6/19/2022 CLOSED LOOP

THERMAL SYSTEM
CASE STUDY

COURSE INSTRUCTOR:
DR. HAMMAD ZAKKI

AQSA SHOAIB 19-ENC-09

TOOBA ARIF 19-ENC-21
MAHA SIDDIQUI 19-ENC-23
1

EXECUTIVE SUMMARY

This report covers all the necessary aspects about the case study entitled ‘Close Loop Thermal

System’. This report thoroughly reflects our ideas as well as our great efforts during all this

procedure.

The 3 main objectives of this case study are:

▪ Mathematical Modelling.

▪ Analysis.

▪ Controller Design.

A closed loop control system is a mechanical or electronic device that regulates a system

automatically to maintain a desired condition or set point without human intervention. It makes

use of a feedback system or sensor. A house thermostat is a simple example of a closed loop

control system. The thermostat can instruct the heater to turn on or off. It detects the current air

temperature using a temperature sensor. When the temperature falls below the predetermined

point, the heater is activated. When the sensor detects that the temperature has risen over the

predetermined point, it shuts down the system.

The case study report comprises of:

▪ Background knowledge of the presented topic.

▪ A detailed overview of this system.

▪ It covers all the course demanding conditions, the 3 main objectives.

▪ At the end we have also provided a promising conclusion of all this study.
2

TABLE OF CONTENTS
I. OBJECTIVE ....................................................................................................................................... 3
II. INTRODUCTION........................................................................................................................... 4
THERMAL SYSTEM: ........................................................................................................................... 4
MECHANISM: ....................................................................................................................................... 4
TYPES OF CONTROLLED SYSTEM ................................................................................................ 5
OPEN LOOP SYSTEM: .................................................................................................................... 5
CLOSED LOOP SYSTEM ................................................................................................................ 6
CLOSED LOOP THERMAL SYSTEM: ............................................................................................. 7
III. METHODOLOGY ......................................................................................................................... 9
MATHEMATICAL MODELLING:................................................................................................... 11
ANALYSIS: ........................................................................................................................................... 14
CONTROLLER DESIGN .................................................................................................................... 25
IV. LIMITATIONS OF CLOSED LOOP SYSTEM ....................................................................... 34
V. CONCLUSION: ................................................................................................................................ 35
3

I. OBJECTIVE

The goal of this case study is to regulate the voltage provided to a resistive heater positioned

beneath a thin aluminium plate, as detected by a temperature sensor positioned in the middle of

the plate's top. The temperature should be set to be 20° C higher than the ambient air

temperature. This will be achieved by:

▪ extending the standard technique for investigating a dynamic system to the thermal

system

▪ understanding the physical system, creating a physical model on which to base analysis

and design, and selecting and/or validating model parameter values experimentally

▪ creating a mathematical model of the system, analyzing it in MATLAB, and comparing

the results to experimental measurements

▪ building a MATLAB feedback control system to fulfil performance requirements

4

II. INTRODUCTION

THERMAL SYSTEM:

Greek prefix ‘therm’ means heat and Latin prefix ‘temper’ means mixed.

In thermodynamics, a system is a portion of the physical universe that an observer chooses to

investigate independently from the rest; in between, a boundary is formed across which mass and

energy transfers are accurately recognized.

Thermal systems are those that involves storage and transfer of heat. Thermal energy is the

energy contained inside a system that controls its temperature. The passage of thermal energy is

defined as heat.

EXAMPLE:

A heated block of metal has more heat stored in it than an equivalent cold block. A refrigerator is

a combination of pipes, compressor, electric motor, heat exchangers, valves, insulation, casing,

doors, lamps etc.

MECHANISM:

Heat is transferred between things by these three mechanisms:

▪ Conduction

▪ Convection (or mass transfer)

▪ Radiation
5

CONDUCTION:

Conduction is the transfer of thermal energy by collisions between surrounding atoms or

molecules. Conduction happens more easily in solids and liquids because the particles are closer

together than in gases because the particles are further away.

CONVECTION:

Convection is a method of moving heat that is also known as a heat transfer process. When a

fluid, such as air or water, is in motion, heat is transferred. Temperature variations throughout

the fluid induce convection.

RADIATION:

Radiation heat transfer is a process in which heat waves are released and then absorbed,

reflected, or transmitted by a cooler body. Electromagnetic rays from the sun heat the planet.

Heat waves are emitted by hot bodies.

TYPES OF CONTROLLED SYSTEM

The heat transfer in system can be through:

▪ Open loop system

▪ Closed loop system.

OPEN LOOP SYSTEM:

Open-loop control systems are those in which the output quantity has no influence on the input to

the control process, and open-loop systems are just that, open ended non-feedback systems.
6

CLOSED LOOP SYSTEM

A closed-loop control system, also known as a feedback control system, is a control system that

employs the open loop idea as its forward path but includes one or more feedback loops (hence

the name) or pathways between its output and its input. The term "feedback" merely refers to the

fact that some of the output is sent "back" to the input as part of the system's excitation.

The Importance of a Closed-Loop System

▪ For calculating the output value.

▪ To compare the value to the required value and generate an error signal.

▪ A controller that modifies the output of a process based on the error signal.

BLOCK DIAGRAM

Figure 1 BLOCK DIAGRAM OF CLOSED LOOP CONTROL SYSTEM

7

CLOSED LOOP THERMAL SYSTEM:

Closed-loop heating is a technique for precisely controlling and maintaining temperature during

the process. This approach includes a feedback loop in which a control system gets feedback

from the process and creates a reaction to ensure stability. A closed-loop heating system consists

of heat source, temperature feedback (thermocouple), controller.

A temperature sensor, thermocouple, or infrared thermometer sends a signal to the controller in a

closed-loop heating system, which is commonly a PLC or a temperature controller. This signal

indicates the temperature at a specific point in the system. This signal is then sent back to the

controller, which adjusts the power supplied to the heater to maintain the temperature set point.

Figure 2 BLOCK DIAGRAM OF THERMAL CONTROLLED SYSTEM

A closed loop temperature process control consists of these basic components:

▪ Heater element

▪ Temperature sensor

▪ Temperature controller

▪ Power switching device

8
The temperature sensor sends this data to the temperature control, which "calls" for more or less

power to be provided to the heater. It is critical to appropriately match the properties of all four

components since it saves energy.

FLOW DIAGRAM

Figure 3 FLOW DIAGRAM OF CLOSED LOOP THERMAL SYSTEM

9

III. METHODOLOGY

PHYSICAL SYSTEM:

Physical System is made up of a two-inch-square aluminium plate with a thickness of 1/32 inch

that we want to control the temperature of. A thin-film resistive heater, which converts electrical

energy to thermal energy, heats the underside of this thin plate. The heat delivered by the heater

to the plate is determined by the power dissipation across the heater, which is determined by the

voltage applied to the heater and the resistance of the heater. To prevent conductive heat

transmission from the bottom of the resistive heater, the underside of the resistive heater is

insulated with 1/8-inch thick insulative ceramic tape. The ceramic insulation has a thermal

conductivity k of 0.055 W/m-K compared to 177 W/m-K for the aluminium plate. The top of the

thin, heated metal plate is open to the elements. A temperature sensor is attached to the middle of

the heated plate, and its electrical characteristics fluctuate with the temperature of the surface to

which it is linked.
10

Figure 4 PHYSICAL CLOSED LOOP THERMAL SYSTEM

Properties of Resistive Heater

Specifications Value

Manufacturer Minco Products

Model Number HK-5169-R185-L12-B

Heater Resistance 185 ohms ±10%

Heater Area 4 in^2

Heater Thickness 0.010 inches

11
The methodology of closed loop thermal system will be covered in following three parts:

▪ Mathematical Modelling

▪ Analysis

▪ Controller Design

i. MATHEMATICAL MODELLING:

Radiator is represented as a lumped system with N parts connected in series. The temperature of

the ith segment is given by (L. H. Hansen, 1997)

𝒏𝟏
𝑪𝒓𝒂𝒅 𝑻𝒏 − 𝑻𝒂
𝑻̇𝒏= 𝑯𝒒 ( )
𝑵 ∆𝑻𝒎,𝟎

In the above equation:

▪ Crad is heat capacity of the water and the radiator material,

▪ Tn is temperature of the radiator’s nth element with n = 1, 2, . . ., N.

▪ Temperature of the end points are water inlet temperature T0 = Tin and outlet

temperature Tn = Tout.

Φo is the nominal power of the radiator in nominal condition, which is Tin,0 = 90◦C, Tout,0 = 70

◦C, and Ta = 20 ◦C. ∆Tm,0 represents the mean temperature

𝑻𝒊𝒏 − 𝑻𝒐𝒖𝒕
∆𝑻𝒎 = − 𝑻𝒂
𝟐

∅
Defining the constant term as equivalent heat transfer coefficient, Krad, (1) can be
𝑁(∆𝑇𝑚,𝑜)
rewritten as:
12
𝑪𝒓𝒂𝒅
𝑻̇ = 𝑯𝒒 (𝑻𝒏−𝟏 − 𝑻𝒏 ) − 𝑲𝒓𝒂𝒅 (𝑻𝒏 − 𝑻𝒂 )𝒏𝟏
𝑵 𝒏
The power transferred by the radiator to the room air can be calculated as:
𝑵

𝑸̇𝒓𝒂𝒅 = ∑ 𝑲𝒓𝒂𝒅 (𝑻𝒏 − 𝑻𝒂 )𝒏𝟏

𝒏=𝟏

Energy balance equations of a single room based on the analogy between thermal systems and

electrical circuits are as following:

𝑪𝒆 𝑻̇𝒆 = 𝑼𝑨𝒄 (𝑻𝒂𝒎𝒃 − 𝑻𝒄 ) + 𝑼𝑨𝒄 (𝑻𝒂 − 𝑻𝒄 )

𝑪𝒇 𝑻̇𝒇 = 𝑼𝑨𝒇 (𝑻𝒂 − 𝑻𝒇 ) + 𝑸𝒇𝒉 (𝒕 − 𝝉𝒅 )

𝑪𝒂 𝑻̇𝒂 = 𝑼𝑨𝒄 (𝑻𝒆 − 𝑻𝒂 ) + 𝑼𝑨𝒇 (𝑻𝒇 − 𝑻𝒂 ) + 𝑸𝒓

The envelope, room air, and concrete floor are all assumed to be at the same temperature,

therefore no temperature gradient is addressed. Heat flow via partition walls between rooms is

ignored if temperature changes across rooms are not visible.

Here

𝑯𝒒 = 𝒄𝒘

𝑪𝒓 𝑲𝒓
𝑻𝒊 ̇ = 𝒄𝒘 𝒒𝒓 (𝑻𝒊−𝟏 − 𝑻𝒊 ) − (𝑻 − 𝑻𝒂 )𝒏𝟏
𝑵 𝑵 𝒊

Based on the very advanced simulation models in the previous part, we offered low-order models

for control design purposes. Each room temperature is related to the heat of a radiator or floor
13
heating by a 3rd order transfer function that may be approximated by a first order transfer

function. The model parameters are calculated independently for each room. A first order

transfer function can approximate the connection between radiator output heat and influent water

flow around a certain operating point. The approximation precision is enough for control

purposes.

̇
𝑸𝒓𝒂𝒅 𝑲𝒓
(𝒔) =
𝒔 𝟏 + 𝝉𝒓 𝒔

The static gain Kr and the time constant r are affected by the system's operating point, which is

determined by the associated flow and room temperature. A simple step response experiment

may be used to determine room parameters, Ka, and a.

𝑻𝒂 𝑲𝒓 𝑲𝒂
(𝒔) =
𝒒 (𝟏 + 𝝉𝒓 𝒔)(𝟏 + 𝝉𝒂 𝒔)
14

ii. ANALYSIS:

The apparent time constant and time delay are calculated using the times when 0.63 and 0.05 of

the final result are obtained. After calculating and L, the parameters of the regulator derived

using the Ziegler-Nichols step response approach would be the integration time Ti = 3L and the

proportional gain Kc = 0.9 a with a = k L T and k = Kr,hd Ka. The static gain Kr and the time

constant r are affected by the system's operating point, which is determined by the associated

flow and room temperature. Based on simulation experiments, the link between these parameters

and the operating point will be developed in order to properly construct the low order model.

These correlations are depicted in Fig. 4 for a specific radiator. (Tahersima, Stoustrup, &

Rasmussen, 28 May 2011)

Figure 5 RELATIONSHIPS FOR A SPECIFIC RADIATOR

15

STEP RESPONSE:

Continuous Time Transfer Function is as follows:

𝟐𝟕𝟎
𝒔𝟐 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒

The following step response is calculated after taking analysis of transfer function in MATLAB.

Figure 6 STEP RESPONSE

16

Figure 7 STEP RESPONSE

17

TRANSIENT ANALYSIS

Characteristic equation is given as

𝟏 + 𝑮(𝒔)𝑯(𝒔) = 𝟎

𝟐𝟕𝟎
𝟏+ =𝟎
𝟏𝟖𝟗𝒔𝟐 + 𝟑𝟎𝟎. 𝟔𝟑𝒔 + 𝟏

𝟏𝟖𝟗𝒔𝟐 + 𝟑𝟎𝟎. 𝟔𝟑𝒔 + 𝟏 = 𝟎

𝒔𝟐 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒 = 𝟎

By comparing the above equation with the given formula:

𝒔𝟐 + 𝟐𝝃𝝎𝒏𝒔 + 𝝎𝒏𝟐 = 𝟎

𝟐𝝃𝝎𝒏 = 𝟏. 𝟓 𝝎𝒏𝟐 = 𝟒

𝟐 ∗ 𝟏. 𝟏𝟖𝝃 = 𝟏. 𝟓 𝝎𝒏 = √𝟏. 𝟒

𝝃 = 𝟎. 𝟔𝟑𝟑 𝝎𝒏 = 𝟏. 𝟏𝟖
18

MAXIMUM OVERSHOOT:

Formula for maximum overshoot is:

−𝝃𝝅
𝟐
= 𝒆√𝟏−𝝃

𝟏.𝟗
= 𝒆−𝟎.𝟕𝟕𝟒

The max overshoot is calculated as

= 𝟕. 𝟔

PEAK TIME:

Formula for peak time is given as:

𝝅
𝒕𝒑 =
𝝎𝒅

𝝅
𝒕𝒑 =
𝝎𝒏 √𝟏 − 𝝃𝟐

𝝅
𝒕𝒑 =
𝟏. 𝟏𝟖√𝟏 − 𝟎. 𝟒

The peak time calculated is:

𝒕𝒑 = 𝟐. 𝟐
19

SETTLING TIME:

Formula for settling time is given as:

𝟒
𝒕𝒔 =
𝝃𝝎𝒏

𝟒
=
𝟎. 𝟔𝟑𝟑 ∗ 𝟏. 𝟏𝟖

Settling time calculated is:

𝒕𝒔 = 𝟓. 𝟐
20

STEADY STATE ERROR:

FOR UNIT STEP RESPONSE:

Steady state error for unit step response is given by:

𝟏
𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝒔 ∗ 𝒔
𝒔→𝟎 𝟏 + 𝑮(𝒔)𝑯(𝒔)

𝟏
𝒆𝒔𝒔 =
𝟏 + 𝐥𝐢𝐦 𝑮(𝒔)𝑯(𝒔)
𝒔→𝟎

Position Constant:

𝒌𝒑 = 𝐥𝐢𝐦 𝑮(𝒔)𝑯(𝒔)
𝒔→𝟎

𝟐𝟕𝟎
𝒌𝒑 = 𝐥𝐢𝐦
𝒔→𝟎 𝒔𝟐 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒

𝟏
𝒆𝒔𝒔 =
𝟏 + 𝒌𝒑

𝟏
𝒆𝒔𝒔 =
𝟏 + 𝟏𝟗𝟐. 𝟗

So, the steady state error for unit step response calculated is:

𝒆𝒔𝒔 = 𝟎
21

FOR RAMP INPUT:

𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝒔 ∗ 𝑬(𝒔)

𝒔→𝟎

𝒓(𝒕) = 𝒖(𝒕)

R(s) for the ramp input:

𝟏
𝑹(𝒔) =
𝒔𝟐

Steady state error for ramp input is given by:

𝟏
𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝒔 ∗ 𝒔
𝒔→𝟎 𝟏 + 𝑮(𝒔)

𝟏
𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔→𝟎 𝒔 + 𝑮(𝒔)

𝟏
𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔→𝟎 𝒔 + 𝒔 ∗ 𝑮(𝒔)𝑯(𝒔)

𝟏
𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔→𝟎 𝒔 ∗ 𝑮(𝒔)𝑯(𝒔)

Velocity Constant:

𝒌𝒗 = 𝐥𝐢𝐦 𝒔 ∗ 𝑮(𝒔)𝑯(𝒔)
𝒔→𝟎
22
𝟐𝟕𝟎
𝒌𝒗 = 𝐥𝐢𝐦 𝒔 ∗
𝒔→𝟎 𝒔𝟐 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒

𝒌𝒗 = 𝐥𝐢𝐦 ∞
𝒔→𝟎

𝟏
𝒆𝒔𝒔 =
𝑲𝒗

𝟏
𝒆𝒔𝒔 =
∞

So, the steady state error calculated is:

𝒆𝒔𝒔 = 𝟎

FOR PARABOLIC INPUT:

𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝒔 ∗ 𝑬(𝒔) → 𝟎

𝒔→𝟎

𝑹(𝒔)
𝑬(𝒔) =
𝟏 + 𝑮(𝒔)𝑯(𝒔)

𝒓(𝒕) = 𝒑𝒂𝒓𝒂𝒃𝒐𝒍𝒂

R(s) for parabolic input is given by:

𝟏
𝑹(𝒔) =
𝒔𝟑
23
𝟏
𝑬(𝒔) = 𝐥𝐢𝐦 𝒔 ∗ 𝒔𝟑
𝒔→𝟎 𝟏 + 𝑮(𝒔)𝑯(𝒔)

𝟏
𝑬(𝒔) = 𝐥𝐢𝐦
𝒔→𝟎 𝒔𝟐 + 𝒔𝟐 𝑯(𝒔)𝑮(𝒔)

𝟏
𝑬(𝒔) = 𝐥𝐢𝐦 𝒔 ∗
𝒔→𝟎 𝒔𝟐 ∗ 𝑯(𝒔)𝑮(𝒔)

𝟏
𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔→𝟎 𝒌𝒂

Acceleration Constant:

𝒌𝒂 = 𝐥𝐢𝐦 𝒔𝟐 ∗ 𝑮(𝒔)𝑯(𝒔)
𝒔→𝟎

𝟐𝟕𝟎
𝒌𝒂 = 𝐥𝐢𝐦 𝒔𝟐 ∗
𝒔→𝟎 𝒔𝟐 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒

𝒌𝒂 = 𝟏. 𝟒

𝟏
𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔→𝟎 𝟏. 𝟒

So, the steady state error calculated for parabolic input is:

𝒆𝒔𝒔 = 𝟎. 𝟕𝟏
24

After calculations, we have got the following results:

Parameters Steady State Error

Unit Step Response 𝒆𝒔𝒔 = 𝟎

Ramp Input 𝒆𝒔𝒔 = 𝟎

Parabolic Input 𝒆𝒔𝒔 = 𝟎. 𝟕𝟏

25

iii. CONTROLLER DESIGN

Continuous Time Transfer Function is as follows:

𝟐𝟕𝟎
𝒔𝟐 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒

𝒔𝟐 + 𝟏. 𝟓𝟗𝒔 + 𝟏. 𝟒 = 𝟎

By applying quadratic formula:

−𝒃 ± √𝒃𝟐 − 𝟒𝒂𝒄
𝒙=
𝟐𝒂

−𝟏. 𝟓 ± √𝟏𝟐 − 𝟒(𝟏. 𝟒)

𝒙=
𝟐𝒂

−𝟏. 𝟓𝟗 ± 𝒋√𝟒. 𝟔
𝒙=
𝟐

−𝟏. 𝟓𝟗 ± 𝟐. 𝟏𝟒𝒋
𝒙=
𝟐

𝒙 = −𝟎. 𝟕𝟗 ± 𝒋𝟏. 𝟎𝟕

Number of Poles:

𝒔𝟏 = −𝟎. 𝟕𝟗 + 𝒋𝟏. 𝟎𝟕

𝒔𝟐 = −𝟎. 𝟕𝟗 − 𝒋𝟏. 𝟎𝟕
26

ANGLE OF ASYMPTOTES

𝟏𝟖𝟎(𝟐𝒒 + 𝟏)
=
𝒑−𝝅

When q=0

𝟏𝟖𝟎(𝟐(𝟎) + 𝟏)
=
𝟐

𝟏𝟖𝟎
=
𝟐

= 𝟗𝟎

When q=1

𝟏𝟖𝟎(𝟐(𝟏) + 𝟏)
=
𝟐

= 𝟐𝟕𝟎

CENTROID OF ASYMPTOTES

𝒔𝒖𝒎 𝒐𝒇 𝒑𝒐𝒍𝒆𝒔 − 𝒔𝒖𝒎 𝒐𝒇 𝒛𝒆𝒓𝒐𝒆𝒔

=
𝒑−𝒛

−𝟎. 𝟕𝟗 − 𝟎. 𝟕𝟗 − 𝟎
=
𝟐

= −𝟎. 𝟕𝟗
27

LEAD COMPENSATOR

Continuous Time Transfer Function is as follows:

𝟐𝟕𝟎
𝒔𝟐 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒

UNCOMPENSATED ROOT LOCUS:

Desired:

𝝃 = 𝟎. 𝟖

𝝎𝒏 = 𝟐. 𝟓

Dominant Poles:

𝒔𝒅 = −𝝃𝝎𝒏 ± 𝒋𝝎𝒏 √𝟏 − 𝝃𝟐

𝒔𝒅 = (−𝟎. 𝟖)(𝟐. 𝟓) ± (𝟐. 𝟓)𝝎𝒏 √𝟏 − (𝟎. 𝟖)𝟐

𝒔𝒅 = −𝟐 ± 𝒋𝟏. 𝟓
28

Figure 8 POLE ZERO PLOT

𝜶 = 𝐜𝐨𝐬−𝟏 𝝃

𝜶 = 𝐜𝐨𝐬−𝟏 (𝟎. 𝟖)

𝜶 = 𝟑𝟔. 𝟑°

𝜽𝒑𝟏 = 𝟏𝟖𝟎° − 𝟑𝟔. 𝟖°

𝜽𝒑𝟏 = 𝟏𝟒𝟑. 𝟏𝟑°

𝟏. 𝟓
= 𝐭𝐚𝐧−𝟏 ( )
𝟎. 𝟕𝟗

= 𝟔𝟐. 𝟐°
29

𝜽𝒑𝟐 = 𝟏𝟖𝟎° − 𝟔𝟐. 𝟐°

𝜽𝒑𝟐 = 𝟏𝟏𝟕. 𝟕𝟕°

𝜽 = −𝟏𝟖𝟎° + 𝟏𝟒𝟑. 𝟏𝟑° + 𝟏𝟏𝟕. 𝟕𝟕°

𝜽 = 𝟖𝟎. 𝟗°

The Angle compensated is:

𝜽 = 𝟖𝟎. 𝟗°

Figure 9 ANGLE OF COMPENSATION PLOT

30

Position of Poles:

𝒙 𝟐. 𝟓
=
𝐬𝐢𝐧 𝟏𝟏𝟏. 𝟗° 𝐬𝐢𝐧 𝟑𝟏. 𝟑°

𝒙 = 𝟒. 𝟒𝟔𝟒°

Position of Zeros:

𝒙 𝟐. 𝟓
=
𝐬𝐢𝐧 𝟒𝟎. 𝟒° 𝐬𝐢𝐧 𝟏𝟎𝟐. 𝟖°

𝒙 = 𝟏. 𝟔𝟔𝟏°

𝝃𝒄
𝜶=
𝒑𝒄

𝟏. 𝟔𝟔𝟏°
𝜶=
𝟒. 𝟒𝟔𝟒°

𝜶 = 𝟎. 𝟑𝟐𝟕°

𝒌𝒄 (𝒔 + 𝝃𝒄 )
𝑮(𝒔) =
𝒔 + 𝒑𝒛

𝒌𝒄 (𝒔 + 𝟏. 𝟔𝟔𝟏°)
𝑮(𝒔) =
(𝒔 + 𝟒. 𝟒𝟔𝟒°)
31

Evaluating 𝑲𝒄 using magnitude condition:

𝒌𝒄 (𝒔 + 𝟏. 𝟔𝟔𝟏°) 𝟐𝟕𝟎
| = 𝟐 |=𝟏
(𝒔 + 𝟒. 𝟒𝟔𝟒°) 𝒔 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒

(𝒔 + 𝟒. 𝟒𝟔𝟒)(𝒔𝟐 + 𝟏. 𝟓𝟗𝒔 + 𝟏. 𝟒)
|𝑲𝒄 = |
𝟐𝟕𝟎 ∗ (𝒔 + 𝟏. 𝟔𝟔𝟏°)

𝒔 = −𝟐 + 𝒋𝟏. 𝟓

𝑲𝒄 = 𝟎. 𝟎𝟏𝟔

LEAD COMPENSATOR:

(𝒔 + 𝟏. 𝟔𝟔𝟏°)
𝟎. 𝟎𝟏𝟔
(𝒔 + 𝟒. 𝟒𝟔𝟒°)

COMPENSATED SYSTEM (OPEN LOOP):

(𝒔 + 𝟏. 𝟔𝟔𝟏°) 𝟐𝟕𝟎
𝑮𝒄 (𝒔)𝑮𝒔 (𝒔) = 𝟎. 𝟎𝟏𝟔
(𝒔 + 𝟒. 𝟒𝟔𝟒°) 𝒔𝟐 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒
32

COMPENSATED SYSTEM (CLOSE LOOP):

𝑮(𝒔)
=
𝟏 + 𝑮(𝒔)

(𝒔 + 𝟏. 𝟔𝟔𝟏°) 𝟐𝟕𝟎
𝟎. 𝟎𝟏𝟔 𝟐
(𝒔 + 𝟒. 𝟒𝟔𝟒°) 𝒔 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒
=
(𝒔 + 𝟏. 𝟔𝟔𝟏°) 𝟐𝟕𝟎
𝟏 + 𝟎. 𝟎𝟏𝟔 𝟐
(𝒔 + 𝟒. 𝟒𝟔𝟒°) 𝒔 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒

(𝒔 + 𝟏. 𝟔𝟔𝟏°) 𝟐𝟕𝟎
= 𝟎. 𝟎𝟏𝟔
(𝒔 + 𝟒. 𝟒𝟔𝟒°) (𝒔𝟐 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒) + 𝟒. 𝟑𝟐(𝒔 + 𝟏. 𝟔𝟔𝟏°)

𝟒. 𝟑𝟐(𝒔 + 𝟏. 𝟔𝟔𝟏°)
=
(𝒔 + 𝟒. 𝟒𝟔𝟒°)(𝒔𝟐 + 𝟏. 𝟓𝒔 + 𝟏. 𝟒) + 𝟒. 𝟑𝟐(𝒔 + 𝟏. 𝟔𝟔𝟏°)

𝟒. 𝟑𝟐𝒔 + 𝟕. 𝟏𝟕
=
𝒔𝟑 + 𝟔. 𝟎𝟓𝒔𝟐 + 𝟏𝟐. 𝟖𝟏𝒔 + 𝟏𝟑. 𝟒𝟏
33

ROOT LOCUS PLOT:

Figure 10 ROOT LOCUS

34

IV. LIMITATIONS OF CLOSED LOOP SYSTEM

Some of the limitations of using closed loop system are as under:

▪ They are more expensive.

▪ They are difficult to design.

▪ More maintenance is required.

▪ Feedback causes oscillatory response

▪ The presence of feedback reduces overall benefit.

▪ The main issue is stability and designing a reliable closed loop system requires greater

effort.
35

V. CONCLUSION:

This report encompasses not all but most of the arguments on the topic entitled “CLOSED

LOOP THERMAL SYSTEM”. The report comprises of the detailed overview of the underlined

topic. This report provides some background knowledge of CLOSED LOOP THERMAL

SYSTEM and then it comprises of the mathematical model of the system which contains

Mathematical Modelling, Analysis and Controller Design. We have cross-checked our

mathematical results using MATLAB. In the end, we design a feedback control system in

MATLAB.

AQSA SHOAIB (19-ENC-09)

TOOBA ARIF (19-ENC-21)

MAHA SIDDIQUI (19-ENC-23)