PRACTICE PROBLEMS FOR THE COURSE

Note: Many of these problems have been taken from “Process Modeling, Simulation and Control for
Chemical Engineers” by William L Luyben.

PROBLEMS FOR MODULE I

I.1 For the dynamic responses to a unit step in the input (see Figure), state reasonable transfer
functions that would fit well to the shown response.

4
1
3
2
2

3
1

0
7
-1

-2 5
4
-3
6
-4
0 2 4 6 8 10 12 14 16 18 20

I.2 Consider the series system in Figure.

u yS yM

a) Design a conventional P only feedback controller for a closed loop damping coefficient of 0.5.
b) Design a conventional PI feedback controller for a closed loop damping coefficient of 0.5. Choose
the reset time to be the dominant open loop time constant.
c) Design a series cascade control system. The slave loop is P only and tuned for critical damping. The
master loop is PI and tuned for closed loop damping coefficient of 0.5.

I.3 Consider a process described by the transfer function

 under P control. What value of KC gives LCLMAX = 2dB.

I.4 Consider the log-modulus of a second order-underdamped transfer function of unit gain. Derive
and analytical expression between its maximum log-modulus and damping coefficient (ε). Tabulate
values of maximum log modulus for ε = 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7. What is the damping
coefficient for a maximum log modulus of 2 dB.

I.5 Consider a first order lag plus deadtime process controlled by a P controller. Devise a procedure for
obtaining KC for LCLMAX = 2 dB.

I.6 Find KC for which LCLMAX = 2 dB for a process with transfer function

and controlled by a P controller.

I.7 For the process transfer function in question V, calculate KU and PU and subsequently the ZN
settings for a P, PI and a PID controller. Also tabulate the TL settings for a PI and a PID controller.

I.8 A process has the following open loop transfer function relating controlled (y) and manipulated (u)
variables:

a) Is the open loop system stable. Explain why.

b) If a proportional feedback controller is used, what is the largest ratio of D/τ for which a phase
margin of 45° can be obtained.

I.9 Consider a 3x3 open loop multivariable system

(a) Calculate its RGA. Based on the RGA, what input-output pairing(s) would you recommend.
(b) Tabulate the Niederlinski Index for all the possible input-output pairings. What can you say about
the closed-loop integral stability of the pairing(s) recommended in (a).
(c) For the recommended pairing, design a feedforward dynamic decoupler showing its complete block
diagram and also the realizable feedforward compensator transfer functions.