Consider the PCM furnace module of Appendix E. Assume that oxygen exit concentration c_O2is the CV, air flow rate AF is the MV, and fuel gas purity FG is the DV.
(a) Using the transfer functions given below, design a feed forward control system.
(b) Design a PID controller based on IMC tuning and a reasonable value of Ï„_c.
(c) Simulate the FF, FB, and combined FF€“FB controllers for a sudden change in d at t = 10 min, from 1 to 0.9. Which controller is superior?

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0.14e-4s 4.2s +1' : Gp Co2 AF -4s 2.82e-4s G, = Gm = G, = 1 - Ga Co2 4.3s + 1 %3D FG