Chemical Engineering Department

Universiti Teknologi PETRONAS

CDB 4523 – Advanced Process Control

Tutorial 1

Example 1:

It is desired to control liquid level h2 in the storage tank system shown in Fig. by manipulating
flow rate q3. Disturbance variable q1 can be measured. Use the information available to do the
following:

a. Draw a block diagram for a feedforward –feedback control system.

b. Derive an ideal feedforward controller based on a steady-state analysis.
c. Suppose that the flow-head relationship for the hand valve is q2  C h1  h2 . Does the
ideal feedforward controller of part (b) change?
(i) The two tanks have uniform cross-sectional areas A1 and A2, respectively.
(ii) The valve on the exit line of tank 1 acts as a linear resistance with a flow-head
relation, q2  (h1  h2 ) / R .
(iii) The transmitters and control valve are pneumatic instruments that have
negligible dynamics.
(iv) The pump operates so that the flow rate q3 is independent of h2 when the
control valve stem position is maintained constant.

Example 2:

A closed-loop system has the following transfer functions:

1 2
G p ( s)  Gd ( s )  Gv  Gm  Gt  1
s 1 s  15s  1
(a) Design a feedforward controller based on a steady-state analysis.
(b) Design a feedforward controller based on a dynamic analysis.
(c) Design a feedback controller based on the IMC approach and  c  2 .
Example 3:

A closed-loop system has the following transfer functions:

1 0.5 s 2
G p ( s)  e Gd ( s )  Gv  Gm  Gt  1
s 1 s  15s  1
(a) Design a feedforward controller based on a steady-state analysis.
(b) Design a physically realizable feedforward controller based on a dynamic analysis.

Example 4:

A closed-loop system has the following transfer functions:

1 2
G p ( s)  e 2 s Gd ( s )  Gv  Gm  Gt  1
(5s  1)(3s  1) s  1
(a) Design a feedforward controller based on a steady-state analysis.
(b) Design a physically realizable feedforward controller based on a dynamic analysis.
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