INDEX

S.No Experiment Teacher’s Signature

Study and design liquid level holdup in

1.
storage tank

Study and design liquid level holdup in

2.
storage tank, 𝐹𝑜 is constant

Study and design system with capacity for

3.
heat storage

Study and design a storage tank with variance

4.
time constant

Study and design a storage tank with 𝐹𝑜 as

5.
𝛽√ℎ

Tuning PID controller using Zeigler Nicholas

6.
method

Use Zeigler Nicholas for tuning P, PI, PID for a

waste water treatment plant whose transfer
function is given by
7.
1
𝐺𝑢𝑛𝑖𝑡 =
5𝑠 3 + 15.5𝑠 2 + 11.5𝑠 + 1
 EXPERIMENT 1

• Objective: Study and design a liquid hold up in a storage tank

• Software Used: MATLAB, SIMULINK
• Theory: The equation of a storage tank where 𝐹𝑜 is based on hydrostatic
pressure is given by

𝑑 𝐴𝜌ℎ
= 𝜌𝐹𝑖 − 𝜌𝐹𝑜
𝑑𝑡

ℎ
𝐹0 =
𝑅

Here certain assumptions are taken such as 𝜌 – liquid density of input and
output stream is same and doesn’t vary.
ℎ is the height of liquid at any time t
𝐹𝑖 is a constant input stream.
𝐹𝑜 is volumetric flow rate coming as output from the storage tank and is
proportional to hydrostatic pressure.
• Procedure:
1. Replicate the shown SIMULINK model in MATLAB SIMULINK
2. Use value of A as 1 m^2 and R as 1 s/m^2.
3. Simulate model for 10s.
4. Use ODE solver → Runge-kutta in simulation settings.
5. Use step size as 0.01 s.
6. Note readings for different values of A and R and note value of h.

• Observations:

S.n Cross Sectional Linear resistance Steady state

o area (A) of valve (R) value of h
1. 1 1 1

2. 1 2 2

3. 2 1 1

4. 2 2 2
• Result:
The graph was observed and plotted for different combinations of A and R and
accordingly h was obtained.
h is found proportional to F/R and hence taken to reach h is proportional to
1/A.
 EXPERIMENT 2

• Objective: Study and design a liquid hold up in a storage tank with constant
𝐹𝑜 .
• Software Used: MATLAB, SIMULINK
• Theory:
A tank having cross section area A let h be the height of liquid in tank at any
time t.
𝐹𝑖 and 𝐹𝑜 are volumetric flow rate in and out of the tank, both are constants.
ρ is the density of flowing liquid.
𝐹𝑜 is constant as its flow rate is determined by a pump and not hydrostatic
pressure.
Mathematical model of such system is:
𝑑 𝐴𝜌ℎ
= 𝜌𝐹𝑖 − 𝜌𝐹𝑜
𝑑𝑡
𝐹0 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡

• Procedure:
1. Replicate the model shown in figure in MATLAB SIMULINK
2. Use value of A, R, 𝐹𝑜 as constants values at 1.
3. Input various signals (unit step ,ramp, pulse) and observe responses and
plot variations of h.
4. Code MATLAB function as provided.
5. Use ODE solver → Runge-kutta for simulation.
6. Use 0.01s as fixed time.
7. See plot on scope.
• Observations:

• Result:
A liquid hold up tank with constant 𝐹𝑜 was designed successfully.
 EXPERIMENT 3

• Objective: Study and design system with capacity for heat storage.
• Software Used: MATLAB, SIMULINK
• Theory:
Liquid of a tank is heated with saturated stream, which flows through a coil
immersed in the liquid, where V is the volume of liquid in the tank. 𝜌 and 𝐶_𝑝
are liquids density and heat capacity.
U is overall heat transfer coefficient between stream and liquid.
𝐴𝑡 is total heat transfer.
𝑇𝑠𝑡 is Temperature of the saturated stream.
Dynamic model of the process is given by

𝑑𝑇
𝑉𝜌𝐶𝑝 = 𝑈𝐴𝑡 𝑇𝑠𝑡 − 𝑇
𝑑𝑡

• Procedure:
1. Replicate and simulate the Simulink model show.
1Kg 1𝐾𝑔𝑚3
2. Use constant value for V=1m3, 𝜌 = 3 , A=1m3, 𝐶𝑝 = and U as 1 for
m 𝑘
purpose of simulation.
3. Use ODE Runga Kutta in simulation setting to solve/simulate.
4. Use fixed step time as 0.01s
5. Use different values of above constant to obtain steady state values of T.
• Observations:

• Result:
Same steady values of T were observed for different values of constants
however rate of reaching steady state changes.
 EXPERIMENT 4

• Objective: Study and design a storage tank system with variance time
constant and gain.
• Software Used: MATLAB, SIMULINK
• Theory:
A storage tank with the following parameters.
A – area of tank
Ti - Input temperature
h – height of tank at any time t
T – Output temperature
Fi and Fo are volumetric flow rates in and out
Fo is a non-linear function of height h and its taken under the assumption of
turbulent flow
Tst – Stream temperature

Dynamic model for the system is given by

𝑑ℎ
𝐴𝜌 = 𝜌𝐹𝑖 − 𝜌𝐹𝑜
𝑑𝑡
𝐹𝑜 = 𝛽 ℎ
𝑑𝑇 𝑄
𝐴ℎ = 𝐹𝑖 𝑇𝑖 − 𝑇 +
𝑑𝑡 𝜌Cp
This system of equation corresponds to STH(Stir Tank Heater)
• Procedure:
1. Replicate the model shown in Matlab Simulink.
1Kg 1𝐾𝑔𝑚3
2. Use value of 𝜌 = 3 , A=1m3, 𝐶𝑝 = , Q=1, Ti=29, Fi=1
m 𝑘
3. Use ODE Runga Kutta solver in simulation setting.
4. Use fixed time as 0.01s
5. Observe variation in height wrt time and temperature wrt time by
changing their values.
6. Plot values in slope for various values as mentioned above.
7. Observe values for steady state values of h and T.

• Observations:
• Output Waveform:

• Result: Variation in constant result in different operation points and show

variation in trajectory/rate followed to reach steady state values.
 EXPERIMENT 5

• Objective: Study and design a storage tank with 𝐹𝑜 as 𝛽√ℎ

• Software Used: MATLAB, SIMULINK
• Theory:
For a storage tank with following parameter, cross-sectional area A, height of
the tank h of the liquid at time t.
𝐹𝑖 and 𝐹𝑜 are volumetric flowrate in and out of the tank. Assume the density of
the liquid ρ which remains constant.
𝐹𝑜 is non-linearly varying proportional to √h.
Dynamic model for following system :

𝑑 𝐴𝜌ℎ
= 𝜌𝐹𝑖 − 𝜌𝐹𝑜
𝑑𝑡
𝐹0 = 𝛽√ℎ

• Procedure:
1. Replicate the shown model in MATLAB SIMULINK.
2. Use constant values A = 1𝑚2 , β=1;
3. Use ODE solver → Runge-kutta for simulation.
4. Use 0.01s as fixed time.
5. plot variation of h.

• Observations:
• Result:

Obtained linearized model for the system is

𝑑ℎ 𝛽ℎ 𝛽 ℎ𝑜
𝐴 + = 𝐹𝑖 −
𝑑𝑡 2√ℎ𝑜 2

Here ℎ𝑜 is operating point for the system.

 EXPERIMENT 6

• Objective: To tune the controller using Ziegler Nicholas Method.

• Software Used: MATLAB, SIMULINK
• Theory:
Consider the multicapacity process
1
𝐺𝑝 =
(5𝑠+1)(2𝑠+1)
1
𝐺𝑚 = 𝐺𝑓 = 1.0
(5𝑠+1)

This method starts by zeroing the integral and differential gains than increasing
the proportional gain until the system is unstable. The value of 𝐾𝑝 at point of
instability is called 𝐾𝑚𝑎𝑥 . The frequency of oscillation is 𝐹𝑜 . The method turns
back of the proportional gain a predetermined amount, makes the integral and
differential gain a function of 𝐹𝑜 .
• Procedure:
1. Run Simulink or open mw script.
2. Draw Simulink block diagram from Ziegler Nicholas Tuning.
3. Run the script after saving.
4. Observe the changes in output.

• Observations:

Controller 𝐾𝑝 𝐾𝐼 𝐾𝐷
P 0.5𝐾𝑚𝑎𝑥 0 0
PI 0.45𝐾𝑚𝑎𝑥 1.2𝐹𝑜 0
PID 0.6𝐾𝑚𝑎𝑥 2.0𝐹𝑜 1.25/𝐹𝑜
 EXPERIMENT 7

• Objective: Use Zeigler–Nicholas method of tuning for P, PI, PID for a waste
water treatment plant whose transfer function is given by:
𝐺 1
𝑢𝑛𝑖𝑡 = 3
5𝑠 +15.5 𝑠 2 +11.5𝑠+1
• Software Used: MATLAB, SIMULINK
• Theory:
Zeigler and Nicholas developed a method based on frequency response
analysis, ZN method utilises tuning technique in a closed loop procedure.
The ultimate gain and ultimate time period can be found by properties of bode
plot where we obtain gain margin are phase margin.
Mathematically,
𝐾𝑢 = 𝐺𝑀 𝑔𝑎𝑖𝑛 𝑚𝑎𝑟𝑔𝑖𝑛

2𝜋
𝑇𝑢 =
𝑤. 𝑝𝑚 (𝑝ℎ𝑎𝑠𝑒 𝑚𝑎𝑟𝑔𝑖𝑛)
• Procedure:
1. Replicate the following model in MATLAB SIMULINK.
2. Using margin function use find value of 𝐾𝑢 and 𝑇𝑈 .
3. Using table of 𝑍𝑛 function we set values for (P ,PI, PID) parameters.
4. Finally plot is obtained for the transfer function (plant).

• Observations: