Physical Examples of

First-Order Systems
Chapter 6

Prepared by:
Ma. Junallie E. Fuentebella-Pomperada, ChE, MEngr, PhDTM
 I. Liquid Level System
R: flow resistance; line (pipe), weir
q or valve resistance
q0: control, volumetric flowrate
Chapter 6

through R
q0 = h/R
q: disturbance, a time-varying
qo volumetric flowrate of constant ρ
Assumption: the cross-sectional area
of the tank is constant

An unsteady-state mass balance for the liquid-level system:

Mass flow in – Mass flow out = Rate of Accumulation of mass in the tank

dh
A  qqi  q0 qqi  q0 at s.s.
dt
 ……more on Linear Resistance

• A pipe is a linear resistance if flow is in the laminar range.

• A contoured weir called a Sutro Weir produces a linear-
Chapter 6

head-flow relationship.
• Turbulent flow through pipes and valves is generally
proportional to h. .
• Flow through weirs having simple geometric shapes can be
expressed as Khn, where K and n are positive constants.
• Flow through a rectangular-shaped weir is proportional to
h3/2.
Chapter 6
 Transfer Function for a Liquid-level
System

1. Relating Head to Flow

Chapter 6

H (s) R

Q( s )  s  1

where: R – steady-state gain (the ultimate change in H(t) for a

unit step change in Q(t)
- conversion factor that relates h(t) with q(t) when the
system is at steady-state

  AR
 Transfer Function for a Liquid-level
System

2. Relating the Inlet Flow to the Outlet Flow

Chapter 6

Q0  s 1

Q(s)  s  1

where: steady-state gain is dimensionless

 Transfer Function for a Liquid-level
System

3. Liquid-Level Process with Constant-flow Outlet

Chapter 6

H ( s) 1

Q( s) As

where: q0 is constant
 On Regulation and Non-regulation

Nonregulation – a condition where the response of a

system grows without limit for a sustained change
Chapter 6

in input.

Regulation – a condition for systems that have a

limited response for a sustained change in input.
 II. Mixing Process

x1, q1 x2, q2
Chapter 6

y, q3

x & y are concentrations in mass/volume

q’s are volumetric flow rates
Assumptions: constant density
constant volume
constant volumetric flowrate
 II. Mixing Process

An unsteady-state mass balance for the blending/mixing

system:
Chapter 6

rate of accumulation   rate of   rate of 

   
 of mass in the tank  mass in  mass out 
 Transfer Function for a Mixing Process

Y ( s) 1

X ( s)  s  1
Chapter 6

where: τ = V/q
 III. Stirred-Tank Heater
Chapter 6

M
Tin, w
Input: Tin , w, Q
Output: T, w

T, w
Q
 III. Linearization
Characterization of a dynamic system by a
transfer function can be done for linear
Chapter 6

systems only (those described by a linear

differential equation).

The convenience of using transfer functions

for dynamic analysis provides significant
motivation for approximating nonlinear
systems by linear ones (linearization).
 III. Linearization

q0 is manipulated by a flow control

valve,
Chapter 6

nonlinear
q0  Cv h element

valve
 III. Linearization
if q0 = CV h
dh
A  qi  Cv h
Chapter 6

dt

Perform Taylor series on the nonlinear term on

the right hand side
 III. Linearization

dH 1
A = Qi - H
dt R1
Chapter 6

where: R1  2 h / Cv

H (s ) R1
=
Qi ( s ) t s +1

where: t = R1A
Chapter 6

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