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International Journal Of Engineering And Computer Science ISSN:2319-7242
Volume 4 Issue 5 May 2015, Page No. 11902-11905

Temperature control of CSTR using PID Controller

Rubi#1, Vipul Agarwal*2 ,Anuj Deo#3, Nitin Kumar#4
#
Electrical Engineering Department, Moradabad Institute of technology, Moradabad
1rubitkd66@gmail.com
3anujdeo12@gmail.com
4nitinkumarei@gmail.com

*Assistant, Professor, Electrical Engineering Department, Moradabad Institute of Technology, Moradabad

2
vipul.agarwal@gmail.com

Moradabad Institute of Technology, Moradabad

Abstract- Continuous stirred tank reactor system is a typical chemical reactor system with complex nonlinear dynamics characteristics.
The purpose of this paper is to control the temperature of CSTR using PID controller and with the help of ZIEGLER NICHOLS
method and we are done tuning of PID controller. The whole process of model design of and result, simulation are done in MATLAB
SIMULINK software.
II. MATHEMATICAL MODEL OF THE CSTR
Keywords- CSTR, PID, Coolant Temperature, Chemical Temperature
.
The mathematical model is developed from material balances.
The CSTR reactor is shown in Fig 1.The mathematical model
I. INTRODUCTION of the reactor comes from energy balance. An exothermic
reaction A → B takes place in the reactor, which is in turn
The continuous stirred-tank reactor (CSTR), also known as vat-
cooled by a coolant that flows through a jacket around the
or backmix reactor is a common ideal reactor type in chemical
reactor. The jacket is assumed to be perfectly mixed. Heat
engineering. A particular CSTR with a single steady-state as a
transfer takes place through the reactor wall into jacket. The
function of jacket temperature may have multiple steady-state
main is objective is to maintain the temperature of the reacting
behaviour if the jacket inlet temperature is considered the
mixture at desired value. The manipulated variable is the
manipulated. The PID algorithm is the most popular feedback coolant temperature.
controller used within the process industries. It has been
successfully used for over 50 years. It is a robust easily
understood algorithm that can provide excellent control
performance despite the varied dynamic characteristics of
process plant. Basically PID tries to correct the error between
measured outputs and desired outputs of the process in order to
improve the transient and steady state response as much as
possible. The PID control scheme is named after its three
correcting terms, whose sum constitutes the manipulated
variable (MV). The proportional, integral, and derivative terms
are summed to calculate the output of the PID controller.
Defining u(t) as the controller output, the final form of the PID
algorithm is:
𝑑𝑒(𝑡)
𝑈(𝑡) = 𝑀𝑉(𝑡) = 𝐾𝑝𝑒(𝑡) + 𝐾𝑖∫ 𝑒(𝑡)𝑑𝑡 + 𝐾𝑑
𝑑𝑡

In this paper 2DOF PID controller is also used because of its

better control on non linear process. In order to achieve Fig .1: Continuous Stirred Tank Reactor with Cooling
accurate and acceptable results fine tuning of the PID & 2 DOF Jacket
PID is necessary and in this paper that is tried and presented.
The CSTR has three input signals: CAf-Concentration of feed
stream, Tf -Inlet feed stream temperature, Tj- Jacket coolant

Rubi, IJECS Volume 4 Issue 5 May, 2015 Page No.11902-11905 Page 11902
temperature. The two output signals: CA Concentration of A in The stability of the non-linear equation can be found by using
reactor tank, T-Reactor Temperature. the following state space equation

X=AX+BU

A. Overall material balance Y=CX+DU

Let us now identify the state variables for the CSTR .The
CSTR process is modeled using energy conservation principle. The non linear dynamic equations are
By applying energy balance equation,
Rate of energy accumulation = total energy input –total energy
output.
𝑑𝑉𝑝 𝑑𝐶𝐴 𝐹 𝐸
= 𝐹𝑖𝑛𝑃𝑖𝑛 − 𝐹𝑜𝑢𝑡𝑃𝑜𝑢𝑡 𝐹1(𝐶𝐴, 𝑇) = = 0 = (𝐶𝐴𝑓 − 𝐶𝐴)𝐾0𝑒 (−𝑅𝑇) 𝐶𝐴
𝑑𝑡 𝑑𝑡 𝑉

𝑑𝑇 𝐹
𝐹2(𝐶𝐴, 𝑇) = =0 = (𝑇𝑓 − 𝑇) +
𝑑𝑡 𝑉
Energy Balance assuming constant Cp- ∆𝐻 (−
𝐸
) 𝑈𝐴
(− ) 𝐾0𝑒 𝑅𝑇 𝐶𝐴 − (𝑇 − 𝑇𝑗)
𝘱𝐶𝑝 𝑉𝑝𝐶𝑝
𝑑(𝑉𝑝𝑐𝑝(𝑇−𝑇𝑟𝑒𝑓))
= 𝐹𝑝𝐶𝑝(𝑇𝑓 − 𝑇𝑟𝑒𝑓) − 𝐹𝑝𝐶𝑝(𝑇 − 𝑇𝑟𝑒𝑓) +
𝑑𝑡
(−∆𝐻)𝑉𝑟 − 𝑈𝐴(𝑇 − 𝑇𝑟𝑒𝑓)
Let us determine the state & Input variables in the form of a
deviation variables:/RT
B. Steady State Solution
𝑑𝐶𝐴
The steady state solution is obtained when =0 A=
𝑑𝑡
𝐸 𝐸
𝐹 𝐸
𝑑𝑇 − − 𝐾0𝑒 −𝑅𝑇 −𝐾0𝑒 (−𝑅𝑇) ( ) 𝐶𝐴
𝑎𝑛𝑑 = 0 , 𝑡ℎ𝑎𝑡 𝑖𝑠 𝑉 𝑅𝑇 2
𝑑𝑡 [ 𝐸 −𝐸 ]
∆𝐻 − 𝐹 𝑈𝐴 ∆𝐻 𝐸
−( ) 𝐾0𝑒 𝑅𝑇 − − + (− ) 𝐾0𝑒 𝑅𝑇 ( 2 ) 𝐶𝐴
𝘱𝐶𝑃 𝑉 𝑉𝑃𝐶𝑃 𝘱𝐶𝑃 𝑅𝑇
𝐸
𝑑𝐶𝐴 𝐹
𝐹1(𝐶𝐴, 𝑇) = = 0 = (𝐶𝐴𝑓 − 𝐶𝐴)𝐾0𝑒 −𝑅𝑇 𝐶𝐴
𝑑𝑡 𝑉
0
B= 𝑈𝐴
𝐸
𝑑𝑇 𝐹 ∆𝐻 (− ) 𝑉𝑃𝐶𝑃
𝐹2(𝐶𝐴, 𝑇) = = 0 = (𝑇𝑓 − 𝑇) + (− ) 𝐾0𝑒 𝑅𝑇 𝐶𝐴 −
𝑑𝑡 𝑉 𝘱𝐶𝑝
𝑈𝐴 C=0
(𝑇 − 𝑇𝑗) 0
𝑉𝑝𝐶𝑝

0
To solve these two equations, all parameters and variables are D=
0
specified in the Table I.
Using all reactor parameter’s value we can find the following
Table (1) Reactor Parameter’s value
Reactor Parameter Value State space model system-

−7.3929 −0.014674
𝐴= [ ]
E,Btu/lbmol 32400 2622.9 4.7534
Ko,hr-1 16.96 ∗ 1012
U,Btu/hr-1 75 0
B =
pCp,Btu/𝑓𝑡 3𝑜𝑓 53.25 1.4582
R,Btu/lbmol𝑜𝑓 1.987 C = 0 0
F,𝑓𝑡 3 /hr 340
V, 𝑓𝑡 3 85 0
D =
Caf, lbmol/ 𝑓𝑡 3 .132 0
Tf, 60
By using MATLAB command we can find out reactor process
A 1221 transfer function (Gp)

(−∆𝐻),Btu/lbmol 40000 1.4582𝑠+11.65

Gp=𝑆2 +3.434𝑠+3.557
Tj 60

C. Linearization of dynamic eqeution

Rubi, IJECS Volume 4 Issue 5 May, 2015 Page No.11902-11905 Page 11903
 Plant output for step change

Fig.3: CSTR with One Degree of Freedom PID Controller

100

90
Fig: 2: Step response 80

70

60
The feed stream concentration is 0.132 lbmol/ft and an 50% 50
conversion of propylene oxide has been to be determined
40
reasonable. Since 50% of propylene oxide is converted to
propylene glycol, the propylene glycol concentration is 0.066 30

lbmol/ft3. In this process. it is seen that the process has inverse 20

response with delay time as well as overshoot. To overcome 10
this problem and to obtain the desired response, we are using of
0
PID controller and PID ( two degree of freedom). For that, the 0 100 200 300 400 500 600
controller parameters are calculated. The desired parameters for
the PID controller are the proportional gain (KP) integral gain
(KI) and the differential gain (KD) can be calculated by the Fig. 4: Temperature response
Automatic PID tuning method in MATLAB software or Ziegler
Nichols tuning method. 100

90
III. Stability Analysis
80
The stability of particular operating point is determined by
70
finding the A-matrix for that particular operating point and
finding the Eigen values of the A-matrix. 60

50
−7.3929 −0.014674
A=[ ]
2622.9 4.7534 40

30
A=[-7.9909 -0.013674;2922.9 4.5564]
20

Y =eig (A); 10

0
Y=-6.2737,-6.2737 0 100 200 300 400 500 600

Both Eigen value are (-ve) the point is stable.

Fig.5: Disturbance Response
IV. SIMULATION TESTING AND RESULT

The operation of the CSTR is disturbed by external factors such

as changes in the feed flow rate and temperature .we need to
form of control action to alleviate the impact of the changing
disturbances and to keep T at desired set point (SP). In this
system the manipulated temperature Tj is responsible to
maintain the temperature Tat the desired SP. The CSTR with
PID controller is shown in below. The reaction is exothermic
and the heat generated is removed by the coolant, which flows
in the jacket around the tank.

Rubi, IJECS Volume 4 Issue 5 May, 2015 Page No.11902-11905 Page 11904
 [8] Fried land B.“Advanced Control System Design”,
180 Prentice Hall, New Jersey, 1996
160
[9] Jiri Vojtesek and Petr Dostal, “Simulation analysis of
140
CSTR” TomasBata University in Zlin
120
[10] Luis E. Zarate, Peterson Resende, & M. Benjamin ,”
100 A CSTR Control. Annual conference of IEEE,
80
2001.Ioannou and J. Sun, “Robust Adaptive
Control”,PrenticeHall,1996514
60

40

20

0
0 100 200 300 400 500 600

Fig.6: Controlled Temperature Response

V. CONCLUSION

When there is PID control with the system it generates a high

value of overshoots with reference tracking response. The
temperature control is found better with addition of two degree
of freedom PID controller than PID controller. In this case, the
overshoot been reduced to 0 % and a very small settling time
has been achieved.

VI. REFERENCES

[1] K.J. °Astr¨om and B. Wittenmark, Adaptive control, Seider,

W.D., J.D. Seader and D.R. Lewin “ Process
DesignPrinciples”, Wiley (1999).

[2] Adaptive control systems: techniques and applications By

V. V.Chalam:34-98.

[3]Isidori, A.“Nonlinear control systems”.New York: pringer

Verlag,1995:12-56.

[4] R.Marino and P. Tomei, Nonlinear Adaptive Design

Geometric, Adaptive, and Robust, Printice Hall
International (UK) Limited,London, 1995

[5]Yun Li,Kiam Heong Ang and Gregory C.Y.Chong, PID

Control System Analysis and Design – Problems, emedies,
and Future Directions”. IEEE control system magazine,
February2006

[6] Cohen, G.H., Coon, G.A. "Theoretical consideration

of retarded control", Trans. ASME vol. 75, pp.827-
834,1953.

[7]Schmidt, Lanny D. (1998) The Engineering of

Chemical New York Oxford University Press. ISBN 0-19-
510588-5

Rubi, IJECS Volume 4 Issue 5 May, 2015 Page No.11902-11905 Page 11905