CHEN 3005 PROCESS INSTRUMENTATION AND CONTROL

COMPUTER LAB 2

Designing Feedback PID Control Systems for a Jacketed

Continuous Stirred Tank Reactor.

We declare that the report submitted is written by ourselves based on the experimental work
mentioned above, which we had conducted on the stated date below.

GROUP 21
Full Name of Group Members : Student ID :
Thiveya Siwaraja 700014360
Srikanth Prakash 700020610
Ashvini Nahentta 700020173
Aaron Roy 700018215

Lecturer Name : Dr. Agus Saptoro

Lab Conducted Date : 17th September 2019
Submission Date : 24th September 2019
Submission Time : 2.30 pm
1.0 Introduction

The CSTR which is also known as Continuous Stirred Tank Reactor with the re-circulating
jacketed reactor system of heat transfer might have the more stimulating the dynamic
performance than the classical representation of the jacketed reactor. A specific CSTR with
only single steady state as the purpose of the jacketed reactor temperature could have the
numerous steady state conduct if the inlet temperature of the jacketed reactor is
considered as the manipulated. The PID controllers is commonly used form of the feedback.
And, it was the important element of the earlier regulator and it tends to become a normal
tool when the method of process control emerged. There are many different forms of
controllers. The PID control structure is named as after its, three types of the modifying
terms. Thus, the sum establishes the manipulated variable(MV). The integrating,
proportional and other derivation terms to the sum was calculate the PID controller output.
Thus, we can attain better performance for the rejection of load disturbance and also the
CSTR temperature that consists of the standard PID controller in the loop (feedback) and
also the pre-filter was added to its signal reference. Thus, the purpose of pre-filter is help to
yield the smooth transient reply to the change in set point. Therefore, we have used the PID
Simulink controller block which helps to control the CSTR (Continuous Stirred Tank
Reactor).

Figure 1: Represents the Jacketed Continuous Stirred Tank Reactor.

2.0 Method or Procedure
The software which is known as “MATLAB SIMULINK” acts as the simulator which helps to
carry out the computer software simulation. To start the simulation, we have to click on the
Simulation Library icon and further on the pop-up window will get appear on the screen,
then click file – Next- New Model, then you will get a blank Simulink model. Our simulation
process takes place on the necessaries under the Continuous, Sink, Math Operations and
the sources. Then, the blocks were connected by using the arrows. The disturbance and
process models parameters obtained in “Computer lab-1 (Loop Pro)” data were used to key
in in the Simulink model and also have to summarize the controller in the tuning
parameters that was calculated by using the IMC and further additional equation. From the
controller developed, Select PI controller and then key in the parameters of P and I in the
box and then click apply and finally click ok. Then click on the actuator block and key in the
numerator and the denominator as well based on the given Ga(s) and then click on apply
and then click ok. Then click on the Process block and key in the numerator and the
denominator as well based on the given Gp(s) and then click on apply and then click ok.
Then click on the sensor block and key in the numerator and the denominator as well
based on the given Gp(s) and then click on apply and then click ok. Thus, the step block is
based on the key in the specified initial and the final values exactly depends on the step
input and after key in the values, click apply and then ok. Then finally, click on the Add
block from the mathematical operation and then change (+ +) to (+ -) and then click apply
and finally click ok. After completing all these steps click on the Run button and observe the
final results. Then, Select PID controller and then key in the parameters of P, I and D in the
box and then click apply and finally click ok. Then click on the actuator block and key in the
numerator and the denominator as well based on the given Ga(s) and then click on apply
and then click ok. Then click on the Process block and key in the numerator and the
denominator as well based on the given Gp(s) and then click on apply and then click ok.
Then click on the sensor block and key in the numerator and the denominator as well
based on the given Gp(s) and then click on apply and then click ok. Thus, the step block is
based on the key in the specified initial and the final values exactly depends on the step
input and after key in the values, click apply and then ok. Then finally, click on the Add
block from the mathematical operation and then change (+ +) to (+ -) and then click apply
and finally click ok. After completing all these steps click on the Run button and observe the
final results. The same procedure will take place to do for P-Only controller as well.
The actuator and the sensor transfer function are mentioned below.
Ga(s) = 1/(0.1s+1)
Gs(s) = 1/(0.05s+1)
After developing the Simulink model, the above mentioned key in process for the PI, P only
and PID controller process takes place. Thus, the open loop simulation is will be carried out
by introducing the change in step for the disturbance and the process input. The feedback
control is also applied over the Simulink of closed loop system. Finally, the P-only, PI and
PID controllers were evaluated for both disturbance rejection performance and also the set
point tracking can able compare using the graphs obtained. The performance of controllers
was being evaluated and then compared by the criteria’s like settling time, offset, decay
ratio, overshoot and the integral error criteria’s (ISE, IAE, ITSE and ITAE). The controller
parameter performance was calculated by using two –different tuning equation and its
improved parameters. Finally, compare the P-only, PI and PID controllers step and the
disturbance graphs by changing the initial and final value and compare the (ISE, IAE, ITSE
and ITAE) values for P-only, PI and PID controllers.

3.0 Results and Discussion

Table 1: Represents the parameters of process model and disturbance models

obtained from computer simulation 1.
Process Model Disturbance Model
Kp -0.302 0.534
τp 1.55 1.22
θp 1.03 1.30

Tuning Parameters For P-Only Controller :

Setpoint Tracking
Table 2: Represents the controller tuning parameters calculated using IMC.
IMC Cohen and Choon’s
Correlation
Kc -1.10 -6.087

τl
τD
Disturbance Rejection
Table 3: Represents the controller tuning parameters calculated using Cohen and
Choon’s Correlation.
IMC Cohen and Choon’s
Correlation
Kc 0.350 1.362
τl
τD

Tuning Parameters For PI Controller :

Setpoint Tracking

Table 4: Represents the controller tuning parameters calculated using IMC.

IMC Cohen and Choon’s
Correlation
Kc -0.055 -4.761
τl 1.55 1.478
τD

Disturbance Rejection

Table 5: Represents the controller tuning parameters calculated using Cohen and
Choon’s Correlation.
IMC Cohen and Choon’s
Correlation
Kc 0.195 0.994

τl 1.22 1.424

τD
Tuning Parameters for PID Controller:

Setpoint Tracking

Table 6: Represents the controller tuning parameters calculated using IMC.

IMC Cohen and Choon’s
Correlation
Kc -0.782 -7.472
τl 2.07 2.024
τD 0.387 3.342

Disturbance Rejection

Table 7: Represents the controller tuning parameters calculated using Cohen and
Choon’s Correlation.
IMC Cohen and
Choon’s
Correlation
Kc 0.317 2.811
τl 1.88 2.319
τD 0.426 0.396
Figure 2: Represents the designation of PID through Simulink.

Figure 3: The graph obtained by PI step.

 Figure 4: The graph obtained by PI disturbances.

Figure 5: The graph obtained by PI after tuning or linearization.

 Figure 6: The graph obtained by P-Only step.

Figure 7: The graph obtained by P-Only disturbance.

Figure 8: The graph obtained by P-only after tuning or linearization.

Figure 9: The graph obtained by PID step.

 Figure 10: The graph obtained by PID disturbance.

Figure 11: the graph obtained by PID after tuning or linearization.

According to the plots and analysis PID has a provide the best results because the
overshoot is small when compared to other controllers such as PI controller and P-Only
Controller. Furthermore, the PID Controller has less settling time and percentage overshoot
when compared to other controllers. Thus, it was clearly shown that the system would
perform well with the use of PID controller. The red line in Figure 3, Figure 4, Figure 6,
Figure 7, Figure 9 and Figure 10 represents the input whereas the blue line on the graph
represents the output.

Integral Error Criteria

Table 1: Values Obtained for different type of controllers.
Types of Controllers IAE ISE ITAE ITSE

PI (Step) 7.007 23.67 14.61 37.49

PI (Disturbance) 6.584 22.32 32.08 34.02
P-only (Step) 122.6 162 6097 78.74

P-only (Disturbance) 85.3 84.9 4183 3551

PID (Step) 2.828 4.524 6.906 6.495
PID (Disturbances) 4.039 7.253 9.302 11.57

PID is chosen to be the best because it has the lowest and smallest integral errors as shown
in the table above.

4.0 Conclusion and Recommendations

In this lab experiment, we studied the control method and the performance of CSTR by
using the altered feedback controllers like P-only, PI and PID. After comparing these three
controllers and come to the point that PID controller was found to provide better
performance on the control system. The different tuning techniques for PID controllers was
also been compared for a Jacketed CSTR system. Thus, the plots and the analysis of the PID
controller graph reached the steady state in a fast period of time when compared to PI and
P-Only controllers. PID controller system performs better load disturbance of rejection and
the overshoot with the (minimum) settling time. The main recommendation is key-in the
correct values what you obtained in the computer lab-1 and make sure for step and
disturbance, the block parameter value should be key-in and to run the system before
clicking on the Scope. So, that we can obtain the new ISE, IAE, ITSE and ITAE values for
different controllers.
5.0 References

Gupta, Anju, and Pooja Khurana. 2015. "Comparison of Various Tuning Methods for
PID Controller For A CSTR System".
http://ijiset.com/vol2/v2s8/IJISET_V2_I8_105.pdf.

Maheshwari, Nikul, Neha Jain, Arun Jingar, and Mahendra Suthar. 2016. "Design and
Analysis Of PID Controller For CSTR Process". Ijsetr.Org. http://ijsetr.org/wp-
content/uploads/2016/02/IJSETR-VOL-5-ISSUE-2-600-603.pdf.

"Modeling and Control Design of Continuous Stirred Tank Reactor System".

2015. Pdfs.Semanticscholar.Org.
https://pdfs.semanticscholar.org/3b8c/5daf6b99774f1150533be2dc4d3cc124b54
8.pdf.

Sultaniya, Shashank, and Dr.Rajeev Gupta. 2014. "Design of PID Controller Using PSO
Algorithm For CSTR System". Pdfs.Semanticscholar.Org.
https://pdfs.semanticscholar.org/f675/305745fd55979a5474c2e5bbbfd5b9900fb1
.pdf.