Dynamic Behavior of

Closed-Loop Control
Systems
Chapter 11

1
 Chapter 11

2
 Next, we develop a transfer function for each of the five elements
in the feedback control loop. For the sake of simplicity, flow rate
w1 is assumed to be constant, and the system is initially operating
at the nominal steady rate.
Chapter 11

3
 Process
In section 4.1 the approximate dynamic model of a stirred-tank
blending system was developed:
 K1   K2 
X  s     X1  s    W2  s  (11-1)
 τs  1   τs  1 
Chapter 11

where
Vρ w1 1 x
 , K1  , and K2  (11-2)
w w w

4
 The symbol 𝑥′ ෤ 𝑠𝑝 𝑡 denotes the internal set-point composition
expressed as an equivalent electrical current signal.𝑥′ ෤ 𝑠𝑝 𝑡 is
related to the actual composition set point 𝑥 ′ 𝑠𝑝 (𝑡) by the
composition sensor-transmitter gain Km:
Chapter 11

෤ 𝑠𝑝 𝑡 = 𝐾𝑚 𝑥 ′ 𝑠𝑝 (𝑡)
𝑥′ (11-7)

5
 Current-to-Pressure (I/P) Transducer
The transducer transfer function merely consists of a steady-state
gain KIP:

Pt s 
Chapter 11

 K IP (11-9)
P  s 
Control Valve
As discussed in Section 9.2, control valves are usually designed so
that the flow rate through the valve is a nearly linear function of
the signal to the valve actuator. Therefore, a first-order transfer
function is an adequate model

W2  s  Kv
 (11-10)
Pt s  τv s  1
6
 Composition Sensor-Transmitter (Analyzer)
We assume that the dynamic behavior of the composition sensor-
transmitter can be approximated by a first-order transfer function,
but τm is small so it can be neglected.
X m  s 
 Km
Chapter 11

Controller X  s

Suppose that an electronic proportional plus integral controller is

used.
P  s   1 
 K c 1   (11-4)
E s  τ I 
s

where P  s  and E(s) are the Laplace transforms of the controller

output p  t  and the error signal e(t). Kc is dimensionless.

7
 Chapter 11

8
 1. Summer

2. Comparator
Chapter 11

3. Block

 Y(s)  G(s)X(s)

•Blocks in Series

are equivalent to...

9
 Chapter 11

10
 “Closed-Loop” Transfer Functions
•Indicate dynamic behavior of the controlled process
(i.e., process plus controller, transmitter, valve etc.)
•Set-point Changes (“Servo Problem”)

Assume Ysp  0 and D = 0 (set-point change while disturbance

Chapter 11

change is zero)

Y (s) K mGcGvG p
  (11-26)
Ysp ( s) 1  GcGvG p Gm

•Disturbance Changes (“Regulator Problem”)

Assume D  0 and Ysp = 0 (constant set-point)

Y ( s) Gd
  (11-29)
D( s) 1  GcGvG pGm

*Note same denominator for Y/D, Y/Ysp. 11

 Chapter 11

12
 Chapter 11

13
 Chapter 11

14
 Chapter 11

15
Chapter 11 EXAMPLE 1: P.I. control of liquid level

Block Diagram:

16
 Stability of Closed-Loop
Control Systems
Chapter 11

17
 Proportional Control of First-Order Process

Set-point change:
K C KV K P K M
Chapter 11

Y
 s  1 KP
Ysp 1  K C KV K P K M GP 
s  1
s  1
Y K1 GV , GC , GM constant gains

Ysp  1s  1 (K V , K C , K m )
K OL 
K1  1  K OL  K C KV K P K M
1  K OL 1  K OL

18
 Set-point change = M


y (t )  K1M 1  e t 1 
Chapter 11

M
Offset = ysp     y    
1  K OL

See Section 11.3 for tank example

19
 Closed-Loop Transfer function approach:

KK C
Y KK C 1  KK C
 
Chapter 11

Ysp s  1  KK C 
s 1
1  KK C

First-order behavior

closed-loop time constant 
1  KK C

(faster, depends on Kc)

20
 Chapter 11

21
 General Stability Criterion
 Small oscillations, damp out quickly

 then the control system performance is generally

Chapter 11

considered to be satisfactory.

 Large oscillations, damp out slowly until the a physical limit

is reached

 The closed-loop system is said to be unstable.

22
 General Stability Criterion
Most industrial processes are stable without feedback control.
Thus, they are said to be open-loop stable or self-regulating. An
open-loop stable process will return to the original steady state
Chapter 11

after a transient disturbance (one that is not sustained) occurs. By

contrast there are a few processes, such as exothermic chemical
reactors, that can be open-loop unstable.

Definition of Stability. An unconstrained linear system is said to

be stable if the output response is bounded for all bounded
inputs. Otherwise, it is said to be unstable.

23
 Effect of PID Control on a Disturbance Change

For a regulator (disturbance change), we want the

disturbance effects to attenuate when control is applied.
Chapter 11

Consider the closed-loop transfer function for proportional

control of a third-order system (disturbance change).

8
Y (s)  3 D( s) D(s) is unspecified
s  6 s  12 s  8  8 K C
2

8
GV  1 GM  1 GP  Gd 
 s  2
3

Kc is the controller function, i.e., G C (s)  K C .

24
 Let (s)  s 3  6s 2  12s  8  8KC

If Kc = 1,

   
(s)  s  4 s 2  2s  4  s  4 s  1  3 j s  1  3 j 
Chapter 11

 1 
Since all of the factors are positive,   e at  ,
sa 
the step response will be the sum of negative
exponentials, but will exhibit oscillation.
If Kc = 8,
( s )  s 3  6 s 2  12 s  72  ( s  6)( s 2  12)
Corresponds to sine wave (undamped), so this case is
marginally stable.
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 If Kc = 27


( s )  s 3  6 s 2  12 s  224  s  8 s 2  2 s  28 
 
 s  8 s  1  3 3 j s  1  3 3 j 
Chapter 11

Since the sign of the real part of the root is negative, we

obtain a positive exponential for the response. Inverse
transformation shows how the controller gain affects the
roots of the system.
Offset with proportional control (disturbance step-
response; D(s) =1/s )
8 1
Y ( s)  
s 3  6s 2  12 s  8  8 K C s
8 1
y (t  )  lim sY ( s )  
s 0 8  8K C 1  K C
26
 Therefore, if Kc is made very large, y(t) approaches 0,
but does not equal zero. There is some offset with
proportional control, and it can be rather large when
large values of Kc create instability.
Chapter 11

Integral Control:

et dt 
K t KC KC
P C
I 
0
P(s) 
 Is
E(s) G C (s) 
 Is

For a unit step load-change and Kc=1,

8s 1
Y(s)   lim sY (s)  0  y() no offset
ss  2  8
3 s 0
s
I
(note 4th order polynomial)

27
 PI Control:
 1 
G C (s)  K C 1  
  Is 
8s 1
Y(s)   lim sY (s)  0
8K
s(s  2)3  C  8K Cs s
s 0 no offset
I
Chapter 11

adjust Kc and I to obtain satisfactory response (roots of

equation which is 4th order).
PID Control: (pure PID)
 1 
G C (s)  K C 1    Ds 
  Is 
No offset, adjust Kc, I , D to obtain satisfactory result
(requires solving for roots of 4th order characteristic
equation).
 Analysis of roots of characteristic equation is one way to
analyze controller behavior 1  G CG VG PG M  0 28
 Rule of Thumb:
Closed-loop response becomes less oscillatory and more stable by
decreasing Kc or increasing I .

General Stability Criterion

Consider the “characteristic equation,”
1  G CG VG PG M  0
Chapter 11

Note that the left-hand side is merely the denominator of the

closed-loop transfer function.
The roots (poles) of the characteristic equation (s - pi) determine
the type of response that occurs:
Complex roots  oscillatory response
All real roots  no oscillations
***All roots in left half of complex plane = stable system

29
Chapter 11

Figure 11.25 Stability regions in the complex plane for roots of the 30
characteristic equation.
 Stability Considerations

• Feedback control can result in oscillatory or even

unstable closed-loop responses.
Chapter 11

• Typical behavior (for different values of controller

gain, Kc).

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Chapter 11

Roots of 1 + GcGvGpGm

(Each test is for different

value of Kc)

(Note complex roots

always occur in pairs)

32
Figure 11.26 Contributions of characteristic equation roots to closed-loop response.
Chapter 11

2KC
GOL ( s )  33
( s  1)(s  2)(s  3)
 Chapter 11

34
 Additional Stability Criteria

1. Bode Stability Criterion

Chapter 11

• Ch. 14 - can handle time delays

2. Nyquist Stability Criterion

• Ch. 14

35
 Direct Substitution Method
Imaginary axis is the dividing line between stable and unstable systems.

1. Substitute s = jw into characteristic equation

Chapter 11

2. Solve for Kcm and wc

(a) one equation for real part

(b) one equation for imaginary part

Example (cf. Example 11.11)

characteristic equation: 1 + 5s + 2Kce-s = 0 (11-101)

set s = jw 1 + 5jw + 2Kce-jw = 0

1 + 5jw + 2Kc (cos(w – j sin(w) = 0

36
 Direct Substitution Method (continued)

Re: 1 + 2Kc cos w = 0 (1)

Im: 5w – 2Kc sin w = 0 (2)

Chapter 11

solve for Kc in (1) and substitute into (2):

sin w
5w   5w  tan w  0
cos w

Solve for w: wc = 1.69 rad/min (96.87°/min)

from (1) Kcm = 4.25

(vs. 5.5 using Pade approximation in Example 11.11)

37
Chapter 11
Chapter 11