In systems involving heat transfer, a condenser is a device or unit used to condense a

substance from its gaseous to its liquid state, by cooling it. In so doing, the latent heat is
given up by the substance, and will transfer to the condenser coolant. Condensers are
typically heat exchangers which have various designs and come in many sizes ranging from
rather small (hand-held) to very large industrial-scale units used in plant processes. For
example, a refrigerator uses a condenser to get rid of heat extracted from the interior of the
unit to the outside air. Condensers are used in air conditioning, industrial chemical processes
such as distillation, steam power plants and other heat-exchange systems. Use of cooling
water or surrounding air as the coolant is common in many condensers.

So, the overall transfer function of cooling process is

Where is the time constant ,

0.87s

2.1.1. Plot of open loop response

Set point
Steady State
Offset
Rise Time
Response

-15.00
-15.00
0
No rise time
The system is overdamped because the
roots are equal

2.1.2. Description of the response

2.1.3. Response with set point change

Set point
Steady State
Offset
Rise Time
Response

-5.00
-5.00
0
No rise time
The system is critically damped
because the roots are real and equal

Set point
Steady State
Offset
Rise Time
Response

-30.00
-30.00
0
No rise time
The system is overdamped because
because the roots are equal

Tuned - Red
Minimum
- Blue
Maximum
- Green
2.2

Prediction of closed loop response for various controllers

2.2.1

Proportional controller (P).

2.2.1.1 Response for different value of Kc.

Figure 2.2.1: The graph of P controller with three different values of Kc.

Table 2.2.1: The value of proportional controller (P) for different value of Kc

Minimum value

*Z-N Tuned Value

Maximum value

Kc value

2.099

4.038

6.599

Description of response

underdamped

underdamped

underdamped

Oscillation

yes

yes

yes

Stability

stable

stable

stable

Rise Time (second)

1.7935

0.9281

0.6547

Steady State(0C)

-6.7732

-8.0151

-8.6886

Response Time/Settling 39.3369

Time (second)

57.8909

197.8980

Decay Ratio

0.3170

1.0814

2.3235

Offset(0C)

-3.2268

-1.9849

-1.3114

Overshoot(0C)

-0.5630

-1.0399

-1.5243

*Z-N Tuned Value = Ziegler Nichols Tuned Value

The graph in Figure 4.2.1 shows the temperature deviation against time with the different
value of Kc. The Z-N tuned value of the Kc is 4.038. The response shown by this Kc plotting
is underdamped. This graph shows that there is oscillation. The rise time of the graph
obtained from the Matlab plot is 0.9281 seconds and the response time is 57.8909 seconds.

The overshoot is calculated and the value is -1.0399 0C. The graph has an offset value of
-1.9849 0C. Overall, the system is stable. If the control system with the minimum Kc value
2.099 used, the graph shows underdamped behavior. This graph shows a mild oscillation. The
graph overall, is stable. The graph shows rise time of 1.7935 seconds and the response time is
39.3369 seconds. The overshoot calculated for the minimum Kc is -0.5630 0C. The graph has
offset with the value of -3.2268 0C. The overall graph is stable. If the Kc put to maximum
value of 6.599, the graph shows the same behavior as the previous Kcs, which is an
underdamped shape. This graph undergoes heavy oscillation in the system. The rise time
shows 0.6547 seconds and the response time is 197.8980 seconds. The overshoot value for

this control system is -1.5243 0C. The graph has offset value of -1.3114 0C. The decay ratio
for minimum, tuned and maximum Kc variation shows a value of 0.3170, 1.0814 and 2.3235
in order.
After a comparison is done it is concluded that minimum value of the Kc shows a
better control system. The graph of minimum Kc oscillates with the lowest peak values of
temperature that help in the cooling process and tends to end faster as it reaches its steady
state faster that the Z-N tuned Kc value and the maximum value of Kc. This is further proven
as the response time is very fast. This means it can save a lot of time and energy supplied to
run the system.
Hence, in conclusion for the varying Kc temperature deviation system, the system that uses
the minimum Kc value is the most efficient control system.

2.2.2

Proportional-Integral controller (PI)

2.2.2.1 Response of closed loop system using PI controller for variation of Kc.

Figure 2.2.2.1: Graph of PI controller for different value of Kc

Table 2.2.2.1: The value of PI controller for different value of

value
Description of
Response
Oscillation
Stability
Rise Time(s)
Steady State (0C)
Respond
time/Settling
(s)
Offset (0C)
Overshoot (0C)
Decay Ratio

Minimum value
1.0342

*Z-N Tuned Value

3.6342

Maximum value
4.2342

Underdamped

Underdamped

Underdamped

Yes
Stable
2.9907
-10.000
46.0068

Yes
Stable
0.9166
-10.000
104.1569

Yes
Stable
0.8237
-10.000
194.7096

0
-0.0383
0.00147

0
-0.9423
0.8879

0
-1.1540
1.3317

time

The graph in Figure 2.2.2.1 shows the temperature deviation against time with the different
value of Kc for a PI controller. The Z-N tuned value of the Kc is 3.6342. The response shown
by this Kc plotting is underdamped. This graph shows that there is an oscillation. The rise
time of the graph obtained from the Matlab plot is 0.9166 seconds and the response time is
104.1569 seconds. The overshoot is calculated and the value is -0.9423 0C. The graph has an
offset value of 00C because the steady state point value is exactly the same as set point value.
Overall, the system is stable. If the control system with the minimum Kc value 1.0342 used,
the graph shows underdamped behavior. This graph shows a mild oscillation and overall the

graph, is stable. The graph shows rise time of 2.9907 seconds and the response time is
46.0068 seconds. The overshoot calculated for the minimum Kc is 0.0383 0C. The graph has
offset with the value of 0 0C. The overall graph is stable. If the Kc put to maximum value of
4.2342, the graph also shows the same behavior as the previous Kcs, which is an
underdamped shape. This graph undergoes heavy oscillation in the system. The rise time
shows 0.8237 seconds and the response time is 194.7096 seconds. The overshoot value for
this control system is -1.1540 0C. The graph has offset value of 0 0C.
After a comparison is done it is concluded that again the minimum value of
the Kc shows better control system compared to the system with maximum and tuned Kc
value. The graph of minimum Kc oscillates with the lowest peak values of temperature that
help in the cooling process and tends to end faster as it reaches its steady state faster that the
Z-N tuned Kc value and the maximum value of Kc. This is further proven as the response
time is very fast and the overshoot is very small. This means it can save a lot of time and
energy supplied to run the system.
Hence, in conclusion for the varying Kc temperature deviation system, the system
that uses the minimum Kc value is the most efficient control system.

PI CONTROLLER with constant

and

varies

Figure 2.2.2.2: Graph of PI controller for constant value of Kc and

Table 2.2.2.2: The value of PI controller with constant

and

varies

varies

minimum

tuned

maximum

value

1.0342

1.0342

1.0342

value

0.8380

0.3600

0.3220

I value
Description of

1.2341
Underdamped

2.8728
Underdamped

3.2118
Underdamped

Response
Oscillation
Stability
Rise Time(s)
Response time (s)
Overshoot
Offset
Steady State Value
Decay Ratio

Yes
Stable
1.9771
43.2110
-0.4883
0.0002
-10.0002
0.2384

Yes
Stable
3.0319
114.6480
-0.02695
-0.0048
-9.9952
0.0007

Yes
Stable
No rise time
190.4903
0.0018
0.0065
-10.0065
0.0003

Table above show the response of process control with differences

value for minimum

is 0.8380, maximum

value is 0.3220 and tune

value. The

value is 0.3600.

There are stable, underdamped response with less oscillation for tuned and maximum
value and there is also more oscillation for minimum

value. The rise time for minimum

value is 1.9771s. The highest rise time is 3.0319s for tuned

for maximum

value and there is no rise time

value. The response time for minimum, maximum and tune

43.2110s, 190.4903s and 114.6480s. The steady state value for minimum

value is
value is

-10.0002.The steady state for maximum and tune value are -10.0065 and -9.9952,
respectively. The offsets for maximum, tune, and minimum
0.0002 respectively. The overshoot for minimum
-0.02695 and maximum

2.2.3

values are 0.0065, -0.0048 and

value is -0.4883, tuned

value is 0.0018.

Proportional-Derivative controller (PD)

2.2.3.1 Response of closed loop system using PD controller for variation of Kc.

value is

Figure 2.2.3.1: Graph of PD controller for different value of Kc

Table 2.2.3.1: The value of PD controller for different value of
Minimum value

*Z-N Tuned Value

Maximum value

Kc value

4.4608

6.4608

7.4608

Description of response

underdamped

underdamped

underdamped

Oscillation

yes

yes

yes

Stability

stable

stable

stable

Rise Time (second)

0.9336

0.7114

0.6391

Steady State(0C)

-8.1688

-8.6597

-8.8209

Response Time/Settling
Time (second)

27.9159

40.6636

159.5927

Decay Ratio

0.4382

0.6721

0.8652

Offset(0C)

-1.8312

-1.3403

-1.1791

Overshoot(0C)

-0.6620

-0.8198

-0.9302

The graph in Figure 4.2.3.1 shows the temperature deviation against time with the different
value of Kc for a PD controller. The Z-N tuned value of the Kc is 6.4608. The response
shown by this Kc plotting is underdamped. This graph shows that there is an oscillation. The
rise time of the graph obtained from the Matlab plot is 0.7114 seconds and the response time
is 40.6636 seconds. The overshoot is calculated and the value is -0.8198 0C. The graph has an
offset value of -1.3403 0C. Overall, the system is stable. If the control system with the
minimum Kc value 4.4608 used, the graph shows underdamped behavior. This graph shows a
mild oscillation and overall the graph, is stable. The graph shows rise time of 0.9336 seconds
and the response time is 27.9159 seconds. The overshoot calculated for the minimum Kc is
-0.6620 0C. The graph has offset with the value of -1.8312 0C. The overall graph is stable. If
the Kc put to maximum value 7.4608, the graph also shows the same behavior as the previous
Kcs, which is an underdamped shape. This graph undergoes heavy oscillation in the system.
The rise time shows 0.6391 seconds and the response time is 159.5927 seconds. The

overshoot value for this control system is -0.9302 0C. The graph has offset value of -1.1791
0

C.
After a comparison is done it is concluded that again the minimum value of

the Kc shows better control system compared to the system with maximum and tuned Kc
value. The graph of minimum Kc oscillates with the lowest peak values of temperature that
help in the cooling process and tends to end faster as it reaches its steady state faster that the
Z-N tuned Kc value and the maximum value of Kc. This is further proven as the response
time is very fast and the overshoot is very small. This means it can save a lot of time and
energy supplied to run the system.
Hence, in conclusion for the varying Kc temperature deviation system, the system
that uses the minimum Kc value is the most efficient control system.

2.2.4

Proportional-Integral-Derivative controller (PID)

2.2.4.1 Response of closed loop system using PID controller for variation of Kc.

Figure 2.2.4.1: Graph of PID controller for different value of Kc

Table 2.2.4.1: The value of PID controller for different value of

Figure 4.2.2.1: Graph of PID controller for different value of

Table 4.2.2.1: The value of PID controller for different value of

minimum

tuned

maximum

1.8456

4.8456

7.0016

Description of

Underdamped

Underdamped

Underdamped

Response
Oscillation
Stability
Rise Time(s)
Response time (s)
Overshoot
Offset
Steady State Value
Decay Ratio

Yes
Stable
1.4765
25.0941
-0.4824
-0.0003
-9.9997
0.2327

Yes
Stable
0.7609
44.4030
-1.0488
-0.0004
-9.9996
1.1000

Yes
Stable
0.6034
198.1244
-1.2582
0.0003
-10.0003
1.5831

value

Figure shows the curves for different

the result for minimum

maximum

different

values. The curve with green color is

value, 1.8456. The red curve is the tune

value is 7.0016 and shown by the blue curve. The response for this three

values are underdamped and stable. Rise time for minimum and maximum

value is 1.4765s and 0.6034s, respectively. Rise time for tune

response time for maximum

tuned

tuned

value, 4.8456. The

value is 0.7609s. The

value is the highest, which is 198.1244s. Followed by the

value with 44.4030 and minimum

value to be 25.0941s. The overshoot for

value is -1.0488. The overshoot is for maximum K c value with -1.2582 and the

minimum

value with -0.4824. The offset for minimum, maximum and tune

-0.0003, 0.0003 and -0.0004. Increasing of

value are

value will causes the oscillation to formed.

PID Ti Varies with constant Kc

Minimum value

*Z-N Tuned Value

Maximum value

Kc Value

1.8456

1.8456

1.8456

value

1.1250

1.7250

2.5250

I value

1.6405

1.0699

0.7309

Description of response

underdamped

underdamped

underdamped

Oscillation

yes

yes

yes

Stability

stable

stable

stable

Rise Time (second)

1.7935

1.4787

1.3193

Steady State(0C)

-8.1688

-8.6597

-10.0001

Response Time/Settling
Time (second)

99.7277

30.9925

21.2997

Decay Ratio

0.0705

0.2056

0.5735

Offset(0C)

-1.8312

-1.3403

0.0001

Overshoot(0C)

-1.1512

-0.6783

-0.2655

The Graph above shows the coolant system for PID with constant values of Kc but
different values of

, for the constant Kc value of 1.8456 the

tune value is 1.7250. The

graph is considered under damped. This graph has less oscillation and considered stable. The
rise time is 1.4787 seconds and the response time is 30.9925 seconds. . Overshoot for this
graph is -0.6783 (0C) while the offset is -1.3403 (0C). For minimum

value which is 1.1250

the response is critically damped. The graph has oscillation and it is stable. The rise time for
this graph is 1.4787 seconds and the response time is 99.7277 the overshoot value -1.1512
(0C) and the offset is -1.8312 (0C) .For maximum

value which is 2.5250, the graph has no

oscillation thus it is stable. The rise time is 1.3193 seconds and the response time is 21.2997.
The overshoot for this graph is -0.2655 (0C) and the offset is 0.0001 (0C) .The graph is
considered overdamped.

PID CONTROLLER WITH

VARIES

minimum

tuned

maximum

value

1.8456

1.8456

1.8456

value

0.3935

0.4312

1.2312

D value
Description of

0.7262
Critically damped

0.7958
Critically damped

2.2723
Critically damped

Response
Oscillation
Stability
Rise Time(s)
Response time (s)
Overshoot(C)
Offset (C)
Steady State

Yes
Stable
1.4290
39.2494
-0.5837
0.0038
-10.0038

Yes
Stable
1.4789
27.1249
-0.4863
-0.0092
-9.9908

Yes
Stable
1.7566
153.6877
-0.2461
0.0022
-10.0022

Value(C)
Decay Ratio

0.3407

0.2365

0.0606

The graph above shows the response in PID controller for different values of
tune value of

. The

is 0.4312. The response is in critically damped shape. This graph has less

oscillation. The rise time is 1.4789 seconds and the response time is 27.1249 seconds.
Overshoot for this graph is -0.4863(C) while the offset is -0.0092(C). For minimum
value which is 0.3935,it is also critically damped and has a rise time of 1.429 seconds which
is the earliest among the three values. The response time is 39.2494 seconds. For maximum
value which is 1.2312, the graph has little oscillation. The rise time is 1.7566 seconds and
the response time is 153.6877 seconds. Overshoot for this graph is -0.2461C and the offset
is 0.0022C.