Multi-loop Control
Dr. D. S. More
Department of Electrical engg
W. C. E. Sangli
E-mail => [Link]@[Link]
01/01/2026 Power Electronics WCE SANGLI 1
Processes with Large Dead Time
• Large Dead Time
• Process may involve transportation of fluid over long distance
• Measuring device may require time for sampling and
computation
• Final Control element may require time some time to
generate actuating signal
• Human operator may take time for taking control action
Systems with large Dead time
• Closed loop control of system with dead time
Feed back control
01/01/2026 WCE, Sangli 4
Processes with Large Dead Time
• Problem with large dead time
• Dead time will introduce additional phase lag and reduces the cross
over frequency .
• Phase margin will reduce and system may become unstable.
• For stable system we require positive phase margin and gain margin
• As dead time increases the phase crossover frequency decreases and
Gain margin will reduce.
Bode plot for stable system
Phase crossover frequency should be greater than
gain cross over frequency for stable system
Smith predicator or Dead time compensator
• Dead time compensator
Smith predicator or Dead time
compensator
• Transfer function of the process
• Assume
• Open loop response to set point
• Response is delayed by td minutes
• To avoid the delay in open loop response ,open loop feed back must
carry the current output
Smith predicator or Dead time compensator
• Then feedback to the controller is current information and not the
delayed information.
Smith predicator or Dead time
compensator
• If the modeling of the process is not accurate then
Smith predicator or Dead time
compensator
• Important features of dead time
compensator.
• Only perfectly known process will have perfect
compensation.
• larger modeling error less effective dead time
compensation
• Dead time error is more detrimental than G
estimation error
Smith predicator or Dead time
compensator
Ziegler Nichols Method
Any higher order
system can be
represented as
single order
system with dead
time
Control of systems with Inverse Response
• Closed loop control of system with Inverse Response
• Condition for inverse response
• Solution : 1) PID with Zigler-Nichols tuning
• ii) Inverse resp. compensator
•
Control of systems with Inverse Response
• Inverse Response Compensator
Control of systems with Inverse
Response
• Open loop response of the system:
• To eliminate the positive zero, following term is to be added
• From above two equations
Control of systems with Inverse
Response
• for –ve zero value
• Value of the zero
• Compensator of Inverse Response
SISO- Single loop control
01/01/2026 WCE, Sangli 18
Temp. control of CSTR : Single loop
Control
01/01/2026 WCE, Sangli 19
Multi-loop control
• Multi loop control
• 2 measurements and 1 manipulated
variable
• 1 measurement and 2 manipulated
variables
• Cascade control
• Various types of selective control
• over ride control, auctioneering control
• split range control
01/01/2026 WCE, Sangli 20
Cascade Control :Temp. control
of CSTR
Control objective = reactor
Temp.
Disturbance = Feed temp
= Coolant
Temp.
Manipulated Variable = Flow
rate of Coolant
01/01/2026 WCE, Sangli 21
SISO System : Single Loop Control
Process II => Coolant temp control
Process I = Temp control of reactor
01/01/2026 WCE, Sangli 22
Block diagram of Cascade control
01/01/2026 WCE, Sangli 23
Cascade control- temp control in
heat exchanger
01/01/2026 WCE, Sangli 24
Cascade control- temp control in
Process furnace
01/01/2026 WCE, Sangli 25
Block diagram of Cascade Control
01/01/2026 WCE, Sangli 26
Cascade Control : Transfer function
block diagram
01/01/2026 WCE, Sangli 27
Tuning of cascade control
• Dynamics of inner loop is faster than outer loop
• Normally inner loop is tuned first.
• Controller used for inner loop may P or PI
01/01/2026 WCE, Sangli 28
Conclusion on cascade Control
• Cascade control gives better dynamic response to
disturbances.
• Quick Corrective action will be taken by
inner loop.
01/01/2026 WCE, Sangli 29
SISO System : Single Loop Control
01/01/2026 WCE, Sangli 30
Selective Control=> Override
control
• One manipulated variable and many
control variable.
• Many measurements ( feedback)
• Only one variable is controlled at a time.
• Safety overrides normal control variable
01/01/2026 WCE, Sangli 31
Over ride control system for boiler
Protection
01/01/2026 WCE, Sangli 32
Over ride control system for
compressor protection
01/01/2026 WCE, Sangli 33
Over ride control system for steam
distribution system
01/01/2026 WCE, Sangli 34
Selective Control=> Auctioneering
Control
• Several measurement variables
• One control variable
• One manipulated variable
• Select one measurement among several
measurements
01/01/2026 WCE, Sangli 35
Auctioneering Control
01/01/2026 WCE, Sangli 36
Auctioneering Control – tubular
catalytic reactor
01/01/2026 WCE, Sangli 37
Split-range control
• One measurement
• Two or more manipulated variables
• One measurement
• Single control variable is controlled by
coordinating the actions of several manipulated
variables.
01/01/2026 WCE, Sangli 38
Split-range control for reactor
control
Gas Phase
Reaction
01/01/2026 WCE, Sangli 39
Split-range control for reactor
control
01/01/2026 WCE, Sangli 40
Split range control of pressure in
steam header
01/01/2026 WCE, Sangli 41
Temp control of stirred tank
heater
Feedback control
Disturbances to the system
Fi and Ti are the disturbances to the
system.
Feed back control system operation
01/01/2026 WCE, Sangli 42
Feed forward control
Temp control of stirred tank
heater
Disturbance is sensed
and
Manipulated
variable is adjusted.
01/01/2026 WCE, Sangli 43
Feedback and feed forward control
Compensatory control Anticipatory control
01/01/2026 WCE, Sangli 44
Feed forward control
Level control of drum
Temp. control of heat exchanger boiler
01/01/2026 WCE, Sangli 45
Feed forward control
Temp. control
and
composition
control of
CSTR
01/01/2026 WCE, Sangli 46
Tank Heater Model
State variables = h and T
Output variables = h and T
Input variables
Manipulated variables= Q and F
disturbance= Ti and Fi
Parameters = A ρ and Cp
State Equations
01/01/2026 WCE, Sangli 47
Feed forward [Link] for
stirred tank heater
• Temp. control
01/01/2026 WCE, Sangli 48
Tank heater- steady state feed
forward controller
01/01/2026 WCE, Sangli 49
Tank heater- dynamic feed forward
controller
01/01/2026 WCE, Sangli 50
Tank heater- dynamic feed
forward controller
01/01/2026 WCE, Sangli 51
Feed forward Dynamic response
01/01/2026 WCE, Sangli 52
Block diagram representation
01/01/2026 WCE, Sangli 53
Feed forward Controller
01/01/2026 WCE, Sangli 54
Feed forward control
Advantages Disadvantage
s
01/01/2026 WCE, Sangli 55
Feed back Control
Advantages Disadvanta
ges
01/01/2026 WCE, Sangli 56
Feed forward and feed back control
01/01/2026 WCE, Sangli 57
Feed forward and feed back
control
01/01/2026 WCE, Sangli 58
Comments
01/01/2026 WCE, Sangli 59
Feed forward and feed back control
for tank heater
01/01/2026 WCE, Sangli 60
Feed forward and feed back control
01/01/2026 WCE, Sangli 61
Ratio Control
01/01/2026 WCE, Sangli 62
Ratio Control
01/01/2026 WCE, Sangli 63
Any Questions?
01/01/2026 Power Electronics WCE SANGLI 64
01/01/2026 WCE, Sangli 65
Any Questions?
01/01/2026 Power Electronics WCE SANGLI 79
01/01/2026 Power Electronics WCE SANGLI 80
01/01/2026 Power Electronics WCE SANGLI 81
01/01/2026 WCE, Sangli 82
01/01/2026 WCE, Sangli 83
01/01/2026 WCE, Sangli 84
01/01/2026 WCE, Sangli 85