UNIVERSITI TEKNOLOGI MARA

FAKULTI KEJURUTERAAN KIMIA

ADVANCED PROCESS CONTROL
(CHE645)

ASSIGNMENT 4

NAME
(2014227494 )

: MUHAMMAD ZULFIRDAUS BIN AADNAN

: MUHAMMAD KHAIRI BIN MOHAMAD KAMIL

( 2014629738 )

1. METHODS
i.

Ziegler Nichols Method

a. For Ziegler-Nichols method the variables need to be calculate
are Kcu and Pu
The model for this controller is First-order-plus-time-delay
model
s

G(S)

Ke
s+ 1

3e
s+3

1.5 s

G(S)

The controller need to be simultaneous to the model. Hence,

the controller will be:
G(S)

b. Calculate the value for Kcu and Pu

For Pu

Pu 2(1.5)

=
Pu
tan
2( 3.142)

0.33

Pu
For

Pu
(Pu 2)
= 2 tan
Pu

= 41.159

Kcu

Pu
2
k k cu ) 1
(
2

41.159
2
( 1k cu ) 1
(0.333) =
2( 3.142)

Kcu

= 1.0013

1e1.5 s
1 /3+1

c. Then the value of Kcu and Pu were inserted to the ZieglerNichols formula

KCu

P
PI

0.5kcu
0.45kcu

Pu
1.2

PI
D

0.6kcu

Pu
2

Pu
8

The calculated data are:

KCu

P
PI

0.5006
0.4005

PI
D

0.6008

34.299
2
20.579
5

5.1559

Manual tuning was done for the PI controller and the value
of P and I inserted in the controller are 0.1625 and 0.3215
respectively.
ii.

Direct Synthesis (DS)

a. The formula for direct synthesis is

kc =

1
(
)
k + c

b. The selection of
iii.

Internal Model Control Method

2. RESULTS AND DISCUSSIONS

i.

Ziegler-Nichols

ii.

Direct Synthesis

iii.

Internal Model Control (IMC)

iv.

Internal Model Control (IMC)

It can be seen in the results that different method of controller tuning will produce a
different type of response from the same transfer function that is being used. This
difference is caused by the equation used by every method that eventually
produces a different value and different response. By using Ziegler-Nichols method,
the response overshoot is very sharp spike and reach the set point which indicate
that the time constant is very short and it can be considered as fast response. The
response using this method also sees that the stability is reached quite quickly.
The second method that is being used is the Direct Synthesis method, Direct
synthesis methods are based upon prescribing a desired form for the systems
response and then finding a controller strategy & parameters to give that response.
There are three options of process response that can be seen that are separated by
the used of P, PI or PID controller of the block diagram. The process response that is
considered most suitable is the option 2 response, as it has the lowest overshoot
and reaches stability in short period of time.
The next method is Internal Model Control (IMC), The IMC philosophy relies on the
internal model principle, which states: Accurate control can be achieved only if the

control systems encapsulates (either implicitly or explicitly) some representation of

the process to be controlled (Swevers J., 2006). It be seen that the internal model
process response for this transfer function produced oscillations and reaches
stability a little bit longer.
The fourth graph that is being represented is basically the comparison between the
three method to identified the best method to use that has lowest overshoot and
reaches stability.
3. CONCLUSION
The conclusion that can be made is that there are variable method to find the
response of a process toward a transfer function and in this simulation we can see
the difference between three method which are Ziegler-Nichols, Direct Synthesis
and the IMC method for the transfer function stated. the best method to find the
process response is by using Ziegler-Nichols method as it has the lowest overshoot
as well as take the shortest time to reach stability.
4. RECOMMENDATION FOR CONTROLLER TUNINGS.