50288-8-7E AID: 59493 | 17/10/2017

(a)

The measurement noise filter is included within a PI controller by placing it in the

feedback loop. In general a feedback loop reduces the disturbances in the system.

The modified block diagram of the controller is shown in Figure 1. A first order transfer
function is placed in the feedback path.

Thus, the implementation of noise filter with a PI controller is explained and the modified
block diagram is drawn

(b)

Consider the block diagram in Figure 1.

Write the transfer function of the controller.
P s K c I s 1

Ym s I s f s 1
Rearrange the equation.
Kc I s 1
P s Ym s (1)
I s f s 1
The negative sign is due to the presence of comparator in the system.
M
For step response, consider Ym s
s
M
Substitute for Ym s in equation (1).
s
K c I s 1 M
P s
I s f s 1 s
Rearrange the equation.
Kc M I s 1
P s
I s 2 f s 1
Use partial fraction expansion method.
Kc M A B C
P s 2 (2)
I s s f s 1
C
The third term represents an exponential rise.
f s 1
Using partial fraction expansion, the values of A and B are obtained.
A 1
B I f
A response is drawn for the negative change in Ym with respect to time. The response is
shown in Figure 2.

The response shows two different curves for ideal PI and filtered PI. From the response,
f
as tends to zero, the responses are the same.
I

The response of PI controller to a step change in input is determined.

(c)

Consider the level of measured signal is noisy. The changes implemented in the
controller are not enough to stop the controller from filtering out the noise.

In order to overcome this, the digital filter technique is used effectively. It filters out the
output at a higher rate utilizing the sampling rate of 1 second.

The use of digital technique eliminates the use of analog method.

Thus, the use of digital technique over analog filtering method is explained.