International Journal of Pure and Applied Mathematics

Volume 118 No. 11 2018, 655-662

ISSN: 1311-8080 (printed version); ISSN: 1314-3395 (on-line version)
url: http://www.ijpam.eu
doi: 10.12732/ijpam.v118i11.84
Special Issue ijpam.eu

SERVO AND REGULATORY PERFORMANCE ANALYSIS IN CONICAL TANK USING

DIFFERENT TUNING STRATEGIES OF PI CONTROLLER

E.Kesavan1, J.Arulvadivu2, P.Palpandian3, S.Manoharan4

1
Assistant Professor, RMK Engineering College, RSM Nagar, Chennai, Tamilnadu, India
2,3
Assistant Professor, Karpagam College of Engineering, Coimbatore, Tamilnadu, India
4
Professor, Karpagam College of Engineering, Coimbatore, Tamilnadu, India

Abstract: This manuscript propose an idea to intend
an adaptive PI controller for conical tank system using
online estimation of process parameters (gain and time
constant) gives proper model for the process to have a
exact control action. The gain scheduled and internal
model based PID controller is tuned, based on these
estimated values. The main purpose of the internal
model control is to provide fine tuned PID controller
in order to have precise controlling process. The
internal model based PI and scheduled PI recital are
compared with in terms of Integral absolute error,
integral absolute error, Integral squared error and
Disturbance rejection. The IMC based PI controller
provides excellent performance than Scheduled PI
controller.
Keywords: ABS. PI Controller, Gain scheduling
1. Introduction
The non linear, time variant and delay are special
features of industrial control systems; these features
make difficulties in getting the accurate model. The
cone is well known non linear system, due to variation
of gain and time constant with respect to height. This
non linearity causes difficulties to get the desired
response by the normal PI controller [1][2][3][4]. The
adaptive PI controller overcomes the inability of
normal PI controller by employ the varying controller
parameters. The adaptive PI controller has ability to
avoid oscillation due to sudden set point changes in
the process [5].
Among the various adaptive algorithm gain scheduling
is the widely used to change the controller parameters
for different operating region[6][7]. The gain
scheduled PI controller is used for controlling the
linear process such as conical tank, inserting spherical
two tank system etc,,.[8] But gain scheduled PID
controller tuning is time consuming process than other
adaptive algorithm[14].The fuzzy PID controller is
used adjust the controller parameters like derivative,
integral and proportional gain depends on dynamics of
the process[9]. The online neural PID plays a vital to
obtain the exact model for extremely non linear
process[10]. The model based tuning algorithm is
simple to design a controller for industrial
applications[11][12][13][14]. The on line estimation of
process parameters plays vital role for modeling the
non linear process[15]. Based on the estimated value,
the Internal model control tune the PID controller
which provides efficient control
action[16][17][18][19].
The on line estimation of gain and time constant
value is done by using present input, past input,
present output and past outputs of the non linear
system Comparison of internal model based PI and
scheduled based PI shows that the estimation based PI
provide good control action and ensure less time
consuming for tuning of PI controller than ZN tuning
rules.
1.1 Numerical Study for Conical Tank
The mass balance equation for non linear liquid tank is
given by
(1)
(2)
Where
Change in volume with respect to time
= Change in height with respect to time
= Inlet flow rate of the conical tank
=Outlet flow rate of the conical tank
Radius at liquid level of the conical tank

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International Journal of Pure and Applied Mathematics Special Issue

=height at liquid level of the conical tank 3. Linear Parameter Estimation For Non Linear
The relationship between input and output of System
the system is non linear.
Let us consider first order transfer function whose
(3) parameters are time constant and gain have to be
estimated.
1.2 Modeling Parameters
When including a sub-subsection you must use, The difference equation for the first order system can
for its heading, small letters, 11pt, left justified, bold, represent by discrete model with sapling time (ts)
Times New Roman as here.

Table 1. Physical Parameters

Parameters Values Let we consider the present data as past data in

discrete model
Maximum height of the tank 10 cm
Maximum radius of the tank 7 cm
Outlet valve coefficient 0.2
Maximum inlet flow rate 6.3cm3/sec The linear parameter can be estimated by solving the
equation (4) and (5), we get
2. Gain Scheduling Based Tuning Algorithm

The process parameters gain and time constant for

given system can be determined by process reaction
curve method for dissimilar operating region. The PI
controller is tuned for different obtained process The time constant and gain of the conical tank for
parameters in order to have a excellent control action. various heights can be calculated by using above
The ZN tuning rules are used to tune the PI controller equation. Let us consider the inlet flow of the conical
to get perfect controller parameters controller gain and tank is 6LPH. For this input the values of gain and
integral time. The PI controller parameters can be fit time constant are calculated for the given system.
for various operating region by using polynomial
equations. Table 2. Estimated values of gain and time constant
Kp=-0.0004013*SP4+0.009184*SP3- for various Height
0.06767*SP2+0.1513*SP+0.6018 (4)
Ki=-0.0001042*SP4+0.002512*SP3- Height of the Estimated Estimated
0.02106*SP2+0.07382+0.008292 (5) conical tank values of K values of Time
8 constant (sec)
4 cm 10 80
6 5 cm 11.1 141
H e ig h t (c m )

6 cm 12.24 224
4 7 cm 13.22 330
8 cm 14.13 462
2 9 cm 15 621

0 3.2 Model Validation for Non Linear System

0 0.5 1 1.5 2
4
The correct model of process ensures by
Time (sec) x 10 model validation between real time process and the
model. The estimated values of gain and time constant
Figure 1. Open loop response of conical tank are used model the system and tune the PI controller.
The estimated values should be accurate to get perfect
control action.

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International Journal of Pure and Applied Mathematics Special Issue

process parameters. This tuning method ensures

perfect control action for given non linear system.
The controller parameters are Kc= / K lem and i=
15 Where
Kc - On line estimated gain
- On line estimated time constant
Height (cm)

10 The PI controller expressed by the following equation

5 (13)
0
0 50 100 150 200 250
Time (Sec)
Figure 2. Model validation between process and
model
4. Internal Model Control Based Algorithm
The normal Proportional integral controller is most
simple and easy handling controller. Normally ZN
tuning rules used to obtain the controller gain and
integral time constant of PI controller. The internal
model control based PI tuning makes controller
efficient than normal tuning method. This tuning
method ensures good servo and regulatory
performance of the system. The desired response
tracking and disturbance rejection are more convenient
using IMC based PI controller[20][21] [22][23].
Kc
Process output
Model output 5. Result and Discussion
300 350 400
The IMC based PI and gain scheduled PI Performance
are compared for various setpoints. The fig.7, fig.8,
fig.9, fig.10 shows the output response of the system
and estimated values of process parameters of the
given conical tank system. The fig.7 infers the
effectiveness of the IMC based tuning of PI controller
and estimated values of process parameters for the set
point of 6cm. The IMC PI controller compared with
scheduled PI controller in terms of academic measures
like Integral squared error (ISE), integral absolute
error (IAE) and integral time absolute error (ITAE).
The IMC based PI Provides effective control action by
ensures less settling time, rise time, ISE, IAE and
ITAE. The settling time, overshoot and rise time of the
given system by the IMC based PI controller for set
point of 6 cm and 7 cm are shown in Table.2.

8 10
C o n tr o l l e r o u tp u t

IMC based PI
6
H e ig h t (c m )

5 gain scheduled PI

IMC baesd PI 0
2
Gain scheduled PI
0 -5
0 100 200 300 400 0 100 200 300 400
Time (sec) Time(sec)

15 300
T i m e c o n s ta n t

200
10
G a in

100
5
0

0 -100
0 100 200 300 400 0 100 200 300 400
Time(sec) Time(sec)

Figure 3. Model validation between process and

model
On line estimated values of process gain and time
constant is used to tune the PI controller parameters
like controller gain and integral time constant. The PI
controller is tuned for various operating region of
conical tank by using corresponding on line estimated
Figure 4. Output response using Scheduled PI and
IMC based PI for the set point of 6 cm, Controller
output of the Scheduled PI and IMC based PI for the
set point of 6 cm, Estimated values gain for 6cm and
Estimated values constant for 6cm,

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International Journal of Pure and Applied Mathematics Special Issue

8 10 15 20

C o n tro lle r o u tp u t
IMC based PI

C o n tro ll e r o u tp u t
IMC based PI
Gain scheduled PI

h e ig h t(c m )
6 Gainscheduled PI
h e i g h t(c m )

10 10
5
4
5 0
0 IMC based PI
2 IMC based PI Gain scheduled PI
Gain scheduled PI 0 -10
0 -5 0 100 200 300 400 0 100 200 300 400
0 100 200 300 400 0 100 200 300 400 Time (sec) Time (sec)
Time(sec) Time(sec)
20 1000
15 400

T im e c o n s ta n t
15
500
T im e c o n s ta n t

G a in
10 200 10
g a in

0
5
5 0
0 -500
0 100 200 300 400 0 100 200 300 400

0 -200 Time (sec) Time (sec)

0 100 200
Time(sec)
Figure 5. Output response using Scheduled PI and
IMC based PI for the set point of 7 cm, Controller
output of the Scheduled PI and IMC based PI for the
set point of 7 cm, Estimated values gain for 7cm and
Estimated values constant for 7cm,
10
300 400 0 100 200 300 400
Time(sec) Figure 7. Output response using Scheduled PI and
IMC based PI for the set point of 9 cm, Controller
output of the Scheduled PI and IMC based PI for the
set point of 9 cm, Estimated values gain for 9 cm and
Estimated values constant for 9 cm.
The IMC PI controller output intialy has
suddent rise in order to have a fast response of the
system by minimize the rise time. The settling time for
the system by IMC based PI and scheduled PI are 25s
C o n tr o l l e r o u tp u t

10 IMC based PI
Gain scheduled PI and 225s for the setpoint of 6cm.
H e i g h t( c m )

5 5 Table 3. Servo Performance Analysis For The Set

Point Of 6cm
IMC based PI 0
Gain scheduled PI Controller Set Settling Rise
0
0 100 200 300 400 0 100 200 300 400 point time time
Time(sec) Time(sec) Scheduled 6cm 225s 22s
15 600 PI
IMC PI 6cm 25s 14s
T i m e c o n s ta n t

400
10
G a in

200
Controller Set overshoot ISE IAE ITAE
5
0 point
Scheduled 6cm 0.7cm 5.84 4.5 45
0 -200
0 100 200 300 400 0 100 200 300 400 PI
Time(sec) Time (sec) IMC PI 6cm Nil 0.32 1.1 2.5
Figure 6. Output response using Scheduled PI and
IMC based PI for the set point of 8 cm, Controller Table 4. Servo Performance Analysis For The Set
output of the Scheduled PI and IMC based PI for the Point Of 7cm
set point of 8 cm, Estimated values gain for 8cm and
Estimated values constant for 8 cm. Controller Set Settling Rise
point time time
Scheduled 7cm 325s 25s
PI
IMC PI 7cm 28s 17s
Controller Set overshoot ISE IAE ITAE
point
Scheduled 7cm 0.8cm 6.8 5.78 59
PI
IMC PI 7cm Nil 0.37 1.3 2.75

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International Journal of Pure and Applied Mathematics Special Issue

Table 5. Servo Performance Analysis For The Set the ISE error for various height in conical tank process
Point Of 8cm are 5.84 and 6.8.The difference in the ISE for the
setpoint of 6 cm and 7cm is 0.96. But in IMC based PI
Controller Set Rise time
controller performance, the error difference is 0.05.
point
The IMC based PI provide less ISE variarion than
Scheduled 8cm 30s
scheduled PI controller. The ISE,IAE and ITAE
PI
variation are controlled by using IMC based PI
IMC PI 8cm 19s controller, which plays important role in controlling of
Controller Set overshoot ISE IAE ITAE non linear process.
point
8
Scheduled 8cm 0.9cm 8.1 7.35 78
PI
IMC PI 8cm Nil 0.43 1.5 3.06 6

Height (cm)
4
Table 6. Servo Performance Analysis For The Set
Point Of 9cm
2
IMC based PI
Controller Set Rise time
Scheduled PI
point 0
Scheduled 9cm 37s 0 100 200 300 400 500 600

PI Time (sec)
IMC PI 9cm 22s Figure 8. Positive Disturbance rejection
Controller Set overshoot ISE IAE ITAE performance using Scheduled PI and IMC based PI
point 10
Scheduled 9cm 1.05cm 9.6 8.8 87 IMC based PI
PI 9cm Nil 0.5 5 Scheduled PI
Controller output

IMC PI 1.72 3.76

0

The IMC based PI initialy has aggressive action on -5

conical tank system and its goes slugis with respect to
time to have a exact set point tracking. The osicillation -10
in the response of the system leads to more ISE, IAE
and ITAE. The response figures that there is no -15
0 100 200 300 400 500 600
oscilation by IMC based PI controller. The difference Time (sec)
of the integral squared error between IMC based PI Figure 9. Controller Output of Scheduled PI and IMC
and scheduled PI is 6.32. based PI for Positive Disturbance Rejection
8
Table 7. Performance Variation For The Different
Height In Conical Tank 6
H eight (cm )

% of
% of 4
ITA
Height % of ISE IAE
Controller E IMC based PI
variation variation variatio 2
varia Scheduled PI
n
tion
0
From IMC 0 100 200 300 400 500 600
6cm to based PI 15% 18% 10% Time (sec)
7cm controller
Figure 10. Negative Disturbance rejection
Gain performance using Scheduled PI and IMC based PI
From
Scheduled
6cm to 21% 28% 13%
PI
7cm
controller
This ISE error difference between the two
controller performace is varies with respect to height
variation.In the scheduled PI controller performance,

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International Journal of Pure and Applied Mathematics Special Issue

8 10
IMC based PI IMC based PI
Controller output

6 Scheduled PI

co n tro lle r o u tp u t
5 Scheduled PI
4

2 0

0
-5
-2
0 100 200 300 400 500 600
Time (sec) -10
0 200 400 600 800 1000 1200 1400 1600 1800
Figure 11. Controller Output of Scheduled PI and Time (sec)
IMC based PI for Negative Disturbance Rejection
Figure 13. Controller Output of Scheduled PI and
IMC based PI for Various Disturbance Rejection
Table 8. Regulatory Performance Analysis by
Scheduled PI and IMC Based PI Controller Disturbance affect the output of the system in
both positive and negative side, so that the gain and
Negativ
Positive Positive Negative time constant of the system suddenly changed from the
e
disturban disturban disturbanc corresponding values. The scheduled PI not able to
Contro disturba
ce ce e change to required integral time and controller gain
ller nce
Occurrin Rejection Rejection effective and fast manner. This problem is addressed
Occurrin
g Time Time Time and solved by IMC based PI controller. The online
g
estimation plays major role in IMC based PI controller
Schedu and it ensures exact controller parameters. Ramp
300th s 490th s 300th s 493rd s
led PI changes in the process parameters are estimated and
compensated by Input, output of the system and IMC
IMC PI 300th s 310th s 300th s 312th s
based PI controller. It is necessary that IMC based PI
takes aggressive action on the conical tank system for
The disturbance is occurring in the output of disturbance rejection. The various magnitude of the
conical tank system at 300 th second and it is rejected disturbances occurred in output of the conical tank at
by IMC based PI, Scheduled based PI controller. The various time and leads to instability response. The
IMC based provides best control action in order to IMC based PI controller takes almost same time to
reject the disturbance than scheduled PI controller. reject both positive and negative disturbance.
The IMC based PI and Scheduled PI controller rejects
the disturbance at 310thsecond and 490th second. The 6. Conclusion
proposed controller rejects the negative disturbance
effectively than other tuning algorithm for PI This work illustrated the ineffectual of Scheduled PI
controller. The magnitude of 1cm is acted as controller and effectuality of the IMC based PI
disturbance and deviates the output from the set point. controller. The MATLAB is used to analyze the both
servo and regulatory performance of conical tank by
8 dissimilar tuning techniques. The estimated values of
process parameters are used to model the system
6 properly and is used to tune the IMC based PI
H e ig h t (cm )

controller. The settling time, rise time, ISE, IAE and

4
ITAE are ensure that IMC based PI controller provides
efficient control action than scheduled PI controller
and also proposed controller reacts quickly for
2 IMC based PI disturbance rejection.
Scheduled PI
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International Journal of Pure and Applied Mathematics
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