EKC 462: Advanced Control System for Industrial Process

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Skogestads Half Rule
Consider the following two first-order Taylor
approximations of a time delay transfer function:
An inverse response time constant T
0
inv
(negative
numerator time constant) may be approximated as a
time delay
This is reasonable since an inverse response has a
deteriorating effect on control similar to that of a time
delay
) 57 . 6 (
1
1 1
1
s e
e and s e
s
s s
u
u
u
u u
+
= = ~

s T inv
inv
e s T
0
) 1 (
0

= +
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Similarly, a (small) lag time constant t
0
may be
approximated as a time delay:
Since
The effective delay u can be taken as the sum of the
original delay u
0
, and the contribution from the
various approximated terms
s
e
s
0
1
1
0
t
t

~
+
s s T
s s T s s
inv
e e
e e e e
s
s T
inv
inv
u t u
t u u
t
+ +

= =
~
+
+
) (
0
0
0 0 0
0 0 0 0
. .
1
) 1 (
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Skogestads Half Rule: the largest neglected
(denominator) time constant (lag) is distributed evenly
to the effective delay and the smallest retained time
constant (i.e. one half of its value is added to the
existing time delay (if any) and the other half is added
to the smallest retained time constant).
Time constants that are smaller than the largest
neglected time constant are approximated as time
delays using Equation (6.57)
In summary, let the original model be in the form
s
i
i
j
inv
j
e
s
s T
0
1
) 1 (
0
0
u
t

[
[
+
+
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where the lags t
i0
are ordered according to their
magnitude and denote the inverse
response (negative numerator) time constants.
Then, according to the half rule, to obtain a order
model :
and, to obtain a second-order model we use
where h is the sampling period (for cases with digital
implementation).
0
0
>
inv
j
T
2 2
;
2
0
3
0
20
0
20
10 1
h
T
j
inv
j
i
i
+ + + + = + =

>
t
t
u u
t
t t
) 1 /(
1
+

s e
s
t
u
2 2
;
2
;
0
4
0
30
0
30
20 2 10 1
h
T
j
inv
j
i
i
+ + + + =
+ = =

>
t
t
u u
t
t t t t
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Example
Consider a transfer function:
Derive an approximate FOPTD model using
Skogestads half rule.
ANSWER: The largest neglected time constant = 3
The new time constant, t = 5 + (3) = 6.5
Total time delay, u = 1.5 + 0.1 + 0.5 = 2.1
Then G(s) can be approximated as:
) 1 5 . 0 )( 1 3 )( 1 5 (
) 1 1 . 0 (
) (
0
+ + +
+
=
s s s
s K
s G
) 1 5 . 6 (
) (
1 . 2
+
=

s
Ke
s g
s
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Approximation of positive numerator time
constants
If we have positive numerator time constants T
0
in the
original model G
0
(s). It is proposed to cancel the
numerator term (T
0
s+1) against a neighboring
denominator term (t
0
s+1) (where both T
0
and t
0
are
positive and real) using the following approximations
) 3 ( ) 5 , min(
~
1 )
~
(
) /
~
(
) 2 ( 5 /
) 1 ( 1
) 1 (
1
) 1 ( /
) 1 ( /
0 0 0
0 0
0 0
0 0 0 0
0 0
0
0
0 0 0
0 0 0 0
T Rule T for
s
T Rule T for T
b T Rule T for
s
s T
a T Rule T for T
T Rule T for T
def
> =
+
> >
> > ~
+
+
> >
> >
u t t
t t
t t
u t t
t u
t
t u u
u t t
T
0
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Here u is the (final) effective delay, the exact value
of which depends on the subsequent approximation
of the time constants (half rule).
If there is more than one positive numerator time
constant, then one should approximate one T
0
at a
time, starting with the largest T
0
Normally select t
0
as the closest larger denominator
time constant (t
0
>T
0
) and use Rules T2 or T3. The
exception is if there exists no larger t
0
, or if there is
smaller denominator time constant close to T
0
, in
which case we select t
0
as the closest smaller
denominator time constant (t
0
<T
0
) and use rules T1.
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Example: Consider the process with the
original transfer function
first introduce from Rule T2 the approximation
(Rule T2 applies since T
0
=15 is larger than 5u, where u

is computed below). Using the half rule, the process
may then be approximated as a FOPTD with
k = 2 0.75 = 1.5; u = 0.1 2 +0.1 = 0.15;
t
1
= 1 + 0.1 2 = 1.05
or as a second-order time delay model with
k = 1.5; u = 0.1 2 = 0.05; t
1
= 1;
t
2
= 0.1+ 0.1 2 = 0.15
2
0
) 1 1 . 0 )( 1 )( 1 20 (
) 1 15 ( 2
) (
+ + +
+
=
s s s
s
s g
75 . 0
20
15
1 20
1 15
= ~
+
+
s
s
s
s