DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

COLLEGE OF ENGINEERING

DEPARTMENT OF ELECTRICAL & COMPUTOR ENGINEERING

Project on: Design PI controller by Using CSTR For The internal Modeling
……………………………………………………………………………………………………………

Summated by:
YITAFER KASAWMAR [ETR/534/07]

GADISA BEYISA [ETR/235/07]

LIDET HAYILU [ETR/326/07]

HAYELOM ASIMELAS [ETR/271/07]

GUTEMA SIRNA [ETR/398/07]

KEDIR ABDU [ETR/388/06]

Advisor:

MR. Workagegn Tatek (MSC)

January 3,2018

Assosa, Ethiopia

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

ASSOSA UNIVERSITY
COLLEGE OF ENGINEERING
AND TECHNOLOGY
DEPARTMENT OF ELECTRICAL & COMPUTOR ENGINEERING

A project on: Design PI controller by Using CSTR For The internal Modeling
………………………………………………………………………………………………………………………………………………………………

Summated by:
YITAFER KASAWMAR [ETR/534/07]

GADISA BAYISA [ETR/235/07]

LIDET HAYILU [ETR/326/07]

HAYELOM ASIMELAS [ETR/271/07]

GUTEMA SIRNA [ETR/398/07]

KEDIR ABDU [ETR/388/06]

Advisor:

MR.Workagegn Tatek (MSC)

January 3,2018

Assosa,Ethiopia

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

ACKNOWLEDGEMENT
We would like to thank all people who have helped and inspired us during our mini-project. It wouldn’t
have been possible without their support.

It gives us an immense pleasure to acknowledge our parents, and especially our

advisor Mr. Workagegn Tatek who tirelessly helped us to finish this project. His guidance and comments
as well as his priceless advice were the core of our motivation. In addition, he was always
accessible and willing to help his advisees, including us. Had it not been for him, we wouldn’t
have accomplished this difficult project with success.

Finally the successes of this project you have been contributed by the member of group in different ways
likes share your Ideas by refers some books or social media I will appreciate for all.

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

ABSTRACT
Continuous stirred tank reactor system (CSTR) is a typical chemical reactor system with
complex nonlinear characteristics where an efficient control of the product concentration in
CSTR can be achieved only through accurate model. The mathematical model of the system was
derived. Then, the linear model was derived from the nonlinear model. A conventional PI
controller and PID controller for continuous stirred tank reactor are proposed to control the
concentration of the linear CSTR. The simulation study has been done in MATLAB
SIMULINK. The best controller has been chosen by comparing the criteria of the response such
as settling time, rise time, percentage of overshoot and steady state error. From the simulation
result the PID controller has a better performance than conventional PI controller.

The error signal then goes into the P.I control loop where it gets multiplied by the proportional
and integral constant. The output of the P.I control is a power value and in order to convert it to a
quantity that is comparable to that of the control signal, it goes through a power to PWM signal
converter.

In this project, optimum IMC filter to design an IMC controller for better set-point tracking and
disturbance rejection in a series power quality controller is proposed. As the IMC approach is based on
pole zero cancellation, methods which comprise IMC design principles result in good set point responses.

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

TABLE OF CONTENTS

Contents
ACKNOWLEDGEMENT ................................................................................................................................... 1
ABSTRACT...................................................................................................................................................... 2
TABLE OF CONTENTS..................................................................................................................................... 3
LIST OF FIGURE .............................................................................................................................................. 4
ABBRIVATION ................................................................................................. Error! Bookmark not defined.
CHPTER ONE.................................................................................................................................................. 5
INTRODUCTION ............................................................................................................................................. 6
1.1 BACK GROOUND STUDY .......................................................................................................................... 7
1.2 STATEMENT OF PROBLEM ...................................................................................................................... 7
1.3 OBJECTIVE OF THIS PROJECT................................................................................................................... 8
1.4 METHDOLOGY ......................................................................................................................................... 9
CHAPTER 2 .................................................................................................................................................. 11
2.1 Mathematical modeling ........................................................................................................................ 11
2.2 Uses of Mathematical Modeling ........................................................................................................... 11
CHAPTER THREE .......................................................................................................................................... 17
3.1 PI controller design with IMC................................................................................................................ 17
3.2 Desirable Controller Features ............................................................................................................... 18
CHAPTER 4: ................................................................................................................................................. 19
4.1 MATHMATICAL SIMULATION ................................................................................................................ 19
CHAPTER FIVE- ............................................................................................................................................ 20
5.1 CONCLUSION AND RECOMENDATION .................................................................................................. 21

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

LIST OF FIGURE……………………………………………………………………………………………………………PAGE
Figure 1.1 Methodology of the general ideology concept……………………………………………………………….9

Figure 2.1 block diagram of continues stirred tank …………………………………………………………………………12

Figure 2 .2 General block diagram of classical feedback and internal modeling……………………………….12

Figure 2.3 BLOCK DIAGRAM OF CSTR BY PI CONTROLLER DESING…………………………………………………..13

Figure 2.4 BLOCK DIAGRAM OF CSTR BY PI CONTROLLER DESING………………………………………………….13

Figure 2.5 for reaction A&B block diagram of continues stirred tank……………………………….15

Figure 3.1 block diagram of IMC feedback control………………………………………………………….17

Figure 4.1 Design PI controller block diagram of continuous stirred tank ……………….19

Figure 4.2 simulation of minimum temperature at 0𝑜 c……………………………………19

Figure 4.3 simulation of medium Temperature at 50oc …………………………………..20

Figure 4.4 simulation of at maximum temperature 100oc……………………………… ...20

ABBRIVATION
IMC: internal modeling control

PI: proportional integral

PID : proportional integral plus derivative

Cp: Specific heat (kj/kg.k)

CSTR: continuous stirred tank

Tp : time process

Td : time disturbance

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DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

LIST OF TABLE

Symbol Meaning
𝑚𝑓 Input mass in kg
𝑇𝑓 Feed temperature k
T Out temperature k
M Out put mass kg
A Inlet concentration of acetic an hydride
He Outlet temperature of coolant (kj/kg)
Hs Inlet temperature of cooling (kj/kg)
Ms Mass of fluid
B Water
R Out put
Cp Specific heat(kj/kg.k)
Kp Proportional gain
Ki Integral gain
Kd Derivative gain
Kc Critical gain
Gc(s) Transfer function of controller
Gd(s) The transfer of disturbance(Load)
G Gain coefficient
Ts Setting time
Tp Peak time
Td Delay time
Wn Angular element
V Valve

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

CHAPTER ONE
INTRODUCTION

A Continuous Stirred Tank Reactor (CSTR) is one of the most important unit operations in
chemical industries which exhibits highly nonlinear behavior and usually has wide operating
ranges. Chemical reactions in a reactor are either exothermic or endothermic and require that
energy can either be removed or added to the reactor to maintain a constant temperature. The
CSTR is normally run at steady state and is usually operated so as to be quite well mixed. As a
result of this quality, the CSTR is generally modeled as having no special variations in
concentration, temperature or reaction rate throughout the vessel. Since the temperature and
concentration are identical everywhere within the reaction vessel, they are the same at the exit
point as they are elsewhere in the tank. Thus the temperature and concentration at the exit are
modeled as being the same as those inside the reactor. In systems where mixing is highly non
ideal, the well mixed model is inadequate.
One of the most popular techniques in the field of chemical engineering in internal model
controller abbreviated as IMC. Internal model controller was introduced to limit the effects of
error and disturbance which is caused by model mismatch. The process model derived can be a
forward model or inverse model. The controller is carved out from the inverse model whereas the
forward model is placed in parallel with the actual process.

Basically Internal Model Control (IMC) principle states that “Control can be achieved if and
only if the control system summarizes either implicitly or explicitly, some representation of the
process to be controlled”. Internal stability and performance characteristics (correlate to
controller parameters) are the important aspects which makes it more advantageous compared to
classic feedback controller. The perfect controller can be arrived if there is no model mismatch.
If disturbance rejection is not covered IMC gives sluggish response. The parameters of IMC
controller depend on the IMC filter time constant. Increase in the filter time constant always
reduces the overshoot to an acceptable limit, but however reduces the disturbance rejection,
desired noise suppression capability. This study also proposes the procedural method for
selection of filter time constant.

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

Finally this project is must important of the design and simulation by using internal
modeling control system and the usual usage of continues stride tank reactor.

The conceptual usefulness of the IMC lies in the fact that much concern can be put on controller
design rather than control system stability provided that the process model is a perfect
representation of a stable process.

1.1 BACK GROOUND STUDY

The first principles model of the continuous stirred tank reactor and the operating data (given in
Table 2.1) as specified in the Pottman and Seborg (1992) has been used in the simulation studies.
Highly nonlinear CSTR is common in chemical and petrochemical plants. In the process
considered for the simulation study as shown in Figure 2.2, an irreversible, exothermic chemical
reaction A B o occurs in constant volume reactor that is cooled by a single coolant stream. A
feed material of composition CA0 enters the reactor at temperature T0, at a constant volumetric
flow rate q. Product is withdrawn from the reactor at the same volumetric flow rate q. The
mixing is assumed to be efficient enough to guarantee homogeneity of the liquid content within
the reactor. In a jacketed CSTR the heat is added or removed by virtue of the difference between
the jacket fluid and the reactor fluid. Often, the heat transfer fluid is pumped through the
agitation nozzles that circulate the fluid through the jacket at a high velocity. The coolant flows
at a flow rate of qc and at a feed temperature Tc0. The exit temperature of the coolant fluid is Tc.

1.2 STATEMENT OF PROBLEM

We will now describe a more general model based framework for controller design that
involves the direct synthesis as a special case. It is based on the block diagram shown in
Figure 2. To emphasize the difference between the model and the true process, we have here
Block diagram internal model control with in the process model. Chemical reactions in a reactor
are either exothermic or endothermic and require that energy can either be removed or added to
the reactor to maintain a constant temperature.

 One problem with the integral mode is that it increases the tendency for oscillation of the controller
variable. The gain of the proportional controller must be reduced when it is combined with the
integral mode. This reduces the ability of the controller to respond to rapid load changes. If the
process has a large dead time lag, the error signal will not immediately reflect the actual error in the
process. This delay often results in overcorrecting by the integral mode, that is, the integral mode

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

continues to change the controller output after the error is actually reduced to zero, because it is
acting on an "old" signal. The proportional plus integral control mode is used on
processes with large load changes when the proportional mode along is not capable of reducing
the offset to an acceptable level. The integral mode provides a reset action that eliminates the
proportional offset. The primary reason for the derivative action is to improve the closed loop
stability.
 IMC results in a long settling time for load disturbances for lag dominant processes
which are not desirable in the control industry. Usually, disturbances are categorized as
load disturbances, model uncertainties and noise. As the knowledge about model
uncertainties and noise is unknown, their impact is not considered in thesis. The plant and
model of actual process is considered to same. Since all the IMC-PID approaches involve
some kind of model reduction techniques to convert the IMC controller to the PID
controller so approximation error usually occurs.
 The original dynamics will still be present in the relationship between T and 𝑇𝑠𝑝 . This
may be a major drawback if the aim is to speed up the response of compare with the
original one.
 Another drawback with IMC is that since a model of the process is run internally to the
controller it can, without modification, only handle open-loop stable processes. These
two drawbacks mean that for certain cases IMC cannot be (easily) applied, and we
therefore need other model based approaches.

1.3 OBJECTIVE OF THIS PROJECT

 The main objective of this project is to achieve or to design the proportional integral of
controller by using internal modeling control on a continues stirred tank reactor.
 In the project a control strategy for the continues stirred -tank system will be discussed and presented.
The control strategy will be based on the proportional plus integral (PI).
 The proportional control mode produces a change in the controller output proportional to the error
signal. which Mean the integral control mode changes the output of the controller by an amount
proportional to the integral of the error signal. Therefore, the integral mode is frequently combined
with the proportional mode to provide an automatic reset action that eliminates the
proportional offset. The combination is referred to as the proportional plus integral (PI) control mode.

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

 The integral mode provides the reset action by constantly changing the controller output until the
error is reduced to zero.
 The proportional mode provides change in the controller output that is proportional to the error
signal. The integral modes provide an additional change in the output that is proportional to the
integral of the error signal.

 The reciprocal of integral action rate is the time required for the integral mode to match
change in output produce by the proportional mode.

1.4 METHDOLOGY
Our first step in undertaking this project was defining the project basic concept and general
principle of the internal modeling control then the total over view of continues stirred tank
reactor and general block diagram of the best perform of this project the by using MATLAB
software it can be develop how to the program write on this software then the simulation of this
project.Test and Analysis after Testing the Modification of this project finally to Analysis the
final Result.

Simulation Check
Idea &
simulation
Result
concept

Write soft
Literature & Modification
ware program
Review

MATLAB
Block diagram SIMULINK Final Result

Design Development

Figure 1.1 general block diagram for the project

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

1.5 PROJECT ORGANISATION

 On this project we have five chapters:
Chapter one: this chapter deals about Introduction about continues stirred tank
reactor

Chapter two: on this chapter mathematical modeling of continues stirred tank by

controlling of temperature

Chapter Three: PI controller Design on this chapter concern with design

proportional controller

Chapter Four: Mathematical simulation from this Chapter the Final result of
simulation

Chapter Five: Conclusion & Recommendation on this Chapter the final idea of
overall on this project

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

CHAPTER 2
2.1 Mathematical modeling
The advantage with IMC, compared to direct synthesis, is that it is more general, but also
offers more insight into the analysis of the system. direct synthesis may give too slow
control for input disturbances. A block diagram with input disturbance is shown in Figure 2.2
Ideally we have.

1. Direct Synthesis (DS) method

2. Internal Model Control (IMC) method

3. Controller tuning relations

4. Frequency response techniques

5. Computer simulation

6. On-line tuning after the control system is installed.

As we concerned in this lesson is internal model control method The IMC method, like the DS
method, is based on an assumed process model and leads to analytical expressions for the
controller settings.

2.2 Uses of Mathematical Modeling

 to improve understanding of the process
 to optimize process design/operating conditions
 to design a control strategy for the process
 to train operating personnel
To understand the transient behavior, how inputs influence outputs, effects of recycles,
bottlenecks(what will happen if…, ‘emergency situations’, no/smaller than required reflux in
distillation column, pump is not providing feed, etc.)

Selection of control pairs (controlled v. / manipulated v.) and control configurations (process-
based models)

(To troubleshoot Optimizing process conditions (most profitable scenarios)

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

Figure:2.1 block diagram of continues stirred tank

Figure: 2.2 General block diagram of classical feedback and internal modeling

General block diagram of proportional integral Controller for the continuous stirred tank reactor

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

FIGURE 2.3 BLOCK DIAGRAM OF CSTR BY PI CONTROLLER DESING

𝐺𝑑

±
𝐾𝑝 + G +

⏞ ⏞
+
+

1
𝑘𝑖 𝐺̃ ±
𝑠

𝐺𝑚

FIGURE:2.4 block diagram of feedback control using PI controller

……………………………………………………………………………………………………………………………………………………………..

For the internal modeling of control system in the Figure 2.4 the mathematical expression is can
be determine in the following ways.

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

𝑇̃=𝐸∗𝐺∗𝐺̃ …………………………………………………..…..…2.1

E=𝑇𝑆𝑃 -(T-𝑇̃) ……………………………………………..……2.2

Substitution the equation 1 and equation 2

𝑇̃=(𝑇𝑆𝑃 − (𝑇 − 𝑇̃ )𝐺 ∗ 𝐺̃ )………………………………………….2.3

𝑇̃=𝑇𝑆𝑃 𝐺 ∗ 𝐺̃ -𝐺 ∗ 𝐺̃ (T-𝑇̃)……………………………………………..2.4

𝑇̃-𝐺 ∗ 𝐺̃ 𝑇̃=(𝑇𝑠𝑝 -T)𝐺 ∗ 𝐺̃ ………………………………………..…….2.5

𝑇̃(1-𝐺 ∗ 𝐺̃ )=(𝑇𝑠𝑝 -𝑇̃)𝐺 ∗ 𝐺̃ …………………………………………….2.6

𝑇̃=𝐺 ∗ 𝐺̃ (𝑇𝑠𝑝 -T)/1-𝐺 ∗ 𝐺̃ ……………………………………………..2.7

(𝑇𝑠𝑝 − 𝑇+𝑇̃)𝐺 ∗ G+𝐺𝑑 =T…………………………………2.8

Substation on the above equation of 3 to equation 4 we will get

𝑇=(𝑇𝑆𝑃 -𝑇̃)(1+𝐺 ∗ 𝐺̃ /1-𝐺 ∗ 𝐺̃ )𝐺 ∗ 𝐺̃ +𝐺𝑑 ……………………….2.9

̃ 𝐺̃ 𝐺 ∗ (𝑇𝑠𝑝 −𝑇) 𝐺
(𝑇𝑠𝑝 −𝑇)(1−𝐺 ∗ 𝐺) 𝑇
𝑑
+ + = ……………………….2.10
1−𝐺 ∗ 𝐺̃ 1−𝐺 ∗ 𝐺̃ 𝐺 ∗ 𝐺̃ 𝐺 ∗ 𝐺̃
1 𝐺𝑑 𝑇
(𝑇𝑠𝑝 -T)(1+ ∗ ̃ )+ = ………………………..………2.11
1−𝐺 𝐺 𝐺∗𝐺 𝐺∗𝐺
𝑇𝑠𝑝 𝐺𝑑 𝑇 𝑇
+ = + …………………………………….2.12
1−𝐺 ∗ 𝐺̃ 𝐺∗𝐺 𝐺∗𝐺 1−𝐺 ∗ 𝐺

1+𝐺 ∗ (𝐺−𝐺̃ ) 𝑇𝑠𝑝 𝐺 ∗ 𝐺

T( )=𝐺𝑑 + ………………………………….2.13
1−𝐺 ∗ 𝐺̃ 1−𝐺 ∗ 𝐺̃

̃
𝐺𝑑 (1−𝐺 ∗ 𝐺) 𝑇𝑠𝑝 (𝐺 ∗ 𝐺)
T= ∗ + …………………………………..2.14
1+𝐺 (𝐺−𝐺̃ ) 1+𝐺 ∗ (𝐺−𝐺̃ )

From the coefficient Tsp and classical feedback equation solved the controller 𝐺𝑐
(𝐺 ∗ 𝐺) 𝐺𝑐 𝐺
= ………………………………………….2.15
1+𝐺 ∗ (𝐺−𝐺̃ ) 1+𝐺𝑐 𝐺

𝐺 ∗ +𝐺 ∗ 𝐺𝑐 G=𝐺𝑐 +𝐺𝑐 𝐺 ∗ (𝐺 − 𝐺̃ )
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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

𝐺∗
𝐺𝐶 = …………………………………………………..2.16
1−𝐺 ∗ 𝐺̃

Where: 𝐺̃ is internal control

𝐺 ∗ is IMC controller

Figure: 2.5 for reaction A&B block diagram of continues stirred tank

A+B R

Input energy-output energy + heat provided by steam=rate of change of energy

𝑑𝑇
𝑚𝑓 𝑇𝑓 𝐶𝑝 -𝑚𝐶𝑝 T+𝑀𝑠 (𝐻𝑠 -𝐻𝑐 )=M𝐶𝑝 𝑑𝑡

𝑑𝑇
M𝐶𝑝 + 𝑚𝐶𝑝 T=𝑚𝑓 𝑇𝑓 𝐶𝑝 +𝑀𝑠 (𝐻𝑠 -𝐻𝑐 )
𝑑𝑡

Dividing the above equation by 𝑚𝑓 𝐶𝑝

𝑀 𝑑𝑇 𝑚 𝑀𝑠
+ T=𝑇𝑓 + (𝐻𝑠 -𝐻𝑐 )
𝑚𝑓 𝑑𝑡 𝑚𝑓 𝑚𝑓 𝐶𝑝

But the mass input and the output mass is equal because of during the mass balance
𝑚𝑓 =m

Also put

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

𝑀
=𝑡𝑝
𝑚𝑓

𝑀 𝑀𝑠 𝑑𝑇
Substitution on the above equation this =𝑡𝑝 then we will get (𝐻𝑠 -𝐻𝑐 )+ 𝑇𝑓 =T+𝑡𝑝 𝑑𝑡
𝑚𝑓 𝑚𝑓 𝐶𝑝

Let 𝐾𝑝 = 𝑚1𝑓𝐶𝑝(𝐻𝑠 -𝐻𝑐 )

𝑑𝑇
Taking 𝐾𝑝 𝑀𝑠 +𝑇𝑓 =T+𝑡𝑝 𝑑𝑡

Laplace transform of the above equation

T(𝑡𝑝 s+1)= 𝑇𝑓 (s)+ 𝐾𝑝 𝑀𝑠 (s)

𝐾𝑝 𝑇𝑓
T(s)=(𝑡 𝑀+
𝑝 s+1) 𝑠 (𝑡
𝑝 s+1)

The coefficient of 𝑀𝑠 (s) represent the process transfer function 𝐺𝑝 and the coefficient of 𝑇𝑓 (s)
represent the load transfer function 𝐺𝑑 from this the process modeling transfer function and the
load or disturbance of transfer function is give in this case our calculation we can take the
process gain value and the load gain as shown below.

𝐾𝑝 =0.503, 𝑡𝑝 =12.4
𝐾𝑑 =1, 𝑡𝑑 =12.4

The transfer function becomes

0.503
𝐺𝑝 (s)=12.4𝑠+1 𝑒 −2𝑠 where: the time delay is in this transfers function 𝑒 −2𝑠

The transfer function of the disturbance is

1
𝐺𝑑 (s)=12.4𝑠+1

The value of manipulated variable is we have chosen the final control or valve to have the first
order response which gives.

𝐺𝑓 (s)=1 the valve of transfer function is unity

𝐺𝑚 =1 it is unity feedback system

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

CHAPTER THREE
3.1 PI controller design with IMC
Modeling calculation for internal modeling system with the controller proportional integral
during this the internal model controller can be designed by taking the inverse of process model
along with the filter transfer function. The transfer function representation of internal model
controller is 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.

T u 𝑌

𝐺𝑐 Gs

Ĝ s 

Figure:3.1 general block diagram of internal modeling control

There are three main step follow it to design proportional integral controller in the continues
stirred tank those are:

Step 1:the transfer function of a plant is factorized in two region in right half plane and the left
half plane

𝐺̃ =𝐺̃+ 𝐺̃− where the 𝐺̃+ is the internal process transfer function in the zores and the gain
must be unity

Step 2 find the transfer function of the controller 𝐺 ∗

𝑓
𝐺 ∗= ̃ 𝐺𝑝 (s)=
0.503
𝑒 −2𝑠
𝐺− 12.4𝑠+1

Step 3 the total transfer function on the given project controller equate with proportional
integral.

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

𝐺∗
𝐺𝐶 =
1−𝐺 ∗ 𝐺̃
12.4𝑠+1
𝐺 ∗= from this the total transfers function of the figure 2.3 is shown below
𝑘(0.01𝑠+1)

12.4𝑠+1 𝑇𝑖𝑠+1
𝐺𝐶 = =𝑘𝑐 ( ) the final evaluation is
𝑘(0.01𝑠+2𝑠) 𝑇𝑖𝑠

12.4
𝑘𝑐 = =12.277
0.503(0.01+2)

𝑇𝑖𝑠+1 𝑘𝑖 𝑘𝑖
𝑡𝑖 =0.01 𝑘𝑐 ( )=𝑘𝑝 + 𝑓𝑟𝑜𝑚 𝑡ℎ𝑖𝑠 𝑘𝑝 =𝑘𝑐 &𝑇𝑖 =
𝑇𝑖𝑠 𝑠 𝑘𝑝

𝑘𝑝 =12.277 & 𝑘𝑖 =0.1227

3.2 Desirable Controller Features

1. The closed-loop system must be stable.

2. The effects of disturbances are minimized, i.e., good disturbance rejection.

3. Quick and smooth responses to the set-point changes are guaranteed, i.e., good set-point
tracking.

4. Off-set is eliminated.

5. Excessive controller action is avoided.

The control system is robust, i.e., it is insensitive to changes in operating conditions and to
inaccuracies in process model and/or measurements.

This thesis clearly illustrates an approach to obtain optimum filter structure to IMC.
Filter time constant plays a vital role to obtain better trade off between robustness and
disturbance rejection and stability.

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

CHAPTER 4:
4.1 Mathematical Simulation:
For the maximum, medium & minimum of the set point is given when temperature at 1000c & at 00c

Conceder the result of simulation on the shown in the Figure 4.2, Figure 4.3 and Figure 4.4

Figure 4.1 Design PI controller block diagram of continuous stirred tank

Figure 4.2 simulation of minimum temperature at 0𝑜 c

From this the set point at zero degree the simulation result will not stop but it continuous on the
some process in this case the process overlap with axis

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DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

The simulation of medium Temperature

Figure 4.3 simulation of medium Temperature at 50oc

Figure 4.4 simulation of at maximum temperature 100oc

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

CHAPTER FIVE-
5.1 CONCLUSION AND RECOMENDATION
In this section, the first principles model of an n exothermic CSTR with a first order chemical
reaction is considered for simulation studies. The mathematical model of the CSTR is formulated
assuming a constant reactor volume and perfect mixing in the reactor. The inputs to the reactor
are the feed flow and coolant flow. The states are the effluent concentration and the reactor
temperature. The outputs are the states. For the design of multivariable controllers, the nonlinear
CSTR is represented as a family of local linear models at the three chosen operating points.

Internal models can be controlled through either feed-forward or feedback control. Feed-
forward control computes its input into a system using only the current state and its
model of the system. It does not use feedback, so it cannot correct for errors in its control.
In feedback control, some of the output of the system can be feed back into the system’s
input, and the system is then able to make adjustments or compensate for errors from its
desired output. Two primary types of internal models have been proposed: forward
models and inverse models. In simulations, models can be combined together to solve
more complex movement.

Recommendation:

from this project was successfully the comparison of as PID controller the performance it can be
minimization of error and rebus as the instability condition can be used the best way is PID
controller as well as PI controller. where two controllers have been comparison and the
other objectives of this project are achieved. With these two types of controller
the best controller must be determined. It is chosen based on some criterion such as small settling
time and rise time, has no steady-state error has no overshoot. Because these criterions cannot be
achieved at one time, it is necessary to decide what we went so in the case of improve or to
achieve the best perform controller is PID controller.

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 DESIGN PI COLTROLLER BY USING IMC FOR CONTINUOUS STIRRED TANK

Reference:
1,J.Qibing,Q.Ling,Y.Qin,“NewInternal Model Control Method for
Multivariable Coupling System with Time Delays”, Proc. IEEE Intl.
Conf. Automation & Logistics, China, 2009, pp.1307-1312.

2, C.E.Garcia and M.Morari, “Internal Model Control:

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