Smith & Corripio, 3rd edition

%TO := %

%CO := %

Kd := K

Problem 7-1. Feedback control of a third-order process.

U(s)
R(s) + E(s)

Gc(s)

G2(s)

M(s)

G1(s)

G1 ( s) =

K := 2.5

%TO

1 := 5min

%CO

( 1 s + 1) ( 2 s + 1) ( 3 s + 1)
2 := 0.8min
1 + Gc( s)

Characteristic equation of the loop:

Ultimate gain and period:

C(s)

Gc( s) = Kcu
3

3 := 0.2min
K

( 1 s + 1) ( 2 s + 1) ( 3 s + 1)

=0

s = u i
2

A u i B u + C u i + 1 + KKcu = 0 + 0 i
where

A := 1 2 3

B := 1 2 + 1 3 + 2 3

C := 1 + 2 + 3
2

B = 5.16 min
Imaginary part:

A u + C u = 0
2

B u + 1 + KKcu = 0

Real part:

u :=

C
A

Tu :=

2
u

2
1
Kcu := B u 1

A = 0.8 min
C = 6 min

Tu = 2.29 min
%CO
Kcu = 15.1
%TO

(a) Quarter decay ratio tuning parameters for a proportional controller.

From Table 7-1.1:

Gc( s) = Kc

Kc :=

Kcu

%CO
Kc = 7.5
%TO

(b) Quarter decay ratio tuning parameters for a proportional-integral controller.

Gc( s) = Kc 1 +

I s

From Table 7-1.1:

Kcu
Kc :=
2.2

I :=

Tu
1.2

%CO
Kc = 6.9
%TO

 I = 1.9 min

(c) Quarter decay ratio tuning parameters for a series PID controller.
Gc( s) = Kc 1 +

s + 1
(D )
I s

Kcu
Kc :=
1.7

From Table 7-1.1:

I :=

Tu
2

D :=

%CO
Kc = 8.9
%TO
Tu
8

I = 1.1 min
D = 0.29 min

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Smith & Corripio, 3rd edition

Problem 7-2. Feedback control loop of Problem 7-1.
From the solution to Problem 7-1, the characteristic equation is:
3

A s + B s + C s + 1 + Gc( s) K = 0
with

A = 0.8 min

B = 5.16 min

C = 6 min

K = 2.5

%TO
%CO

(a) Roots of the characteritic equation, dominant roots, damping ratio and decay
ratio.
a) Proportional controller

Find the roots:

1 + K Kc

C min 1
5.8883

polyroots
= 0.2808 2.0282i
min 2
B

0.2808 + 2.0282i
min 3
A

Damping ratio:

1
Decay ratio:

%CO
Kc := 7.5
%TO

Gc( s) = Kc

2.0282
1

T = 3.098 min
0.2808

:=

Roots of:

0.2808 + 2.0282

= 0.419

Gc( s) = Kc 1 +

2.0282min

= 0.137

The decay ratio is higher than one fourth.

b) PI Controller

Period: T :=

(2.0282 ) 2 = 0.28082(1 2)

0.2808

0.2808min

Dominant roots are the

complex conjugate pair.

I s

%CO
Kc := 6.9
%TO

A s + B s + C s + 1 + K Kc s +

K Kc
I

I := 1.9min

=0

 K Kc

min
I

5.776

1 + K Kc
0.555

1 =
polyroots

min

C
0.06 + 1.881i

0.06 1.881i

B min 2

A min 3

0.06

Damping ratio:

0.06 + 1.881

The dominant roots are the

complex conjugate roots:
Period:

1.8814min
T = 3.34 min

Decay ratio:

= 0.032

T :=

0.06min

= 0.818

This is a very undamped response; extremely high decay ratio.

Gc( s) = Kc 1 +

c) Series PID controller:

Roots of:

%CO
Kc := 8.9
%TO

s + 1
(D )
I s

I := 1.1min D = 0.29 min

A s + B s + C + K Kc D s + 1 + K Kc 1 +

K Kc

min

4.531

1 + K Kc 1 + D

0.952

polyroots
=
0.483 2.372i

1
( C + K Kc D) min

0.483 + 2.372i
2

B min

A min

Damping ratio:

0.483
2

0.483 + 2.372

= 0.2

Decay ratio:

K K

c
s +
=0
I
I

The dominant roots are the

complex conjugate roots.
Period:

T :=

2.372min
T = 2.649 min

0.483min

= 0.278

This close to the desired decay ratio of one fourth (0.25).

(b) Simulate tye loop and plot responses to a unit step change in set point.
The linear loop is simulated with one Simulink transfer function block to simulate the process
and another block to simulate the controller. The controller block, G c(s), is obtained from

 P controller: a simple proportional gain

PI controller: from the Public Model Library, f0403PI (Fig. 13-4.3)
Series PID controller: Public Model Library, f0405PIDs (Fig. 13-4.5)
All the initial conditions in the controller models are zero. The set point input, R(s), is a step
input that changes from 0 to 1 at time = 1 min. The limits on the controller output must be
changed to -100%CO to 100%CO for this linear system, so that it can be negative.
The Simulink block diagram for the loop is:

The plots for the three controllers, using the tuning parameters determined in Problem 7-2, are:

The responses are for the proportional (gold), PI (purple), and series PID (green). Notice how the
periods of oscillation and decay ratios closely match the analytical results of part (a) of this
problem. The proportional controller shows a very small offset:
1%TO
1 + K Kc

= 0.043 %TO

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is unlawful.

Smith & Corripio, 3rd edition

Problem 7-3. Feedback control of a second-order plus dead-time process.

U(s)
R(s) + E(s)

Gc(s)

G2(s)

M(s)

G1(s)

G1 ( s) =

K e

t0 s

)(

1 s + 1 2 s + 1

K := 1.25

%TO
%CO

1 := 1min 2 := 0.6min
2

First -order plus dead-time parameters from Fig. 7-2.8:

= 0.6

(the dead-time equivalent is added to the actual dead time)

PI controller:

Gc( s) = Kc 1 +

t0e := t0 + t0

I s

(a) PI controller tuned for quarter-decay ratio response

From Table 7-2.1:

0.9 1
Kc :=
P
K u

C(s)

t0 := 0.20min

:= 1.32 1 = 1.32 min

t0 := 0.39 1 t0 = 0.39 min
Pu :=

t0e

Pu = 0.447

%CO
Kc = 1.6
%TO

I := 3.33 t0e

I = 2 min

(b) PI controller tuned for minimum IAE on disturbance inputs.

From Table 7-2.2:

Kc :=

0.984

Pu
K

0.986

I :=

P
0.608 u

0.707

%CO
Kc = 1.7
%TO

I = 1.2 min

(c) PI controller tuned for minimum IAE on set-point inputs.

From Table 7-2.3:

Kc :=

0.758
K

Pu

0.861

I :=

1.02 0.323 Pu

%CO
Kc = 1.2
%TO

I = 1.5 min

(d) PI controller tuned by controller syntesis for 5% overshoot on a set-point chang

From Table 7-4.1:

0.5 1
Kc :=
P
K u

I :=

%CO
Kc = 0.89
%TO

I = 1.3 min

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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.

Smith & Corripio, 3rd edition

Problem 7-4. Process of Problem 7-3 with PID controller.
:= 1.32min

From the solution to Problem 7-3:

Series PID:

Gc( s) = Kc 1 +

t0e := ( 0.39 + 0.2)min Pu :=

s + 1 Parallel PID:
( D )
I s

t0e

Gc( s) = Kc 1 +

Pu = 0.447

1
I s

+ D s

(a) PID controller tuned for quarter-decay ratio response

From Table 7-2.1, series:

Kc :=

1.2

P
K u

I := 2 t0e

Kc = 2.1

%CO
%TO

D := 0.5 t0e

Parallel PID: Kc := Kc 1 +

I := I + D D :=

D = 0.3 min
I D

%CO
Kc = 2.7
= 1.5 min
%TO I

I + D

D = 0.24 min

(b) PID controller tuned for minimum IAE on disturbance inputs.

From Table 7-2.2:

Kc :=

For parallel PID.

1.435

Pu
K

0.921

I :=

I = 1.2 min

P
0.878 u

0.749

D := 0.482 Pu

%CO
Kc = 2.4
%TO

1.137

I = 0.82 min
D = 0.25 min

(c) PI controller tuned for minimum IAE on set-point inputs.

From Table 7-2.3:

Kc :=

1.086

Pu
K

0.869

I :=

%CO
Kc = 1.7
0.740 0.130 Pu
%TO

For parallel PID.

D := 0.348 Pu

0.914

I = 1.9 min
D = 0.22 min

(d) PID controller tuned by controller syntesis for 5% overshoot on a set-point

change.
From Table 7-4.1,
series:

Kc :=

0.5

P
K u

Parallel PID: Kc := Kc 1 +

t0e
I := D :=
2

I := I + D D :=

Kc = 0.89
I D

%CO
%TO

I = 1.3 min
D = 0.3 min

%CO
= 1.6 min
I + D Kc = 1.1
%TO I
D = 0.24 min

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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.

Smith & Corripio, 3rd edition

Problem 7-5. Process of Problem 7-3 with sampled-data PI controller.
Sample time:

T := 0.1min

Use Eq. 7-2.18:

PI controller:

From the solution to Problem 7-3:

t0e := ( 0.39 + 0.2)min +

Gc( s) = Kc 1 +

T
2

:= 1.32min
t0e
Pu :=

Pu = 0.485

I s

(a) PI controller tuned for quarter-decay ratio response

From Table 7-2.1:

0.9 1
Kc :=
P
K u

%CO
Kc = 1.5
%TO

I := 3.33 t0e

I = 2.1 min

(b) PI controller tuned for minimum IAE on disturbance inputs.

From Table 7-2.2:

Kc :=

0.984
K

Pu

0.986

I :=

0.707
P
0.608 u

%CO
Kc = 1.6
%TO

I = 1.3 min

(c) PI controller tuned for minimum IAE on set-point inputs.

From Table 7-2.3:

Kc :=

0.758

Pu
K

0.861

I :=

1.02 0.323 Pu

%CO
Kc = 1.1
%TO

I = 1.5 min

(d) PI controller tuned by controller syntesis for 5% overshoot on a set-point chang

From Table 7-4.1:

0.5 1
Kc :=
P
K u

I :=

%CO
Kc = 0.82
%TO

I = 1.3 min

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Smith & Corripio, 3rd edition

Problem 7-6. Controller Synthesis for the process of Problem 7-3.
(a) Assuming no dead time.
G( s) =

( 1 s + 1) ( 2 s + 1)

Dahlin syntheis formula:

)(

1 s + 1 2 s + 1
1
1
1
1
1 + 1 s + 1
Gc( s) =
=

=
2
K
G( s) c s
c s
K c
1 s

Compare with the series PID controller:

Gc( s) = Kc 1 +

Kc =

s + 1
( D )
I s

I = 1

K c

D = 2

(b) Second-order plus dead time.

G( s) =

K e

t0 s

( 1 s + 1) ( 2 s + 1)

C( s )

Dahlin synthesis formula:

Gc( s) =
G( s)

C( s)

R( s )

C( s)

R( s)

( 1 s + 1) ( 2 s + 1)
G ( s) =

Substitute:

K e

R( s)

t0 s

t0 s

c s + 1

t0 s

c s + 1 e

t0 s

This is a PID controller with dead-time compensation. To eliminate the dead-time compensation
term use the Pad approximation:

t0 s

1
=
1+

Substitute:

t0
2
t0
2

s
1e
s

t0 s

1+
=

t0
2

s 1 +

1+

t0
2

t0
2

s
=

t0 s
1+

t0
2

Gc( s) =

)(

1 s + 1 2 s + 1
K

1+

t0
2

t0

c s 1 +
s + t0 s
2

( 1 s + 1) ( 2 s + 1) 20 s + 1

c t 0

K s c + t0 +

e =

t0

s + 1
1
1
2

Gc( s) =
1 +
( 2 s + 1)
e s + 1
K ( c + t0 )
1 s

c t 0

2 c + t0

This is a series PID controller with a lead-lag unit attached. The corresponding tuning parameetrs
are:
Kc =

1
K c

I = 1

D = 2

t0
and a second derivative with D2 =
2

In practice astandard PID controller is used with the tuning parameters of Problem 7-4.
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is unlawful.

Smith & Corripio, 3rd edition

Problem 7-7. Simulation of the control loop of Problem 7-3.
To simulate the loop use
a Simulink transfer function block
a Simulnk time delay block
a parallel PID controller from the Public Model Library, f406PIDp (Fig. 13-4.6).
For this linear system all the initial conditions are zero, and the limits on the controller output are
set to -100 to 100%CO to allow the output to go negative.
The Simulink diagram is:

( 1 s + 1)( 2 s + 1) = 0.6s2 + 1.6s + 1

Two additional blocks have been added to calculate the integral of the absolute value of the error.
Students are encouraged to adjust the controller parameters to minimize the IAE. However, they
should also observe the time response of the controller output and the controlled variable.
A sample plot to a unit step change in set point at 1 minute is:

The PID tuning parameters for

minimum IAE on set point
changes (Problem 7-4(c)) were
used:
%CO
Kc := 1.8
%TO
I := 1.9min
D := 0.22min

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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.

Smith & Corripio, 3rd edition

Problem 7-8. Quarter decay tuning of PI controller for the blender of Problem
6-11.
From the solution to Problem 6-11:

%CO
Kcu := 250
%TO

PI controller quarter-decay tuning from Table 7-1.1:

Tu := 3.01min

Kcu
Kc :=
2.2

The negative gain means the controller is direct acting.

I :=

Tu
1.2

%CO
Kc = 114
%TO
I = 2.5 min

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is unlawful.

Smith & Corripio, 3rd edition

Problem 7-9. Quarter decay tuning of PID controller for the reactor of
Problem 6-12.
In Problem 6-12 we found that there is no ultimate gain for reactor temperature control loop when
the cooling water is the manipulated variable. By simulation of the linear loop, the open-loop
response to a 5%CO step change at 1 minute is:
K :=

Gain:

10.1%TO
5%CO
K = 2.02

%TO
%CO

By fit 3 (two-point method):

0.283 10.1%TO = 2.858 %TO
t1 := ( 6 1 )min
0.632 10.1%TO = 6.383 %TO
t2 := ( 10 1 )min

:= 1.5 t2 t1

t0 := t2

= 6 min
t0 = 3 min

From Table 7-2.1, the quarter-decay ratio tuning parameters for a series PID controller are:
1.2 t0

Kc :=
K

I := 2 t0

D :=

t0
2

%CO
Kc = 1.2
%TO

I = 6 min

D = 1.5 min

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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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Smith & Corripio, 3rd edition

Problem 7-10. Quarter decay tuning of a PI controller for the three-tank
process of Problem 6-14.
In Problem 6-14 we found that there is no ultimate gain for the composition control loop. By
simulation of the linear approximation, the response to a step change of 5%CO at 1 min is:
11.2%TO

K :=

Gain:

5%CO
K = 2.24

%TO
%CO

Fit 3 (two-point method):

0.283 ( 11.2%TO) = 3.17 %TO
t1 := ( 3 1 )min
0.632 ( 11.2%TO) = 7.078 %TO
t2 := ( 5.8 1 )min

:= 1.5 t2 t1
t0 := t2

From Table 7-2.1:

0.9 t0

Kc :=
K

I := 3.33t0

%CO
Kc = 2.8
%TO

= 4.2 min
t0 = 0.6 min

I = 2 min

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is unlawful.

Smith & Corripio, 3rd edition

Problem 7-11. Quarter decay tuning of a PI controller for the reactors of
Problem 6-17.
In Problem 6-17 we found that there is no ultimate gain for the composition control loop. Because of
the complex combination of poles and zeros, the open-loop parameters cannot be easily
determined analytically. This problem is solved by simulation in Problem 13-23, where the following
open-loop response to a step increase of 5%CO at 1 minute is obtained:

From this response we get:

c := ( 74 50)%TO
K :=

c
5%CO

K = 4.8

%TO
%CO

Two-point method:
0.283 c = 6.792 %TO
t1 := ( 7.5 1 )min
0.632 c = 15.168 %TO
t2 := ( 15 1 )min

:= 1.5 t2 t1
t0 := t2

From Table 7-2.1:

0.9 t0

Kc :=
K

%CO
Kc = 0.77
%TO

I := 3.33 t0

1 + KT Kc 1 +

where

1
I s

Kv

v s + 1

2 2

KA + KB s + K3 s

:= 5min v := 0.1min KT := 100

( s + 1)3
%TO gal
lb

=0

gal
Kv := 2.46
min %CO

= 11.25 m
t0 = 2.75 mi

I = 9.2 min

Roots of the characteristic equation, damping ratio, and decay ratio.

From the solution to Problem 3-17, the characteristic equation is:

KA := 0.0075

)(

lb min
gal

KB := 0.0075

s v s + 1 s + 3 s + 3 s + 1 + KT Kc Kv s +

3 3

2 2

3 5

lb min
gal

K3 := 0.0025

A := 3 v +

KL

v = 12.5 min

E := 1 + KL +
3

A = 132.5 min

K + K s + K 2 s2 = 0
A
B
3

=0

B := 3 v + 3 + KT Kc Kv K3

C := v + 3 + KT Kc Kv KB

gal

v s + A s + B s + C s + E s +
where

lb min

KL := KT Kc Kv KA

KT Kc Kv KB

KL = 1.415

I
2

B = 88.293 min

C = 22.176 min

E = 3.188

Roots of the characteristic equaton:

KL

min

E
9.905

0.39

1
min
= 0.112 + 0.164i
polyroots C

0.112

0.164i

B min

0.082

A min 3

3 min 4
v

The dominant root is a real root with time

constant:
1
= 12.2 min
1
0.082 min
There is also a comlex conjugate root
with period:
2

T :=

T = 38.3 min

0.164min
Damping ratio:

0.112
2

0.112 + 0.164
Decay ratio:

0.112 min

= 0.564

= 0.014

There is essentially no oscillation in the response. The response is complete in less than one
complete oscillation. Students should verify this with the simulation of Problem 13-23 and
experiment with other tuning parameters. A higher controller gain is indicated by these results.
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Smith & Corripio, 3rd edition

kscf := 1000ft

Problem 7-12. Control of suction pressure for compressor of Problem 6-18.

From the solution to Problem 6-18:
KT
%TO
H( s) =
KT := 5
psi
T s + 1

PC

T := 1.2s

Gsc( s) =

m(t)
SC

Ksc
sc s + 1

sc := 2.5s

Steam

kscf

PT

Ksc := 0.36
min %CO
Gp ( s) =

Kp

Suction

p := 7.5s

p s + 1

fc(t)
Discharge
ps(t)

fi(t)

psi min
Kp := 0.5
kscf
Ultimate gain and period:

%CO
Kcu := 15.9
%TO

Tu := 8.91s

Quarter-decay ratio tuning parametes for a PI controller:

Kcu
Kc :=
2.2

From Table 7-1.1:

I :=

Tu

%CO
Kc = 7.2
%TO

1.2

I = 7.4 s

Roots of the characteristic equation, damping ratio, and decay ratio.

From the solution to Problem 6-18:
4

KT
T s + 1

Kc 1 +

Ksc

Kp

I s sc s + 1 p s + 1

)2 (

T sc p s + T sc + T p + sc P s + T + sc + p s + 1 KL s
where

KL := KT Kc Ksc Kp

Find roots:

KL = 6.505

=0
KL
I

=0

KL


sec
I

1.16

1 KL

0.135
=

1
polyroots

sec

( T sc p)
0.036 0.498i

0.036 + 0.498i

( T sc + T p + sc p) sec 2

T sc p sec

Damping ratio:

0.036
2

0.036 + 0.498

= 0.072

Decay ratio:

The dominant roots are the

complex conjugate pair.
The period of the
oscillations is:
2

T :=

0.498sec

T = 12.62 s

0.036sec

= 0.635

The damping ratio is too low and the decay ratio is too high. To reduce the oscillations a smaller
gain is required.
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is unlawful.

degC := Kd

Smith & Corripio, 3r edition

Problem 7-13. Temperature control of stirred-tank cooler of Problem 6-19.

From the solution to Problem 6-19:
GFC( s) =

Tset(t)

KFC

FC := 0.1min

FC s + 1

f(t)

H( s) =

KT

Ti(t)

Tc(t)

T := 0.6min

T s + 1

m(t)

TT

KFC := 0.008
min %CO

TC

SP
FC

%TO
KT := 2
degC
G1 ( s) =

FT

K2 K3

( 1 s + 1) ( 2 s + 1) K2 K4

1 := 13.77min 2 := 3.03min
K2 := 0.725

K3 := 28.94

Tci

fc(t)

T(t)

degC min
3

K4 := 0.525

%CO
Kcu := 86.7
%TO

Ultimate gain and period:

Tu := 8.32min

Quarter-decay ratio tuning of a PI controller.

Kcu
Kc :=
2.2

I :=

Tu

%CO
Kc = 39
%TO

1.2

I = 6.9 min

Roots of the characteristic equation, damping ratio, and decay ratio.

From the solution to Problem 6-19:

KT
T s + 1
5

Kc 1 +

KFC

A := T FC 1 2

I s FC s + 1 1 s + 1 2 s + 1 K2 K4

A s + B s + C s + D s + E s
where

)(

K2 K3

KL
I

=0

=0

B := T FC 1 + T FC 2 + FC 1 2 + T 1 2

= 2.503 min
C := T FC 1 K2 K4 + T 1 + T 2 + FC 1 + FC 2 + 1 2 A
3
B = 30.214 min

)(

D := T + FC 1 K2 K4 + 1 + 2
E := 1 K2 K4 KL

KL := KT Kc KFC K2 K3
2
C = 53.52 min

E = 13.849

KL = 13.23

D = 17.234 min

Find the roots:

min
I

E 9.993

1.882
1

D min

polyroots
=
0.154

2
C min 0.02 0.512i

0.02 + 0.512i
B min 3

min 4
A

KL

The dominant roots are the complex conjugate

pair. The period of oscillation is:
2

T :=

Tu = 8.32 min

0.512min

0.02

Damping ratio:

0.02 + 0.512

Decay ratio:

0.02min

= 0.039

= 0.782

The damping ratio is too low and the decay ratio is too high. The controller gain should be
decresaed to reduced the very oscillatory behavior.
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

Smith & Corripio, 3rd edition

lbmole := 433.59mole

Problem 7-14. Composition control of reactors in series of Problem 6-22.

From the solution to
Problem 6-22:
gal
Kv := 1.42
min %CO
H( s) =

KT

T s + 1

cA2set(t)

cA1(t)

T := 0.5min

%TO gal
KT := 222
lbmole
G1 ( s) =

K4 1 s + 1 + K5 K1

V
fA(t)

DA

( 1 s + 1) ( 2 s + 1)

1 := 2.222min 2 := 1.429min
K1 := 0.006123

K4 := 0.00127

fi(t)
cAi(t)

AC

AT

V LT

LC

c A2(t)

lbmole min
2

gal

lbmole min
gal

K5 := 0.286

Quarter-decay tuning parameters for a PI controller.

In the solution to Problem 6-22 we determined that there is no ultimate gain for the analyzer control
loop. By simulation, the open-loop response to a 5% increase in the controller output is:

Gain: K :=

4.7

K = 0.94

%TO
%CO

Two-point method:
0.283 4.7%TO = 1.33 %TO
t 1 := ( 2.5 1 )min
0.632 4.7 %TO = 2.97 %TO
t 2 := ( 4 1 )min

:= 1.5 t 2 t 1

= 2.3 min

t 0 := t 2

t 0 = 0.8 min

From Table 7-2.1:

0.9 t 0

Kc :=
K

I := 3.33 t 0

%CO
Kc = 2.9
%TO

I = 2.5 min

Roots of the characteristic equation, damping ratio, and decay ratio.

From the solution to Problem 2-22:
4

1+

KT

T s + 1

Kc 1 +

s
K K4 ( 1 + 1) + K5 K1 = 0
v
I s
( 1 s + 1) ( 2 s + 1)

)3 (

)2 (

T 1 2 s + T 1 + T 2 + 1 2 s + T + 1 + 2 + A s + 1 + KL s +
where

A := KT Kc Kv K4 1

Find the roots:

KL := KT Kc Kv K4 + K5 K1

KL

=0

A = 2.555 min KL = 2.736

KL


min
I

1.204
1 + KL

1.204

1 =
polyroots

min
( T 1 2 A)
0.371

0.371
( T 1 + T 2 + 1 2) min 2

T 1 2 min

Damping ratio:

0.371
2

0.371 + 0.435

= 0.649

0.813i

The dominant roots are the

second pair of complex
conjugate roots. The period
of ocillation is:

+ 0.813i

T :=

0.435i

0.435min

+ 0.435i

Decay ratio:

T = 14.44 min

0.371 min

= 0.00471

The damping ratio is high and the decay ratio is small, with practically no oscillations. The
controller gain should be higher. The reason is that the quarter-decay ratio formulas are based on fit
1, not fit 3 (the two-point method), to determine the open-loop time constant and dead time.
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.

Smith & Corripio, 3rd edition

%TO := %

%CO := %

Problem 7-15. Solid moisture control of a vacuum filter.

AC
M
AT To
incinerator
Ferric
Chloride
Sludge

0
1

m := 12.5%CO
1.5
2.5
First column is time in

minutes
3.5
Second column is outlet %
4.5
moisture in the solids
5.5

6.5
7.5
8.5

txm := 9.5
Problem data:
10.5
x in := 95%
x o := 75%

11.5
13.5
Transmitter (AT):
15.5

x min := 55% x max := 95%

17.5
19.5
100%TO
%TO
KT :=
KT = 2.5
21.5
x max x min
%

25.5
29.5

33.5

Response to a step change of:

Filtrate

75.0
75.0

75.0
75.0

74.9
74.6
74.3

73.6
73.0

72.3

71.6
70.9

70.3
69.3
6.6

68.0
67.6

67.4

67.1
67.0
67.0

x in := 0.5%

0
1

2
3
4

5
6

7
8
9

10
txi :=
11
12

13
14

15
17
19

21
25
29

33

75.0
75.0

75.0
75.0

75.0
75.1

75.3

75.4
75.6

75.7
75.9

76.1

76.2
76.3

76.4

76.6
76.7

76.8
76.9

77.0
75.0

77.0

(a) Block diagram of the moisture control loop.

Xin(s)
Xoset(s)
KT

R(s) + E(s)
-

Gc(s)

G2(s)

M(s)

C(s)

G1(s)

Xo(s)

KT

(b) Transfer functions by fit 3, two-point method.

x m := txm
txm %
0 , 1
20 , 1

x m = 8 %

K1 :=

x m

%TO
KT K1 = 1.6
%CO

72.736 txm
8, 1

txm
% + 0.283 x m = 72.736 %
0, 1

t1 := txm
+ tx
txm
8 , 0 m9 , 0
8 , 0 txm

txm
% + 0.632 x m = 69.944 %
0, 1

t2 := txm
+ tx
txm

12 , 0 m13 , 0
12 , 0 txm

t1 = 7.877

t2 = 12.212

69.944 txm
12 , 1
13 , 1

1 := 1.5 t2 t1 min

t01 := t2 min 1 1 = 6.5 min

KT G1 ( s) =

x i := txi
txi %
0 , 1
21 , 1

x i = 2 %

t01 = 5.71 min

5.71s

6.5 s + 1

x i

%TO
%CO

%TO
KT K2 = 10
%

x in

t1 := txi
+ tx
txi
9 , 0 i 10 , 0
9 , 0 txi

10 , 1

txi
9, 1

76.264 txi
14 , 1

txi
% + 0.632 x i = 76.264 %
0, 1
t2 = 13.64

K2 :=

1.6e

txm
12 , 1

75.566 txi
9, 1

txi
% + 0.283 x i = 75.566 %
0, 1

t1 = 8.66

txm
8, 1

9, 1

t2 := txi
+ tx
txi

14 , 0 i 15 , 0
14 , 0 txi

2 := 1.5 t2 t1 min

15 , 1

txi
14 , 1

t02 := t2 min 2 2 = 7.47 min t02 = 6.17 min

6.17s

%TO
10e
KT G2 ( s) =
7.47 s + 1 %

(c) Discuss the controllability of the loop and the controller action.
The loop is difficult to control by feedback control because its ratio of dead time to time constant is
high:
t01
= 0.878
1
The controller must direct acting: an increase in moisture increases the controller output; this
increases the speed of the pump and the rate of ferric chloride addition; filtration becomes more
efficient and the moisture content of the product decreases.

(d) Gain of a proportional controller for minimum IAE response and offset to a 1%
increase in inlet moisture.
From Table 7-2.2:

Offset =

KT x o

set

t01
Kc :=

KT K1 1

0.902

K2 x in

Offset :=

1 + KT Kc K1

%CO
Kc = 0.64
%TO
0 K2 1 %
1 + KT Kc K1

(e) Quarter-decay response tuning of a PI controller.

From Table 7-2.1:

t01
Kc :=

KT K1 1

0.9

I := 3.33 t01

%CO
Gc( s) = 0.64
%TO

Offset = 2 %TO
Offset
KT

= 0.789 %

%CO
Kc = 0.64
%TO

I = 19 min

%CO
1
Gc( s) = 0.64
1 +
%TO
19 s
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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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is unlawful.

Smith & Corripio, 3rd edition

ppm := 10

Problem 7-16. Composition control of an absorber.

(a) Design a control loop to control the air outlet composition.
Transmitter (AT):
y min := 0ppm

SP

y max := 200ppm

Air Out

Negligible lag.

AC

AT

Control valve, assumed linear.

Water In

gal
fmax := 500
min
Negligible lag.

Air In
NH3 solution

(b) Block diagram of the loop and transfer function of each block. Use fit-3 on
response data (two-point method).

Yin(s)
set
o

Y (s)
KT

R(s) + E(s)

Transmitter (AT):

Control valve:

Gc(s)

M(s)

Kv

C(s)

F(s)

G2(s)
G1(s)

Yo(s)

KT

100%TO
KT :=
y max y min

%TO
KT = 0.5
ppm

fmax
Kv :=
100%CO

gal
Kv = 5
min %CO

The control valve fails closed (air-to-open) to prevent overflowing the absorber on instrument power
failure.

Response to a step change in inlet water flow of

0
20
30
40

50
60

70
80
ty := 90

100
110
120

130
140

160
180
250

f := 50

50.00

gal
min

50.00
50.12

50.60
50.77

50.90
51.05
51.20

51.26
51.35

51.48

51.55
51.63

51.76
51.77
51.77
50.30

First column is time in seconds

Second column is outlet ammonia ppm

y o := ty
K1 :=

16 , 1

)ppm

ty

y o = 1.77 ppm

0, 1

y o

K1 = 0.035

y o1 := ty

0, 1

ppm + 0.283 y o

3, 0

y o2 := ty

+ ty

0, 1

4, 0

ty

3, 0

y o1 ppm

3, 1

4, 1

7, 0

Fit 3

+ ty

1 := 1.5 t2 t1 sec

8, 0

ty

7, 0

t1 = 46.7

3, 1

y o2 = 51.12 ppm
1

t2 := ty

ty

ty

ty

ppm + 0.632 y o

gal

y o1 = 50.5 ppm
1

t1 := ty

ppm min

y o2 ppm
ty

t01 := t2 sec 1

8, 1

ty

7, 1

ty

t2 = 84.58

1 = 0.95 min

t01 = 0.46 min

7, 1

G1 ( s) =

0.035 e

0.46s

0.95 s + 1

ppm min
gal

(c) Quarter decay ratio tuning for proportional controller and offset to a set-point
change of
( 60 50)ppm = 10 ppm
From Table 7-2.1:

t01
Kc :=

KT Kv K1 1

1

%CO
Kc = 23
%TO

%CO
Gc( s) = 23
%TO

The controller is direct acting (negative gain): increasing outlet gas composition increases the
controller output; this opens the valve increasing the flow of water to he absorber and absorbing
more ammonia. The ammonia composition in the outlet gas decreases.

Offset :=

KT 10ppm

Offset = 1.641 %TO

1 + KT Kc Kv K1

Offset
KT

= 3.3 ppm

(d) Quarter decay ratio tuning of series PID controller and offset.
From Table 7-2.1:

Kc = 28

%CO
%TO

t01
Kc :=

KT Kv K1 1

1.2

I = 0.93 min

I := 2 t01

D = 0.23 min

t01
D :=
2

%CO
1
Gc( s) = 28
( 0.23s + 1 )
1 +
%TO
0.93s

Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

Smith & Corripio, 3rd edition

degF := R

Problem 7-17. Temperature control of a furnace.

Transmitter (TT): Tmin := 300degF
Tmax := 500degF

SP

Response to step change of: m := 5%CO

0
0.5
1.0
2.0

2.5
3.0

3.5
4.0
4.5

5.0
tt :=
5.5
6.0

7.0
8.0

9.0
10.0
11.0

12.0
14.0
20.0

425.0
425.0
425.0

426.4
428.5

430.6

432.4
434.0

435.3
436.6

437.6

439.4
440.7

441.7

442.5
443.0

443.5
444.1
425.0

445.0

First column is
time in minutes
Second column
is temperature
in F

TT

Fuel

Air

(a) Block diagram of the loop, fail-safe position of the valve,

and controller action.
The control valve must fail closed (air-to-open) to prevent overheating the
furnace on instrument power failure.
The controller must be reverse acting (positive gain): increasing
temperature decreases the controller output; this closes the valve reducing
the fuel flow and the outlet coil temperature.

Block diagram of the loop:

Fin(s)
Toset(s)TC
KT
EF

TC

Process
air

R(s) + E(s)
%TO

TC

scfh

Gc(s)

C(s)
%TO

G2(s)

M(s) Furnace
%CO

KT

G1(s)

TT

To(s)

EF

(b) Transfer functions using fit 3 (two-point method).

Transmitter (TT):

100%TO
KT :=
Tmax Tmin

T := tt
T1 := tt

0, 1

19 , 1

degF + 0.283T

)degF

tt

degF + 0.632T

+ tt

7, 0

tt

6, 0

T1 degF
tt

7, 1

tt

6, 1

t1 = 3.517

tt

6, 1

T2 = 437.64 degF
t2 := tt

11 , 0

Process by fit 3:

%TO
KT K1 = 2
%CO

T1 = 430.66 degF

6, 0

0, 1

K1 :=

0, 1

t1 := tt
T2 := tt

%TO
KT = 0.5
degF

1 := 1.5 t2 t1 min

+ tt

12 , 0

tt

11 , 0

T2 degF

t01 := t2 min 1

tt

tt

11 , 1

12 , 1

tt

11 , 1

t2 = 6.022

1 = 3.76 min t01 = 2.26 min

2.26s

%TO
2e
KT G1 ( s) =
3.76s + 1 %CO

(c) Quarter decay ratio tuning of series PID controller.

From Table 7-2.1:

Kc = 1

%CO
%TO

t01
Kc :=

KT K1 1

1.2

I = 4.5 min

I := 2 t01

D = 1.1 min

t01
D :=
2

%CO
1
Gc( s) = 1
( 1.1s + 1 )
1 +
%TO
4.5s

(d) Synthesis tuning of series PID controller for 5% overshoot.

From Table 7-4.1:

Kc = 0.42

%CO
%TO

t01
Kc :=

KT K1 1

0.5

I = 3.8 min

D = 1.1 min

I := 1

t01
D :=
2

%CO
1
Gc( s) = 0.42
( 1.1s + 1 )
1 +
%TO
3.8s

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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

Smith & Corripio, 3rd edition

Problem 7-18. Temperature control of oil heater of Problem 6-24.

T3set(t)
TC
N2

TT
p2 = 40 psia
3 ft

Steam

fs(t)

AO

hset(t)

LT

LC

AO

h(t)
5 ft

T
Condensate

T1(t)
p1(t)

vp2(t) T3(t)
p3(t)

Quarter decay ratio tuning parameters of series PID temperature controller TC.
From the solution to Problem 6-24, the ultimate gain and period are:

%CO
Kcu := 38.9
%TO
Tu := 1.116min

From Table 7-1.1:

Kc = 23

%CO
%TO

Kc :=

Kcu
1.7

I = 0.56 min

Tu
I :=
2

Tu
D :=
8

D = 0.14 min

%CO
1
Gc( s) = 23
( 0.14s + 1 )
1 +
%TO
0.56s

Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

Smith & Corripio, 3rd edition

Problem 7-19. Temperature control of exothermic catalytic reactor.

SP
TC

Reactants

Steam

SP
LT LC
TT
Water
Products

Problem data:

:= 50

Control valve, equal percentage:

Tmin := 150degF

Temperature transmitter (TT):

Oil density:

:= 55

lb
ft

Design conditions:

p v := 10psi

gal
fd := 200
min

Tmax := 350degF

ft
Gf :=
62.4lb

gal
fpump := 400
min

Gf = 0.881
T := 275degF

(constant)

Open-loop test on temperature loop:

vp := 5%

T := 4.4degF

Closed-loop test on temperature loop:

%CO
Kcu := 16
%TO

Tu := 24min

(a) Size control valve for 100% overcapacity. Valve fail-safe position and controlle
action.
Cvmax := 200% fd

Gf
p v

Cvmax = 119

gal
min psi

From Fig. C-10.1, p. 532,

a 4-in valve is required.
Cvmax := 195

gal
min psi

The valve must fail closed (air-to-open) to prevent by-passing too much hot oil on instrument power
failure that would overheat the reactor.

The controller must be reverse acting (positive gain): an increase in reactor temperature
decreases the controller output closing the by-pass valve; this reduces the by-pass flow of hot oil
decreasing the oil temperature and the reactor temperature.

(b) Valve position at design conditions and maximum flow through the valve when
fully opened.
Assume
the pressure drop through the boler tubes varies with the square of oil flow through the tubes
the pump flow is constant as the valve position changes
the pressure drop across the valve is the same as the pressure drop across the boiler tubes.

fv = Cv

p va

fpump
p va = p v
fpump

Gf

fv

fv
= Gf
fd

Cv

Cv = Cvmax

vp 1

Cv

At design conditions:

Cv := fd

ln

Gf
p v

p v fpump fvmax

Flow when fully opened:

Cvmax C = 59.4
v
ln( )

vp := 1 +

fvmax

vp = 69.6 %

min psi

Let
k v := Cvmax

Gf
fpump fd Cvmax

kv
fv :=
f
1 + k v pump

gal

p v
Gf

1
fpump fd

gal
fv = 306.6
min

k v = 3.284

(c) Block diagram of the loop.

Fin(s)
Tset(s) TC
KT
EF

R(s) + E(s)
%TO

TC

lb/hr

Gc(s)

M(s) Furnace
%CO

C(s)

KT

%TO
100%TO
KT :=
Tmax Tmin
ln( ) fd
Kv :=
100%CO

%TO
KT = 0.5
degF

G2(s)
G1(s)

To(s)

EF

TT

Valve fails closed. Controller is direct acting.

(See part (a).)

gal
Kv = 7.824
min %CO

(d) Calculate the process gain atb design conditions, including the control valve an

( )
p
g
the temperature transmitter.
K1 :=

T
vp

%TO
KT K1 = 0.44
%CO

K1 = 88 degF

The gain of the valve is

included in K1, because the
step change is in valve
position.

(e) Quarter decay tuning parameters for series PID temperature controller.
From Table 7-1.1:

Kc = 9.4

Kcu

Kc :=

1.7

%CO

%TO

Tu
I :=
2

= 0.083

repeats
min

Tu
D :=
8
D = 3 min

repeats := 1
%CO
0.083
Gc( s) = 9.4
( 3s + 1
1 +
%TO
s

(f) Quarter-decay ratio tuning of proportional temperature controller and offset for a
set point change of -10F.
From Table 7-1.1:

Offset :=

Kc :=

KT ( 10degF)
1 + KT Kc K1

Kcu
2

%CO
Kc = 8
%TO
Offset = 1.11 %TO

%CO
Gc( s) = 8
%TO
Offset
KT

= 2.21 degF

Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

Smith & Corripio, 3rd edition

weight% := %

Problem 7-20. Composition control of a double-effect evaporator

SP
AC
13

Vapors

Vapors

Steam
SP

FT

SP

FC
12

LT

SP

LC

Cond.

13

AT

Feed
Problem data:

LC

LT

12

Product
Feed := 50000

lb
hr

x F := 5weight%

Open loop step response in feed composition:

x min := 10weight%

x F := 0.75weight%

x max := 35weight%

25

24.5

Product composition, wt%

24

23.5

23

22.5

22

21.5

21
0

100

200

300

400

500

600

700

Time, sec

Open-loop step response to change in controller output:

m := 2.5%CO

25

24.5

Product composition, wt%

24

23.5

23

22.5

22

21.5

21
0

100

200

300

400

500
Time, sec

600

700

800

900

1000

(a) Block diagram of the composition control loop, transfer functions, cntrol valve fa
safe position, and controller action.

XF(s)
Xset(s) AC
wt% KT

AC

R(s) + E(s)
%TO

Gc(s)

M(s)
%CO

C(s)

KT

%TO
Analyzer transmitter:

G2(s)

wt%

100%TO
KT :=
x max x min

X(s)

G1(s)

wt%

AT

%TO
KT = 4
weight%

Determine process transfer functions by fit 3:

Change in controller output:

K1 :=

( 24.7 21.5)weight%
m

weight%
K1 = 1.28
%CO

21.5weight% + 0.283 ( 24.7 21.5) weight% = 22.41 weight%

t1 := 256sec

21.5weight% + 0.632 ( 24.7 21.5) weight% = 23.52 weight%

t2 := 419sec

1 := 1.5 t2 t1

min

) 60sec

t01 := t2 1

min
) 60sec

1 = 4.08 min

t01 = 2.91 min

KT G1 ( s) =
Change in feed composition:

K2 :=

( 24.7 21.5)weight%
x F

K1 = 1.28

t1 := 143sec

21.5weight% + 0.632 ( 24.7 21.5) weight% = 23.52 weight%

t2 := 237sec

min

) 60sec

t02 := t2 2

min
) 60sec

5.12e

4.08s + 1

2 = 2.35 min
KT G2 ( s) =

2.91s

%TO
%CO

%TO
KT K2 = 17.07
weight%

21.5weight% + 0.283 ( 24.7 21.5) weight% = 22.41 weight%

2 := 1.5 t2 t1

%TO
KT K1 = 5.12
%CO

17.07e

t02 = 1.6 min

1.6s

2.35s + 1

%TO
weight%

Note: Students should be encouraged to try also fits 1 and 2 and compare the answers.
The control valve must fail closed (air-to-open) to prevent overheating the evaporator on instrument
power failure.
The controller must be reverse acting (positive gain): increasing product composition decreases

the controller output closing the steam control valve; this decreases the rate of evaporation reducing
the product composition.

(b) Quarter-decay ratio tuning of PI composition controller.

From Table 7-2.1:

t01
Kc :=

KT K1 1

0.9

I := 3.33 t01

%CO
Kc = 0.25
%TO

Quarter decay ratio tuning is based on fit 1 parameters. From the figure above:
min
t01 := 130sec
1 := 580sec t01
60sec

From Table 7-2.1:

t01
Kc :=

KT K1 1

0.9

I := 3.33 t01

%CO
Kc = 0.61
%TO

I = 9.7 min

1 = 7.5 min
I = 7.2 min

This is over twice the gain and 25% faster reset than with fit 3 parameters.

(c) Controller synthesis tuning for 5% overshoot of PI composition controller.

From Table 7-4.1:

t01
Kc :=

KT K1 1

0.5

I := 1

%CO
Kc = 0.34
%TO

I = 7.5 min

Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

psia := psi

Smith & Corripio, 3rd edition

Problem 7-21. Temperature control of stirred-tank reactor.
Design conditions: p 1 := 30psia p 2 := 15psia
gal
TR := 210degF
fcw := 350
min

TC
11

Coolant

Coil pressure drop: p L := 10psi

Temperature transmitter: Tmin := 190degF

Product

P1

Tmax := 230degF

P2

:= 50

Equal-percenage valve:
Open-loop test:

TT

gal
fcw := 10
min

Feed

TR := 5.2degF
%CO
Closed-loop test: Kcu := 8.0
%TO

Tu := 14min

(a) Size control valve for 100% overcapacity, valve gain at design flow, valve
fail-safe position.
p v := p 1 p 2 p L

Cvmax := 200% fcw

Gf := 1
Gf
p v

k L :=

p L
Gf fcw

Cvmax = 313.05

gal
min psi

From Fig. C-10.1, page 532, a 6-in valve is required:

Valve gain, Eq. 5-2.27, page 171:

p v = 5 psi

ln( )
Kv :=
100%CO

k L = 8.163 10

Cv := fcw
Cvmax := 400
fcw

1 + k L C v

Gf
p v

psi

Cv = 156.5

min

gal
gal

min psi

gal
min psi
gal
Kv = 4.564
min %CO

The valve must fail open (air-to-close) to prevent overheating the reactor on loss of instrument
power. This is why the gain is negative.

(b) Block diagram of the control loop ad total process gain.

Fin(s)
lb/hr

TC
Tset(s) TC R(s) E(s)
+

M(s)

EF

%CO

KT

Gc(s)

%TO -

KT

%TO

K1 :=

TR
fcw

Fcw(s)

Gv(s)

C(s)

100%TO
KT :=
Tmax Tmin

G2(s)
gpm

TR(s)

EF

TT

%TO
KT = 2.5
degF

%TO
KT K1 Kv = 5.933
%CO

Total process gain:

G1(s)

K1 = 0.52

degF min
gal

repeat := 1

(c) Quarter-decay ratio tuning of PID temperature controller and controller action.
From Table 7-1.1:

Kc :=
1
I

Kcu
1.7

= 0.14

Tu
I :=
2
repeat
min

Tu
D :=
8

100%CO
Kc

= 21 %TO

100%CO
0.14
D = 1.75 min Gc( s) =
( 1.75s + 1 )
1 +
21%TO
s

Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

Smith & Corripio, 3rd edition

Problem 7-22. Solids moisture control of a phosphates pebbles drier

Stack
AC
Feed
AT

Dry
phospahates

Fuel
Air

Design conditions:

x F := 15weight%

x := 3weight%

Transmitter AT: x min := 1weight%

x max := 5weight%

(a) Block diagram of the moisture control loop.

XF(s)
Xset(s) AC
wt% KT

R(s) + E(s)
%TO

AC

Gc(s)

C(s)
%TO

Transmitter AT:

100%TO
KT :=
x max x min

G2(s)

wt%

M(s)
%CO

KT

G1(s)

X(s)

AT

%TO
KT = 25
weight%

(b) Process transfer functions from open-loop step responses by fit 2.

Open-loop step response to change in controller output:

m := 8%CO

wt%

Product moisture,wt %

4.5

3.5

2.5
0

50

100

150

200

250

300

350

400

Time, sec

x := ( 4.5 3 )weight%
From the graph:

K1 :=

t01 := 70sec

min
1 := t2
t01
60sec

m
min

60sec

weight%
K1 = 0.188
%CO

%TO
KT K1 = 4.688
%CO

3.0weight% + 0.632x = 3.95 weight%

t01 = 1.17 min 1 = 2 min

Open-loop step response to change in inlet moisture:

KT G1 ( s) =

x F := 3weight%

4.688e

t2 := 190sec

1.17s

2.0s + 1

%CO
%TO

5.5

Product moisture, wt%

4.5

3.5

2.5
0

50

100

150

200

250

300

350

400

Time, sec

x := ( 5.0 3.0)weight%
From the graph:

K2 :=

t02 := 65sec

min
2 := t2
t02
60sec

weight%
K2 = 0.667
weight%

x F

min

%TO
KT K2 = 16.67
weight%

3.0weight% + 0.632x = 4.26 weight%

60sec

t02 = 1.08 min 2 = 1.75 min

KT G2 ( s) =

16.67e

t2 := 170sec

1.08s

1.75s + 1

%CO
weight%

(c) Minimum IAE tuning of parallel PID moisture controller on disturbance inputs a
controller action.
t01
From Table 7-2.2: Kc :=

KT K1 1

1.435

100%CO
Kc

= 199 %TO

0.921

I = 1.5 min

t01
I :=

0.878 1

D = 0.52 min

0.749

t01
D := 0.482 1
1

1.137

100%CO
1
Gc( s) =
+ 0.52s
1 +
199%TO
1.5s

The controller is reverse acting (positive gain): increasing product moisture content decreases the
controller output; this decreases the table feeder speed and the feed rate reducing the moisture
input to the drier and the moisture content of the product.

(d) New moisture content of the product when the feed moisture content decrease
by 2 weight%. Controller is proportional only tuned for quarter decay ratio respons
From Table 7-2.1:

Offset :=

t01
Kc :=

KT K1 1

1

KT 0 KT K2 ( 2 weight%)
1 + KT Kc K1

%CO
Kc = 0.37
%TO
Offset

Offset = 12.28 %TO

Final steady state moisture control of the product:

KT

3weight%

= 0.49 weight%

Offset
KT

= 2.51 weight%

(e) Controller output required to avoid offset for the disturbance of part (d).
For the change in outlet moisture to be zero:

m K1 + K2 ( 2 weight%) = 0
m :=

K2
K1

( 2 weight%)

If the initial controller output is 50%CO, the final steady state is:

m = 7.11 %CO

50%CO + m = 57.11 %CO

Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

Smith & Corripio, 3rd edition

Problem 7-23. Level control by manipulatiion of inlet flow.
Control valve fails closed.

SP

LC

fi (t)
LT

h(t)
fo(t)

Block diagram of the level control loop and required controller action.

Fo(s)
Cset(s)

%TO

ft3/min

E(s)LC
-

Gc(s)

M(s)
%CO

C(s)
%TO

Gv ( s) =

Kv
v s + 1

Gv(s)
KT

1/As
Fi(s)
ft3/min

1/As

H(s)

ft

LT

The only difference between this diagram and the one of Fig. 7-3.1 is that
the controller manipulates the inlet flow instead of the outlet flow.

The controller must be reverse acting (positive gain): increasing level decreases the controller
output; this closes the control valve decreasing the inlet flow and the level drops.

Closed-loop transfer function.

C( s) =

where

K=

K Gc( s)

s v s + 1 + K Gc( s)

Kv KT

%TO

%CO min

set

( s)

Ku v s + 1

s v s + 1 + K Gc( s)

Fo ( s)

KT %TO
Ku =
A
3
ft

The formulas of Section 7-3 apply to this case also. Only the action of the controller is different.
Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

Smith & Corripio, 3rd edition

Problem 7-24. Comparison of tank level dynamic models of Section 4-1.1
Problem data:
D := 3m

h d := 2m

Level transmitter:
h min := 1m

fi(t)

h max := 3m

SP

Control valve sized for

twice the design flow of

LC

LT

m
f1d := 0.003
s

h(t)

v := 5s

fo(t)

f1(t)

Proportional controller:
Gc( s) = Kc

(a) Model as in Section 4-1.1, draw the block diagram, determine the transfer
functions and the maximum gain of a proportional controller for non-oscillatory
response. Determine the effective time constants of the closed-loop at that gain,
and the offset caused by a 0.001 m3/s.
The model of Section 4-1.1 must be modified to account for the variable valve position.
2

Mass balance:
Valve equation:

D
4

d h( t)
dt

= fi( t) fo ( t) f1 ( t)

f1 ( t) = Cvmax vp( t)

p v ( t)

1 eqn. 2 unks. (h, f1 )

min

2 eqns. 3 unks. (pv)

264.2gal 60sec

Gf

Assume valve exit is at the level of the bottom of the tank and at the same pressure.
p v ( t) = g h ( t)

1.45 10

psi

m
Gf =
1000kg

Size the valve:

3 eqns. 3 unks.

Pa
g = 9.807

Cvmax := 200% f1d

m
fd = 0.013
s

s
1Pa

264.2gal 60sec

4
1000kg g h d
3
min
1.45 10 psi
m

gal

Cvmax = 56.4

From Fig. C-10.1, p. 532, a 3-in valve is required.

min psi

Cvmax := 110
Let

where

gal
min psi

f1 ( t) = k v vp( t) h ( t)
1000kg

k v := Cvmax

1.45 10

Valve position at design conditions:

D
4

vpd :=

d h( t)
dt

psi

Pa

Substitute and simplify:

min

k v = 8.275 10

264.2gal 60s
f1d

3
3 m

s m

vpd = 25.6 %

kv hd

= fi( t) fo ( t) k v vp( t) h ( t)

Linearize and express in terms of deviation variables:

2

D
4

d H( t)
dt

= Fi( t) Fo ( t) k v h d VP ( t )

Rearrange into standard firts-order form:

where

:=

2 2 h
d

D
4

k v vpd

d H( t)
dt

2 hd

H( t)

= 9425 s

K1 = 1.3 10

min

H( s) = G1 ( s) Fi( s) Fo ( s) G2 ( s) VP ( s)

Block diagram of the loop:

3 s

G1 ( s) =

K1
s + 1

G2 ( s) =

K2
s + 1

m
= 157.08 min K2 = 0.156
%CO
60s

Laplace transform and rearrange:

where

H( 0 ) = 0

+ H( t) = K1 Fi( t) K1 Fo ( t) K2 VP ( t )
2 hd
K2 :=
vpd

2 hd
K1 :=
k v vpd

k v vpd

Fi(s) - Fo(s)
Cset(s)
%TO

E(s)LC

Gc (s)

m3/sec
M(s)

Gv(s)

%CO

C(s)

KT

%TO
Proportional controller:

%VP

Valve positioner:

Gc( s) = Kc

Kp := KT K2

VP(s)

Gv ( s) =

KT = 50

H(s)

1
v s + 1

%CO
m

%TO
Kp = 7.801
%CO

Ku := KT K1

G2(s)

LT

100%TO
KT :=
h max h min

Level transmitter LT:

Let

G1(s)

Ku = 6.667 10

4 %TO s
3

The control valve must fail closed (air-to-open) to prevent emptying the tank on instrument power
failure.
The controller is direct acting (negative gain): increasing level increases the controller output
opening the valve and increasing the flow out of the tank; this decreases the level.
Closed-loop transfer function:

C( s) =

Kp Kc

( v s + 1) ( s + 1) Kp Kc

Characteristic equation of the loop:

Roots of the caracteristic equation:

set

( s) +

Ku v s + 1

( v s + 1) ( s + 1) Kp Kc (

Fi( s) Fo ( s)

v s + v + s + 1 Kp Kc = 0

r1 =

v + +

( v + )2 4 v (1 Kp Kc)
2 v

The term inside the radical:

2

v + 2 v + 4 v + 4 v Kp Kc = v

)2 + 4 v Kp Kc

As the (negative) controller gain is increased, this term decreases. When the term is negative the
roots are complex and the response is oscillatory. The maximum gain at which the response is not
oscillatory is when the term is zero:

Kcmax :=

)2

%CO
Kcmax = 60.3
%TO

4 v Kp

The equivalent time constants of the closed loop at this gain are two identical roots at:
e :=

2 v

e = 9.995 s

v +

Offset for change in inlet flow:

Ku

Offset :=

0.001

1 Kp Kcmax

Offset = 0.141 %TO

Offset
KT

= 2.826 10

(b) Repeat part (a) modeling the tank as in section 7-3.1 (integrating process).
The model now neglects the effect of the level on the flow out of the tank:

f1 ( t) = Cvmax vp( t)

p v

Substitute into mass balance:

min

= k v h d vp( t)

Gf 264.2gal 60sec
D

d h( t)
dt

= fi( t) fo ( t) k v h d vp( t)

Express this linear equation in terms of deviation variables:

2

D
4
Laplace transform:

H( s) =

d H( t)
dt
4

= Fi( t) Fo ( t) k v h d VP ( t )
1

2 s

(Fi(s) Fo(s) kv

h d VP ( s)

H( 0 ) = 0

= G1 ( s) Fi( s) Fo ( s) G2 ( s) VP ( s)
where

G1 ( s) =

G2 ( s) =

2 s

4
2

kv hd

The block diagram is the same as in part (a) with these transfer functions.
Let

Kp :=

4
2

k v h d KT

Ku :=

4
2

KT

Kp = 8.278 10

Ku = 0.071

%TO

%CO sec

%TO
3

%CO m

Closed-loop transfer function:

C( s) =

Kp Kc

s v s + 1 Kp Kc

set

( s) +

Ku v s + 1

(Fi( s) Fo(s))

s v s + 1 Kp Kc

Characteristic equation of the loop:

v s + s Kp Kc = 0

Roots of the characteristic equation:

r1 =

Term in the radical:

1 +

1 4 v Kp Kc

2 v

1 + 4 v Kp Kc

The controller is, like before, direct acting (negative gain). As the negative controller gain
increases in magnitude, the term inside the radical decreases and, when it becomes negative, the
roots are complex and the response is oscillatory. At the maximum gain for non-oscillatory
response, the term in the radical is zero:
Kcmax :=

%CO
Kcmax = 60.4
%TO

4 v Kp

The equivalent time constants of the closed loop are identical for this gain (the radical is zero):
e := 2 v

The offset for the change in inlet flow is:

e = 10 s

Offset :=

Ku
Kp Kcmax

0.001

m
s

Offset = 0.141 %TO

Offset
KT

= 2.829 10

These results are identical to those of part (a),showing that for the purposes of the level controller,
the effect of the level on the outlet flow is negligible. Notice that the results are the same although
the models look quite different.
Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

Smith & Corripio, 3rd edition

Problem 7-25. Proportional-integral level control.

Fi(s)
Cset(s)

%TO

E(s)LC

Gc(s)

Gc( s) = Kc 1 +

PI controller:

I s

G1(s)

M(s)

G2(s)

%CO

G2 ( s) =

C(s)

+
-

Kv KT

A s v s + 1

%TO

KT
G1 ( s) =
A s

(a) Closed-loop transfer function, characteristic equation, and offset.

Closed-loop transfer function:

C( s) =

Gc( s) G2 ( s)
1 Gc( s) G2 ( s)

set

( s) +

G1 ( s)

F ( s)
1 Gc( s) G2 ( s) i

Substitute and rearrange:

Kc I s + 1 Kv KT

C( s) =

set

( s)

A I s v s + 1 Kc I s + 1 Kv KT

KT I s v s + 1

A I s v s + 1 Kc I s + 1 Kv KT

Fi( s)

To obtain the steady-state transfer functions, set s = 0:

c =

Kc Kv KT
0 Kc Kv KT

set

0
0 Kc Kv KT

fi = c

set

Offset = c

set

c = 0

This means there is no offset for either set-point changes or disturbances.

Characteristic equation of the loop:

A I v s + A I s Kc Kv KT I s Kc Kv KT = 0

(b) Roots of the characteristic equation when the integral time is set equal to the
valve time constant. Level response under these conditions.
For

) (

A v s v s + 1 Kv KT Kc v s + 1 = v s + 1 A v s Kv KT Kc = 0

I = v

r1 =

Kv KT Kc

r2 = i

r3 = i

A v

Kv KT Kc
A v

Root r 1 is cancelled by the zero in the numerator of the transfer function. The response of the level
is oscillatory with no damping, as the controller gain is negative (direct acting controller). The loop
gain does not affect the nature of the response, only the frequency of the oscillations that increases
as the square root of the loop gain. The response is:
C( t) = A sin( t + )

where

Kc Kv KT
A v

(c) For negligible valve time constant, determine the limits of the controller gain for
which the loop is oscillatory. Dominant time constant at high controller gain.
Characteristic equation:

Roots:

r1 =

A I s Kc Kv KT I s Kv KT Kc = 0

Kc Kv KT I +

(Kc Kv KT I)2 4A I (Kv KT Kc)

2A I

The response i oscillatory when the term inside the radical is negative (complex conjugate roots).

(Kc Kv KT I)2 + 4 Kc Kv KT A I = Kc Kv KT I (Kc Kv KT I + 4A)

As the controller gain is negative (direct acting controller), the roots are complex as long as the
term in parenthesis is positive, that is, at low controller gains. The response will be oscillatory for:
Kc Kv KT
A
A I
For very high controller gains:

Kc Kv KT

<

4
I

s + I s + 1 = I s + 1

So the dominant time constant is equal to the integral time of the controller. This pole however
cancels the zero in the numerator for set point changes:
C( s) = C

set

( s) +

I s

F ( s)
Kc Kv I s + 1 i

Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes
only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
is unlawful.

Smith & Corripio, 3rd edition

Problem 7-26. Level control of an evaporator.
Problem data:
lb
fd := 800
min
A := 10ft

:= 98

lb
ft

Vapors

h T := 4ft

Valve sized for 100%

overcapacity, linear.

Steam

v := 2sec

SP

LC

LT

Condensate

Disturbance, feed flow:

f := 10% fd

f = 80

lb

Feed

min

AT

Product

Assume p v := 5psi

Solution:
Block diagram of the level control loop:

Ws(s)
lb/min

Fp(s)
Cset(s)
%TO

E(s)LC
-

Gc(s)

M(s)
%CO

C(s)
%TO

ft3/min

Gv(s)
KT

G2(s)
G1(s)

Fi(s)
ft3/min

- -

G1(s)

H(s)
ft

LT

The control valve fails closed (air-to-open) to prevent overflowing the evaporator on instrument ait
failure.
The controller is reverse acting (positive gain): increasing level decreases controller output to
close the valve and reduce the feed flow to the evaporator; this decreases the level.

100%TO

Level transmitter LT:

KT :=

Size the control valve:

Cvmax := 200%

KT = 25

h T

fd 7.48gal

ft

%CO

ft

Gc( s) = Kc

ft
3

Cvmax = 68.4

62.4lb p v

Cvmax := 110

From Fig. C-10.1, page 532, a 3-in valve is required.

p v 62.4 lb ft3
Cvmax
Kv :=

3
7.48gal
100%CO
ft

Valve gain:

Gv ( s) =

Kv

1
G1 ( s) =
A s

v s + 1

G2 ( s) =

E 1
A s

gal
min psi
gal

min psi
3

ft
Kv = 0.262
min %CO

E = evaporator economy, lb
vapors/lb steam.

Closed-loop transfer function:

C( s) =

Kc Kv KT

A s v s + 1 + Kc Kv KT

Characteristic equation of the loop:

Roots of the characteristic equation:

set

( s)

KT

F ( s) + E W ( s)
p
s
A s ( v s + 1 ) + Kc Kv KT

A s v s + 1 + Kc Kv = A v s + A s + Kc Kv KT = 0
r1 =

r2 =

A +

A 4 A v Kc Kv KT
2 A v

A 4 A v Kc Kv KT
2 A v

The roots are non-oscillatory as long as the term in the radical is positive (real roots). The
maximum controller gain for which this is so is:
Kcmax :=

A
4 v Kv KT

%CO
Kcmax = 11.4
%TO

At this gain the term in the radical is zero and the effective time constants are identical to each
other and equal to:
e := 2 v

e = 4 s

Offset for a 10% change in the product and vapor flow:

Offset
KT

= 0.011 ft

Offset := 0

KT

Kcmax Kv KT

Offset = 0.272 %TO

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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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Smith & Corripio, 3rd edition

Problem 7-27. Sythesize controller for process with inverse response.
G( s) =

Solution:

K 1 3 s

( 1 s + 1) ( 2 s + 1)

C( s )

1
Gc( s) =
G( s)

Synthesis formula, Eq. 7-4.2, page 258:

C( s)

For teh standard closed-loop response:

The controller transfer function is:

R( s)

Gc( s) =

R( s )

C( s)
R( s)

1
c s + 1

( 1 s + 1) ( 2 s + 1) 1
c s
K ( 1 3 s)

This contains a positive pole which results in an unstable response when it doesn't exactly match
the time constant of the transfer function.
To avoid a postive pole in the controller, define:

Substitue and reaarrange:

Gc( s) =

Gc( s) =

C( s)
R( s)

1 3 s
c s + 1

1 3 s
( 1 s + 1) ( 2 s + 1)
K ( 1 3 s)
c s + 1 1 + 3 s
1

1 + 1 s + 1
(2 )
K ( c + 3 )
1 s

This is a series PID controller with the following tuning formulas:

Kc =

K c + 3

I = 1

D = 2

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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner
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Smith & Corripio, 3rd edition

Problem 7-28. Simulation of temperature control loop for the non-isothermal
reactor of Section 4-2.3.
This reactor is simulated in Problem 13-5 and the temperature control loop is simulated in Problem
13-21. For the development of the simulation and the Simulink block diagrams, see the solutions to
those problems.
Open-loop response to a 2%CO step change in the signal to the valve at 1 minute:
c := ( 68.9 64.8)%TO
c = 4.1 %TO
c
Kp :=
2%CO
%TO
Kp = 2.05
%CO

Fit 3 model:

64.8%TO + 0.283c = 65.96 %TO

t1 := ( 6.5 1 )min

64.8%TO + 0.632c = 67.391 %TO

t2 := ( 12 1 )min

:= 1.5 t2 t1

t0 := t2

= 8.25 min

G( s) =

2.05e

t0 = 2.75 min
2.75s

8.25s + 1

%TO
%CO

(a) Quater-decay ratio tuning of series PID temperature controller.

From Table 7-2.1:

Kc :=

1.2 t0

Kp

I = 5.5 min

I := 2 t0
D = 1.4 min

t0
D :=
2

Kc = 1.8

%CO
%TO

%CO
1
Gc( s) = 1.8
( 1.4s + 1 )
1 +
%TO
5.5s

Response to a -0.2 ft3 /min change in rectants flow at 1 min:

Notice the inverse

response of the
reactor temperature
to the change in
reactants flow.
The controller output
increases to close
the coolant valve
which is air-to-close
(fails opened).

(b) Synthesis tuning with c = 0 of series PID temperature controller.

From Table 7-4.1:
Kc :=

Kp t0

I = 8.3 min

I :=
D = 1.4 min

t0
D :=
2

Kc = 1.5

%CO
%TO

%CO
1
Gc( s) = 1.5
( 1.4s + 1 )
1 +
%TO
8.3s

By comparison, the gain is slightly smaller and the integral is 60% slower than for quarter-decay
ratio response.

The responses to a -0.2 ft 3 /min change in reactants flow at 1 min are:

Notice that the return
to the set point is
much slower than
with quarter-decay
ratio tuning.

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only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work
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