Control 2

PARTE 2
TRANSFORMADA DE LAPLACE
UANL/FCQ/IQ/Control de Procesos Ene-Jun/2017
2.1 ANALISIS SISO MEDIANTE LAPLACE
Definicion 1. [Transformada de Laplace]

L {f (t)} = f (t)est dt
0

donde f (t) es de orden exponencial

SISO: single input - single output

es costumbre representar L {f (t)} por F (s)
36
Definicion 2. [Operador lineal]

Si L {f (t)}, L {g(t)} existen y a R, entonces
1. L {f (t) + g(t)} = L {f (t)} + L {g(t)}
2. L {af (t)} = aL {f (t)}
37
Transformada de Laplace de algunas Funciones

f (t) F (s) f (t) F (s)
k
(t) 1 sen(kt) s2+k2
1 s
u(t) s cos(kt) s2+k2
tn n!
sn+1
eatsen(kt) k
(s+a)2+k2
eat 1
s+a eat cos(kt) s+a
(s+a)2+k2
tneat n!
(s+a)n+1

u(t): escalon unitario, (t) delta de Dirac
38
Teorema 1. [Transformada de Laplace de una derivada]

Sea Y (s) = L {y(t)}, entonces
{ n
}
d y
L = snY (s) sn1y(0) sn2y (0) sn3y (0)
dt
s2y (n3)(0) sy (n2)(0) y (n1)(0)
39
Nota 1. [Repaso de frac. parciales, Smith-Corripio, p46-54]
1. Factores de 1er orden diferentes

Sea
P (s) P (s)
F (s) = =
Q(s) (s + s1)(s + s2) (s + sk ) (s + sn)
A1 A2 Ak An
= + + + + +
s + s1 s + s2 s + sk s + sn
entonces
P (s)
Ak = (s + sk ) (1)
Q(s) s=sk
40
2. Factores de 1er orden repetidos

Sea
P (s) P (s)
F (s) = =
Q(s) (s + s1)(s + s2) (s + sp)(s + sq )r
A1 A2 Ap
= + + +
s + s1 s + s2 s + sp
Aqr Aqr1 Aq1

+ r
+ r1
+ +
(s + sq ) (s + sq ) s + sq
entonces

1d i
r P (s)
Aqri = (s+sq ) i = 0, 1, 2, . . . , r1 (2)
i! dsi Q(s) s=sq

para A1, A2, . . . , Ap usamos la expresion para factores diferentes, vease (1)
41
3. Factores de 2do orden

En este caso se puede trabajar de la manera tradicional (mediante
un sistema de ecuaciones algebraicas) o mediante factores de
primer orden , veanse (1) y (2), con coecientes complejos.
Solo basta emplear la sigs. identidades
ej + ej
cos() =
2
ej ej
sen() =
2j

los cuales siempre, al igual que las raices, apareceran en pares.

recuerde que cos() + j sen() = ej
42
Ejemplo 1. [Seborg, p58]
d3y d2 y dy
3
+ 6 2 + 11 + 6y = 1
dt dt dt
sujeta a:
y(0) = y (0) = y (0) = 0
43
Ejemplo 2. [Coughanowr, p35, #2b modified]
d2q dq
2
+ = 2t
dt dt
sujeta a:
q(0) = 4, q (0) = 2
44
Ejemplo 3. [Seborg, p64]
d2y dy
2
+ 4 + 5y = 1 + t
dt dt
sujeta a:
y(0) = y (0) = 0
45
2.2 LINEALIZACION
Definicion 3. [Linealizacion]
Proceso mediante el cual aproximamos un sistema no lineal por
uno lineal.
Nota 2. [Justificacion de la linealizacion]

1. Solo para los sistemas lineales se tiene una solucion analitica.
2. La gran mayoria de los desarrollos en el diseno y control de

sistemas se ha limitado a procesos lineales.
46
2.2.1 Linealizacion de una ec. no lineal, con una varible.

Considere la sig. ec. dif. no lineal
dx
= f (x)
dt
Si efectuamos la expansion de la fn. no lineal f (x) en series de

Taylor, alrededor del punto x0, y eliminamos los terminos de orden
dos y superiores, se tiene
dx
= f (x0) + f (x0)(x x0)
dt
47
Es claro que la aproximacion lineal depende del punto, x0,

alrededor del cual se hace la expansion en series de Taylor.
Fig. 1: Linear aproximation of a nonlinear function
La aproximacion solo es exacta en el punto de linealizacion.

48
Ejemplo 4. [Stephanopoulos, p118]

Consider the tank system shown in gure 2.
Fig. 2: Tank system
where A is the cross-sectional area of the tank and h the height

of the liquid
level. Linearize the model if the outlet ow rate is
Fo = h
49
2.2.2. Linealizacion de sistemas con muchas variables

Considere el siguiente sistema dinamico
dx1
= f1(x1, x2)
dt
dx2
= f2(x1, x2)
dt
La expansion en serie de Taylor de las funciones f1(x1, x2)
y f2(x1, x2) alrededor del punto (x10, x20) despues de haber
eliminado los terminos de orden dos y superiores nos lleva a
50
[ ]
dx1 f1
= f1(x10, x20) + (x1 x10)
dt x1 (x10,x20)
[ ]
f1
+ (x2 x20)
x2 (x10,x20)
[ ]
dx2 f2
= f2(x10, x20) + (x1 x10)
dt x1 (x10,x20)
[ ]
f2
+ (x2 x20)
x2 (x10,x20)
51
2.2.3 Variables de desviacion

Suponga que xs es el estado estable del sistema
dx
= f (x) (3)
dt
es decir
dxs
= 0 = f (xs)
dt
Ademas, sea xs el punto alrededor del cual se linealiza el sistema

(3), es decir x0 = xs, as se tiene

dx df
= x
dt dx x=xs

x = x xs
52
Ejemplo 5. [Bequette, p138, #12]

Consider the following model of 2-stage absorption column
( ) ( )
dw L + 0.5V V
= w+ z
dt 20 40
( ) ( ) ( )
dz L L + 0.5V 1
= w z+ V
dt 20 20 200
where w and z are the liquid concentrations on stage 1 and stage
2, respectively. L and V are the liquid and vapor molar owrates.
The steady-state input values are L = 80 gmol inert liquid/min
and V = 100 gmol inert vapor/min.
a. Find the staedy-state values of w and z.
b. Linearize (around steady-state: Ls, Vs, ws, zs)

Ene-Jun/2008, parcial 1, problema 1
53
Ejemplo 6. [Brosilow, p37, #8]

A storage tank is 8 f t deep and open to the atmosphere. The
uniform cross-section area is 100 f t2. The normal ow to the
tank is 100 f t3/min and the normal level is 4 f t. The inlet ow

is given by F = k1 p h, where p = supply pressure, k1 is a
constant. Normal supply pressure is 20 f t of liquid. The output
ow is proportional
to the square root of the height of liquid in the
tank, Fo = k2 h.

54
a. Write a mass balance equation for the tank. Use the

given steady-state conditions to solve for k1 and k2.
b. Linearize the resulting dierential equation around

the normal operating steady-state height and supply
pressure.
c. Find a transfer function relating the changes in height of liquid

in the tank to small changes in supply pressure p.
55
Ejemplo 7. [Luyben-Luyben, p263, #27]

k
A rst order reaction A
B ocurrs in an isothermal CSTR. Fresh
feed at a ow rate F0 (mol/min) and composition z0 (mole fraction
A) is fed into reactor along with a recycle stream. The reactor
holdup is VR (mol). The reactor euent has a composition z
(mole fraction A) and a ow rate F (mol/min). It is fed into a
ash drum in which a vapor stream is removed and recycled back
to the reactor at a ow rate R (mol/min) and a composition yR
(mole fraction A).
The liquid from the drum is the product stream with ow rate P
(mole/min) and composition xp (mole fraction A). The liquid and
vapor streams are in phase equilibrium: yR = 10xp. The vapor
holdup in the ash drum is negligible. The liquid holdup is MD .

56
a) Write the dynamic equations describing the system.
b) Linearize the ODEs describing the system, assuming that at

steady state F0 = 100 mol/min, z0 = 1, k = 1 min1, xp =
0.05, and VR = 500moles (constant). Consider that MD and P
are held constant. Find the steady state values for z, F and R.
57
Ejemplo 8. [Stephanopoulos, p226, #III.18]

Using Laplace nd the dynamic behavior of an isothermal batch
reactor where the following reactions take place
k k
A 1 B 2 C
Assume rst-order kinetics for the two reactions. Also, plot the
concentration of A, B and C versus time.

Consider
k1 = 56 , k2 = 53 , CA0 = 3, CB0 = 1.117 and CC0 = 0
58
Ejemplo 9. [Bequette, p164, #14 modified]

Consider the series of two tanks, where the levels interact.
Assume that the ow from the rst tank is linearly proportional

to the dierence in the tank heights, the owrate in the tank 2
is proportional to the height in the tank 2, and the tanks are of
constant cross sectional area A1 and A2.

Ago-Dic/2007: Parcial 1, Problema 2
59
Solve to h1(t) and h2(t).
Consider A1 = A2 = 5 ft2, F0 = 3 ft3/min, 1 = 10, 2 = 5

and h1(0) = h2(0) = 0.
i: proportional constants.

Book: Process Dynamics. Modeling, Analysis and Simulation
60
Ejemplo 10. [Bequette (Process Dynamics), p135, #10]

Consider the following system of two reactors.
Assume a rst-order decomposition of A B. Assume that all

owrates are constant (volume are constant).

Ene-Jun/2013: Parcial 1, Problema 2
61
a. Write the modeling equations for concentration A.
c. Given the following constants
Fo = 1.25m3/hr k1 = 0.10833hr1 V1 = 15m3

FR = 1.75m3/hr k2 = 0.33333hr1 V2 = 9m3
If the inlet concentration Co, is change from 1.5 to 1.75 at

t = 0, nd CA in both tanks.
62
Ejercicios
Coughanowr: p35,#2-3; p36, #5-8
Luyben-Luyben: p59, #1-4; p63, #13-14
Smith-Corripio: p84, #6-7; p86,#11; p88, #16
Stephanopoulus: p223, #3-6; p225, #11-12
63

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PARTE 2

2.1 ANALISIS SISO MEDIANTE LAPLACE

Definicion 1. [Transformada de Laplace]

Definicion 2. [Operador lineal]

1. L {f (t) + g(t)} = L {f (t)} + L {g(t)}

2. L {af (t)} = aL {f (t)}

Transformada de Laplace de algunas Funciones

Teorema 1. [Transformada de Laplace de una derivada]

Nota 1. [Repaso de frac. parciales, Smith-Corripio, p46-54]

1. Factores de 1er orden diferentes

2. Factores de 1er orden repetidos

Aqr Aqr1 Aq1

3. Factores de 2do orden

Solo basta emplear la sigs. identidades

Ejemplo 1. [Seborg, p58]

Ejemplo 2. [Coughanowr, p35, #2b modified]

Ejemplo 3. [Seborg, p64]

Nota 2. [Justificacion de la linealizacion]

2. La gran mayoria de los desarrollos en el diseno y control de

2.2.1 Linealizacion de una ec. no lineal, con una varible.

Si efectuamos la expansion de la fn. no lineal f (x) en series de

Es claro que la aproximacion lineal depende del punto, x0,

Fig. 1: Linear aproximation of a nonlinear function

La aproximacion solo es exacta en el punto de linealizacion.

Ejemplo 4. [Stephanopoulos, p118]

Fig. 2: Tank system

where A is the cross-sectional area of the tank and h the height

2.2.2. Linealizacion de sistemas con muchas variables

2.2.3 Variables de desviacion

Ademas, sea xs el punto alrededor del cual se linealiza el sistema

Ejemplo 5. [Bequette, p138, #12]

Ejemplo 6. [Brosilow, p37, #8]

a. Write a mass balance equation for the tank. Use the

b. Linearize the resulting dierential equation around

c. Find a transfer function relating the changes in height of liquid

Ejemplo 7. [Luyben-Luyben, p263, #27]

a) Write the dynamic equations describing the system.

b) Linearize the ODEs describing the system, assuming that at

Ejemplo 8. [Stephanopoulos, p226, #III.18]

Ejemplo 9. [Bequette, p164, #14 modified]

Assume that the ow from the rst tank is linearly proportional

Solve to h1(t) and h2(t).

Consider A1 = A2 = 5 ft2, F0 = 3 ft3/min, 1 = 10, 2 = 5

Ejemplo 10. [Bequette (Process Dynamics), p135, #10]

Assume a rst-order decomposition of A B. Assume that all

a. Write the modeling equations for concentration A.

c. Given the following constants

Fo = 1.25m3/hr k1 = 0.10833hr1 V1 = 15m3

If the inlet concentration Co, is change from 1.5 to 1.75 at

Coughanowr: p35,#2-3; p36, #5-8

Luyben-Luyben: p59, #1-4; p63, #13-14

Smith-Corripio: p84, #6-7; p86,#11; p88, #16

Stephanopoulus: p223, #3-6; p225, #11-12

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