Controller tuning is needed to select the optimum response for the controlled process. This work presents a new tuning procedure of PID controllers with safety and response quality measures on a non-linear process model by optimization procedure, with a demonstration of two tanks in series. The model was developed to include safety constraints in the form of path constraints. The model was then solved with a new optimization solver, NLPOPT1, which uses a primal-dual interior point method with a novel non-monotone line search procedure with discretized penalty parameters. This procedure generated a grid of optimal PID tuning parameters for various switching of steadystates to be used as apredictor of PID tunings for arbitrary transitions. The interpolation of tuning parameters between the available parameters was found to be capable to produce state profiles with no violation on the safety measures, while maintaining the quality of the solution with the final set points targeted achievable.
In the present work, the physicochemical properties namely fatty acid composition (FAC), iodine value (IV), acylglycerol content and thermal profiles of palm-based diacylglycerol (PDAG) in blend with soybean oil (SBO) at different concentrations (0-100 wt %) were evaluated. The Fourier-transform infrared spectroscopy (FTIR) spectra were determined at mid-infrared region to assign the functional groups. SBO exhibited the same absorption bands as PDAG except at wavelength of 1711, 1450, 1359, 850 and 779 cm-1. This phenomenon indicated that the absorption frequency of the binary mixtures greatly depended on the composition of oil samples. IV of the oil blends was found to decrease from 131.09 ± 0.88 I2/100 g to 51.55 ± 0.60 I2/100 g with increasing PDAG concentrations due to the reduced degree of unsaturation. Generally, binary blends with an increasing PDAG concentration showed a decrease in linoleic acid (C18:2) as well as increase in oleic acid (C18:1) and palmitic acid (C16:0) contents. The DAG content for all the blends increased from 5.15 ± 1.40% to 87.80 ± 0.33% and TAG content decreased from 94.85 ± 1.40% to 12.20 ± 0.33% in tandem with increasing PDAG content. Incorporation of PDAG into SBO significantly affected the crystallisation and melting profiles of SBO.