Inverse Response Systems

Eka Iskandar

Chapter 7
 2nd order systems with numerator dynamics
Problem
For the case of a transfer function with:
•a single zero
•a positive-gain,
•overdamped second-
order K τa s1 (6-1
G  
 τ1 s1  τ2 s1
where τa is called lead time and in general may be >0 or <0
calculate and plot the response to the step input of magnitude M.

Solution
The response of this system to a step change in input of magnitude M
is:
y t K
M1 τaτ1t/τeτaτ2t/τ1 e 2
 (6-
 τ1 τ2 τ2 τ1 
Chapter 6 of Seborg (2nd ed.)
2
 2nd order systems with numerator dynamics:
step response
Solution
Parametrically in τa, the plot of the response is:
Hypothesis:
overshoot
1 > 2 > 0

The

1st order
like

inverse
response
3
 2nd order systems with numerator dynamics:
step response
Note that as
y t  
expected.
Hence, the effect of including the single zero does not change the final value nor does it
change the number or location of the response modes. But the zero does affect how the
response modes (exponential terms) are weighted in the solution, Eq. 6-15.
A certain amount of mathematical analysis (see Exercises 6.4, 6.5, and 6.6 of Seborg)
will show that there are three types of responses when 1 > 2 > 0:

Case a: τa > τ1 overshoot

Case b: 0 < τa ≤ τ1 “conventional” overdamped response
Case c: τa < 0 “inverse” response

Chapter 6 of Seborg (2nd ed.)

4
 Inverse-response pattern

output variable  There is an initial

inversion in the
response: the
input and output

input process starts

variable moving away from
its ultimate value

 The process output

eventually heads
in the direction of
the final steady
state
time

This behavior is called inverse response

or non-minimum phase response.
5
 Inverse-response pattern
Inverse response is the net result of two
 i) opposing dynamic modes of
 ii) different magnitudes, operating on
 iii) different time scales
– the faster mode has a small magnitude and is responsible for
the initial, “wrong way” response
– the slower mode has a larger magnitude and is responsible
for the long-term, dominant response
 They usually originate from a "parallel"

GP1 + y(s)
m(s)

-
GP2 6
 Example process:
drum boiler (corpo cilindrico di caldaia)
Disturbance :
Steam
cold feedwater flowrate (e.g.,
step increase)
Manipulated variable :
heating
Cold feedwater rate

Heating power Output :

level in the
 In the long run, the level is expected to increase,
drum because
boiler we have
increased the feed material without changing the heat supply
 But immediately after the cold feedwater flowrate has been increased,
a drop in the drum liquid temperature is observed, which causes the
bubbles to collapse and the observed level to reduce
Chapter 7

7
 Inverse-response systems
In summary:
output variable

 “strange”, unexpected shape

input and output

input
of the open-loop response, variable

which is non monotone

time

 potential of
closed-loop instability
z = −1/τa
due to the presence of a x x o
right half-plane (RHP)
zero
8
 Overdamped Process with Inverse Response

k1
 1s  1 y(s)
m(s) +
-
y (s) k k
k2 G(s)   1
 2
m(s) 1 s  1  s
 2s 1 k 1  2  k2 1 s 

 s
k 1

 1 
 k
0
k 1 2  k 2  1  k 2
a  2  k1  1 
k1  k1 2  k2 2  0
k2 k

Kk k
Inverse Response Eka Iskandar 9
 Overdamped Process with Inverse Response
 When the system exhibits
k1 inverse response, its transfer
function has a positive zero
 1s  1 y(s)
m(s) +
-
k2
 2s 1

k
1 k1  k
z 
k12  k 2 1
 

Inverse Response Eka Iskandar 10

 Overdamped Process with Inverse Response:
case 1 with positive gains

0 < k1 < k2  k1 - k2 < 0  k1/k2 < 1

1  k 1
Hyp.:
k 


2 1
2
Under this condition, the overall transfer function has: a
positive zero given by
k 1 1
k1  k 2 k2
z  
1
k 1 2  k 2 

and a negative gain given by

(k1 - k2)
 This process exhibits inverse response
Inverse Response Eka Iskandar 11
 Overdamped Process with Inverse Response:
case 2 with positive gains

k1 > k2 > 0  k1 - k2 > 0  k1/k2 > 1

1 k1
 Hyp.:  
2 1 k 2
Under this condition, the overall transfer function has: a
positive zero given by k 1
1
k1  k 2 k2
z 1
k 1 2  k 2   

and a positive gain given by

(k1 - k2)
 This process exhibits inverse response
Inverse Response Eka Iskandar 12
 Overdamped Process with Inverse Response:
case 3 with negative gains

k1 < k2 < 0  k1 – k2 < 0  k1/k2 – 1 > 0  k1/k2 > 1

1 k 1
 Hyp.: 
2
Under this condition, the overall transfer function has: a
positive zero given by
k 1 1
k1  k 2 k2
z  
1
k 1 2  k 2 

and a negative gain given by

(k1 - k2)
 This process exhibits inverse response
Inverse Response Eka Iskandar 13
 Overdamped Process with Inverse Response:
case 4 with negative gains

0 > k1 > k2  k1 – k2 > 0  k1/k2 – 1 < 0  k1/k2 < 1

 Hyp.: 1 k1

2

Under this condition, the overall transfer function has: a
positive zero given by
k 1 1
k1  k 2 k2
z  
1
k 1 2  k 2 

and a positive gain given by

(k1 - k2)
 This process exhibits inverse response
Inverse Response Eka Iskandar 14
 Overdamped Process with Inverse Response:
Summary
To summarize,
just two conditions involving the parameters, if fulfilled, determine the
occurrence of a positive zero in the transfer function:

1 k1 

1
2 k 2
1 k 1 

1
2 k 2
and, in parallel, an inverse open loop response

Inverse Response Eka Iskandar 15

The Overdamped Process with Inverse Response in
MatLab®
script file Inverse_Response.m
. . .
disp ('Inverse Response caused by two 1st order systems in parallel.')
disp ('The two 1st order systems have positive gains. The
positive ZERO exists if')
disp (' case 1: tau1/tau2 < K1/K2 < 1 --> steady-state gain < 0')
disp (' case 2: tau1/tau2 > K1/K2 > 1 --> steady-state gain > 0')

disp ('For simplicity, the 2nd transfer function is assigned K2 = tau2

= 1’)

sys = tf([8 18 32],[1 6 14 24])

step(sys)
. . .

Inverse Response Eka Iskandar

 Dynamic linear systems
exhibiting Inverse Response

k1
k2
G(s)  s  1s
k 2 τ1 < k 1
1
 The previous case
1 k 1  1 
2  k 2
is NOT discussed on Stephanopoulos

Chapter 7

 12 k
 k1  1 
 22 2

Inverse Response Eka Iskandar 17

 Feedback Control
of Inverse Response Systems

1. PID controller with suitable tuning

• open loop tuning
• 2nd Ziegler-Nichols method tuning

2. Inverse Response Compensator

Inverse Response Eka Iskandar

 1. PID controller with suitable tuning

ySP(s) (s) m(s)

+ GPID(s)
− y(s)

Inverse Response Eka Iskandar 19

 PID controller with adapted open loop tuning
Process reaction curve method

A FOPDT model is adopted, by fitting the step response after “ignoring” the
inverse piece of the response curve and considering it like a dead time
 Ch. 6
D. Cooper, "Practical Process Control using Loop-Pro Software", PDF textbook
Inverse Response Eka Iskandar 20
 PID controller with closed loop tuning
Example 1
(3s
G(s)
(1 1)
2s)(1

5s)
co= 0.55 radians/time
MR = AR/KKc = 0.5

ultimate gain: Ku
=1/MR
natural = 2P  2
period: u
  1 .14
c o
Controller Kc i D
P 0.5Ku
PI 0.4Ku 0.8Pu
PID 0.6Ku 0.5Pu 0.125Pu

2 nd Ziegler-Nichols method: K =1.2;

c I =5.7 and D=1.4
Inverse Response Eka Iskandar 21
 2. Compensation  §Chapter 7

Controller Mechanism

ySP(s) (s) m(s)

+ + Gc (s)
− − y(s)
y'(s)

 1
1 
k
  s


Inverse
Inverse Minor loop provides a corrective signal to eliminate
response
response inverse response from the feedback loop.
compensator
process
GCOMP(s) GCOMP(s) always exhibits a zero in the origin!
Inverse Response Eka Iskandar 22
 Compensation
(s)  y SP (s)  y(s)  y
(s) '

y' (s)  G (s)m(s)

COMP
G C (s)
m(s)  ySP (s) 
1 G C (s)G COMP (s)
y(s) 
G C (s)
G contr_ (s)
 mech 1 GC (s)G COMP (s)
y(s)  G INV _ RESP (s)
 m(s)

Inverse Response Eka Iskandar 23

 Compensation  §Chapter 7

ySP(s) (s) m(s)

+
− Gcontr-mech(s) y(s)

Controller Inverse
Mechanism response After compensation it is …
Gcontr-mech(s) process G OL (s) = G contr-mech (s)•G INV_RESP (s)
Inverse Response Eka Iskandar 24
 Compensation
The compensated open-loop transfer function GOL(s) is

G O L (s)  G C (s )  K 1  2  K 2  1   k  1   2  s  K 1 
1s 1 2 s 1 
K2 

In the case: K1 > K2 > 0

the zero of the resulting open-loop transfer function is non-positive for:

k
K 2 1  K 1 2
1   2
Rule of thumb: K K
k  2 2 1   1 2
(from Li Shaoyuan syli@[Link])
1

Inverse Response Eka Iskandar 25