Question 1(a)

When CV = T3 and MV = V1, transfer function models of the corresponding feedback control system
given below are obtined using information provided.

Tank 1

Tank 2
Controller Sensor

+ + +
+
_ + + +
Tank 1
Tank 2

For Tank 1, T1 is the process output and process inputs are V1 and q0. Let the two transfer function
models of Tank 1 denoted by

T1 ( s ) T ( s)
G1 ( s ) = , G2 ( s ) = 1
V1 ( s ) q0 ( s )

The dynamics of Tank 1 is then described by

 T1 ( s )= G1 ( s )V1 ( s ) + G2 ( s )q0 ( s )

Likewise, the dynamics of Tank 2 is given by

T3 ( s )= G3 ( s )T2 ( s ) + G4 ( s ) q0 ( s ) + G5 ( s )V2 ( s )

where

T3 ( s ) T ( s) T ( s)
G3 ( s ) = , G4 ( s ) = 3 , G5 ( s ) = 3
T2 ( s ) q0 ( s ) V2 ( s )

The dynamics of G1 ( s ) to G5 ( s ) are assumed to be first-order transfer functions, which are derived
as follows:

T1 ( s ) Ka T1 78 70
G1 ( s ) = = , Ka = = , a = 10 min
V1 ( s ) a s + 1 V1 12 10

T1 ( s ) Kb T1 3
G2 ( s ) = = , Kb = = , b = 10.9 min
q0 ( s ) b s + 1 q0 0.75

12

b
where b is the solution of the equation, 2
3 =1 e .

T3 ( s ) KX
G3 ( s ) = = , 5 C = 50 C = 10 min
T2 ( s ) c s + 1

T3 ( s ) Kd T3 5
G4 ( s ) = = , Kd = =
q0 ( s ) X s + 1 q0 0.75

T3 ( s ) Ke T3 90 85
G5 ( s ) = = , Ke = = , e = 10 min
V2 ( s ) e s + 1 V2 12 10

The following summarizes the concerned dynamics identified thus far.

T1 ( s ) 4 T ( s) 4
Tank 1: = , 1 = (1)
q0 ( s ) 10.9 s + 1 V1 ( s ) 10s + 1

T3 ( s ) 6.67 T3 ( s ) 2.5 T3 ( s ) KX
Tank 2: = , = , = (2)
q0 ( s ) X s + 1 V2 ( s ) 10s + 1 T2 ( s ) 10s + 1
 To obtain two unknown parameters in eqs. (1) and (2), energy balance equation of the Tank 2 is
derived as follows

dT3
Vo C p = q0 C p (T2 T3 ) + 2 = F ( q0 , T2 , T3 ) + 2
dt

where Vo is the volume of Tank 2, a conversion constant, and F is a nonlinear function with obvious
definition. By first order expansion of F:

F F F
/ _ _ _
dT
Vo C p 3 = ( q0 q 0 ) + (T2 T 2 ) + (T3 T 3 ) + 2 (t )
/

dt q0 ss T2 ss T3 ss

_ _ _ _
= C p (T 2 T 3 ) q0 (t ) + q 0 C pT2 (t ) q 0 C pT3 (t ) + 2 (t )
/ / / /

By Laplace transform:

1
_
q 0 C p _ _ _
T3 ( s ) = [ C p (T 2 T 3 ) q0 ( s ) + q 0 C pT2 ( s ) + 2 ( s )]
' ' ' '
Vo
_
s +1
q0

K1 K2 K3
= q0 ( s ) +
/
T2 ( s ) +
/
2 / ( s) (3)
2s + 1 2s + 1 2s + 1

or

/ / /
T3 ( s ) K1 T3 ( s ) K 2 T3 ( s ) K3
= , / = , / = (4)
q0 ( s ) 2 s + 1 T2 ( s ) 2 s + 1 2 ( s ) 2 s + 1
/

where

_ _ _ _
C p (T 2 T 3 ) T2T3
K1 = _
= _
q 0 C p q0

K2 = 1

Vo
K3 = _
, 2 = _
q0 C p q0
 /
T ( s)
It is clear from above analysis that the gain K x in eq. (2) is equal to one by referring to 3 / derived
T2 ( s )
in eq. (4). Additionally, time constants of the three transfer function models concerning Tank 2 are
T3 ( s )
identical, meaning that the unknown time constant X in eq. (2) and two time constants of and
2 ( s)
T3 ( s )
in eq. (2) are the same, i.e., X = 10 .
2 ( s)

The above analysis is applied to Tank 1 as well, meaning that the time constant of two transfer
functions in eq. (1) should be the same, which is not the case as 10.9 10. However, since 10.9 is a more
accurate solution because it is calculated based on dynamic information while 10 is given as an
T3 4
apparent time constant. Therefore, the transfer function can be further refined as .
3 10.9 s + 1

Next, the dynamics of measurement device (TT) represented by GM (s ) and its gain K M are obtained

based on the difference between the equation, V3 (t ) = 0.15T3 (t ) + 0.5 , and its steady-state equation, i.e.,

V3 (t ) V 3 = 0.15(T3 (t ) T 3 ) V3 (t ) = 0.15T3 (t )
' '

By Laplace Transform

'
V3 ( s )
GM ( s ) = '
= 0.15, K M = 0.15
T3 ( s )

Lastly, since time delay is 30 sec or 0.5 min, the unit of minute is chosen in order to be consistent
with the unit employed by time constants, i.e.,

'
T2 ( s ) 0.5s
'
=e
T1 ( s )
 Question 1(b) If MV = V2 ,

Tank 1

Tank 2
+
+

+ + +
_ + +

Question 1(c)

2 .5 4e 0.5 s
The process transfer function in Case (b) is G ( s ) = , while G ( s ) = in Case (a). Since
10s + 1 (10s + 1) 2
time delay is present in process dynamics in Case (a), its resulting control performance is inferior to that
achieved in Case (b). Note that the degradation of control performance caused by the time delay will
be studied in detail in the frequency response topic.