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Chapter 4 (10-6-06) 1
Chapter 4 (10-6-06) 1
x t y t
Chapter 4
system
X s Y s
x y
input output
forcing function response
“cause” “effect”
1
Definition of the transfer function:
Y s
G s
Chapter 4
X s
where:
Y s L y t
X s L x t
2
Development of Transfer Functions
Example: Stirred Tank Heating System
Chapter 4
3
Recall the previous dynamic model, assuming constant liquid
holdup and flow rates:
dT
V C wC Ti T Q (1)
dt
Suppose the process is initially at steady state:
Chapter 4
T 0 T , Ti 0 Ti , Q 0 Q 2
where T steady-state value of T, etc. For steady-state
conditions:
0 wC Ti T Q (3)
(6)
dt
where we have introduced the following “deviation variables”,
also called “perturbation variables”:
T T T , Ti Ti Ti , Q Q Q (7)
Take of (6):
But since our assumed initial condition was that the process
was initially at steady state, i.e., T 0 T it follows from (9)
Chapter 4
that T 0 0.
Note: The advantage of using deviation variables is that the
initial condition term becomes zero. This simplifies the later
analysis.
K 1
T s Q s Ti s (10)
s 1 s 1
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where two new symbols are defined:
1 V
K and 11
wC w
T s K
(12)
Q s s 1
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Transfer Function Between T and Ti :
Suppose that Q is constant at its steady-state value:
Q t Q Q t 0 Q s 0
Thus, rearranging
Chapter 4
T s 1
(13)
Ti s s 1
Comments:
1. The TFs in (12) and (13) show the individual effects of Q and Ti
on T. What about simultaneous changes in both Q and Ti ?
8
• Answer: See (10). The same TFs are valid for simultaneous
changes.
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Properties of Transfer Function Models
1. Steady-State Gain
The steady-state of a TF can be used to calculate the steady-
state change in an output due to a steady-state change in the
Chapter 4
y2 y1
K (4-38)
u2 u1
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Calculation of K from the TF Model:
If a TF model has a steady-state gain, then:
K lim G s (14)
s 0
Chapter 4
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2. Order of a TF Model
Consider a general n-th order, linear ODE:
dny dy n1 dy d mu
an an1 a1 a0 y bm m
dt n
dt n1 dt dt
d m1u du
Chapter 4
bm1 m 1
b1 b0u (4-39)
dt dt
Y s
i
b s i
G s i 0
(4-40)
U s n
i
a s i
i 0
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Definition:
The order of the TF is defined to be the order of the denominator
polynomial.
Note: The order of the TF is equal to the order of the ODE.
Chapter 4
Physical Realizability:
For any physical system, n m in (4-38). Otherwise, the system
response to a step input will be an impulse. This can’t happen.
Example:
du
a0 y b1 b0u and step change in u (4-41)
dt
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3. Additive Property
Suppose that an output is influenced by two inputs and that
the transfer functions are known:
Y s Y s
G1 s and G2 s
U1 s U2 s
Chapter 4
Y s G1 s U1 s G2 s U 2 s
U1(s) G1(s)
Y(s)
U2(s) G2(s)
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4. Multiplicative Property
Suppose that,
Y s U2 s
G2 s and G3 s
U2 s U3 s
Then,
Chapter 4
Y s G2 s U 2 s and U 2 s G3 s U 3 s
Substitute,
Y s G2 s G3 s U 3 s
Or,
Y s
G2 s G3 s U3 s G2 s G3 s Y s
U3 s
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Linearization of Nonlinear Models
• So far, we have emphasized linear models which can be
transformed into TF models.
• But most physical processes and physical models are nonlinear.
- But over a small range of operating conditions, the behavior
Chapter 4
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Linearization (continued)
• Consider a nonlinear, dynamic model relating two process
variables, u and y:
dy
f y, u (4-60)
dt
Chapter 4
f u , y = 0 (B)
Also, because y y - y, it follows that,
dy dy
= (C)
dt dt
Substitute (B) and (C) into (A) gives the linearized model:
dy f f
u y (4-62)
dt u s y s
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Example: Liquid Storage System
dh
Mass balance: A qi q (1)
dt
Valve relation: q Cv h (2)
A = area, Cv = constant
Chapter 4
dh f f
h qi (4)
dt h s qi s
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where:
f Cv
(5)
h s 2A h
f 1
(6)
qi s A
Chapter 4
dh 1 Cv
qi h (7)
dt A 2A h
dh 1 1 2 h
qi h with R (8)
dt A AR Cv
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State-Space Models
x = Ax + Bu + Ed (4-90)
y = Cx (4-91)
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where:
x = the state vector
u = the control vector of manipulated variables (also called
control variables)
d = the disturbance vector
Chapter 4
Nonlinear
Model:
Chapter 4
Linearized
Model:
where:
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Example 4.9
Show that the linearized CSTR model of Example 4.8 can
be written in the state-space form of Eqs. 4-90 and 4-91.
Derive state-space models for two cases:
(a) Both cA and T are measured.
Chapter 4
Solution
The linearized CSTR model in Eqs. 4-84 and 4-85 can be written
in vector-matrix form:
dcA a a12 cA 0
dt 11 T
c
(4-92)
dT a a22 T b2
dt 21
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Let x1 cA and x2 T , and denote their time derivatives by x1
and x 2 . Suppose that the coolant temperature Tc can be
manipulated. For this situation, there is a scalar control variable,
u Tc , and no modeled disturbance. Substituting these
definitions into (4-92) gives,
Chapter 4
which is in the form of Eq. 4-90 with x = col [x1, x2]. (The symbol
“col” denotes a column vector.)
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a) If both T and cA are measured, then y = x, and C = I in
Eq. 4-91, where I denotes the 2x2 identity matrix. A and B are
defined in (4-93).
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