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Int. J. Engng Ed. Vol. 21, No. 3, pp. 000±000, 2005 0949-149X/91 $3.00+0.00
Printed in Great Britain. # 2005 TEMPUS Publications.
1
2 F. Martins
CASE STUDIES
eÿs
Gp Gd Gp Gv 1 Gm 1
The first two case studies analysed in this work 3s 1
are control problems represented by the standard
Calculate the PI controller settings using the ITAE
block diagram depicted in Fig. 1 [5].
performance index.
In this figure, Y is the controlled variable, U is
Figure 2 depicts the model develop in Simulink
the manipulated variable, D is the disturbance
to simulate the feedback controller system. Appen-
variable, P is the controller output, E is the error
dix A presents the MATLAB files for this case
signal, Ym is the measured value of Y, Ysp is the
Ä sp is the internal set point (used by the study.
set point, Y
Table 1 presents the controller parameters
controller), Gc is the controller transfer function,
obtained by ITAE and by Ziegler-Nichols tuning
Gv is the transfer function for final control
relations.
element, Gp is the process transfer function, Gd
The system responses for a step change at time
is the disturbance transfer function, Gm is the
transfer function for measuring element and trans-
mitter and Km is the steady-state gain for Gm.
Table 1. Controller settings for a first-order system plus dead
The third case corresponds to control of a non- time
isothermal continuous stirred tank reactor.
ITAE Ziegler-Nichols
Case study 1
kc 1.76 2.41
Consider a feedback controller system presented i 3.14 2.97
in Fig. 1 and the following transfer functions:
Tuning PID Controllers using the ITAE Criterion 3
The controller parameters obtained by Simulink version 5.0 (R13) were used in this work. All MATLAB
MATLAB/Simulink through the implementation and Simulink files that support this paper can be found in the
following URL: http://paginas.fe.up.pt/~fgm/IJED_ITAE
of the ITAE performance index are kc 3:13 (ft3/
hr)/R and i 2.43 hr. The responses of T and CA
after a step change of 10 R in T set at time of 2 hr
CONCLUSIONS
are presented in Fig. 7. The simulation results
show that ITAE tuning method is satisfactory for
A procedure for tuning PID controllers with
set point response.
Simulink and MATLAB is proposed. It is shown
AcknowledgementsÐThis work was supported by FCT (FundacËaÄo how MATLAB Optimization Toolbox can interact
para a CieÃncia e Tecnologia). MATLAB version 6.5 (R13) and easily with Simulink to implement the ITAE
Table 3. Non-isothermal CSTR parameter values criterion. The three case studies demonstrated that
MATLAB and Simulink is a powerful and easy-to-
F 40 ft3/hr U 150 Btu/(hr ft2 R)
48 ft3 use tool to tune PID controllers using the ITAE
V A 250 ft2
CA0 0.50 mole/ft3 TJ0 530 R
index.
C A 0.245 mole/ft3 0 530 R
T The approach presented in this work can
T 600 R ±30000 Btu/mole enhance considerably the learning progress of
T J 594.6 R Cp 0.75 Btu/(lbm R) process control. An enormous set of process
FJ 49.9 ft3/hr CJ 1.0 Btu/(lbm R) models can be implemented in Simulink and the
VJ 3.85 ft3 50 lbm/ft3 behaviour of the control systems can be analysed
7.08E10 hr±1 J 62.3 lbm/ft3 very easily. Another relevant aspect of this proce-
E 30000 Btu/hr dure is the connection between two knowledge
R 1.99 Btu/(mole R) fields that usually are presented in engineering
curriculum: process control and optimization.
Fig. 7. Simulation results for temperature and concentration for a step change in temperature set point.
REFERENCES
1. K. J. AÈ stroÈm, and T. HaÈgglund, Revisiting the Ziegler-Nichols step response method for PID
control, J. Process Control, 14, 2004, pp. 635±650.
2. S. C. Chapra, and R. P. Canale, Numerical Methods for Engineers, McGraw-Hill International
Editions, New York (1998).
3. W. L. Luyben, Process Modeling, Simulation and Control for Chemical Engineers, McGraw-Hill,
Tokyo (1973).
4. F. G. Martins and M. A. N. Coelho, Application of feedforward artificial neural networks to
improve process control of PID-based control algorithms, Computers and Chemical Engineering,
24, 2000, pp. 853±858.
5. D. E. Seborg, T. F. Edgar and D. A. Mellichamp, Process Dynamics and Control, Wiley, New York
(2004).
APPENDIX A
%Main program
global kc
global ti
global td
global y_out
global ti_me
t_end=100;
h=.05;
x0=[5 10];
x=fminsearch(@fobs,x0,[],t_end,h)
Tuning PID Controllers using the ITAE Criterion 7
The file fobs.m has the MATLAB source code with a call to execute the simulation in Simulink and the
implementation of the multiple-application Simpson's 1/3 rule:
% Objectivefunction
function f=fobs(x,t_end,h)
global kc
global ti
global td
global y_out
global ti_me
kc=x(1);
ti=x(2);
td=0;
tt=(0:h:t_end);
[t,y]=sim(`sim_simulink1',tt);
f=0;
l=length(ti_me);
f=ti_me(l)*abs(y_out(l,1)-y_out(l,2) );
for i=2:2:l-1
f=f+4*ti_me(i)*abs(y_out(i,1)-y_out(i,2) );
end
for i=3:2:l-2
f=f+2*ti_me(i)*abs(y_out(i,1)-y_out(i,2) );
end
f=h/3*f
It is also relevant to note that kc and ti must be declared in Simulink as global variables. This is realized
through the option Simulation parameters in the menu Simulation and choosing Advanced, inline parameters
and click in Configure. Then, specify kc and ti as Global parameters.
Fernando G. Martins holds a Ph.D. degree in Chemical Engineering from the Faculty of
Engineering (University of Porto). he is now Lecturer of Chemical Engineering Department
at Chemical Engineering at Faculty of Engineering, University of Porto. He is a member of
LEPá, a research laboratory dedicated to the fields of process system engineering and
complex systems understanding and development in the areas of chemical processes,
environment and energy engineering.