KKEK 3152 First Semester 2011/2012 session

Tutorial 3

1. A horizontal cylindrical tank shown in Fig. 1a is used to slow propagation of liquid flow
surges in a processing line. Fig. 1b illustrates an end view of the tank and wt is the width
of the liquid surface, which is a function of height, both of which can vary with time. The
model for the height of the liquid h in the tank at any time with the inlet and outlet
volumetric flow rates as model inputs is given as:

dh 1
= ( qi - q)
dt 2L ( D - h) h

Linearize the model assuming that the process initially is at steady state and the density ρ
is constant.

qi
R R -h
L
wt/ 2 h

q wt
Fig. 1a Fig. 1b

2. Liquid flow out of a spherical tank discharging through a valve can be described
approximately by the following nonlinear differential equation:

dh 1
dt
= (
q - Cv h
p( D - h)h i
)

where h = height of liquid, D = diameter of tank, qi = inlet volumetric flow rate, Cv =

valve constant.

a) Derive a linearized model (in deviation variables) of the form:

dH
= aH + bQi
dt

b) Obtain the transfer function of the linearized model relating the liquid level to the
volumetric flow of liquid into the tank.

3. The start-up procedure for a batch reactor includes a heating step where the reactor
temperature is gradually heated to the nominal operating temperature of 75 degree
Celsius. The desired temperature profile T(t) is shown below. What is T(s)?

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KKEK 3152 First Semester 2011/2012 session

T (Celsius)

75

20
0 30
t (min)

4. For the integro-differential equation:

d 2z dz t
+ 3 + 2z = 2 ò e - t d t
2 dt 0
dt

Find z(t). What is the value of z(t) as t ® ¥ ?

5. A state space model consists of the following form:

dx ( t )
= A x ( t ) + Bu ( t )
dt

y ( t ) = Cx ( t )

where x is the state of the system, u is the input and y is the output. Using Laplace
Transform, solve for the general expressions of x(t) and y(t), assuming x(0)≠ 0.

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