PROCESS CONTROL

FUNDAMENTALS
CH3031

Dynamic Behavior Content:

for systems of different order

Dynamic Behavior
Order of a Transfer Function
Model
High Order Systems
Performance characteristics

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Dynamic Behavior
In analyzing process dynamic and process
control systems, it is important to know how
the process responds to changes in the process
inputs.
A number of standard types of input changes are
widely used for two reasons:
1. They are representative of the types of changes
that occur in plants.
2. They are easy to analyze mathematically.

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1. Step Input
• A sudden change in a process variable can be
approximated by a step change of magnitude,
M:

𝑈 𝑠 (𝑡 ) ≜
{ 0 ,𝑡 <0
𝑀 ,𝑡≥0
• The step change occurs at an arbitrary time
denoted as t = 0.
Note: Special Case: If M = 1, we have a “unit
step change”. We give it the symbol, .

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 Example of a step input:
• A reactor feedstock is suddenly switched from
one supply to another, causing sudden
changes in feed concentration, flow, etc.
Example:
The heat input to the stirred-tank heating system is suddenly
changed from 8000 to 10,000 kcal/hr by changing the electrical
signal to the heater. Thus,
and

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2. Ramp Input
• Industrial processes often experience “drifting
disturbances”, that is, relatively slow changes
up or down for some period of time.
• The rate of change is approximately constant.
• We can approximate a drifting disturbance by a
ramp input:

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Example of a ramp input:
1. Ramp a set point to a new value.

2. Feed composition, heat exchanger fouling,

catalyst activity, ambient temperature.

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 3. Rectangular Pulse input
• It represents a brief, sudden change in a
process variable:

Examples:
1. Reactor feed is shut off for one hour.
2. The fuel gas supply to a furnace is briefly interrupted

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 4. Sinusoidal Input
• Processes are also subject to periodic, or
cyclic, disturbances. They can be
approximated by a sinusoidal disturbance:

where: A = amplitude,
w = angular frequency
Examples:

1. 24 hour variations in cooling water temperature.

2. 60-Hz electrical noise
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5. Impulse Input
Here,
It represents a short, transient disturbance.
Useful for analysis since the response to an impulse
input is the inverse of the TF. Thus,

Examples:
1. Electrical noise spike in a thermo-couple reading.
2. Injection of a tracer dye. 9
Type of Input Changes Diagram
1. Step

2. Ramp

3. Rectangular Pulse

4. Sinusoidal

5. Impulse

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First-Order System
The standard form for a first-order TF is:
Y s  K

U s  τs  1
where:

Consider the response of this system to a step of magnitude,

M:
M
U t   M for t  0  U s 
s
Substitute and rearrange,
𝐾 𝐾𝑀
𝑌 ( 𝑠 )= 𝑈 ( 𝑠) =
𝜏 𝑠+ 1 𝑠 ( 𝜏 𝑠 +1 )
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 Take ℒ-1,


y t   KM 1  e t /τ 
is the steady-state value of y(t).
Thus,

t
0
0.632
𝑦 0.865
𝑦𝑠 0.950
0.982
0.993 Large
means a slow
response
t
τ 12
 Example of 1 Order Systems
st

1. Thermometer 2. Liquid Level process

3. Mixing Process 4. Heating process.

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Integrating Process –special case
Not all processes have a steady-state gain. For example, an
“integrating process” or “integrator” has the transfer function:

Y s K
  K  constant 
U s  s

Consider a step change of magnitude M. Then U(s) = M /s and,

KM ℒ-1
Y  s   2  y t   KMt
s
Thus, y(t) is unbounded and a new steady-state value does not
exist.

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 Common Physical Example:
Consider a liquid storage tank with a pump on the exit line:

Assume:
- Constant cross-sectional area, A.
-

Mass balance:
at S.S, (2);
Eq. (1) – Eq. (2) and take ℒ
1 𝐻 (𝑠 ) 1
𝐻 ( 𝑠 )=
𝐴𝑠
[ 𝑄 ( 𝑠 ) − 𝑄0 ( 𝑠 ) ] For constant =
𝑄 ( 𝑠 ) 𝐴𝑠15
Second-Order Systems
• Standard form:
Y s  K
 2 2
U s  τ s  2ζτs  1

which has three model parameters:

time constant [=] time

• Equivalent form:

Y s  K n2

U s s 2  2ζn s  n2
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• The type of behavior that occurs depends on the numerical
value of damping coefficient, ζ :
It is convenient to consider three types of behavior:
Damping Type of Response Roots of Charact.
Coefficient Polynomial
ζ 1 Over-damped Real and ≠

ζ 1 Critically-damped Real and =

0  ζ 1 Under-damped Complex conjugates

Note: The characteristic polynomial is the denominator of the

transfer function:
τ 2 s 2  2ζτs  1

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Step response of under-damped
second-order processes

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Step response of critically-damped and
overdamped second-order processes

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Several general remarks can be made
concerning the responses of 2nd order
system show :
1. Responses exhibiting oscillation and
overshoot (y/KM > 1) are obtained only for
values of ζ less than one.
2. Large values of ζ yield a sluggish (slow)
response.
3. The fastest response without overshoot is
obtained for the critically damped case (ζ=1)
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Example of 2 Order systems nd

1. Inherent System 3. Process System Installed with controllers

(manometer, pneumatic Valve)

2. System In Series
(first-order tank in series)

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System In Series : Non-Interacting tanks
𝑞𝑖
In the two (non-interacting tanks)
shown, the outflow of each tank
h1
is a function of the liquid level in
that tank. 𝑞1
Assume:
- Cross-sectional areas of tanks is
A1 and A2 respectively. h2
𝑞2
- R1 and R2 are the resistances of
the two exit valves.
1 1
i.e. q1  h1 and q2  h2
R1 R2

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Non-Interacting tanks cont.
𝑞𝑖
• MB for tank 1 and tank 2

𝑑 h1 1 h1
𝐴1 =𝑞𝑖 − 𝑞1=𝑞 𝑖 − h1
𝑑𝑡 𝑅1
𝑞1
𝑑 h2 1
𝐴2 =𝑞 1 −𝑞 2=𝑞 1 − h2
𝑑𝑡 𝑅2
h2
• Putting in deviation form and taking Laplace Transforms: 𝑞2
𝑑 𝐻1 1 1
𝐴1 =𝑄𝑖 − 𝐻1 𝐴1 𝑠 𝐻 1 ( 𝑠 )=𝑄 𝑖 ( 𝑠 ) − 𝐻 1 ( 𝑠)
𝑑𝑡 𝑅1 𝑅1
𝑑 𝐻2 1 1
𝐴2 =𝑄1 − 𝐻2 𝐴2 𝑠 𝐻 2 ( 𝑠 )=𝑄1 ( 𝑠 ) − 𝐻2( 𝑠 )
𝑑𝑡 𝑅2 𝑅2
1 1
𝑄1 = 𝐻1 𝑄1 ( 𝑠 )= 𝐻 1 ( 𝑠)
𝑅1 𝑅1
1 1
𝑄 2= 𝐻2 𝑄2 ( 𝑠) = 𝐻 2 ( 𝑠 ) 23
𝑅2 𝑅2
 Non-Interacting tanks cont.
Find the TF for / :

𝑄𝑖 ( 𝑠 ) 𝐻 1 ( 𝑠 )𝐺 (𝑠)𝑄1 ( 𝑠 )𝐺 (𝑠) 𝐻 2 ( 𝑠 ) 𝑄2 ( 𝑠)
𝐺1 (𝑠) 2 3 𝐺 4 (𝑠)
• The TF expressed as:

𝑄 2 (𝑠) 𝐻 1 (𝑠) 𝑄 1( 𝑠) 𝐻 2 (𝑠 ) 𝑄2 ( 𝑠)
𝐺 ( 𝑠) = =𝐺1 ( 𝑠 ) 𝐺 𝑠 ( 𝑠 ) 𝐺 3 ( 𝑠 ) 𝐺 4 ( 𝑠 )=
𝑄 𝑖 (𝑠) 𝑄 𝑖 ( 𝑠) 𝐻 1 ( 𝑠) 𝑄1 ( 𝑠) 𝐻 2 (𝑠)
• The individual TFs are:

𝐻1 (𝑠 ) 𝑅1 𝐾1
𝐺1 ( 𝑠 )= = =
𝑄𝑖 ( 𝑠 ) 𝐴1 𝑅1 𝑠 +1 𝜏 1 𝑠+1
𝑄1 ( 𝑠 ) 1 1
𝐺 2 ( 𝑠) = = =
𝐻 1 ( 𝑠) 𝑅1 𝐾1
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 Non-Interacting tanks cont.
𝐻 2 ( 𝑠) 𝑅2 𝐾2
𝐺 3 ( 𝑠) = = =
𝑄1 ( 𝑠 ) 𝐴 2 𝑅2 𝑠 +1 𝜏 2 𝑠+1
𝑄2 ( 𝑠 ) 1 1
𝐺 4 ( 𝑠 )= = =
𝐻2 (𝑠 ) 𝑅2 𝐾2

𝑄𝑖 ( 𝑠 ) 𝐾 1 𝐻 (𝑠 ) 1 𝑄1 ( 𝑠 ) 𝐾 2 𝐻 (𝑠 ) 1 𝑄2 ( 𝑠)
1 2
𝜏 1 𝑠+1 𝐾1 𝜏 2 𝑠+1 𝐾 2

The overall TFs will be:

2nd order TF

𝐾
¿ ; 𝐾 =1
( 𝜏 1 𝑠+ 1 ) ( 𝜏 2 𝑠+ 1 ) 25
System In Series : Interacting tanks

• Mass balance for Tank 1 and Tank 2 :

;
;
• At Steady State
;
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Interacting tanks cont.

• From MB and SS eq.

;
;

Taking Laplace, ℒ transformation

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System In Series : Non-Interacting vs. Interacting

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High Order Systems
• Systems in series > 2 (3 tanks and
above in series)
• Systems with dead time
• Systems with inverse response

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 System with Dead Time
(Transportation Lag, Distance Velocity Lag) Synonyms

Figure: Example of Closed loop control system with Dead Time

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 TF for system with dead time

• Relationship for y(t) and x(t) :

• By using deviation variable,

• Taking Laplace transform

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 Dead-Time system approximation

• Taylor series for exponential function is:

• Dead time TF , G(s) can be approximate by

1. First-order Taylor series (directly from Taylor series)
2. First-order Padé (modified G(s) then take 1st-order Taylor series)
3. Second-order Padé (modified G(s) then take 2nd-order Taylor series)

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 Approximation techniques
1. First-order Taylor series

2. First-order Padé

3. Second-order Padé

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Response to approximation

Step response to approximation of the dead time e-τs

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Examples of poles and zeros in the transfer
function
Liquid Level process (1st Order)

Non interacting system (2nd Order)

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Examples of poles and zeros in the transfer
function cont.

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Qualitative analysis for the system response
Suppose the overall system transfer function is given by,

Several conclusions can be made based on the location of

these poles in the plane complex above.

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Conclusions #1: Real and different poles

Let take this TFs:

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Conclusions #2: Real multiple poles

Let take this TFs:

Response is
same as #1
because
poles are
REAL !!!

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Conclusions #3: Complex conjugate

Let take this TFs:

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The response nature to the location of the system poles
can be summarized as

C
B

A F E

D*

B*

C*

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THE END

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