Chapter 4 Dynamic

Systems:
Higher Order
Processes
Prof. Shi-Shang Jang
National Tsing-Hua University
Chemical Engineering Dept.
Hsin Chu, Taiwan
May, 2013

4-1 Non-interactive Systems

Thermal Tanks

Tank 1
f A h1 t f A h2 t V1

du2
dt

Let h C pT ; u CvT
f A C pT1 t f A C pT2 t V1 Cv

dT2
dt

Tank 2
f A C pT2 t f B C pT3 t f A f B C pT4 t V2 Cv

dT4
dt

4-1 Non-interactive Systems

Thermal Tanks Cont.

Tank 1
V1 Cv d 2
2 t 1 t
f A C p dt

1s 1 2 s 1 s
Tank 2
f A C p
f B C p
V2 Cv
d 4
4
2 t
t
f A f B C p dt
f A f B C p
f A f B C p 3

2 s 1 4 s K1 2 s K 23 s

4-1 Non-interactive Systems

4.5
Constant

Subtract
1

sqrt
Math
Function

1
s

0.1

Constant 1

Subtract 1

Gain 1

Integrator

0.1
Subtract 2

Gain 2

1
s
Integrator 1
Scope

1.5
simout

Gain

To Workspace

sqrt
Math
Function 1

dh1
dH1
k
A1
f i k1 h1 f o Fi aH1 Fo ; a 1
dt
dt
2 h1
&
dh2
dH 2
k
A2
A2
f1 k 2 h2 F1 bH 2 aH1 bH 2 ; b 2
dt
dt
2 h2
&
A1

1.5
Gain 3

4-1 Non-interactive Systems

A1 dH1 Fi Fo
dH1

H1 1
K1 Fi Fo H1 1s 1 H1 s K1 Fi Fo
a dt
a
dt
A2 dH 2 a
dH 2
H1 H 2 2
K 2 H1 H 2 2 s 1 H 2 s K 2 H1 s
b dt
b
dt

Numerical Example
A1 A2 10m 2 ; h1 h2 4m
fi 4m3 / min; f o 1m3 / min
k1

4 1 m3 / min

m3 / min

1.5
k

m1/ 2
4m1/ 2
k
1.5
a 1
0.375 b
2 h1 2 2

1
4

Constant

Constant 2

1
2.667
a
b
K2 1
a
A
10
1 2 1
26.667 min
a 0.375
K1

Constant 1

Subtract

2.667

26 .667 s+1

26 .667 s+1

Transfer Fcn

Transfer Fcn 1

Add

Scope

4-1 Non-interactive Systems

An over-damped second order system has two negative real
poles. Therefore, 2s2+2s+1=(1s+1)(2s+1); hence

Kp
y s
K1
K2
2 2

m s s 2s 1 1s 1 2 s 1
Kp
y s
2 2
m s s 2s 1

such that

1 2
1 2 ;
;
2 1 2
1

2 1

; 2

2 1

K2
2s 1

K1
1s 1

4-2 Interactive Systems

Thermal Tanks with Recycle

4-2 Interactive Systems Thermal

Tanks with Recycle- Cont.
Tank 1
f A C pT1 t f R C pT4 t f A f R C pT2 t V1 Cv

dT2
dt

V1 Cv
d 2
fA
fR
2 t
1 t
4 t
f A f R C p dt
f A fR
f A fR

1s 1 2 s K11 s K 2 4 s
Tank 2

dT4
dt
f B C p

fC C pT2 t f B C pT3 t f C f B C pT4 t V2 Cv

fC C p
V2 Cv
d 4
4
2 t
3 t
fC f B C p dt
fC f B C p
fC f B C p

2 s 1 4 s K3 2 s K 43 s

4-2 Interactive Systems

Thermal Tanks with RecycleCont.

2-5 Step Response of Second-Order

Processes Over-damped process
Kp
Kp
y s

m s 2 s 2 2s 1 1 s 1 2 s 1
y t K p A

KpA

1 2

e
1

t / 2

2 e t / 1

m(s)=A/s

1
0.9

=1

0.8

1
Constant

s+1

3s+1

Transfer Fcn

Transfer Fcn1

0.7

=3

0.6
Scope

0.5

=2

0.4
simout

0.3

To Workspace

0.2

Inflection point

0.1
0

10

4-2 Interactive Systems

fi

V1
fo

h1

Crosssectional=A1
A1

f1

V2

h2

Crosssectional=A2

f2

dh1
dH1
k1
A1
f i f 0 k1 h1 h2 Fi F0 aH1 aH 2 ; a
dt
dt
2 h1 h2

dh2
dH 2
A2
k1 h1 h2 k2 h2 aH1 aH 2 eH 2 fH1 gH 2 ;
dt
dt
k
e 2 ; f a; g a e
2 h2
A2

4-2 Interactive Systems

A1 dH1 Fi F0
a
dH1

H1 H 2 1
K1 Fi F0 H1 H 2
a dt
a
a
dt
1s 1 H1 s K1 Fi F0 H 2 s
A2 dH 2 f
dH 2
H1 H 2 2
K 2 H1 H 2 2 s 1 H 2 s K 2 H1 s
g dt
g
dt

1
1s 1

Fi(s)

F0(s)

K1
1s 1

Fi(s
+
)
F0(s)

+
+

H2(s)

K2
2s 1

H1(s)

K 1 K 2 / 1 K 2
1 2 2 1 2
s
s 1
1 K2
1 K2

H2(s)

Numerical Example
A1 A2 10m 2 ; h1 8m; h2 4m
f i 4m3 / min; f o 1m3 / min
k1

4 1 m3 / min

m3 / min

1.5
k

m1/ 2
8 4m1/ 2
k1
1.5
a

0.375
2 h1 h2 2 2
e

k2
2 h2

0.375

H 2 s
K1 K 2 / 1 K 2
2.667 0.5 / 1 0.5

1 2 2 1 2
26.667 13.333 2 26.667 13.333
Fi ( s)
s
s 1
s
s 1
1 K2
1 K2
1 0.5
1 0.5

g a e 0.75
1
K1 2.667
2.667
a

2
711s
80 s 1
f
K 2 0.5
g
A
10
1 1
26.667 min
a 0.375
A
10
2 2
13.333min
g 0.75

4-1 Second Order Systems

A second order system is of the following form:

Kp
Y s

X s as 2 bs 1
Another form:

Kp
Y s

X s 2 s 2 2 s 1
Kp is called process gain, is called time constant, is called
damping factor. The roots of the denominator are the poles of
the system.

4-1 Second-Order Processes Continued

Definition

4-1: A second order process is called

over-damped, if >1; is called under-damped
if <1; is called critical damped if =1.
Property 4-1: Consider the roots of
denominator, in case of over-damped system,
the poles of the system are all negative real
numbers.
Property 4-2: The poles of a under-damped
system are complex with negative real numbers.
Property 4-3: The pole of a critical damped
system is a repeated negative real number.

State Space Approach

Consider the following linear system with N differential equations
K inputs and P sensors
X 1 a11

d X 2 a21

dt

X N aN1

a12
a22

a1N
a2 N

X1
X
2

b11
b
21

a N 2 a NN X N

b12
b22

bN 1 bN 2

b1K M 1
b2 K M 2
AN N X N 1 BN K M K 1

bNK M K

where X is termed the state vector and M is the input vector. The following
observation equation is available:
Y1 c11 c12
Y c
c22
Y 2 21

YP cP1 cP 2

c1N X 1 d11
c2 N X 2 d 21

cPN X N d P1

d12
d 22

dP2

d1K
d 2 K

d PK

M1
M
2 C X D M
P N
N 1
P K
K 1

M
K

State Space Approach _

Cont.
Assume that it is desirable to realize the input/output transfer functions
and neglecting the state variables.

sX s AX s BM s
sI A X s BM s
X s sI A BM s
1

Y s C sI A BM s DM s
1

C sI A B D M s
G s P K M s
1

State Space Approach _

Example
dH
10
0.375 H 0.375 H F
Interacting
Tanks
dt
1

dH 2
0.375 H 1 0.75 H 2
dt
0.0375 H 1
0.0375
0.1
d H1

Fi

H
H
0.075
dt
2
0.0375
2
0
0.0375 H 1 ( s )
H1 ( s )
0.0375
0.1
s

0.0375
H ( s )
0 F (s)
H
(
s
)

0
.
075

2
2

0.0375 H 1 ( s )
1 0 H 1 ( s )
0.0375
0.1
s

H ( s )
0.0375
H ( s )
0 F (s)
0
1

0
.
075

2
2

s 0.0375 0.0375 H 1 ( s )
0.1

0.0375
H ( s)
0 F ( s)
s

0
.
075

10

H1 ( s )
s 0.0375

H ( s)
0.0375
2

0.0375

s 0.075

0.1
0 F ( s)

State Space Approach _

Example
Interacting
Tanks

Cont.

H1 ( s)
H ( s)
2

s 0.075
s 0.0375 s 0.75 0.03752

0.0375

s 0.0375 s 0.075 0.3752

0.1 s 0.075

s 0.0375 s 0.075 0.0375 2

F ( s)
0
.
0375

s 0.0375 s 0.75 0.375 2

0.0375

2
s 0.0375 s 0.75 0.0375 0.1

F (s)
s 0.0375
0

s 0.0375 s 0.075 0.03752

Y ( s ) H 2 ( s ) CX ( s) DM ( s )
H s
0 1 1 0 F ( s )
H 2 ( s)

0.1 s 0.075

2
s 0.0375 s 0.075 0.0375
0 1
0 F ( s )
0
.
00375

s 0.0375 s 0.075 0.0375

0.00375
2.66667

F (s)
2
s 0.0375 s 0.075 0.0375
711s 2 80s 1

State Space to Transfer

Function-MATLAB
>> A=[-0.0375 0.0375;0.0375 -0.075]
A=
-0.0375

0.0375

0.0375 -0.0750
>> B=[1;0];C=[0 1];D=0;
>> [num,den]=ss2tf(A,B,C,D,1)
num =
0 -0.0000

0.0375

den =
1.0000

0.1125

0.0014

>> ss=den(3)
ss =
0.0014
>> num=num/ss
num =
0 -0.0000 26.6667
>> den=den/ss
den =
711.1111 80.0000
>> tf(num,den)
Transfer function:
-9.869e-015 s + 26.67
--------------------711.1 s^2 + 80 s + 1

1.0000

2-5 Step Response of SecondOrder Processes Under-damped

K A
process
y s
s s 2s 1
p

KpA
1 2

e t / sin 1 2 t /

B
1. Overshoot=
e /
A

1 2

Response

y t K p A

3. Rise time=tr=

tan

1 2

4. Period of oscillation=T=

T
Rise time
Settling
time

2
2. Decay Ratio= C e 2 / 1

1 2

time

1 2

5. Frequency of oscillation (Natural Frequency)=1/T

Example: Temperature
Regulated Reactor
t=1000s

103

t=3060s
Feed flow rate
0.40.5kg/s
at t=0.

102.5

temperature(C)

102

1.
2.
3.

101.5

101

100.5

100

500

1000

1500

2000 2500 3000

time(seconds)

3500

4000

4500

5000

What is process gain?

What is transfer func?
What is rise time?

Textbook Reading Assignment

and Homework

Chapter 2, p41-49
Homework p58, 2-9, 2-15, 2-16
Due June 8th

Non-isothermal CSTR

Non-isothermal CSTRCont.
M.B. for component A

f t c Ai t f t c A t VrA t V

dc A
dt

where
rA t k0e

RT

c A2

E.B. for the tank

f t C pTi t f t C pT t VrA t H UA T t Tc t

dT
V Cv
dt

E.B. for the cooling jacket

f c t c C pcTci t f c t cC pcTc t UA T t Tc t Vc cCcv

dTc
dt

Non-isothermal CSTRCont.
Process Information
V 13.26 ft 3 ; k0 8.33 108 ft 3 /(lbmole min)
E 27820 Btu / lbmole; R 1.987 Btu /(lbmole F )

55lb / ft 3 ; Cp 0.88 Btu /(lb F ); H r 12,000 Btu / lbmole

U 75Btu /( h ft 2 F ); A 36 ft 2 ; Cpc 1Btu /(lb F );
Vc 1.56 ft 3 ;

Steady State Values

c Ai 0.5975lbmole / ft 3 ; Ti 635 R
Tc 602.7 R; f 1.3364 ft 3 / min
c A 0.2068lbmole / ft 3 ; T 678.9 R
Tci 540 R; f c 0.8771 ft 3 / min

Non-isothermal CSTR- Cont.

Cooling flow rate
0.8771 0.8
Energy Balance of the Reactor
[energy_in]

1.3364

From10

f(t)

[energy_in]

55*0.88
Product

635

thou*cp

From11

Goto4
[reaction_rate]

T i(t)
[energy_out]

55*0.88

[Temp]

Product3

Goto5

thou*
cp

From1

From12

Product1

cAi(t)

Goto3

From13
[mass_in]

Product2

Inlet and Outlet Energy fluxes of the Jacket

From9

[jacket_energy_in]

T c(602.7)

[jacket_energy_out]
From16

[jacket_energy_in]

62.4*1
Product4

[heat_transfer_out]

[cA]
From3
62.4*1
Product5

thou*cp2

Scope2

1/(Vc*thouc*Cv)1

Add2

[Tc]

Goto9

thou*cp1

1
s

1/(1.56*55*1)

From15

fc(t)

From14

[cA]
Goto1

Material Balance of the Reactor

13.26

540
Tci

Scope1

1/V

From8

[reaction_rate]

[Tc]

cA(0.2068)

Add

[mass_out]

Goto2

1
s

1/13.26

From7

Inlet and Outlet Energy and Material fluxes of the Reactor

0.8

[Temp]

dH

[mass_out]

From

Scope

1/(V*thou*Cv)

V1

Goto

[cA]

Add1

12000

13.26

Temp (678.9)

[heat_transfer_out]

[mass_in]

0.5975

1
s

1/(13.26*55*0.88)

[energy_out]

Energy Balance of the Jacket

Goto6

From17

[jacket_energy_out]
[cA]

Goto10
eu

[T emp]
From2

[Temp]

From4
-27820
Divide

Math
Function

[reaction_rate]

8.33e8
k0

Divide1
Goto7

From5
[Tc]
From6

75/60*36
Subtract

UA

[heat_transfer_out]

Goto8

1.987
R

Rate Constant

Heat Exchange between Jacket and Reactor

Transfer Functions Derived

by Linearization
dc A dC A
g
g
g
g

g1 c A,T , f , c Ai 1 C A 1 1 F 1 C Ai
dt
dt
c A
T
f
c Ai
a11C A a12 b11C Ai b12 F
dT d
g
g
g
g
g

g 2 c A,T , Tc , f , Ti 2 C A 2 2 c 2 F 2 i
dt
dt
c A
T
Tc
f
Ti
a21C A a22 a23c b22 F b23i
dTc dc
g
g
g

g 3 T , Tc , f c 3 3 c 3 Fc
dt
dt
T
Tc
f c
a32 a33c b34 Fc
CA
a11
dX
d
a21
dt
dt
c
0

a12
a22
a32

0
a23

C A b11
0

a33 c 0

b12
b 22
0

C
0 Ai
F
b23 0
AX BU
i
0 b34

Fc
0

C Ai
CA
F

CX DU
y 0 1 0 0 0 0 0
i
c

Fc

Linearization of the Reactor Exam

Transfer Functions Derived by Linea

a11

E
27820
g1 g1
1.987678.9

f 2Vk0 e RT c A / V 1.3364 2 13.26 8.33 108 e

0.2068 / 13.26 0.48

x1 c A

It can be shown as generated as above:

[num, den]=ss2tf(A,B,C,D,4)
num =
0 1.33226762955019e-015
-2.81748023
-1.356898478768
den =
1
1.3804
0.3849816
0.038454805392
>> ss=den(4)
>> den=den/ss
den =
26.0045523519419
35.8966840666205
10.0112741717343
1
>> num=num/ss
num =
0 3.46450233194353e-014
-73.2673121415962
-35.2855375273927

SIMULINK of Linear System CSTR

678 .9
Constant 1

-0.0771
Constant

-35 .77

2.07 s+1
26 .27 s3 +36 .31 s2 +10 .14 s+1

Add

Scope

Gain
Transfer Fcn

simout
To Workspace

Non-isothermal CSTR- Cont.

Cooling flow rate
0.8771 0.8
682

Tank temperature

681.5
681
680.5
680
679.5
679
678.5
0

10

15

20

25

30

Time (min)

35

40

45

50

Non-isothermal
CSTR- Cont.
s
35.77 2.07 s 1

Linearized
Model
F s 26.27
s 36.31s 10.14s 1
(page 127)
3

682

681.5

TankTemperature

681
680.5
680
679.5
679
678.5
0

10

15

20

25
30
Time(min)

35

40

45

50

The problem of
nonlinearity

4-3 Step Response of the

High
Order
System
Y (s)
K
X (s)

X(s)=A/s

i s 1
i 1

In many cases, we implement the following

Responses

n
in 1e t / i

Y (t ) K 1 n

i 1
i j

j 1
j i

n=2
n=3
n=5

first order plus dead time model

to approximate these high order systems

Ke s
Ke s
or
s 1 a s 1 b s 1

n=10

time

4-3 Step Response of the High Order

System- Continued
Response

Method of Reaction Curve:

1
e 2.3 s

5
s 1 4.1s 1

inflection point

time

4-3 Step Response of the High

Order System- Continued
Real
Responses

Approximate

time

4-3 Response of HigherOrder Systems Cont.

Y1 s
1

X s s 1 2 s 1 3s 1

Y2 s
0.5s 1

X s s 1 2 s 1 3s 1

4-4 Other Types of Process

Response
Integrating

Processes: Level Process

df o (t )
p
fo t K p m t
dt
dh t
fi t f o t A
dt

4-4 Other Types of Process

Response
1
Fi s Fo s

As
Kp
Fo s
M s
ps 1
H s

Kp
1
H s
Fi s
M s
As
As p s 1

4-4 Other Types of Process

Response

4-4 Other Types of Process

Response

The most general transfer function is as

the following:
y s bm s m bm 1 s m 1 b1 s b0
n
m s
s a n 1 s n 1 a1 s a 0
s z1 s z 2 s z m
Kp
s p1 s p 2 s p n

p1, p2,,pn are called the poles of the

system, z1, z2,,zm are the zeros of the
system, Kp is the gain.
Note that nm is necessary, or the system
is not physically realizable.

4-4 Poles and Zeros - Example

Imaginary part

Left Half Plane

LHP

G s

1 2

K
s 1s 1 22 s 2 2 2s 1

1
s1 0
s2 1 / 1
1 2

s3 , s4 j
2
2

Right Half Plane

RHP

0
1

1
1

Real
part

1 2
2

4-4 Poles and Zeros Example

Response
time

4-4 Location of the Poles and Stability in a Complex

Plane

Im
Exponential Decay
with oscillation

Purdy oscillatory
Exponential growth
with oscillation

Fast Exponential
growth

Exponential Decay
Fast Decay

Slow
Decay

Slow growth

Purdy oscillatory
Stable (LHP)

Unstable (RHP)

Re

4-4 The Stability of the

linear
system

Definition 4-2: A system is called stable

for the initial point if given any initial
point y0, such that y0, there exists a
upper bound , such that:

lim y (t )
t

Definition

4-3: A system is called

asymptotic stable if given any initial
lim y (t ) 0
t
point y0, then

4-4 The Stability of the

linear system
Definition 4-4: A system is called input
output stable if the input is bound, then the
output is bounded. (Bounded Input Bounded
Output, BIBO)
Property

4-4: A linear system is asymptotic

stable and BIBO if and only if all its poles have
negative real parts.

4-4 Stability - Example

y (s)
1
G1 ( s )
5s 110s 1 30s 1
m( s )

y ( s)
1
G3 ( s ) 3 2
m( s )
s s s 1
y(s)
1
G4 s
3s 1 s 2 s 1
m( s )

m(s)=1

Response

y ( s)
1
G2 s
s 1 0.1s 1 0.05s 1
m( s )

G4
G2
G1
time

G3

Open Loop Unstable

ProcessChemical Reactor (text page
M.B. for component A
139)
dc
f t c Ai t f t c A t VrA t V

dt

where
rA t k0e

RT

cA

E.B. for the tank

f t C pTi t f t C pT t VrA t H UA T t Tc t V Cv

dT
dt

Open Loop Unstable

ProcessChemical Reactor
At T 566 R
s
K 3 9.79s 1

;
i s 9.75s 1 6.6s 1

CA s
K 2 K3

i s 9.75s 1 6.6 s 1
At T 620 R

s
K 3 7.47 s 1

;
i s 11.3s 1 11.47 s 1

CA s
K 2 K3

i s 11.3s 1 11.47 s 1

Homework
Text

p148
4-4, 4-5, 4-7, 4-8, 4-10, 4-11,4-12
Due April

Supplemental Material
Development of Empirical
Models from Process Data

S-1 Introduction
An

empirical model is a model that is

developed from experience and their
parameters are found based on
experimental tests.
The most frequent implemented
empirical models are first order,
second order and/or with time delays.
The input changes is basically a step
or an impulse.

S-2 First Order without Time

Delay Systems Using Step Input
Consider a first order system with a output signal y(t)
and input signal m(t), then:
y( s)
K

m( s ) s 1
A
m( s )
s
KA
y( s)
ss 1

y (t ) KA 1 e t /

First Order with Time Delay

Systems Using Step Input
Consider a first order system with a output signal y(t)
and input signal m(t), then:
y ( s ) Ke s

m( s ) s 1
A
m( s )
s
KAe s
y(s)
s s 1

y (t ) KA 1 e t /

Example: A Typical
Experiment
Time
(second)

Y(temperature,oC,70100oC)

Y(temperature,mA,4-20mA)

Y (temperature, %)
0.

ln(1-Y)

70

71.74

4.928

0.058

-0.0598

76.51

7.472

0.217

-0.2446

80.8

9.76

0.360

-0.4463

84.64

11.808

0.488

-0.6694

88

13.6

0.600

-0.9163

90.76

15.072

0.692

-1.1777

93.16

16.352

0.772

-1.4784

94.99

17.328

0.833

-1.7898

96.64

18.208

0.888

-2.1893

10

97.75

18.8

0.925

-2.5903

Graphical Fitting Methods

Fit

1: Method of 63.2% Response

Fit 2: Method of initial slope
Fit 3: Method of Log plot

Example: An Experiment
Plot

Fit 1

G1(s)

1
5.5s 1

Fit 2

G 2 s

0 .5 s

6 .8 s 1

Method of log plot

Consider a First-Order Plus Dead Time Model

y (t ) KA(1 e ( t ) / )
y (t )
1
e (t ) /
KA
y y (t )
t
ln

slope ; intercept

Method of log plot - Continued

Fit 3
tau 1 / 0.290 3.443
0 / 463 * 3.443 1.5969
e 1.5969 s
G(s)
3.443s 1

Method of log plot - Continued

1
0.9
0.8

Fit 3

0.7

real

0.6
0.5
0.4

Fit 1

0.3

Fit 2

0.2
0.1
0

10

S-3 Over-damped Second Order

Systems Using Step Input
y ( s)
Ke s
Ke s
G(s)
2 2
1s 1 2 s 1 s 2s 1
m( s )
m( s )

A
s

1e t /1 2e t / 2
y (t ) KA 1
1 2

If 0

1e t /1 2 e t / 2

y (t ) KA 1
1 2

1 2

t /

cosh
KA 1 e
t
sinh

1 2

1 2

Smiths Method for Second

Order
Systems
Step 1: Get time delay by
observing the response curve.
Step 2: Find time t20 such that
y/y=0.2, find t60 such that
y/y=0.6
Step 3: Get t20/t60, then and
From the right figure.

Example
t60=5
t20/t60=0.38
From the figure
t60/=2.4 =5/2.4
=2.1
=1.2
2=4.32, 2 =5.04

t20=1.9

1
0.9
0.8
0.7

G (s)

0.6
0.5
0.4
0.3
0.2
0.1
0

10

1
4.32 s 2 5.04 s 1