LINEAR CLOSED

LOOP SYSTEM
Christyfani Sindhuwati, ST., MT
Control system for a stirred-tank heater
The system may be divided into the
following components:
1. Process (stirred-tank heater)
2. Measuring element (thermocouple)
3. Controller
4. Final control element (control valve)

T
Negative Feedback vs Positive Feedback
Disturbance,
Ti
Error
SP, TR+ (ε) MV, Q
C FC CV/PV,
Proses
- E T

CV/PV, Tm = T
Error (ε) = SP-PV Sensor

• Negative Feedback • Positive Feedback

Negative feedback ensures that the difference
between TR and Tm is used to adjust the
control element so that the tendency is to
reduce the error.
Ti ↑ → ε bernilai negatif → ε↓ → Q↓
If the signal to the comparator were
obtained by adding TR and T, we would have
a positive feedback system, which is
inherently unstable.
Ti ↑ → ε bernilai positif → ε↑ → Q↑
Development of Block Diagram 1. Neraca Energi pada Stirred-tank Heater
𝑑(𝜌𝑉𝐶𝑝(𝑇 − 𝑇𝑟𝑒𝑓 )
Proces = 𝑤𝐶𝑝 𝑇𝑖 − 𝑇𝑟𝑒𝑓 − 𝑤𝐶𝑝 𝑇 − 𝑇𝑟𝑒𝑓 + 𝑞
𝑑𝑡
𝑑𝑇
𝜌𝑉𝐶𝑝 = 𝑤𝐶𝑝𝑇𝑖 − 𝑤𝐶𝑝𝑇 + 𝑞
𝑑𝑡

2. Deviasi
𝑑𝑇
𝑈𝑆𝑆 ∶ 𝜌𝑉𝐶𝑝 = 𝑤𝐶𝑝𝑇𝑖 − 𝑤𝐶𝑝𝑇 + 𝑞
𝑑𝑡
𝑑𝑇𝑠
T 𝑆𝑆 ∶ 𝜌𝑉𝐶𝑝 = 𝑤𝐶𝑝𝑇𝑖𝑠 − 𝑤𝐶𝑝𝑇𝑠 + 𝑞𝑠
𝑑𝑡
-
𝑑𝑇′
𝜌𝑉𝐶𝑝 = 𝑤𝐶𝑝𝑇𝑖 ′ − 𝑤𝐶𝑝𝑇′ + 𝑄
𝑑𝑡 ….(1)
3. Transformasi Laplace 4. Diagram Blok
𝑑𝑇′
𝜌𝑉𝐶𝑝 𝐿 = 𝑤𝐶𝑝 𝐿 𝑇𝑖 ′ − 𝑤𝐶𝑝 𝐿 𝑇′ + 𝐿 𝑄
𝑑𝑡
𝜌𝑉𝐶𝑝 𝑠 𝑇′(𝑠) = 𝑤𝐶𝑝𝑇𝑖 ′(𝑠) − 𝑤𝐶𝑝𝑇′(𝑠) + 𝑄(𝑠)

𝜌𝑉𝐶𝑝 𝑠 𝑇 ′ 𝑠 + 𝑤𝐶𝑝𝑇′(𝑠) = 𝑤𝐶𝑝𝑇𝑖 ′(𝑠) + 𝑄(𝑠)

1
(𝜌𝑉𝐶𝑝 𝑠 + 𝑤𝐶𝑝)𝑇′(𝑠) = 𝑤𝐶𝑝𝑇𝑖 ′(𝑠) + 𝑄(𝑠) ×
𝑊𝐶𝑝
𝜌𝑉 1
𝑠 + 1 𝑇′(𝑠) = 𝑇𝑖 ′(𝑠) + 𝑄(𝑠)
𝑊 𝑊𝐶𝑝
1
1 𝑊𝐶𝑝
𝑇′(𝑠) = 𝑇𝑖 ′(𝑠) + 𝑄(𝑠)
𝜌𝑉 𝜌𝑉
𝑠+1 𝑠+1
𝑊 𝑊
1
1 𝑊𝐶𝑝
𝑇′(𝑠) = 𝑇𝑖 ′(𝑠) + 𝑄(𝑠)
𝜏𝑠+1 𝜏𝑠+1
1 1
𝑇′(𝑠) = 𝑇𝑖 ′(𝑠) + 𝑄(𝑠)
𝑊𝐶𝑝 𝜏𝑠+1
 Gp

Ti’(s)

Q’(s) + T’(s)
TR’(s) +
𝟏 𝟏
Gc GV
𝒘𝑪𝒑 + τ𝒔 + 𝟏
-

Gm
Controller

Discontinue controller ON/OFF controller

Pengendali
Continue controller Proportional controller (P)
Proportional-Integral controller (PI)
Proportional-Integral-Derivative controller (PID)

P
Error (ε) (output signal deviation)
Gc
𝑷 = 𝒑 − 𝒑𝒔
Proportional Controller (P)

Error (ε) P (output signal) Error P

Gc Kc (output signal deviation)
(ε)

• The proportional controller has only one adjustable parameter, the

controller gain.
• The proportional controller produces an output signal (pressure in the
case of a pneumatic controller, current, or voltage for an electronic
controller) that is proportional to the error e.
Proportional-Integral Controller (PI)
P
(output signal deviation)
Error (ε) P (output signal) Error (ε) 𝟏
Gc 𝑲𝒄 𝟏 +
𝝉𝑰 𝒔

• The PI controller has two adjustable parameters for which we select

values, the gain (Kc) and the integral time (τI)
• The integral mode ultimately drives the error to zero.
Proportional-Integral-Derivative Controller (PID)
P
(output signal
Error (ε) P (output signal) Error (ε) deviation)
Gc 𝟏
𝑲𝒄 𝟏 + 𝝉𝑫 𝒔 +
𝝉𝑰 𝒔

• The PID controller has all three adjustable values of the gain (Kc), the integral
time (τI), the derivative time (τD)
• The addition of derivative action to the PI action gives a definite improvement in
the response.
• The rise of the controlled variable is arrested more quickly, and it is returned
rapidly to the original value with little or no oscillation.
 • P controller
The control system is able to arrest the
rise of the controlled variable and
ultimately bring it to rest at a new
steady-state value but sometime the
results has the offset with non-tolerable
value (>20%)
• PI controller
The addition of integral action
eliminates the offset. This advantage of
integral action is balanced by the
disadvantage of a more oscillatory
𝑶𝒇𝒇𝒔𝒆𝒕 = 𝑺𝑷 𝒕 = ∞ − 𝑷𝑽 𝒕 = ∞ behavior.
• PID controller
The rise of the controlled variable is
arrested more quickly, and it is returned
rapidly to the original value with little
or no oscillation.
Control Valve (FCE)
Gv
P Q
(output signal deviation (manipulated variable
from controller) opening rate )
A/C
A/O
Measuring Element
T’ Tm’
Gm
(process variable (variable produced by
deviation) measuring element)

Measuring element 𝑻𝒎 ′(𝒔) 𝟏

(fast dynamic) transfer = =𝟏
function 𝑻′(𝒔) 𝟎 𝒔+𝟏