Fourth Class Process Control

Linearization of system with one variable :

1. Turbulent flow
2. Chemical reaction at nth order ≠ 1
3. Radiation heat transfer
Consider the following nonlinear differential equation , modeling a given
dx
process : dt =f ( x )

x o :a known value operating point expand the nonlinear function f ( x ) into a Taylor
series around the point x o and take :

( )
f ( x )=f ( x o ) +
df
dx xo
x−x o d 2 f
1!
+
d x2 ( ) xo
¿¿¿

If we neglect all terms of order two and higher , we take the following approximation
for the value of f ( x ):

( dxdf ) ( x −x )
f ( x )=f ( x o ) +
xo
o

Example:

Linearized the following function:

f ( H ) =Q=k √ H around Ho

solution
k
f ( H ) =Q=k √ H +
o
( H −H o )
2 √H
2

Linearization of system with many variable :

Consider the following dynamic system :

Expand the nonlinear function f 1 ( x , x o ) ∧f 2 ( x 1 , x 2 ) into Taylor series a round the point
(x o1 , x o2 ) and take :

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Fourth Class Process Control

[ ] [ ] [ ] [ ] [
2 2
∂f 1 ∂f ∂ f
2
( x ❑1 −x o1 ) 2
∂ f1 ( x❑2 −x o2 ) 2
∂ f
f 1 ( x 1 , x 2 )=f 1 ( x , x ) +
o
1
o
2 ( x −x )+ ∂ x1
❑
1
o
1 (x − x )+ ∂ x 1
❑
2
o
2 + 2
+
∂ x1 ( x o1 ,x )
o
2 2 ( x o1 ,x )
o
2 1 ( x1o , xo2 ) 2! ∂ x2 ( x 1,0 , x o2) 2! ∂ x1 ∂

f 2 ( x 1 , x 2 )=…

neglect terms of order two and higher , we take the following approximation:

o
[ ]
f 1 ( x1 , x2 ) ≈ f 1 ( x1 , x2 ) +
o ∂f1
∂ x1 (x o
1
o
,x
2 ) [ ]
( x❑1 −x o1 )+
∂f1
∂ x2 (x ,x )
o
1
o
2
( x❑2 −x2o )

) [ ] ( ) [ ]
d x1 ∂f1 ∂f 1
=f 1 ( x 1 , x 2 + ( x 2 −x 2 )
o o ❑ o ❑ o
x 1 −x 1 +
dt ∂ x1 (x o
1 ,x
o
2 ) ∂ x2 (x
❑
1,0
o
,x
2 )

Example:

f 1 ( x 1 )=k ( x❑1 + x ❑
2 ) linear

f ( x 1 , x 2 ) =k ( x 21 + x❑
2 ) nonlinear

f ( x 1 , x 2 ) =k ❑√ x 1 + x 2 nonlinear
❑ ❑

¿ k x 1 x 2 nonlinear

Example:

Linearized the following function

f ( x 1 , x 2 ) =k ❑√ x 1 + x 2
❑ ❑

Nears x o1∧x o2
k k
f ( x 1 , x 2 ) =k ❑√ x 1 + x 2 + ( x❑1 −x o2 ) + ( x ❑2 −x o2 )
o o

2 √ x +x 2 √ x +x
❑ o o ❑ o o
1 2 1 2

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