Korea University

5-1
CHBE306 Process Dynamics and Control
CHBE306 LECTURE V
LAPLACE TRANSFORM AND
TRANSFER FUNCTION
Professor Dae Ryook Yang
Fall 2006
Dept. of Chemical and Biological Engineering
Korea University
Korea University
5-2
CHBE306 Process Dynamics and Control
PROCESS
Sensor
Actuator Controller
+
-
Lectures IV to
VII
Road Map of the Lecture V
Laplace Transform and Transfer functions
Definition of Laplace transform
Properties of Laplace transform
Inverse Laplace transform
Definition of transfer function
How to get the transfer functions
Properties of transfer function
Korea University
5-3
CHBE306 Process Dynamics and Control
SOLUTION OF LINEAR ODE
1
st
-order linear ODE
Integrating factor:
High-order linear ODE with constant coeffs.
Modes: roots of characteristic equation
Depending on the roots, modes are
Distinct roots:
Double roots:
Imaginary roots:
Many other techniques for different cases
For ( ) ( ), I.F. exp( ( ) )
dx
a t x f x a t dt
dt
+ = =
}
( ) ( )
[ ] ( )
a t dt a t dt
xe f t e
} }
' =
( ) ( )
( ) [ ( ) ]
a t dt a t dt
x t f t e dt C e

} }
= +
}
2 1 0
For ( ), a x a x a x f t
'' '
+ + =
2
2 1 0 2 1 2
( )( ) 0 a p a p a a p p p p + + = =
1 2
( , )
p t p t
e e

( cos , sin )
t t
e t e t
o o
| |

1 1
( , )
p t p t
e te

Solution is a linear combination of
modes and the coefficients are
decided by the initial conditions.
Korea University
5-4
CHBE306 Process Dynamics and Control
LAPLACE TRANSFORM FOR LINEAR ODE
AND PDE
Laplace Transform
Not in time domain, rather in frequency domain
Derivatives and integral become some operators.
ODE is converted into algebraic equation
PDE is converted into ODE in spatial coordinate
Need inverse transform to recover time-domain solution
ODE or PDE
u(t) y(t)
Transfer
Function
U(s) Y(s)
(Algebraic calculation)
(D.E. calculation)
L
-1
L
L
-1
L
L
-1
L
Korea University
5-5
CHBE306 Process Dynamics and Control
DEFINITION OF LAPLACE TRANSFORM
Definition
F(s) is called Laplace transformof f(t).
f(t) must be piecewise continuous.
F(s) contains no information on f(t) for t < 0.
The past information on f(t) (for t < 0) is irrelevant.
The s is a complex variable called Laplace transform variable
Inverse Laplace transform
and are linear.
{ }
0
( ) ( ) ( )
st
F s f t f t e dt

=
}
L
{ }
-1
( ) ( ) f t F s = L
L
-1
L
{ }
1 2 1 2
( ) ( ) ( ) ( ) af t bf t aF s bF s + = + L
Korea University
5-6
CHBE306 Process Dynamics and Control
LAPLACE TRANSFORM OF FUNCTIONS
Constant function, a
Step function, S(t)
Exponential function, e
-bt
{ }
0
0
0
st st
a a a
a ae dt e
s s s

| |
= = = =
|
\ .
}
L
t
f(t)
a
t
f(t)
1
1 for 0
( ) S( )
0 for 0
t
f t t
t
>

= =

<

{ }
0
0
1 1 1
S( ) 0
st st
t e dt e
s s s

| |
= = = =
|
\ .
}
L
{ }
( )
0
0
1 1
bt bt st b s t
e e e dt e
s b s b

= = =
+ +
}
L
t
f(t)
1
b>0
b<0
Korea University
5-7
CHBE306 Process Dynamics and Control
Trigonometric functions
Eulers Identity:
Rectangular pulse, P(t)
cos sin
j t
e t j t
e
e e +
( )
1
cos
2
j t j t
t e e
e e
e

= + ( )
1
sin
2
j t j t
t e e
j
e e
e

=
{ }
2 2
1 1 1 1 1
sin
2 2 2
j t j t
t e e
j j j s j s j s
e e
e
e
e e e

| |
= = =
` `
|
+ +
) ) \ .
L L L
{ }
2 2
1 1 1 1 1
cos
2 2 2
j t j t
s
t e e
s j s j s
e e
e
e e e

| |

= = + =
` `
|
+ +
) )
\ .
L L + L
0 for
( ) P( ) for 0
0 for 0
w
w
t t
f t t h t t
t
>

= = > >

<

{ }
( )
0
0
P( ) 1
w
w
w
t
t
t s st st
h h
t he dt e e
s s

= = =
}
L
t
f(t)
h
t
w
t
sin(t)
1
2t
e
Korea University
5-8
CHBE306 Process Dynamics and Control
Impulse function,
Ramp function, t
Refer the Table 3.1 (Seborg et al.) for other functions
0
0 for
( ) ( ) lim 1/ for 0
0 for 0
w
w
w w
t
t t
f t t t t t
t
o

>

= = > >

<

{ }
( )
0 0 0
1 1
( ) lim lim 1 1
w
w
w w
t
t s st
t t
w w
t e dt e
t t s
o


= = =
}
L
0 0
( ) ( )
L'Hospital's rule: lim lim
( ) ( )
t t
f t f t
g t g t

' | |
=
|
'
\ .
t
f(t)
1/t
w
t
w
t
f(t)
1
1
( ) t o
{ }
0
2
0 0
0
1 1
st
st
st st
t te dt
t e
e dt e dt
s s s s

=
= = =

}
} }
L
( )
0
0 0
Integration by part: ' f gdt f g f g dt

' =
} }
Korea University
5-9
CHBE306 Process Dynamics and Control
Korea University
5-10
CHBE306 Process Dynamics and Control
Korea University
5-11
CHBE306 Process Dynamics and Control
PROPERTIES OF LAPLACE TRANSFORM
Differentiation
0 0 0
0
( ) ( ) (by . . .)
(0) ( ) (0)
st st st
st
df
f e dt f t e f s e dt i b p
dt
s f e dt f sF s f

' = =
`
)
= =
} }
}
L
( )
2
2
0 0 0 0
2
( ) ( ) (0)
( ) (0) (0) ( ) (0) (0)
st st st st
d f
f e dt f t e f s e dt s f e dt f
dt
s sF s f f s F s sf f



'' ' ' ' ' = = =
`
)
' ' = =
} } }
L
( ) ( 1) ( 1)
0 0 0
1
( 1) ( 1) ( 1)
1
0
1 ( 2) ( 1)
( ) ( )
(0) (0)
( ) (0) (0) (0)
n
n st n st n st
n
n
n st n n
n
n n n n
d f
f e dt f t e f s e dt
dt
d f
s f e dt f s f
dt
s F s s f sf f

= =
`
)
| |

= =
| `
|
)
\ .
=
} }
}

L
L

Korea University
5-12
CHBE306 Process Dynamics and Control
If f (0) = f (0) = f (0) == f
(n-1)
(0) = 0,
Initial condition effects are vanished.
It is very convenient to use deviation
variables so that all the effects of
initial condition vanish.
Transforms of linear differential equations.
2
2
2
( )
( )
( )
n
n
n
df
sF s
dt
d f
s F s
dt
d f
s F s
dt

=
`
)

=
`
)

=
`
)

L
L
L
( ) ( ), ( ) ( )
( )
( ) (if (0) 0)
y t Y s u t U s
dy t
sY s y
dt

=
L L
L
( )
( ) ( ) ( (0) 0) ( 1) ( ) ( )
dy t
y t Ku t y s Y s KU s
dt
t t = + = + =
L
1 ( )
( ) ( 1) ( ) ( )
L L L
w L HL HL L w
HL
T T T s
v T T v s T s T s
t z z
t t
t
c c c
= + + + =
c c c

L
Korea University
5-13
CHBE306 Process Dynamics and Control
Integration
Time delay (Translation in time)
Derivative of Laplace transform
{ } ( )
0 0 0
0 0
0
( ) ( )
1 ( )
( ) (by . . .)
t t
st
st
t
st
f d f d e dt
e F s
f d f e dt i b p
s s s

=
= + =

} } }
} }
L
0
( )
( )
( ) ( )
Leibniz rule: ( ) ( ( )) ( ( ))
b t
a t
d db t da t
f d f b t f a t
dt dt dt
t t
| |
=
|
\ .
}
in
( ) ( )S( )
t
f t f t t
u
u u
+

{ }
( )
0
0
( )S( ) ( ) ( ) (let )
( ) ( )
st s
s s s
f t t f t e dt f e d t
e f e d e F s
t u
u
u t u
u u u t t t u
t t

+

= = =
= =
} }
}
L
t
f(t)
u
| |
0 0 0
( )
( ) ( )
st st st
dF s d d
f e dt f e dt t f e dt t f t
ds ds ds


= = = =
} } }
L
Korea University
5-14
CHBE306 Process Dynamics and Control
Final value theorem
From the LT of differentiation, as s approaches to zero
Limitation: has to exist. If it diverges or oscillates,
this theorem is not valid.
Initial value theorem
From the LT of differentiation, as s approaches to infinity
| |
0 0 0
lim lim ( ) (0)
st
s s
df
e dt sF s f
dt

=
}
0 0 0
( ) (0) lim ( ) (0) ( ) lim ( )
s s
df
dt f f sF s f f sF s
dt

= = =
}
| |
0
lim lim ( ) (0)
st
s s
df
e dt sF s f
dt

=
}
0
lim 0 lim ( ) (0) (0) lim ( )
st
s s s
df
e dt sF s f f sF s
dt

= = =
}
( ) f
Korea University
5-15
CHBE306 Process Dynamics and Control
EXAMPLE ON LAPLACE TRANSFORM (1)

Using the initial and final value theorems

But the final value theorem is not valid because
t
f(t)
3
2 6
1.5 for 0 2
3 for 2 6
( )
0 for 6
0 for 0
t t
t
f t
t
t
s <

s <

=

s

<

( ) 1.5 S( ) 1.5( 2)S( 2) 3S( 6) f t t t t t t =

{ }
2 6
2
1.5 3
( ) ( ) (1 )
s s
F s f t e e
s s

= = L
2
For ( ) , find (0) and ( ).
5
F s f f
s
=

2
(0) lim ( ) lim 2
5
s s
s
f sF s
s

= = =

0 0
2
( ) lim ( ) lim 0
5
s s
s
f sF s
s

= = =

5
lim ( ) lim2
t
t t
f t e

= =
Korea University
5-16
CHBE306 Process Dynamics and Control
EXAMPLE ON LAPLACE TRANSFORM (2)
What is the final value of the following system?
Actually, cannot be defined due to sin t term.
Find the Laplace transform for ?
sin ; (0) (0) 0 x x x t x x
'' ' '
+ + = = =
2
2 2 2
1 1
( ) ( ) x(s)=
1 ( 1)( 1)
s X s sX s X
s s s s
+ + =
+ + + +
2 2
0
( )=lim 0
( 1)( 1)
s
s
x
s s s

=
+ + +
( ) x
| |
( )
From ( )
dF s
t f t
ds
= L
( sin ) t t e
| |
2 2 2 2 2
2
sin
( )
d s
t t
ds s s
e e
e
e e
(
= =
(
+ +

L
Korea University
5-17
CHBE306 Process Dynamics and Control
INVERSE LAPLACE TRANSFORM
Used to recover the solution in time domain
From the table
By partial fraction expansion
By inversion using contour integral
Partial fraction expansion
After the partial fraction expansion, it requires to know some
simple formula of inverse Laplace transform such as
{ }
-1
( ) ( ) F s f t = L
{ }
-1
1
( ) ( ) ( )
2
st
C
f t F s e F s ds
j t
= =
}
L
2 2 2 2
1 ( 1)!
, , , , etc.
( 1) ( ) 2 1
s
n
s n e
s s b s s s
u
t e t ,t

+ + + + +
Korea University
5-18
CHBE306 Process Dynamics and Control
PARTIAL FRACTION EXPANSION
Case I: All p
i
s are distinct and real
By a root-finding technique, find all roots (time-consuming)
Find the coefficients for each fraction
Comparison of the coefficients after multiplying the denominator
Replace some values for s and solve linear algebraic equation
Use of Heaviside expansion
Multiply both side by a factor, (s+p
i
), and replace s with p
i
.
Inverse LT:
1
1 1
( ) ( )
( )
( ) ( ) ( ) ( ) ( )
n
n n
N s N s
F s
D s s p s p s p s p
o o
= = = + +
+ + + +

( )
( )
( )
i
i i
s p
N s
s p
D s
o
=
= +
1 2
1 2
( )
n
p t p t p t
n
f t e e e o o o

= + + +
Korea University
5-19
CHBE306 Process Dynamics and Control
Case II: Some roots are repeated
Each repeated factors have to be separated first.
Same methods as Case I can be applied.
Heaviside expansion for repeated factors
Inverse LT
1
1 0 1
( ) ( )
( )
( ) ( ) ( ) ( ) ( )
r
r r
r r r
b s b N s N s
F s
D s s p s p s p s p
o o

+ +
= = = = + +
+ + + +

( )
( )
1 ( )
( ) ( 0, , 1)
! ( )
i
r
r i
i
s p
d N s
s p i r
i ds D s
o

=
| |
= + =
|
\ .

1
1 2
( )
( 1)!
pt pt r pt
r
f t e te t e
r
o
o o

= + + +

Korea University
5-20
CHBE306 Process Dynamics and Control
Case III: Some roots are complex
Each repeated factors have to be separated first.
Then,
Inverse LT
1 0 1 1
2 2 2
1 0
( ) ( )
( )
( ) ( )
c s c N s s b
F s
D s s d s d s b
o | e
e
+ + +
= = =
+ + + +
1 1
1 1
2 2 2 2 2 2
( ) ( )
( ) ( ) ( )
s b s b
s b s b s b
o | e e
o |
e e e
+ + +
= +
+ + + + + +
1 1
( ) cos sin
bt bt
f t e t e t o e | e

= +
2
1 0 1 where / 2, / 4 b d d d e = =
( ) 1 1 1 0 1 , / c c b o | o e = =
Korea University
5-21
CHBE306 Process Dynamics and Control
EXAMPLES ON INVERSE LAPLACE
TRANSFORM

Multiply each factor and insert the zero value

( 5)
( ) (distinct)
( 1)( 2)( 3) 1 2 3
s A B C D
F s
s s s s s s s s
+
= = + + +
+ + + + + +
0 0
( 5)
5/ 6
( 1)( 2)( 3) 1 2 3
s s
s B C D
A s s s A
s s s s s s
= =
+
| |
= + + + =
|
+ + + + + +
\ .
1 1
( 5) ( 1) ( 1) ( 1)
2
( 2)( 3) 2 3
s s
s A s C s D s
B B
s s s s s s
= =
+ + + +
| |
= + + + =
|
+ + + +
\ .
2 2
( 5) ( 2) ( 2) ( 2)
3/ 2
( 1)( 3) 1 3
s s
s A s B s D s
C C
s s s s s s
= =
+ + + +
| |
= + + + =
|
+ + + +
\ .
3 3
( 5) ( 3) ( 3) ( 3)
1/ 3
( 1)( 2) 1 2
s s
s A s B s C s
D D
s s s s s s
= =
+ + + +
| |
= + + + =
|
+ + + +
\ .
{ }
-1 2 3
5 3 1
( ) ( ) 2
6 2 3
t t t
f t F s e e e

= = + L
Korea University
5-22
CHBE306 Process Dynamics and Control

Use of Heaviside expansion

2
3 3
1
( ) (repeated)
( 1) ( 2) ( 1) ( 2)
As Bs C D
F s
s s s s
+ +
= = +
+ + + +
( )
( )
1 ( )
( ) ( 0, , 1)
! ( )
i
r
r i
i
s p
d N s
s p i r
i ds D s
o

=
| |
= + =
|
\ .

2 3
3 2
1 ( )( 2) ( 1)
( ) (2 3 ) (2 3 ) (2 )
As Bs C s D s
A D s A B D s B C D s C D
= + + + + +
= + + + + + + + + +
, 2 3 0, 2 3 0, 2 1 A D A B D B C D C D = + + = + + = + =
1, 1, 1, 1 A B C D = = = =
2
1 2 3
3 2 3
1
( 1) ( 1) ( 1) ( 1)
s s
s s s s
o o o + +
= + +
+ + + +
( )
2
2
1
1
( 1) : 1 1
1!
s
d
i s s
ds
o
=
= = + + =
( )
2
2
1
2
1
1
( 2) : 1 1
2!
s
d
i s s
ds
o
=
= = + + =
( )
2
3
1
( 0) : 1 1
s
i s s o
=
= = + + =
{ }
-1 2 2
1
( ) ( )
2
t t t t
f t F s e te t e e

= = + L
Korea University
5-23
CHBE306 Process Dynamics and Control

2 2 2 2
( 1) ( 2)
( ) (complex)
( 4 5) ( 2) 1
s A s B Cs D
F s
s s s s s
+ + + +
= = +
+ + + +
2 2 2
3 2
1 ( 2) ( )( 4 5)
( ) (2 4 ) (5 4 ) 5
s A s s Bs Cs D s s
A C s A B C D s C D s D
+ = + + + + + +
= + + + + + + + +
, 2 4 0, 5 4 1, 5 1 A C A B C D C D D = + + + = + = =
1/ 25, 7/ 25, 1/ 25, 1/ 5 A B C D = = = =
2 2 2
( 2) 1 ( 2) 7
( 2) 1 25 ( 2) 1 25 ( 2) 1
A s B s B
s s s
+ + +
=
+ + + + + +
2 2
1 1 1 1
25 5
Cs D
s s s
+
= +
{ }
-1 2 2
1 7 1 1
( ) ( ) cos sin
25 25 25 5
t t
f t F s e t e t t

= = + + L
Korea University
5-24
CHBE306 Process Dynamics and Control

2
2
1
( ) (1 ) (Time delay)
(4 1)(3 1) 4 1 3 1
s
s
e A B
F s e
s s s s

+
| |
= = + +
|
+ + + +
\ .
1/ 4 1/ 3
1/(3 1) 4, 1/(4 1) 3
s s
A s B s
= =
= + = = + =
{ }
( )
2 2
1 1 1
/ 4 / 3 ( 2) / 4 ( 2) / 3
4 3 4 3
( ) ( )
4 1 3 1 4 1 3 1
S( 2)
s s
t t t t
e e
f t F s
s s s s
e e e e t





= = +
` `
+ + + +
)
)
= +
L L L
Korea University
5-25
CHBE306 Process Dynamics and Control
SOLVING ODE BY LAPLACE TRANSFORM
Procedure
1. Given linear ODE with initial condition,
2. Take Laplace transform and solve for output
3. Inverse Laplace transform
Example:
Solve for 5 4 2; (0) 1
dy
y y
dt
+ = =
{ } { }
2
5 4 2 5( ( ) (0)) 4 ( )
dy
y sY s y Y s
dt s

= + =
`
)
L + L L
2 5 2
(5 4) ( ) 5 ( )
(5 4)
s
s Y s Y s
s s s
+
+ = + =
+
{ }
1 1 0.8
0.5 2.5
( ) ( ) 0.5 0.5
5 4
t
y t Y s e
s s


= = + = +
`
+
)
L L
Korea University
5-26
CHBE306 Process Dynamics and Control
TRANSFER FUNCTION (1)
Definition
An algebraic expression for the dynamic relation between the
input and output of the process model
How to find transfer function
1. Find the equilibrium point
2. If the system is nonlinear, then linearize around equil. point
3. Introduce deviation variables
4. Take Laplace transformand solve for output
5. Do the Inverse Laplace transformand recover the original
variables from deviation variables
Transfer
Function, G(s)
5 4 ; (0) 1
Let 1 and 4
( ) 1 0.25
(5 4) ( ) ( ) ( )
( ) 5 4 1.25 1
dy
y u y
dt
y y u u
Y s
s Y s U s G s
U s s s
+ = =
= =
+ = = = =
+ +

( ) U s

( ) Y s

Korea University
5-27
CHBE306 Process Dynamics and Control
TRANSFER FUNCTION (2)
Benefits
Once TF is known, the output response to various given inputs
can be obtained easily.
Interconnected system can be analyzed easily.
By block diagram algebra
Easy to analyze the qualitative behavior of a process, such as
stability, speed of response, oscillation, etc.
By inspecting Poles and Zeros
Poles: all ss satisfying D(s)=0
Zeros: all ss satisfying N(s)=0
{ } { } { } { }
1 1 1 1
( ) ( ) ( ) ( ) ( ) ( ) y t Y s G s U s G s U s

= = = L L L L
G1 G2
G3
+
-
X Y
( ) 1( ) 2( )
( ) 1 1( ) 2( ) 3( )
Y s G s G s
X s G s G s G s
=
+
Korea University
5-28
CHBE306 Process Dynamics and Control
TRANSFER FUNCTION (3)
Steady-state Gain: The ratio between ultimate
changes in input and output
For a unit step change in input, the gain is the change in output
Gain may not be definable: for example, integrating processes
and processes with sustaining oscillation in output
From the final value theorem, unit step change in input with
zero initial condition gives
The transfer function itself is an impulse response of the
system
ouput ( ( ) (0))
Gain= =
input ( ( ) (0))
y y
K
u u
A
=
A
0 0 0
( ) 1
lim ( ) lim ( ) lim ( )
1
s s s
y
K sY s sG s G s
s

= = = =
{ }
( ) ( ) ( ) ( ) ( ) Y s G s U s G s G s o = = = L (t)
Korea University
5-29
CHBE306 Process Dynamics and Control
EXAMPLE
Horizontal cylindrical storage tank (Ex4.7)
Equilibrium point:
(if , can be any value in .)
Linearization:
L
q
q
i
R
h
w
i
i
dm dV
q q
dt dt
= =
0
( ) ( ) ( )
h
i i
dV dh
V h Lw h dh Lw h
dt dt
= =
}

1
( ) (Nonlinear ODE)
2 ( )
i i i
dh dh
wL q q q q
dt dt
L D h h
= =

2 2
( ) / 2 ( ) (2 ) i w h R R h R h h = + =
0 ( ) /(2 ( ) ) i q q L D h h = ( , , ) i q q h
i q q =
h 0 h D s s
( , , )
( , , ) ( , , )
( , , ) ( ) ( ) ( )
i
i i
i i i
i
h q q
h q q h q q
dh f f f
f h q q h h q q q q
dt h q q
c c c
= = + +
c c c
Korea University
5-30
CHBE306 Process Dynamics and Control
( ) ( ) ( )
i
sH s kQ s kQ s =

( , , )
( , , ) ( , , )
1
( ) 0 ( )
2 ( )
1 1
,
2 ( ) 2 ( )
i
i i
i i
h q q
i
h q q h q q
f
q q q q
h h
L D h h
f f
q q
L D h h L D h h
c c
= = =
c c

c c
= =
c c

Let this term be k

Transfer function between (integrating)
Transfer function between (integrating)
If is near 0 or D, k becomes very large and is around ,
k becomes minimum.
The model could be quite different depending on the operating
condition used for the linearization.
The best suitable range for the linearization in this case is
around . (less change in gain)
Linearized model would be valid in very narrow range near 0
( ) ( ) : -
k
H s Q s
s
and

( ) ( ) : i
k
H s Q s
s
and

h h / 2 h
/ 2 h
Korea University
5-31
CHBE306 Process Dynamics and Control
PROPERTIES OF TRANSFER FUNCTION
Additive property
Multiplicative property
Physical realizability
In a transfer function, the order of numerator(m) is greater
than that of denominator(n): called physically unrealizable
The order of derivative for the input is higher than that of
output. (requires future input values for current output)
G
1
(s)
G
2
(s)
X
1
(s)
X
2
(s)
Y(s)
+
+
Y
1
(s)
Y
2
(s)
1 2
1 1 2 2
( ) ( ) ( )
( ) ( ) ( ) ( )
Y s Y s Y s
G s X s G s X s
= +
= +
G
1
(s) G
2
(s)
X
1
(s)
X
2
(s) X
3
(s)
| |
3 2 2
2 1 1 2 1 1
( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
X s G s X s
G s G s X s G s G s X s
=
= =
Korea University
5-32
CHBE306 Process Dynamics and Control
EXAMPLES ON TWO TANK SYSTEM
Two tanks in series (Ex3.7)
No reaction
Initial condition: c
1
(0)= c
2
(0)=1 kg mol/m
3
(Use deviation var.)
Parameters: V
1
/q=2 min., V
2
/q=1.5 min.
Transfer functions
1
1 1 i
dc
V qc qc
dt
+ =
2
2 2 1
dc
V qc qc
dt
+ =
1
1
( ) 1
( / ) 1 ( ) i
C s
V q s C s
=
+

2
2 1
( ) 1
( / ) 1 ( )
C s
V q s C s
=
+

( )( )
2 2 1
2 1 1
( ) ( ) ( ) 1
( / ) 1 ( / ) 1 ( ) ( ) ( ) i i
C s C s C s
V q s V q s C s C s C s
= =
+ +


Korea University
5-33
CHBE306 Process Dynamics and Control
Pulse input
Equivalent impulse input
Pulse response vs. Impulse response
t
5
0.25
P
i
c
0.25
5
( ) (1 )
P s
i C s e
s

=

{ }
( ) (5 0.25) ( ) 1.25 i C s t
o
o = =

L
0.25
1
0.25
/ 2
1
( 0.25) / 2
1 5
( ) ( ) (1 )
2 1 (2 1)
5 10
(1 )
2 1
( ) 5(1 )
5(1 )S( 0.25)
P P s
i
s
P t
t
C s C s e
s s s
e
s s
c t e
e t

= =
+ +
| |
=
|
+
\ .
=

1
/ 2
1
1 1.25
( ) ( )
2 1 (2 1)
0.625
i
t
C s C s
s s
c e
o o
o
= =
+ +
=

Korea University
5-34
CHBE306 Process Dynamics and Control
2
/ 2 /1.5
2
1
( ) ( )
(2 1)(1.5 1)
1.25
(2 1)(1.5 1)
5 3.75
2 1 1.5 1
2.5 2.5
i
t t
C s C s
s s
s s
s s
c e e
o o
o
=
+ +
=
+ +
=
+ +
=

0.25
2
0.25
1 5
( ) ( ) (1 )
(2 1)(1.5 1) (2 1)(1.5 1)
5 40 22.5
(1 )
2 1 1.5 1
P P s
i
s
C s C s e
s s s s s
e
s s s

= =
+ + + +
| |
= +
|
+ +
\ .

/ 2 /1.5
2
( 0.25) / 2 ( 0.25) /1.5
( ) (5 20 15 )
(5 20 15 )S( 0.25)
P t t
t t
c t e e
e e t


= +
+