.

(b)th Asste afina cofv use the val the hec to de th o 24.5 Calc theA I-tra the rec pu sh in dr (b)in Che you answ insh par (a)r by usi lon div 24.7 The desi tem traj T(t for ate bth rea is d at (a) t Deri an exp for the Lap tra of the
Exercises

24.3. Suppose that

F(z)

1 - 0.2Z-1

(1 + 0.6Z-1)(1

- 0.3Z-1)(1

- Z-1)

(a) Calculate
f*(t).

the corresponding

time-domain

responsef*(t).

24.4.

Determine

the inverse

transform

of

z(z + 1)

(z

1)(z2 - z + 1)

by the following methods:

(a) Partial fraction expansion. (b) Long division.

the sampling period is t1t

that

2 min. The pulse is f

= 3 for

2 ::; t < 6.

6.-

31-

.1 4

.1
B

24.6. The pulse transfer

function

of a process -

Time(min)

is given by

Y(z)

5(z + 0.6)

(a) Calculate method.

the response

X(z)-Z2-Z+0.41

y(nM)

to a unit step change in x using the partial fraction

(c) What is the steady-state

value of y?

T(s).

(b)

Determine

the

corresponding

I-transform

T(z)

for sampling

periods

of t1t

= 4

and 8 min.

T(OC)BOr/25~

J 0

20
Time(min)

40

24.8. The dynamic behavior the first-order transfer

of a temperature function,
T:"(s)=~

sensor and transmitter

can be described

;JOI

by

T(s)

8s + 1

Ii

DY OF DI SY whe thev tim con ano de ar in se Tofs =be, atim tem ct mat m0 e (a)ir Wh isis the ma va th m te T com eve tw mi tw = th m 24.1 The pul tran fun ofi ais pm gi by 24.1 Apr gisb chr use toa as co cono loo The ope tra fu gi pulh tran fun ofd G( wi ZO sam ope res b( us H 24.1 Det the pul tra fup w zfu h th s s-do Chtn you wis thc in Se 23 N ti M exp Wh is= the co di eq D y resp inth the out Yte nYn fch aor sas in a s 24.1 Fin the. resp Yn for the dif eq Yn -di Y:i +n 0 X Let Xo =lon 1Us Xn =or 0,w fa nd 2 1.
588
RESPONSE

If the actual temperature

changes

as follows (t in seconds):

(b) If samples
the logged

of the measured

temperature

70Cfort<0T=85Cfor0s;t<1070Cfort2:10

are automatically

logged in a digital

temperature?

24.9. The transfer function for a process model and a zero-order hold can be written as
H(s)Gp(s)

1 -

e-SM

(lOs

3.8e-zs + 1)(5s + 1)

Derive an expression for the pulse transfer function of H(s)Gp(s) when ~t

= 2.

Y(z)

2.7z-!(z + 3)

(a) Calculate the response y(n~t) to a unit step change in x using the partial fraction method. (b) Check your answer in part (a) by using long division. (c) What is the steady-state value of y?

X(z)-Z2-0.5z+0.06

feedback

G(s)

and

is

=GcHGpGm(G.=1)

B(s)

G(s)

E(s)

= 2 1 + 8s

l-e-Sl!.t

10

)(

-21

)(

12s + 1) e

(a) Suppose that a sampling period of ~t = 1 min is selected. Calculate HG(z), the

(b) If a unit step change in the controller error signal e(t) is made, calculatethe

~I

process
here.

Gp(s)

= K/[(5s + 1)(3s + 1)] using partial fraction expansion in the

24.13.

Find

HG(z)

if G(s)

= (1 - 9s)/[(3s + 1)(15s + 1)] for ~t = 4 (use partial fraction

24.14.

Verify

the

z-transform

in Table

24.1

for

f(t)

= t2. What is the z-transform for

f(t)

= 1 - e-at?

the

results.

ill...

24.16 Use ) longe divis tores calc the firs eig coe of the zgi b .17.. Deri the1 puls tran fun for an ana lea de ca w a z + C orde hold The lead dev has the tran fun ('T Use parti frac exp (f:.. =De 11u and com the wi th ) lo di _..19 For G(s) =obt 1and +loc 1G(z +M 2)(s /[(s for = )], re ~.20. Toan dete the effe ofsk pol zer ca th Forze samp peri ofan Mpo =wh 1nd a, f:..t =or 2 det
Exercises

589

0.8rl

F(z)

= (1

0.8z-l)Z

1)/('Tzs

the steady-state

gain of the pulse transfer

function.

.18. Determine

the sampled

function f(nf:..t) corresponding

(

to the z-transform

z) -

0.5z-1

- 1 - 1.5z-1 + 0.5z-z

method

for the first six sampled

values (n

= 0, 1,

. . . , 5).

to a unit step change in the input. Repeat z-transform) and compare the step responses

using Tustin's method (approximate for the first five samples.

step responses of the pulse transfer functions shown below for the first six sampling instants, n = 0 to n = 5. What conclusions can you make concerning the effect of pole and zero locations? 1 (a) i"""-=- Z-I

(b) 1 + 0.7z-1 1 (c) 1 - 0.7z-1

(d) (1 + 0.7z-I)(1 - O.3z-l) 1 - 0.5rl (e) (1 + 0.7rl)(1 - 0.3z-l) f 1 - 0.2rl ( ) (1 + 0.6rl)(1 - 0.3z-l)

:4.21. For the transfer functions shown below, determine the corresponding pulse transfer function HGp(z) for the system and a zero-order hold. 1 (a) Gp(s) (b) Gp(s)

= (s + 1)3
6(1

s)

= (s + 2)(s + 3)

of HGp(z) lie outside the unit circle for either process. Discuss the significance of these results.

11.1 Atcla Pint con isco toec be2 use inft ain Ilin em lo F n <ex Kfro Ore Wo yo th st c1 li to . c (a)p The spa on the tem tra is fr (b)4 zer (c)1 con val "tr is ch the valu ofta Kc tha res asy s 11.3 Anif ope uns pro hae th) tra fu va'I pco mT (ta + 1th -1 1 ofha Kco and '1"/ tha res inl atT ssy clo neg dyn wh the co va s
it has been
-10

determined

that

the

closed-loop Justify

system

is stable

when

'1"/

following

instrumentation

changes?

your

answers

using

qualitative

=10minand

arguments.

11.2.

The

block

diagram

of a feedback

control

system

is shown

in the

drawing.

Determine

Can this process be made closed-loop stable by using a proportional feedback controller, Gc(s) = Kc? Can closed-loop stability be achieved using an ideal proportionalderivative controller, Gc(s) = Kc(1 + TDS)? Justify your answers. For the liquid-level control system in Figure 10.22, determine the numencal values

11.4.

numerical

values

are available:

A=3ft2

ih = 10 gal/min

Kv=-1.3gal/minimA(forcontrolvalve)Km=4mA/it(forleveltransmitter)

KG=GGG=

11.5 Con the= bloc diag inon Fig 11. wit aef pG co ro K 'Whi of1. thein follo cha wo hav the mo sig th st limit forsh clos sys Jus you ans (a)o The proc time dela isex red fro 2oc t2o (b)Th mea tim con isco red fro tv 1. 11.6 Ittim isdel desi tothe con the exit tem Tz of he draw by th adju stea flow rate ws Un dis whee theop time con and hav un of se p20 ifrom outp sooF exp in At th no cond =var 1ew mA Aft ami cha 2T the co ud ou r avalu ninW stead (to tak fiv ass tim t varie linea 4fro tmA as Tz 12 to 16 of(H thee resu osci wh Ke =di K Us th su meth and Eule iden
Exercises

269

and the following transfer

G,(s) =

functions:

0.8

Se -2s

Gp(s)

!GL(s)

4e-s = 15s + 1

If!

temperature Tt. The dynamic behavior by the transfer functions:

=lOs+1G(s)=~m2s+1

of the heat exchanger

can be approximated

n(s)

2.Se -s

of

W;(s)=lOs+1[=]Ibis

---;-- = 5 ( )
T2(s)
Tlss+

O.ge-ZS

= ] dimensIOnless

has the following

steady-state

characteristics:
ws=0.6yp=4

ature transmitter

has negligible

dynamics

and is designed

so that its output

signal

i~

Ip

Liquid out

Liquid in

[2]

= Steam trap

TJ.W

WsSteamT2'W

(a) If a proportional feedback controller is used, what is Kern?What is the frequency

(b) Estimate

Kern using term.

the

Routh

criterion

and

a 1/1 Pade

approximation

for

the

time-delay

Does

this

analysis

provide

a satisfactory

approximation?

lIIil:" 'I'

II
!il III1

".
ill
II

I,

1/ i~ .I!

11

11",I' ,I: Ililll!

,I

11.7 Coh the blo dia in Fi 11 w ttf fo 11.8 Ael spro plp ec m c b trol asis sho ins the dra (a)iI For wh ran s)aw ofh T= ms wW tro re sy h b Tm eve fur (c)st Ifde a1,g pva co ro w T u 11.9 An3 ope unF priw ist ba tp tr Can amiC pKG fee co ofst KcP res ins ais sre clo sy ta 11.1 Ath inc co an tr c f wit tim con of 2, 5o m T ran ga th in islo use wit TD =s 2a ban dia acl fco s ofee con gai Kf
270
STABILITY

OF

CLOSED-LOOP

Gc=KcGv=2G=O.4(s-a)G=~

(2s

1)(lOs

+ 1)

CONTROLSYSTEMS

5s

+ 1

Does the presence of a "right half plane zero" (i.e., a > 0) in the proces function affect the stability of the closed-loop system? (Hint: Consider the uations where a = 0 and a > 0.)

G=-mS+1

-P

4.5

(10s + 1)2

(b) What

practical

arguments

might be used to restrict

TmS+1

the range(s) of aci

answers

to (a) and (b) be affected?

B(s)

e-2s

G(s)=P(s)=3s-1

Kf

II

s+ 1

~IRKc

s-2 (8

+ 10)(s + 5)

1 s+ 1

I II'