.0001; %Initiation value of Gamma and Alpha,
where Alpa > 0 to avoid the denominator = 0

% initialize
y =zeros(1,Nstop); yr =zeros(1,Nstop); ym =zeros(1,Nstop);
%output variable y,yr,ym declared matrix which have 1 row and
Nstop column which are all zero (0)
u =zeros(1,Nstop); x1 =zeros(1,Nstop); x2 =zeros(1,Nstop);
% output variable u,x1,x2 declared matrix which have 1 row and
Nstop column which are all zero (0)
%(size) from matrix Nstop
theta =zeros(2,Nstop); time=h*(1:Nstop);
% output variable theta declared matrix which have 2 row and
Nstop column which are all zero (0)

for t=2:Nstop % for a value of t=2 is equivalen with Nstop

value
if (sin(2*pi/20*t*h)>0) yr(t)=+1; %if yr(t)=1 and value from
the sin>0
else yr(t)=-1; end %when it reached yr(t)=-1 the process is
done
y(t) =-a1 *y(t-1) +b1*u(t-1); %initiation output value of y(t)
u(t) =theta(1,t-1)*yr(t)-theta(2,t-1)*y(t); % initiation
output value of u(t)
ym(t)=-am1*ym(t-1)+bm1*yr(t-1); % initiation value of ym
x1(t)=-am1*x1(t-1)+(1+am1)*yr(t); % initiation value of x1
x2(t)=-am1*x2(t-1)+(1+am1)*y(t); % initiation value of x2
v=1/(alpha+x1(t)*x1(t)+x2(t)*x2(t)); % initiation value of v
theta(1,t)=theta(1,t-1)-h*gamma*v*x1(t)*(y(t)-ym(t)); %
initiation value theta 1
theta(2,t)=theta(2,t-1)+h*gamma*v*x2(t)*(y(t)-ym(t)); %
initiation value theta 2
end

% initiation output y,ym

plot(time,y,time,ym) % is used to draw a nonlinear-scale graph
on both axes
xlabel('time [s]'); % for ordinate x given name: time(s)
title('y & ym') %initiation the title of graph
grid %to given the line on x and y axes
print -deps problem4_2a.eps %to print the result
pause % to stop for n seconds before continuing next value
close %stop the program

%initiation output for time dan theta

plot(time,theta)%is used to draw a nonlinear-scale graph on
both axes
title('theta')% initiation the title of graph
xlabel('time [s]'); %initiate the ordinate of x given name:
time(s)
grid % to given the line on x and y axes
print -deps problem4_2b.eps % to print the result
pause % to stop for n seconds before continuing next value
close % to close the program
the response which show up

Figure 18 Response of MIT rule and the modified MIT rule