9/27/2013

BITS, PILANI K. K. BIRLA GOA CAMPUS

Process Control- CHE C441
Chapter #4
Transfer Function and State-space Model
Dr. Saroj Sundar Baral

Department of Chemical Engineering
Transfer Functions
Convenient representation of a linear, dynamic model.
A transfer function (TF) relates one input and one output:
The following terminology is used:
u
input
forcing function
cause
y
output
response
effect
) (
) (
system
) (
) (
s Y
t y
s U
t u

Definition of the transfer function:
Let G(s) denote the transfer function between an input, x, and an
output, y. Then, by definition
where:
Development of Transfer Functions
Example: Stirred Tank Heating System
) (
) (
) (
s U
s Y
s G =
| |
| | ) ( L ) (
) ( L ) (
t u s U
t y s Y
=
=
Figure 2.3 Stirred-tank heating process with constant
holdup, V.
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Recall the previous dynamic model, assuming constant liquid
holdup and flow rates:
( )
(2-36)
i
dT
V C wC T T Q
dt
= +
Suppose the process is at steady state:
( )
0 (2)
i
wC T T Q = +
Subtract (2) from (2-36):
( ) ( ) ( )
(3)
i i
dT
V C wC T T T T Q Q
dt

(
= +

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But,
( )
(4)
i
dT
V C wC T T Q
dt

'
' ' '
= +
where the deviation variables are
, ,
i i i
T T T T T T Q Q Q
' ' '
= = =
( ) ( ) ( ) ( ) ( )
0 (5)
i
V C sT s T wC T s T s Q s
' ' ' ' '
( ( =

Take L of (4):
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At the initial steady state, T(0) = 0.
Rearrange (5) to solve for
( ) ( ) ( )
1
(6)
1 1
i
K
T s Q s T s
s s t t
| | | |
' ' '
= +
| |
+ +
\ . \ .
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where
1
and
V
K
wC w

t = =
G
1
and G
2
are transfer functions and independent of the
inputs, Q and T
i
.
Note G
1
(process) has gain K and time constant t.
G
2
(disturbance) has gain=1 and time constant t.
gain = G(s=0). Both are first order processes.
If there is no change in inlet temperature (T
i
= 0),
then T
i
(s) = 0.
System can be forced by a change in either T
i
or Q
(see Example 4.3).
(s) T (s) G (s) Q (s) (s)=G T
i
'
+
' '
2 1
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Conclusions about TFs
1. Note that (6) shows that the effects of changes in both Q
and are additive. This always occurs for linear, dynamic
models (like TFs) because the Principle of Superposition is
valid.
i
T
2. The TF model enables us to determine the output response to
any change in an input.
3. Use deviation variables to eliminate initial conditions for TF
models.
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Example: Stirred Tank Heater
0.05 K = 2.0 t =
0.05
2 1
T Q
s
' '
=
+
No change in T
i

Step change in Q(t): 1500 cal/sec to 2000 cal/sec
500
Q
s
'
=
0.05 500 25
2 1 (2 1)
T
s s s s
'
= =
+ +
What is T(t)?
/
25
( ) 25[1 ] ( )
( 1)
t
T t e T s
s s
t
t

'
= =
+
/ 2
( ) 25[1 ]
t
T t e

'
=
From line 13, Table 3.1
Properties of Transfer Function Models
1. Steady-State Gain
The steady-state of a TF can be used to calculate the steady-
state change in an output due to a steady-state change in the
input. For example, suppose we know two steady states for an
input, u, and an output, y. Then we can calculate the steady-
state gain, K, from:
2 1
2 1
(4-38)
y y
K
u u

For a linear system, K is a constant. But for a nonlinear

system, K will depend on the operating condition
( )
, . u y
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Calculation of K from the TF Model:
If a TF model has a steady-state gain, then:
( )
0
lim (14)
s
K G s

=
This important result is a consequence of the Final Value
Theorem

Note: Some TF models do not have a steady-state gain (e.g.,
integrating process in Ch. 5)
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2. Order of a TF Model
Consider a general n-th order, linear ODE:
1
1 1 0
1
1
1 1 0
1
(4-39)
n n m
n n m
n n m
m
m
m
d y dy dy d u
a a a a y b
dt
dt dt dt
d u du
b b b u
dt
dt

+ + + = +
+ + +
Take L, assuming the initial conditions are all zero. Rearranging
gives the TF:
( )
( )
( )
0
0
(4-40)
m
i
i
i
n
i
i
i
b s
Y s
G s
U s
a s
=
=
= =

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The order of the TF is defined to be the order of the denominator
polynomial.
Note: The order of the TF is equal to the order of the ODE.
Definition:
Physical Realizability:
For any physical system, in (4-38). Otherwise, the system
response to a step input will be an impulse. This cant happen.
Example:
n m >
0 1 0
and step change in (4-41)
du
a y b b u u
dt
= +
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General 2nd order ODE:
Laplace Transform:
2 roots
: real roots
: imaginary roots
Ku = y
dt
dy
b +
dt
y d
a
2
2
+
| | ) ( ) ( 1 + bs as
2
s KU s Y = +
1 ) (
) (
) (
2
+ +
= =
bs as
K
s U
s Y
s G
a 2
a 4 b b
s
2
2 , 1

=
2
b
1
4a
>
2
b
1
4a
<
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2nd order process
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Examples
1.
2
2
3 4 1 s s + +
2
16
1.333 1
4 12
b
a
= = >
2
1
3 4 1 (3 1)( 1) 3( )( 1)
3
s s s s s s + + = + + = + +
3
, ( )
t
t
transforms to e e real roots

(no oscillation)
2.
2
2
1 s s + +
2
1
1
4 4
b
a
= <
2
3 3
1 ( 0.5 )( 0.5 )
2 2
s s s j s j + + = + + +
0.5 0.5
3 3
cos , sin
2 2
t t
transforms to e t e t

(oscillation)
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From Table 3.1, line 17
2 2
2
( )
1
3
2
e
s b
s s
e
e
e

+ +
+ +
| |
+
|
\ .
L
- bt
2
2
sin t
2 2
=
(s+ 0.5)
Two IMPORTANT properties (L.T.)
A. Multiplicative Rule
B. Additive Rule
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Example 1:
Place sensor for temperature downstream from heated
tank (transport lag)
Distance L for plug flow,
Dead time
V = fluid velocity
Tank:
Sensor:
Overall transfer function:
1
1
1
K T(s)
G = =
U(s) 1+ s t
V
L
= u
2 2
2
s -
2 s
2
1, K
s + 1
e K
=
T(s)
(s) T
= G t s
t
u
is very small
(neglect)
s 1
e K K
G G
U
T
T
T
U
T
1
s
2 1
1 2
s s
t +
= = =
u
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Example:
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Examp
le:4.1
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Examp
le:4.2
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Example:4.4
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Example:4.5
Linearization of Nonlinear Models
Required to derive transfer function.
Good approximation near a given operating point.
Gain, time constants may change with
operating point.
Use 1st order Taylor series.
) , ( u y f
dt
dy
=
) ( ) ( ) , ( ) , (
,
,
u u
u
f
y y
y
f
u y f u y f
u y
u y

c
c
+
c
c
+ ~
u
u
f
y
y
f
dt
y d
s
s
'
c
c
+
'
c
c
=
'
Subtract steady-state equation from dynamic equation
(4-60)
(4-61)
(4-62)
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Example 3:
q
0
: control,
q
i
: disturbance
0 0
at s.s.
i i
dh
A q q q q
dt
= =
Use L.T.
0
( ) ( ) ( )
i
AsH s q s q s
' '
'
=
(deviation variables)
suppose q
0
is constant
0
i
q
'
=
H(s) 1
( ) ( ),
q ( )
i
AsH s q s
i
As
s
'
'
'
= =
'
pure integrator (ramp) for
step change in q
i

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0 i
dh
A q q
dt
'
' '
=
q
0
is manipulated by a flow control valve,
h C q
v
=
0
nonlinear element
Figure 2.5
R: line and valve resistance
linear ODE : eq. (4-74)
Linear model
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0
if
V
q C h =
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i v
dh
A q C h
dt
=
Perform Taylor series of right hand side
1
i
dh
A q h
dt R
'
' '
=
0.5
2 /
v
R h C =
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Example:4.13
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Thanks
35 BITS, PILANI K. K. BIRLA GOA CAMPUS