Industrial Instrumentation

and Control
INSTR F343
BITS Pilani
Note to students

These slides should only be considered as supporting

material. To have a thorough understanding of the
course, these must be accompanied by textbook,
reference materials and lecture notes.

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Motivation: Tank level system

For a tank level system, where,

𝐹𝑜 = 𝛽 ℎ,
We observed that the system transfer function becomes,
𝐾𝑝
𝐺𝑃 𝑠 = ,
1 + 𝜏𝑝 𝑠
2𝐴 ℎ𝑠 2 ℎ𝑠
where, 𝜏𝑝 = , 𝑎𝑛𝑑 𝐾𝑝 =
𝛽 𝛽
Due to this, a fixed value controller may not yield desired
level of control performance.

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Motivation: Distillation column

Distillation column

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Contd…

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Contd…

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Contd…

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Adaptive control

• Adaptive control scheme is the one, which can adjust its

parameters automatically in such a way as to
compensate for variations in the characteristics of the
process it controls.

Broad classification:
• Indirect adaptive control
• Direct adaptive control

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Adaptive control:

• Programmed or scheduled adaptive control

gain scheduled PID control
• Model reference adaptive control
• Self tuning regulator

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Model reference adaptive
controller (MRAC)

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Self tuning regulator

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Process identification

Let us define a process in difference equation from,

Where, yi and mi are process output and input values at the ith sampling
instant. a1, a2, …, aK, and b1, b2, …, bK are constants.

The model order k may or may not be known.

Then, we simply find an error between measured process output and
estimated (computed) process output from the model.

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Process identification…

• The best value of the parameter are those, we minimizes the mean
square error criterion between theoretical and experimental values of
the process output.

One of the numerical techniques for the solution of this minimization

problem is the solution of following set of equations,

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Process identification…

Experimental identification of the process dynamics

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An adaptive control scheme

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An adaptive control scheme…

Consider a process in difference equation from,

Our objective is to keep y as closed a possible to ySP . What we can do to

design an adaptive control scheme?

Select an error based criterion,

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An adaptive control scheme…

𝜕𝑃1
The minimum of P1 is found at, = 0,
𝜕𝑚𝑛

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Gain scheduled controllers

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An NN based indirect adaptive
control scheme

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 BITS Pilani

Thank You