Transfer Functions

Consider the tank heating system shown in Figure 1. A liquid enters

the tank with a flowrate Fi (ft3/min), and a temperature Ti, where it is
heated with steam (having a flowrate Q, lb/min). Let F and T be the
flowrate and temperature of the stream leaving the tank. The tank is
considered to be well stirred, which implies that the temperature of the
effluent is equal to the temperature of the liquid in the tank.
The control objective of this heater is to keep the effluent temperature
T at a desired value. Draw a P& ID and block diagram for this control
system.
Unit 1: Process Control Loop
Process control loop

Pressure
Flow
Level
Process Temperature
pH

dP cell
I/P
Capacitance
Sensor Radar, Sonic
Magnetic
Resistance
IR/Laser

4-20 mA
Transmitter 1-5 Vdc

PID
Controller Fuzzy logic

4-20 mA
Transducer 3-15 psig

Linear
Control valve Equal percentage

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

Unit 1: Process Control Loop
Process control loop

Pressure
Flow
SP
Level
Process Temperature
pH

dP cell
Capacitance CONTROLLER
Sensor Radar, Sonic
Magnetic
Resistance
IR/Laser

4-20 mA
Transmitter 1-5 Vdc TRANSMITTER
CONTROL
Field/profibus VALVE

PID
Controller Fuzzy logic

PROCESS
4-20 mA
Transducer 3-15 psig

Linear
*SP = set point PV
Control valve Equal percentage

*PV = process value

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)
Unit 1: Process Control Loop
Process control loop: The Block Diagram

Simulation mode

CONTROLLER

CONTROL

PROCESS
VALVE
SP PV

TRANSMITTER

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

 Transfer Functions
Convenient representation of a linear, dynamic model.
A transfer function (TF) relates one input and one output:

x t y t
Chapter 4

system
X s Y s

The following terminology is used:

x y
input output
forcing function response
cause effect
The TF model enables us to determine the output response to
any change in an input.
 Definition of the transfer function:
Let G(s) denote the transfer function between an input, x, and an
output, y. Then, by definition
Y s
G s
X s
Chapter 4

where:
Y s L y t
X s L x t
 Transfer Functions for a Process
Example: Stirred Tank Heating
System
Chapter 4

Figure 2.3 Stirred-tank heating process with constant holdup, V.

 Equation (1) is the energy balance of the stirred-tank heating
system, assuming constant liquid holdup and flow rates:
dT
V C wC Ti T Q (1) (2-36)
dt
Suppose the process is at steady state:
Chapter 4

0 wC Ti T Q (2)

Subtract (2) from (1):

wC Ti Ti T T Q Q
dT
V C (3)
dt
 But,

dT
V C wC Ti T Q (4)
dt

where the deviation variables are

Chapter 4

T T T , Ti Ti Ti , Q Q Q

Take L of (4):
V C sT s T 0 wC Ti s T s Q s (5)

At the initial steady state, T(0) = 0.

 V C sT s T 0 wC Ti s T s Q s (5)

Rearrange (5) to solve for

K 1
T s
Q s Ti s (6)
s 1 s 1
Chapter 4

where

1 V
K and
wC w

T (s)=G1(s)Q(s) G2(s)Ti(s)

 K 1
T s
Q s Ti s (6)
s 1 s 1

T (s)=G1(s)Q(s) G2(s)Ti(s)

 K 1
T s Q s Ti s (6)
s 1 s 1
K (gain) it describes how far the output will travel
with the change of the input.
*If a process has a large K, then a small change in the
input will cause the output to move a large amount. If a
process has a small K, the same input change will move
the output a small amount

(time constant) describes how fast the output moves

in response to a change in the input.
*The time constant must be positive and it must have units of
time
 Order of transfer function

General first order transfer function

K
Y (s ) X (s )
s 1
Chapter 4

General second order transfer function

K
Y (s ) 2 2 X (s )
s 2s 1

First-order-plus-dead-time (FOPDT)

Kest0
Y (s ) X (s )
s 1
Response with time delay

X(t)

Y(t)

t=0 t=t0

to=Time delay/dead time

All first order systems forced by a step function will have
a response of this same shape.

Step response for first order system

To calculate the gain and time constant from
the graph
y
Gain, K
x
Time constant, value of t which the response is
63.2% complete
Transfer Functions for a Transmitter

PV(s) C(s)
H(s)
Process variable Transmitter output

C (s ) KT
H (s )
PV (s ) T s 1

KT = transmitter gain
T = transmitter time constant
Transfer Functions for a Controller
Proportional Control
For proportional control, the controller output is proportional to
the error signal,
p t p Kc e t (8-2)
where:
p t controller output
p bias (steady-state) value
Kc controller gain (usually dimensionless)
p is controller output when the error is zero

-The proportionality is given by the controller gain, Kc

-The controller gain determines how much the output
from the controller changes for a given change in error

Transfer function
Integral Control
For integral control action, the controller output depends on the
integral of the error signal over time,
1
p t p 0 e t *dt *
t
(8-7)
I
where I , an adjustable parameter referred to as the integral time
or reset time, has units of time.
Integral control action is normally used in conjunction with
proportional control as the proportional-integral (PI) controller :
1
p t p Kc e t 0 e t * dt *
t
(8-8)
I

20
The corresponding transfer function for the PI controller in is
given by

Transfer function

The PI controller has two parameters, Kc and I

Derivative Control
The function of derivative control gives the controller the
capability to anticipate where the process is heading by
calculating the derivative error
Thus, for ideal derivative action,
de t
p t p D (8-10)
dt
where D , the derivative time, has units of time.
Proportional-Integral-Derivative (PID) Control
Now we consider the combination of the proportional, integral,
and derivative control modes as a PID controller.

Form of PID Control

The form of the PID control algorithm is given by

1 t de t
p t p Kc e t e t * dt * D (8-13)
I
0 dt
The corresponding transfer function is:

Transfer function
Transfer function for Valve