Process Dynamics

and Control
[ChEg4183]
By: Chirotaw G.
 Tuesday – Morning- CR-1716
Section A
Friday - Morning – Aspen lab

Class Schedule
Tuesday - Afternoon –Aspen lab
Section B
Friday –Morning – Aspen lab

Thursday – Afternoon- CR-1717

Section C
Friday –Afternoon –Aspen lab

Tuesday – Afternoon–Aspen lab

Section D
Friday –Afternoon –Aspen lab
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1. Introduction to process control
1.1 What, why, where, how of process control
1.2 Motivation for analysis of process dynamics
1.3 Control objectives
1.4 Operating conditions and operating window
1.5 Calculating control benefits - role of variation
3. Feedback Control
3.1 Control -loop elements: effect on dynamics
3.2 Failure mods for actuators
Couse outlines
2. Modeling and Analysis of Process Dynamics
2.1 Model development procedure
2.2 Degrees of freedom analysis
2.3 Process examples
2.4 Numerical and analytical solutions
2.5 Linearization and deviation variables
2.6 Laplace transforms - properties and use
2.7 Block diagrams and transfer functions
2.8 Interpreting transfer functions
2.9 Types of dynamic responses and characterization
2.10 Empirical model identification
2.11 Introduction to multi-input multi-output models
and control
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Text Books/ References

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 Course objectives

➢ To provide students with the knowledge of process modeling & dynamics,

process control, and control system analysis and design.

✓ Develop fundamental and empirical models for dynamic processes

✓ Analyze properties of dynamic models and processes

✓ Analyze and tune PID controllers and more advanced controllers to

achieve desired performance

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Chapter Four
Block Diagrams
and
Transfer Functions

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 Session objectives

❖After this session you will be able to:

➢Explain block diagram and its features

➢Identify a block diagram representation of a physical system

➢Reduce block diagram systems using algebra

➢Define a transfer function, its characteristics and compute the gain of

the processes

➢Develop transfer function for linear time invariant processes

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 Block diagram
♥ a graphical representation of a physical system and shows the
functional/ mathematical relationship between its components

♥ a pictorial representation of the entire system.

♥ represents the relationship between the input and the output of the
entire system

♥ gives the overview of the system

♥ used to represent all types of systems

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 Block diagram
▪ Different terms

Output = Gain*Input

▪ The value of the input is multiplied to the value of block gain to get the output.

▪ Block diagram items:

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 Advantages of block diagram

i. The functional operation of the system can be observed from block

diagram

ii. It gives the information about performance of system

iii. It is used for analysis and design of control system (hardware and
software parts of controller)

iv. It is very simple to construct the block diagram for big and complicated
system.
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 Disadvantages of block diagram

i. Block diagram for a given system is not unique.

ii. Source of energy in the system is not shown in the diagram.

iii. In the procedure of reduction of block diagram algebra, some

important functions may be omitted or hidden.

iv. The block diagram does not give any information about the physical
construction of the system.

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 Reduction techniques of Block diagrams

• We will use the following terminology for block diagrams throughout this
course:
✓R(s) = reference input (command)
✓Y(s) = output (controlled variable)
✓U(s) = input (actuating signal)
✓E(s) = error signal
✓F(s) = feedback signal
✓G(s) = forward path transfer function
✓H(s) = feedback transfer function
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 Reduction techniques

1. Single block

2. Series connection

3. Parallel
connection
(feed forward)

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 Reduction techniques

4. Negative feedback system

(closed-loop system):

Example

Find the closed-loop transfer function

for the following block diagram:

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 Reduction techniques

5. Moving a
summing point
ahead of a
block:

6. Moving a takeoff
point ahead of a
block:

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 Reduction techniques

7. Moving a takeoff
point beyond a
block:

8. Moving a takeoff
point ahead of a
summing point:

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 Reduction techniques

9. Moving a takeoff point beyond a summing point:

10. Swap with two neighboring summing point:

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 Examples
• Reduce the following block diagram and determine the transfer function.

a)

b)

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c)

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Step 1: Combine all cascade blocks
Solution

Step 2: Combine all parallel blocks

Step 3: Eliminate all minor feedback loops

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 Solution

Step 4: Shift summing points to the left and takeoff points to the right of the
major loop,

Step 5: Repeat steps 1 to 4 until the canonical form has been achieved for a
particular input

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d)

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Solution i

ii

23
 iii

iv

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 v

vi

vii

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 Transfer Function (TF)
• a mathematical representation of the relation between the input and
output of a system.

• the ratio of the Laplace transform of the output variable to the Laplace
transform of the input variable, with all zero initial conditions

• So, Transfer Function G(s) for a system with input u(t) and output y(t)
would be-

Y (s)
G (s) =
U (s)
• plays a key role in the design and analysis of control systems,
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 Properties of TF
➢defined only for a Linear Time-Invariant (LTI) system, not defined for
nonlinear systems

➢The transfer function between a pair of input and output variables is the
ratio of the Laplace transform of the output to the Laplace transform of the
input.

➢All initial conditions of the system are set to zero

➢The system poles/zeros can be found out from transfer function

➢Additive ➔ for parallel system

➢Multiplicative ➔ for series system

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 Procedures

❖To derive the transfer function of a system, we use the following procedures:

1. Develop the differential equation for the system by using the physical
laws, e.g. Conservation’s laws, Newton’s laws, Kirchhoff’s laws etc.,

2. Take the Laplace transform of the differential equation under the zero
initial conditions.

3. Take the ratio of the output to the input. This ratio is the transfer function

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 Advantages of TF
1. It is a mathematical model that gives the gain of the given block/system.

2. Integral and differential equations are converted to simple algebraic

equations.

3. Once the transfer function is known, any output for any given input, can
be known.

4. Since TF involves the Laplace transform, the terms are simple algebraic
expressions and no differential terms are present

5. Poles and zeroes of a system can be determined from the knowledge of

the TF of the system.
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 Disadvantages of TF
1. Transfer function is valid only for Linear Time Invariant systems.

2. It does not take into account the initial conditions. Initial conditions
loose their significance.

3. It does not give any idea about how the present output is progressing.

4. No inferences can be drawn about the physical structure of the system

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 Example-1

Find the transfer function of the following block diagrams

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Solution

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 Example-2

• The Consider the figure as liquid storage process and

its dynamic model consists of the linear first-order ODE
and given by

where h is the liquid level, qi is

the inlet flow rate, and A and
Rv are constants.

Derive a transfer function model between h and qi using

a) Deviation variables
b) Physical variables instead of deviation variables

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 Example-3
• Determine the transfer function of a linear system which represented by the following
differential equation

Taking Laplace Transforms with zero initial conditions,

we see that the transfer function is

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 Example-4

• Two surge tanks are placed in series so that the exit flow from the top tank flows
into the lower tank, as shown below. If an exit flow rate is proportional to liquid
level (or head) in that tank, derive the transfer function that relates changes in
the exit flow rate q2 of the lower tank to changes in the inlet flow rate to the top
tank qi.
Show how this overall transfer function, Q′2(s) ∕ Q′i(s), is related to the
individual transfer functions, H′1(s) ∕ Q′i(s), Q′1(s) ∕ H′1(s), H′2(s) ∕ Q′1(s), and
Q′2(s) ∕ H′2 (s). H′1(s) and H2′(s) denote the Laplace transforms of the
deviations in Tank 1 and Tank 2 levels, respectively. Assume that the two
tanks have cross-sectional areas, A1 and A2, and valve resistances, R1 and R2,
respectively
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i ii

iii
iv

iv vii

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