Level Control in PC6

Denote a

with b . The closed loop tf Qh (s ) is

1 s Ta 1 b
1 s Tb s s
1 s Ta 1 b
1 K
1 s Tb s s
K

Qh ( s )

K (1 sTa ) b
(1 s Tb ) s 2 K (1 s Ta ) b

bKTa s bK
Tb s s 2 bKTa s bK

Qh ( s )

bKTa
bK
s
Tb
Tb
1 2 bKTa
s
s
Tb
Tb

s3

bK
Tb

The charpo supplied (available) is

bKTa
s
Tb

1 2
s
Tb

( s) 1 s 3

bK
Tb

(supply)

This monic 3rd order polynomial has three roots. For stability each of them should have a
negative real part. Of the roots either a root is a real number or all three are real numbers.
Nevertheless, let a real root be the negative number 1 / T2 due a positive time constant T2 .
The two other roots are either two real numbers or two non-real complex conjugate numbers
due to real values of the polynomial coefficients. Present them indirectly through a positive
damping factor
and a positive natural angular frequency n . Here stability requires

0 and considering negative values of

consider a positive
positive
d

would be redundant. Hence we should

only. Then a necessary and sufficient condition for stability is a

. We may write the monic charpo requested or demanded as

( s ) 1 ( s 1 / T2 ) ( s 2

with T2

0 ,

(2

2
n

(demand)

0 . Expanding this yields

0 and

( s) 1 s 3

1 / T2 ) s 2

2
n

2
n

/ T2 ) s

/ T2

(demand)

The monic supply s meets the monic demand d if and only if the corresponding
coefficients of them for each power match with each other. Since the polynomials are monic
this occurs automatically for the 3rd power while for lower powers we present requests (a),
(b) and (c) shown below:

s 2 : 1 / Tb

s0 :

s1 :

bK
Tb

bKTa
Tb

1 / T2

2
n

Tb

T2

1
2

1 / T2

2
Tb
n
b T2

T2
1 2 n T2

1
b 1 2

2 / T2 )

2
n

(a)

(b)

n 2

(c)
1

Condition (c) can be found an equivalent due to Condition (b),

Ta

2
n
n

T2

2 / T2 )

(d)

Condition (d) implies the tuning formula (e),

Ta

T2

2 /

(e)

Use (a), (b) and (e) for tuning.

Temperature control in PC6
The process tf is here of the form

GT ( s )

(f)

a1 s a 2

The charpo of the closed loop system supplied due to use of an ideal sensor and PI
controller is
s

( s) 1 s 3

a1 s 2

(a2

c KP ) s

c KI

(g)

Denote a real stable root of this by ( p ) due to a positive parameter p . Present the two
other roots, either two real numbers or two non-real complex conjugate numbers, again
indirectly through a positive damping factor
and a positive natural angular frequency n .
Reasoning like above for level controller yields here the conditions and the results shown
below:

a1

a2

2
n

cK P

cK I
Here

2
n

and

KI

2
n

(h)

p a2

c
(a1

KI

2
2
n

KP

a1

2
n

(i)
(j)

must be chosen first and to imply a positive p . This occurs if and only if

a1
2

(k)

The tuning procedure might be:

1. Select a positive damping factor

2. Select a positive natural angular frequency

such that

a1
2

(2)

3. Calculate p from (h).

4. Calculate K P from (i).
5. Calculate K I from (j).

Remark. For 0

1 the two roots specified together by

and
conjugate roots with the common real part (
n ) which then satisfies
a1
2

are complex

(l)

This means the two roots must be right enough.