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) = 0 because off the negative
•It is clear from ((11-65)) that h' ((oo) g
exponential term.
•Thus, the addition of integral action eliminates offset for a step
change in disturbance
disturbance.
•It also eliminates offset for step changes in set point.
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•In fact, integral action eliminates offset not only for step changes,
b also
but l for
f any type off sustained
i d change
h in
i disturbance
di b or set
point.
•Byy a sustained change,
g , we mean one that eventuallyy settles out at
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oscillatory.
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A comparison of Eqs. 11-67 and 11-69 indicates that feedback
control significantly changes the relation between Q1 and H. Note
that Eq. 11-67 is the transfer function for the uncontrolled process,
whereas Eq. 11-69 is the closed-loop transfer function for
disturbance changes.
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If these lags were included, then for very large values of Kc the
closed-loop
l dl response would ld indeed
i d d tendd to become
b more
oscillatory. Thus, if τI is held constant, the effect of Kc on the
g
higher-order system
y can be summarized as follows:
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Because the liquid-level system in Fig. 11.22 acts as an integrator,
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By a bounded input,
input we mean an input variable that stays within
upper and lower limits for all values of time. For example,
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