Chapter 11

Dynamic Behavior of ClosedLoop Control Systems

4-20 mA

Chapter 11

Chapter 11

Next, we develop a transfer function for each of the five elements

in the feedback control loop. For the sake of simplicity, flow rate
w1 is assumed to be constant, and the system is initially operating
at the nominal steady rate.

Process
In section 4.3 the approximate dynamic model of a stirred-tank
blending system was developed:

K1
K 2

X1 s
W2 s
s 1
s 1

X s

(11-1)

where
V
,
w

w1
K1 , and
w

1 x
K2
w

(11-2)

Chapter 11

 t xm
t
e t x%
sp

(11-5)

or after taking Laplace transforms,

Chapter 11

s X m s
E s X%sp

(11-6)

The symbol x%
t denotes the internal set-point composition
sp
expressed as an equivalent electrical current signal. This signal
t is related to the actual
is used internally by the controller. x%
sp
t by the composition sensorcomposition set point xsp
transmitter gain Km:
t K m xsp
t
x%
sp
Thus

s
X%sp
s
X sp

Km

(11-7)

(11-8)

Chapter 11

Current-to-Pressure (I/P) Transducer

Because transducers are usually designed to have linear
characteristics and negligible (fast) dynamics, we assume that the
transducer transfer function merely consists of a steady-state gain
KIP:
Pt s
K IP
(11-9)
P s

Control Valve

As discussed in Section 9.2, control valves are usually designed

so that the flow rate through the valve is a nearly linear function
of the signal to the valve actuator. Therefore, a first-order transfer
function usually provides an adequate model for operation of an
installed valve in the vicinity of a nominal steady state. Thus, we
assume that the control valve can be modeled as
W2 s
Kv

Pt s v s 1

(11-10)

Chapter 11

Composition Sensor-Transmitter (Analyzer)

We assume that the dynamic behavior of the composition sensortransmitter can be approximated by a first-order transfer function:
X m s
Km

(11-3)
X s m s 1

Controller
Suppose that an electronic proportional plus integral controller is
used. From Chapter 8, the controller transfer function is
P s

1
Kc 1
E s
I s

(11-4)

where P s and E(s) are the Laplace transforms of the controller

output p t and the error signal e(t). Note that p and e are
electrical signals that have units of mA, while Kc is dimensionless.
The error signal is expressed as

Chapter 11

Transfer Functions of Control

Systems
X s
Set-Point Change:
?
X sp s
X s
Load Change:
?
X 1 s

1. Summer

Chapter 11

2. Comparator

3. Block

Y(s) G(s)X(s)
Blocks in Series

are equivalent to...

Chapter 11

Closed-Loop Transfer Function

for Set-Point Change (Servo
Problem)
D s 0
Y s X 2 s G p s U s Gv s G p s P s
Gv s G p s Gc s E s

Gv s G p s Gc s Y%
sp s B s

Gv s G p s Gc s K mYsp s GmY s

K mGcGv G p
Y s

Ysp s 1 Gc GvG p Gm

Closed-Loop Transfer Function

for Load Change (Regulator
Problem)
Ysp s 0

Y s X1 s X 2 s

Gd s D s G p s U s
Gd s D s Gv s G p s Gc s K mYsp s GmY s
Gd s D s Gv s G p s Gc s GmY s

Y s

Gd

D s 1 GcGv G p Gm

General Expression of ClosedLoop Transfer Function

f
Y

X 1 e
where
X , Y : any two variables in block diagram
f : product of the transfer functions in the
path from X to Y
e : product of the transfer functions in the
feedback loop.

Servo Problem
X Ysp
Y Y
f K mGc Gv G p

e Gc Gv G p Gm GOL
open-loop transfer function

Regulator Problem
X D
Y Y
f Gd

e Gc Gv G p Gm GOL
open-loop transfer function

Chapter 11

I
O

Example
Gc 2G1
O
G4
I
1 Gc 2G1Gm 2
K m1Gc1G4G2G3
C

Ysp 1 Gc1G4G2G3Gm1

Gc 2G1
K m1Gc1
G2G3
1 Gc 2G1Gm 2

Gc 2G1
1 Gc1
G2G3Gm1
1 Gc 2G1Gm 2
K m1Gc1Gc 2G1G2G3

1 Gc 2G1Gm 2 Gc1Gc 2G1G2G3Gm1

Chapter 11

Chapter 11

Closed-Loop Response with

P Control (Set-Point Change)
H s

H sp s

Km Kc Kv

Kp

s 1 K1
Kp
1s 1
1 Kc Kv
Km
s 1

where
K OL
K1
1 K OL

and K OL open-loop gain =K m K c K v K p 0

1 K OL

Closed-Loop Response with

P Control (Set-Point Change)
M
hsp t M S t H sp s
s
t / 1

h t K1M 1 e

M
offset hsp h M K1M
1 K OL
K OL

offset and 1

Chapter 11

Chapter 11

Closed-Loop Response with

P Control (Load Change)
Kp

H s

Q1 s

K2
s 1

Kp
1 s 1
1 Kc Kv
Km
s 1
Kp
where K 2
1 K OL
M
q1 t M S t Q1 s
h t K 2 M 1 e t / 1
s
KpM
offset hsp h 0 K 2 M
1 K OL
K OL

offset and 1

Chapter 11

Closed-Loop Response with

PI Control (Set-Point Change)

1
Gc s K c 1
I s

Kp
1
Km Kc 1 Kv
K
G
K
m
c
v
H s
I s
s 1

Kp
Kp
H sp s

1
1 Gc K v
Km 1 Kc 1 Kv
Km
s 1
I s
s 1

Kp

Closed-Loop Response with

PI Control (Load Change)
H s

Q1 s

Kp

Kp

s 1
s 1

Kp
Kp

1
1 Gc K v
K m 1 Kc 1 Kv
Km
s 1
I s
s 1

I
s
Kc Kv Km
K3 s

2 2
I 2 1 K OL
3 s 2 3 3 s 1
s
I s 1
K OL
K OL
where
I
K3
, 3
Kc Kv Km

I
1 1 K OL I
, 3
K OL
2 K OL

Closed-Loop Response with

PI Control (Load Change)
1
q1 t S t Q1 s
s
K3
H s 2 2
3 s 2 3 3 s 1
h t

K3

3 1 32

3
t
3

sin

1 32
t
3

Note that offset is eliminated!

Closed-Loop Response with

PI Control (Load Change)
Kc
3 faster response , 3 less oscillatory

I
3 faster response , 3 more oscillatory

Chapter 11

EXAMPLE 1:

P.I. control of liquid level

Block Diagram:

Assumptions
1. q1, varies with time; q2 is constant.
2. Constant density and x-sectional area of tank, A.

Chapter 11

3.

q 3 f (h )

(for uncontrolled process)

4. The transmitter and control valve have negligible dynamics

(compared with dynamics of tank).
5. Ideal PI controller is used (direct-acting).
For these assumptions, the transfer functions are:

G C (s) K C 1
G M (s) K M
Is

G V (s) K V

1
As
1
G L (s)
As
G P (s)

KC 0

The closed-loop transfer function is:

Y H
GL

D Q1 1 GC GV GP GM

Chapter 11

Substitute,

1 K C

Simplify,

1
As
1
1

1
KV
KM

Is
As

Y
Is

D A I s 2 K C KV K M I s K C K P K M

(11-68)

(2)

(3)

Characteristic Equation:

A I s 2 K C KV K M I s K C K P K M 0

(4)

Recall the standard 2nd Order Transfer Function:

G (s)

K
2s 2 2s 1

(5)

To place Eqn. (4) in the same form as the denominator of the

T.F. in Eqn. (5), divide by Kc, KV, KM :

A I
s 2 Is 1 0
K CK VK M

Chapter 11

Comparing coefficients (5) and (6) gives:

A I
KCK VK M

2 I

Substitute,

I
2

A I
KCK VK M

0 1

1 K C K V K M I

2
A
For 0 < < 1 , closed-loop response is oscillatory. Thus
decreased degree of oscillation by increasing Kc or I (for constant
Kv, KM, and A).
unusual property of PI control of integrating system
better to use P only