This document discusses linearizing dynamic equations and analyzing the stability of nonlinear systems. It presents the state-space form used for stability analysis and defines deviation variables. The linearization process yields an A matrix whose eigenvalues determine stability; negative eigenvalues indicate stability. Three operating points of a continuous stirred-tank reactor model are examined. The eigenvalues for each point are calculated, and their signs are consistent with the stability shown in accompanying figures. Input-output transfer functions relating inputs like temperature to outputs like concentration are also derived.
This document discusses linearizing dynamic equations and analyzing the stability of nonlinear systems. It presents the state-space form used for stability analysis and defines deviation variables. The linearization process yields an A matrix whose eigenvalues determine stability; negative eigenvalues indicate stability. Three operating points of a continuous stirred-tank reactor model are examined. The eigenvalues for each point are calculated, and their signs are consistent with the stability shown in accompanying figures. Input-output transfer functions relating inputs like temperature to outputs like concentration are also derived.
This document discusses linearizing dynamic equations and analyzing the stability of nonlinear systems. It presents the state-space form used for stability analysis and defines deviation variables. The linearization process yields an A matrix whose eigenvalues determine stability; negative eigenvalues indicate stability. Three operating points of a continuous stirred-tank reactor model are examined. The eigenvalues for each point are calculated, and their signs are consistent with the stability shown in accompanying figures. Input-output transfer functions relating inputs like temperature to outputs like concentration are also derived.
The stability of the nonlinear equations can be determined by finding the following state-space form (11) and determining the eigenvalues of the A (state-space) matrix. The nonlinear dynamic state equations (1a) and (2a) are (1a) (2a) let the state, and input variables be defined in deviation variable form 5.1 Stability Analysis Performing the linearization, we obtain the following elements for A where we define the following parameters for more compact representation or Diabatic CSTR http://www.rpi.edu/dept/chem-eng/WWW/faculty/bequette/education/l... 1 of 4 27-08-2013 11:25 From the analysis presented above, the state-space A matrix is (12) The stability characteristics are determined by the eigenvalues of A, which are obtained by solving det (l I - A) =0. det (l I - A)=(l - A11)(l - A22) - A12A21 =l2 - (A11+A22) l +A11A22 - A12A21 =l2 - (tr A) l +det (A) the eigenvalues are the solution to the second-order polynomial l2 - (tr A) l +det (A) =0(13) The stability of a particular operating point is determined by finding the A matrix for that particular operating point, and finding the eigenvalues of the A matrix. Here we show the eigenvalues for each of the three case 2 steady-state operating points. We use the function routine cstr_amat.m shown in appendix 3 to find the A matrices. Operating point 1 The concentration and temperature are 8.564 kgmol/m3 and 311.2 K, respectively. [amat,lambda] =cstr_amat(8.564,311.2) amat = -1.1680 -0.0886 2.0030 -0.2443 lambda = -0.8957 -0.5166 Both of the eigenvalues are negative, indicating that the point is stable, which is consistent with the results of Figure 2. Operating point 2 Diabatic CSTR http://www.rpi.edu/dept/chem-eng/WWW/faculty/bequette/education/l... 2 of 4 27-08-2013 11:25 The concentration and temperature are 5.518 and 339.1, respectively. [amat,lambda] =cstr_amat(5.518,339.1) amat = -1.8124 -0.2324 9.6837 1.4697 lambda = -0.8369 0.4942 One of the eigenvalues is positive, indicating that the point is unstable. This is consistent with the responses presented in Figure 3. Operating point 3 [amat,lambda] =cstr_amat(2.359,368.1) amat = -4.2445 -0.3367 38.6748 2.7132 lambda = -0.7657 +0.9584i -0.7657 - 0.9584i The real portion of each eigenvalue is negative, indicating that the point is stable; again, this is consistent with the responses in Figure 4. 5.2 Input/Output Transfer Function Analysis The input-output transfer functions can be found from G(s)=C(sI - A)-1B(14) where the elements of the B matrix corresponding to the first input (u1 =Tj - Tjs) are the reader should find the elements of the B matrix that correspond to the second and third input variables Diabatic CSTR http://www.rpi.edu/dept/chem-eng/WWW/faculty/bequette/education/l... 3 of 4 27-08-2013 11:25 (see exercise 8) Here we show only the transfer functions for the low temperature steady-state for case 2. The input/output transfer function relating jacket temperature to reactor concentration (state 1) is and the input/output transfer function relating jacket temperature to reactor temperature (state 2) is Notice that the transfer function for concentration is a pure second-order system (no numerator polynomial) while the transfer function for temperature has a first-order numerator and second-order denominator. This indicates that there is a greater lag between jacket temperature and concentration than between jacket temperature and reactor temperature. This makes physical sense, because a change in jacket temperature must first affect the reactor temperature before affecting the reactor concentration. Diabatic CSTR http://www.rpi.edu/dept/chem-eng/WWW/faculty/bequette/education/l... 4 of 4 27-08-2013 11:25