Process Modeling and Control (PMC)

Time Delay Systems

by:
Dr. Muhammad Zaman
Senior Engineer
Department of Chemical Engineering
Books:
1) Principles and practice of automatic process control, 2nd Ed., Carlos
A. Smith & A. B. Corripio
2) Process dynamics, modeling and control, B. A. Ogunnaike & W. H.
Ray
3) Process control: modeling, design and simulation, B. Wayne Bequette
Time Delay Systems

So far, with an input change, the output

begin to respond without delay.

In many processes, there is a noticeable

delay, with the process output displaying
an initial period of no response.

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 An Introductory Example
Initial uniform fluid temperature TO Ti(t)

How the temperature at the pipe outlet responds?

No instantaneous change in
outlet temperature

Finite time (L/v) is required

for individual fluid element to
travel distance L

No other influence on the fluid element

Any change in the inlet will be observed at the outlet after this time

Exactly same form of output as the input with L/v time units delay

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 Mathematical Model and Analysis
Energy balance
=
+
Dividing with z, and taking the limits as z0
(, ) (, )
+ = ; < <

(, ) (, )
, = , () + =



(, )
(, )
+ =


(, )
(, ) + =

For 2 term, interchanging order of integration & differentiation:
nd

(, )

= (, ) = (, )


(, ) + (, ) =
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 Mathematical Model and Analysis
A 1st-order, linear, ODE in y(z,s)
LT converts an ODE to an algebraic equation, the PDE to ODE


, =
Find C1 by using entrance condition at z=0, , = ,


, = , At outlet (zL) , = ,

= = ,

, = , =

, =
, =
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Mathematical Model and Analysis
The output is directly the same as the
input, only delayed by time units,
Pure time delay process
Transportation lag, dead time, distance-
velocity lag, or simply time delay

6
 The Pure Time Delay Process
=
These TFs are not the ratios of polynomials in s.

=


=

+ + + + + +
! ! !
Pure time-delay system classify as an infinite-order system.

7
 Response to Various Inputs
= ( ) = sin

The frequency response of the pure time-delay system:

= =

8
 Dynamic behavior of systems with
time delays
A Physical Example
No reaction takes place in the pipe
= ( )

= A chemical reactor where reactants

are mixed a long distance upstream
=
Two processes connected in series
Long pipe behaves like a pure time-delay process
Reactor as a 1st-order system
=
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Dynamic behavior of systems with
time delays
=

= ()
+
Block diagrammatic representation

= ()
+

This is the TF representation of a 1st-order system with delay,

sometimes referred to as a 1st-order-plus-time-delay system.

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 Dynamic behavior of systems with
time delays
Response to various inputs
Overall response is exactly like the 1st-order system, only shifted
by time units.
Response to a unit step change in the pipe inlet
concentration

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 Dynamic behavior of systems with
time delays
General considerations
For 1st-order system
= ()

For 2nd-order system =
+ +
In general, for the (p,q)-order system with associated time delay :
+ + ( + )
=
+ + ( + )

= +
=
= +

For time-delay processes in parallel:

= + ++
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 Approximate behavior of very high
order systems
Compare 1st-order time delay system with four 1st-order systems in
series

Few parameters required for 1st-order time delay system(3

parameters) approx than in higher order systems (N+1 parameters)

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 The Steam-heated Heat Exchanger
(, ) (, )
+ = (, ) ; <<

(, ) (, )
+ = (, ) ; < <


, + (, ) = (, )

(, ) +
= , + ()

Solve for (, ), using entrance condition at = , (, ) = (, )
+ +

, = , + ()
+
+ +

, = , + ()
+
= + ()
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 The Steam-heated Heat Exchanger
The disturbance is y(0,s), the change in the inlet temperature

The input is u(s), the steam temperature

The output is y(L,s), the heat exchanger outlet temperature

= = =
+

= = =
+ + +
Pure 1st-order system with gain 1st-order-plus-time-delay with
Time constant gain K1, time const. , delay

=
The disturbance TF gd(s) is a pure time-delay system.

Its gain is +ve and less than 1.

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 Rational TF Approximations
Sometimes, it is more advantageous to approximate the dynamic
behavior of a high-order system by a lower order system plus a
time delay,

A rational TF replaced with one that contains the

This term is sometimes approximated by rational functions.

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 Pad Approximations
1st-order (p=q=1), 2nd-order approx
(valid up to ~) (p=q=2), (valid up
is defined as: to ~)

3rd-order approx (p=q=3),

(valid up to ~)

# of RHP zeros increases with with

the order of approx so that the time
delay being approximated by many
RHP zeros.

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Pad Approximations
The frequency response of Pade approximatins is by a Bode plot

The AR of Pade appr. is always exact, but lag is

poorly approximated at higher frequencies. 18
 High-order System Approximation
It is reasonable to consider approximating the
time delay by a finite number of 1st-order processes.

AR fails badly at high frequencies

Frequency response of a pure time-delay

using the N 1st-order system approximation

Unit step response of a pure time delay

using the N 1st-order system approximation

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