Tuning of PID Controllers for Continuous Stirred Tank Reactors

Tuning of proportional integral and derivative (PID) controllers for stable SOPTDZ (second order plus time delay with a zero) systems is proposed. The PID controller was designed based on internal model control and stability analysis principles. The proposed controllers were applied to the various stable transfer function models of jacketed CSTR, isothermal CSTR carrying out Van de Vusse reaction and a bioreactor. Simulation results on various transfer function models and on non-linear model equations of jacketed CSTR carrying first-order exothermic reaction, isothermal constant volume CSTR carrying out Van de Vusse reaction and a bioreactor are given to show the effectiveness of the proposed PID controllers. The performance under model uncertainty is also studied considering perturbation in one parameter at a time. The performance of the proposed controllers is compared with the controller designed by direct synthesis method.