10/10/2021

Ali M. Sahlodin
Department of Chemical Engineering
AmirKabir University of Technology

Laplace transform

Laplace transforms of common functions

Solving ODEs using Laplace

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Represent linear, dynamic models using Laplace

x y
•input x t  y t  •output
 Process 
X s Y s
•forcing function •response
•“cause” •“effect”

Y s

Relate one input to one output G( s) 
X ( s)

Process Dynamics & Control. Seborg et al.

dT
V C  wC Ti  T   Q
dt
Inputs: Q, Ti
Output: T

Assume we start from steady state T  0   T , Ti  0   Ti , Q  0   Q

Write the steady-state model 0  wC Ti  T   Q

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Subtract the steady-state model

dT
V C  wC Ti  Ti   T  T     Q  Q 
dt

Define deviation variables
T   T  T , Ti  Ti  Ti , Q  Q  Q

dT 
V C  wC Ti  T    Q
dt

Deviation variables simplify the model and subsequent analyses.

Take Laplace of both sides

V  C  sT   s   T   t  0    wC Ti s   T   s    Q  s 

1 V
K and  
wC w

 K    1  
T  s   Q s    Ti  s 
  s 1   s 1 

•Effect of the two inputs are additive (thanks to linear

dynamics)
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Indicateshow much steady-state output

changes in response to steady-state change
in the input
y2  y1
K
u2  u1

K is constant in linear systems; but can

change in nonlinear systems

Example

Final-value theorem K  lim G  s 

s 0
 Can be used to obtain the steady-state gain if the
limit exists

Do all models have a steady-state gain?

 No if the process does not reach a steady state to
begin with.
 Example: filling a tank with a closed outlet
 Example: oscillatory response at time infinity

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dny dy n1 dy d mu
an  an1  K a1  a0 y  bm m 
dt n dt n1 dt dt
d m1u du
bm1 m 1
 K  b1  b0u
dt dt

Assuming the initial conditions are all zero

m

Y  s  i 0
bi s i
G s 
Order of output: n

U s n Order of input: m
 ai si
i 0

Orderof the numerator cannot be greater

than that of the denominator.

Example: Get response for a step change in

the input
du
y  b1 u
dt

We would get an impulse response, which is not realizable.

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Y s Y s
 G1  s  and  G2  s 
U1  s  U2 s

Y  s   G1  s U1  s   G2  s U 2  s 

U1(s) G1(s)
Y(s)

U2(s) G2(s)

Recall the heated tank with both heat and inlet

temperature as inputs.
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Y s U2  s
 G2  s  and  G3  s 
U2 s U3  s 

U2  s
Y s
 G3  s  G2  s  U3  s  G3  s  G2  s  Y s
U3  s 

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Transfer function is applicable to linear

models only

Linear process models are rare.

Nonlinear models must be linearized

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dy

Nonlinear ODE  f  y, u 
dt

Linearize around steady state

f f
f  u, y   f  u , y   u  y
u s y s

f u , y  = 0

Linearized model dy f f

 u  y
dt u ss y s s

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qi

h
q

dh
A  qi  q
dt
q  Cv h

dh 1 C
 qi  v h  f ( h, qi ) Nonlinear system!
dt A A
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Linearize around steady state h  h and qi =qi ,

dh  f   f 
   h    qi
dt  h  s  s  qi ss
 f  Cv  f 
     
1
 h  s  s 2A h  qi  s  s A

dh 1 Cv
 qi  h
dt A 2A h

Now take Laplace transform and obtain transfer function

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