Chapter 4

4.1

Y (s) a

U ( s ) bs  c
a) Gain K can be obtained by setting s = 0,

a
K
c
Alternatively, the transfer function can be placed in the standard gain/time constant form
by dividing the numerator and denominator by c :

Y (s) K

U (s)  s  1
where

a b
K , 
c c
b) In order to determine the boundedness of the output response, consider
a step input of magnitude M . Then U ( s )=M / s and

K M
Y (s) 
 s 1 s
From Table 3.1, the step response is

y (t )  KM (1  e t / )

By inspection, this response will be bounded only if  >0, or equivalently, only if b / c  0.

© Solution Manual for Process Dynamics and Control, 3rd edition

Copyright © 2011 by Dale E. Seborg, Thomas F. Edgar and Duncan A. Mellichamp,
and Francis J. Doyle III
4.2

a) K=5

b) =10

10
c) Y (s) 
s (10s  1)

From the Final Value Theorem, y(t) = 10 when t

d) y(t) = 10(1et/10) , then y(10) = 6.32 = 63.2% of the final value.

5 (1  e  s )
e) Y ( s ) 
(10 s  1) s

From the Final Value Theorem, y(t) = 0 when t

5
f) Y (s)  1
(10s  1)

From the Final Value Theorem, y(t)= 0 when t

5 6
g) Y (s)  then
(10s  1) ( s  9)
2

y(t) = 0.33e-0.1t  0.33cos(3t) + 0.011sin(3t)

The sinusoidal input produces a sinusoidal output and y(t) does not have a
limit when t.

By using Simulink, these solutions can be verified:

 10 0.5

9 0.45

8 0.4

7 0.35

6 0.3

y(t)
y(t)

5 0.25

4 0.2

3 0.15

2 0.1

1 0.05

0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50

time time

Fig. S4.2a. Output for parts c) and d). Fig. S4.2b. Output for part e).
5 0.7

4.5 0.6

4 0.5

3.5 0.4

3 0.3
y(t)

y(t)

2.5 0.2

2 0.1

1.5 0

1 -0.1

0.5 -0.2

0 -0.3
0 5 10 15 20 25 30 35 40 45 50 0 2 4 6 8 10 12 14 16 18 20

time time

Fig. S4.2c. Output for part f). Fig. S4.2d. Output for part g).
4.3

The transfer function for the pressure transmitter is given by,

Pm ( s ) 1
 (1)
P ( s ) 10s  1
and P ( s )  15 / s for the step change from 35 to 50psi.

Substituting into (1) and rearranging gives:

1 15
Pm ( s ) 
10 s  1 s
From item #13 in Table 3.1 , the step response is given by:

Pm (t )  15 (1  e  t /10 ) (2)

Let ta be the time that the alarm sounds. Then,

Pm (ta )  45  35  10 psi (3)

Substituting (3) and t = ta into (2), and solving gives ta = 11 s.

Thus the alarm will sound 11 seconds after 1:10 PM.

4.4

From Exercise 4.2,

Y ( s) 5
 (1)
U ( s ) 10 s  1
Rearrange,
Y ( s)[10 s  1]  5U ( s ) (2)

Take L-1 of (2),

dy
10  y  5 u (t ) (3)
dt
Take L of (3) for y (0)=1,
10[ sY ( s )  1]  Y ( s )  5U ( s )
Substitute U ( s)  2 / s and rearrange to give,

 1  10  10( s  1) s 1
Y ( s)    10    
 10 s  1   s  s (10 s  1) s( s  0.1)
Partial fraction expansion:

s 1  2
Y (s)   1 (4)
s ( s  0.1) s s  0.1
Find 1 : Multiply by s and set s  0  1  10

Find  2 : Multiply by s  0.1 and set s  0.1   2  9

Substitute into (4) and take L-1 ,

y (t )  10  9e 0.1t

Check: At t =0, y (0)=1.

4.5

dy 1
a) 2 = -2y1 – 3y2 + 2u1 (1)
dt
dy 2
= 4y1 – 6y2 + 2u1 + 4u2 (2)
dt

Taking Laplace transform of the above equations and rearranging,

(2s+2)Y1(s) + 3Y2(s) = 2U1(s) (3)

-4 Y1(s) + (s+6)Y2(s)=2U1(s) + 4U2(s) (4)

Solving Eqs. 3 and 4 simultaneously for Y1(s) and Y2(s),

(2s  6)U1 ( s )  12U 2 ( s ) 2( s  3)U1 ( s )  12U 2 ( s )

Y1(s) = 
2s 2  14s  24 2( s  3)( s  4)

(4s  12)U1 ( s )  (8s  8)U 2 ( s ) 4( s  3)U1 ( s )  8( s  1)U 2 ( s )

Y2(s) = 
2s 2  14s  24 2( s  3)( s  4)

Therefore,

Y1 ( s ) 1 Y1 ( s ) 6
 , 
U1 ( s ) s  4 U 2 ( s ) ( s  3)( s  4)

Y2 ( s ) 2 Y2 ( s ) 4( s  1)
 , 
U1 ( s ) s  4 U 2 ( s ) ( s  3)( s  4)

4.6

a)
Taking the L-1 gives,

x (t )  0.09e  t /10 and x(t )  x  x (t )  0.3  0.09e t /10

The intial values are x (0)  0.09 and

x(0)  x (0)  x  0.09  0.3  0.39.

The plot of the concentration response is shown in Fig. S4.6.

 Fig. S4.6. Transient response.

The tranfer function is given by,

X ( s ) 0.6

X i( s ) 10s  1

For the impulse input, xi(t )  1.5 (t ) and from Table 3.1, X i( s )=1.5. Thus,

0.9
X ( s ) 
10 s  1

b) Initial Value Theorem:

0.9
x(0)  lim sX ( s )   0.09
s  10
Thus, x(0)  x(0)  x  0.09  0.3  0.39

c) For the steady-state condition,

x(0)  x  0.3

d) As indicated in the plot, the impulse response is discontinuous at t=0. The results for
+
parts (a) and (b) give the values of x(0) for t=0 while the result for (c) gives the value
-
for t=0 .
4.7

a) The assumption that H is constant is redundant. For equimolal overflow,

L0  L1  L , V1  V2  V

dH
 L0  V2  L1  V1  0 , i.e., H is constant.
dt

The simplified stage concentration model becomes

dx1
H  L( x0  x1 )  V ( y 2  y1 ) (1)
dt
y1 = a0 + a1x1 + a2x12 +a3x13 (2)

b) Let the right-hand side of Eq. 1 be denoted as f(L, x0, x1, V, y1, y2)

dx1  f   f   f 
H  f ( L, x0 , x1 , V , y1 , y 2 )    L     x0    x1
dt  L  s  x0 s 
 1 s
x

 f    f    f  
  V    y1    y 2
 V  s 
 1 s
y 
 2 s
y

dx1 dx1
Substituting for the partial derivatives and noting that  :
dt dt
dx1
H  ( x0  x1 ) L   L x0  L x1  ( y 2  y1 )V   V y 2  V y1 (3)
dt

Similarly,

 g 
y1  g ( x1 )    x1  (a1  2a 2 x1  3a3 x1 2 ) x1 (4)
 x1  s

c) For constant liquid and vapor flow rates, L   V   0

Taking Laplace transforms of Eqs. 3 and 4,

HsX 1 ( s )  L X 0 ( s )  L X 1 ( s )  V Y2 ( s )  V Y1( s ) (5)

 Y1( s )  (a1  2a 2 x1  3a3 x1 ) X 1 ( s )
2
(6)

From Eqs. 5 and 6, the desired transfer functions are:

L V
 
X 1 ( s ) H X 1 ( s ) H
 , 
X 0 ( s ) s  1 Y2 ( s ) s  1
2 L
 (a1  2a 2 x1  3a3 x1 ) 
Y1 ( s ) H

X 0 ( s ) s  1
V
(a1  2a 2 x1  3a3 x1 ) 
2
Y1( s ) H

Y2 ( s ) s  1

where:
H

L  V (a1  2a 2 x1  3a3 x1 )
2

4.8

The material balance is,

d (Ah)
 wi  Rh1.5
dt
or
dh 1 R 1.5
 wi  h
dt A A

Use a Taylor series expansion to linearize

dh  1 R 1.5  1 1.5Rh 0.5

  wi  h  ( wi  wi )  (h  h )
dt  A A  A A

Since the bracketed term is identically zero at steady state,

dh  1 1.5 Rh 0.5
 wi  h
dt A A
 Rearranging

A dh  1
0.5
 h  wi
1.5Rh dt 1.5 Rh 0.5

Thus,

H ( s ) K

Wi( s ) s  1

where,

K
1

h

h

 height 
1.5 Rh 0.5
1.5Rh 1.5
1.5w  flowrate 


A

Ah

V

mass  time
1.5Rh 0.5
1.5Rh 1.5
1.5w mass / time

4.9

a) The model for the system is given by

dT
mC  wC (Ti  T )  h p A p (Tw  T ) (2-51)
dt

dTw
mw C w  hs As (Ts  Tw )  h p A p (Tw  T ) (2-52)
dt

Assume that m, mw, C, Cw, hp, hs, Ap, As, and w are constant. Rewriting the
above equations in terms of deviation variables, and noting that

dT dT  dTw dTw
 , 
dt dt dt dt

dT 
mC  wC (Ti  T )  h p A p (Tw  T )
dt
dT 
m w C w w  hs As (0  Tw )  h p A p (Tw  T )
dt

Taking Laplace transforms and rearranging,

 (mCs  wC  h p A p )T ( s )  wCTi( s )  h p A p Tw ( s ) (1)

(m w C w s  hs As  h p A p )Tw ( s )  h p A p T ( s ) (2)

Substituting in Eq. 1 for Tw (s ) from Eq. 2,

h p Ap
(mCs  wC  h p A p )T ( s )  wCTi( s )  h p A p T ( s )
(m w C w s  hs As  h p A p )

Therefore,

T ( s ) wC (m w C w s  hs As  h p A p )

Ti( s ) (mCs  wC  h p A p )(m w C w s  hs As  h p A p )  (h p A p ) 2

 T ( s )  wC (hs As  h p A p )
b) The gain is   
 Ti( s )  s 0 wC (hs As  h p A p )  hs As h p A p

c) No, the gain would be expected to be one only if the tank were insulated
so that hpAp= 0. For the heated tank, the gain is not one because heat input
changes as T changes.

4.10

Additional assumptions

1. Perfect mixing in the tank

2. Constant density  and specific heat C.
3. Ti is constant.

Energy balance for the tank,

dT
VC  wC (Ti  T )  Q  (U  bv) A(T  Ta )
dt

Let the right-hand side be denoted by f(T,v),

dT  f   f 
VC  f (T , v)    T     v (1)
dt  T  s  v  s
  f 
    wC (U  bv ) A
 T  s

 f 
    bA(T  Ta )
 v  s

dT dT 
Substituting for the partial derivatives in Eq. 1 and noting that =
dt dt
dT 
VC   wC  (U  bv ) AT   bA(T  Ta )v 
dt

Taking the Laplace transform and rearranging

VCs  wC  (U  bv ) A T (s) =  bA(T  T )v (s)

a

  bA(T  Ta ) 
 
T ( s ) wC  (U  bv ) A 
 
v ( s )  VC 
 wC  (U  bv ) A  s  1
 

4.11

a) Mass balances on the surge tanks:

dm1
 w1  w2 (1)
dt

dm2
 w2  w3 (2)
dt
Ideal gas law:

m1
P1V1  RT (3)
M
m
P2V2  2 RT (4)
M

E Driving Force
Flows (Ohm's law: I   )
R Resistance
 1
w1  ( Pc  P1 ) (5)
R1
1
w2  ( P1  P2 ) (6)
R2
1
w3  ( P2  Ph ) (7)
R3

Degrees of freedom:

number of parameters : 8 (V1, V2, M, R, T, R1, R2, R3)

number of variables : 9 (m1, m2, w1, w2, w3, P1, P2, Pc, Ph)

number of equations : 7

 number of degrees of freedom that must be eliminated = 9  7 = 2

Because Pc and Ph are known functions of time (i.e., inputs), NF = 0.

b) Model Development

MV1 dP1
Substitute (3) into (1) :  w1  w2 (8)
RT dt

MV2 dP2
Substitute (4) into (2) :  w2  w3 (9)
RT dt

Substitute (5) and (6) into (8) :

MV1 dP1 1 1
 ( Pc  P1 )  ( P1  P2 )
RT dt R1 R2
MV1 dP1 1 1 1 1
 Pc (t )  (  ) P1  P2 (10)
RT dt R1 R1 R2 R2

Substitute (6) and (7) into (9):

MV2 dP2 1 1
 ( P1  P2 )  ( P2  Ph )
RT dt R2 R3

MV2 dP2 1 1 1 1
 P1  (  ) P2  Ph (t ) (11)
RT dt R2 R2 R3 R3
 dP1
Note that  f1 ( P1 , P2 ) from Eq. 10
dt

dP2
 f 2 ( P1 , P2 ) from Eq. 11
dt

This system has the following characteristics:

1. 2nd-order denominator (2 differential equations)

2. Zero-order numerator (See example 4.4 in text)
3. No integrating elements are present.
W ( s )
4. The gain of 3 is not equal to unity. (It cannot be because the
Pc( s )
units for the two variables are different).

Note: The first printing has an additional item for part (b) that refers to
interacting systems; however, they are not discussed until Section 6.4.

4.12

dh
a) A  qi  C v h1 / 2
dt

Let

f = q i  C v h1 / 2

Then
1
f  qi  C v h 1 / 2  qi  qi  C v h 1 / 2 (h  h )
2

So
dh  C
A  q i  1v/ 2 h  because qi  C v h 1 / 2  0
dt 2h

 Cv 
 sA  2h 1 / 2  H ( s )  Qi( s )
 
 H ' (s) 1
 Note: Not a standard form
Qi ( s ) C
sA  1v/ 2
2h

H ' ( s) 2h 1 / 2 / C v

Qi( s ) 2 Ah 1 / 2
s 1
Cv

2h 1 / 2 2 Ah 1 / 2
where K and  
Cv Cv

b) Because q  C v h1 / 2
1 1 / 2 C 1
q   Cv h h   1v/ 2 h   h 
2 2h K

Q ( s ) 1 Q ( s ) H ( s ) 1 K
  , 
H ( s ) K H ( s ) Qi ( s ) K s  1

Q ( s ) 1
and 
Qi( s ) s  1

c) For a linear outflow relation,

dh
 qi  C v h Note that C v  C v
* *
A
dt

dh 
 qi  C v h
*
A
dt

dh
 C v h  qi
*
A
dt
or
A dh  1
*
 h   * qi
C v dt Cv

Multiplying numerator and denominator by h on each side yields

Ah dh h
*
 h  * qi
C v h dt Cv h

Or
 V dh h
 h  qi
qi dt qi

V h
  K  q.e.d
qi qi

To put  and K in comparable terms for the square root outflow form of the
transfer function, multiply numerator and denominator of each by h 1 / 2 .

2h 1 / 2 h 1 / 2 2h 2h
K 1/ 2
 1/ 2
  2K *
Cv h Cv h qi

2 Ah 1 / 2 h 1 / 2 2 Ah 2V
 1/ 2
 1/ 2
  2 *
Cv h Cv h qi

Thus level in the square root outflow transfer function is twice as sensitive to
changes in qi and reacts only ½ as fast because  = 2  .

4.13

a) The nonlinear dynamic model for the tank is:

dh

1
dt ( D  h)h

qi  Cv h  (1)

To linearize Eq. 1 about the operating point (h  h , qi  qi ) , let

qi  Cv h
f 
( D  h)h

Then,
 f   f 
f (h, qi )    h    qi
 h  s  qi  s
where

 f  1
  
 qi  s ( D  h )h
  
 f 
 
 h  s
 
1 Cv 1
2 h ( D  h )h
 qi C v h  D  2h 
  ( D  h ) h  2 
 

Notice that the second term of last partial derivative is zero from the
steady-state relation, and the term ( D  h )h is finite for all 0  h  D .
Consequently, the linearized model of the process, after substitution of
deviation variables is,

dh  1 Cv 1   1 
   h    qi
dt  2 h ( D  h )h   ( D  h ) h 
or
dh
 ah  bqi
dt
where
 1 Cv 1   1 
a    , b=  
 2 h ( D  h ) h   ( D  h )h 

b) Taking the Laplace transform and rearranging gives,

s h( s )  ah( s )  bqi( s )

Therefore

h( s ) b

qi( s ) ( s  a)

4.14

Assumptions
1. Perfectly mixed reactor
2. Constant fluid properties and heat of reaction.

a) Component balance for A,

dc A
V  q (c Ai  c A )  Vk (T )c A (1)
dt
Energy balance for the tank,

dT
VC  qC (Ti  T )  (  H )Vk (T )c A (2)
dt

Since a transfer function with respect to cAi is desired, assume the other inputs,
namely q and Ti, to be constant.

dc A dc A dT dT 
Linearize (1) and (2) and note that  ,  ,
dt dt dt dt

dc A 20000
V  qc Ai  (q  Vk (T ))c A  Vc A k (T ) T (3)
dt T2

dT   20000 
VC   qC  HVc A k (T ) T  + (H )Vk (T )cA (4)
dt  T2 

Taking the Laplace transforms and rearranging

Vs  q  Vk (T )C  (s)  qC  (s)  Vc

A Ai A k (T )
20000
T ( s ) (5)
T2

 20000 
VCs  qC  (H )Vc A k (T ) T 2  T ( s )  (H )Vk (T )C A ( s ) (6)

Substituting for C A ( s ) from Eq. 5 into Eq. 6 and rearranging,

T ( s ) HVk (T )q

 ( s)
C Ai  20000  20000
Vs  q  Vk (T )  VCs  qC  ( H )Vc A k (T )   (H )c AV 2 k 2 (T )
 T 
2
T2

(7)
c A is obtained from the steady-state version of Eq.1,

qc Ai
cA   0.001155 mol/cu.ft.
q  Vk (T )

Substituting the numerical values of T , , C, (  H), q, V, c A into Eq. 7 and

simplifying gives,

T ( s) 11.38

C Ai ( s) (0.0722s  1)(50 s  1)
  T ( s ) 
b) The gain K of the above transfer function is equal to   ,
 C Ai ( s )  s 0

0.15766 q
K (8)
 q c  q  c
  3.153  106 A2    13.84   4.364.107 A2
 1000 T   1000  T

It is obtained by setting s=0 in Eq. 7 and substituting numerical values for ,

C, (  H), V. Evaluating sensitivities gives,

dK K K2  q cA  4
  2 10 6  0.01384  3153 T 2   6.50  10
dq q 0.15766q  

dK K 2  q   3.153  10 c A  2  2  4.364  10 c A 
6 7
   13.84    
dT 3.153  1000  T3  T3 

 2.57  10 5

dK dK dc A
 
dc Ai dc A dc Ai

K2   q  3.153  10
6
 4.364  10 7  q 
    13.84     
0.15766q   1000  T2  q  13840 
2
 T

 8.87  10 3
4.15

Assume:
1. Constant physical properties
2. Perfect mixing
3.
Dynamic model: Balances on cell mass and substrate concentration

dX
  ( S ) X  DX  f1 ( S , X , D) (1)
dt
dS
   ( S ) X / YX / S  D( S f  S )  f 2 ( S , X , D, S f ) (2)
dt

where:
m S F
 (S ) X  X, D
Ks  S V

Linearization of (1) about the nominal steady state gives a linearized model of the
form:

dX  f1 f1 f1

 S  X D
dt S ss X ss D ss

dX    m ( K s  S )   m S    S 
  X  S '  m  D  X ' X D (3)
dt  (Ks  S ) 2
  Ks  S 

Linearization of (2) about the nominal steady state:

dS  f f 2 f 2 f
 2 S' X ' D'  2 S f
dt S ss X ss D ss S f
ss

dS   1 m ( K s  S )  m S   1 m S 
  X  D  S '    X ' ( S f  S ) D '  D S f
dt  YX / S (Ks  S ) 2
  YX / S K s  S 
(4)

Substituting the numerical values gives:

 dX '
 0.113S '  2.25D '
dt

dS '
  0.326 S '  0.2 X '  9 D '  0.1S f
dt
Taking Laplace Transforms, assuming steady state initially:

sX ' ( s)  0.113S ' ( s )  2.25 D' ( s )

sS '( s )   0.326 S '( s )  0.2 X ( s )  9 D( s )  0.1 S f ( s )

In order to derive the transfer function between X and D, assume that Sf is

constant at its nominal steady-state value, S f (t )  S f ; thus S f  0. Rearranging
gives,
0.113 2.25
X ' (s)  S ' ( s)  D' ( s ) (5)
s s

 0.2   9 
S '( s)    X '( s)    D '( s ) (6)
 s  0.326   s  0.126 

Substitute (6) into (5) and rearrange gives,

X '( s)  (2.25s  1.7)

 2 (7)
D '( s) s  0.326 s  0.0226

Rearrange (7) to a standard form:

X '( s) K ( s  1)
 2 2 a
D '( s )  s  2 s  1
where:
K  77.4 g h /L
 a  0.778 h
  6.65 h
  1.08

Note that the step response will be overdamped because  >1.