Republic of the Philippines

Cagayan State University

College of Engineering
Carig Campus, Carig Sur, Tuguegarao City

PROBLEM SET ON HIGHER ORDER SYSTEMS

Submitted to:

ENGR. CAESAR P. LLAPITAN

Chemical Engineering Instructor

In partial fulfillment to the requirements in the course,

ChE 72 (PROCESS DYNAMICS AND CONTROL)

Submitted by:

BRAINARD B. CONCORDIA
V- BS Chemical Engineering
10-7119

September 19, 2015

Date Submitted

1. A step change of magnitude 4 is introduced into a system

having the transfer function:
Y ( s )=

10
s +1.6 s+ 4
2

Determine:
a.) Percent overshoot
b.) Rise time
c.) Maximum value of Y (t)
d.) Ultimate value of Y (t)
e.) Period of oscillation
Using MATLAB simulink;

Step Response

14

System: x
Time (sec): 1.71
Amplitude: 12.5

12

10

System: x
Time (sec): 1.09
Amplitude: 10

Y(s )

4
Tr (sec)

Since the given magnitude is 4, X (s) =

Y (s) =

4
s

10
4
10
X (s) =
2
2
s s +1.6 s+4
s +1.6 s+ 4

s
s ( 2+1.6 s+ 4)
40

Transfer function:
Y (s)
2.5
=
2
X ( s) 0.25 s +0.4 s+1
Y (s)
2.5
= 2 2
X (s) s +2 s+1
Hence,

2=0.25; =0.5

2 =0.4

0.4
=0.4 ; <1 the systemis underdamped
(2)(0.5)

Thus, the ultimate value of Y(t)

is:

s
40
=10
4
40 s
s Y ( s )=lim

s0
lim Y (t )=lim

s ( 2+1.6 s+ 4)=

s 0

So, B = 10
1
e
Y(t) = 10[112

sin ( +) ]

where:

1 2
,=tan

1 2

(0.4)
a.) Overshoot = A/B = exp( 12 )=exp [( 0.84 ]=0.254;
Overshoot: 25.4%
b.) Rise time, tr :
1
e
10[112

t r

sin ( t +) ] =0

sin ( t r + ) =0

0.4t r
0.5

sin [1.883 (t r )+1.1589]=0

t r=1.1082

c.) Maximum value of Y (t) is:

Y (t) = A + B = (B)(0.254)+B
Y (t) = 10(0.254) + 10 = 12.54
d.) Ultimate value of Y(t) = 10
2 2 (0.5)
=
e.) Period of oscillation = 12 1( 0.4)2 =3.427

2. The two-tank system shown in figure below is operating at

steady state. At time t = 0, 10 ft 3 of water is quickly added to
the first tank. Using appropriate figures and equations in the
text, determine the maximum deviation in level (feet) in both
tanks from the ultimate steady-state values and the time at
which each maximum occurs. Data:

A1 = A2 = 10 ft2
R1 = 0.1 ft/cfm
R1 = 0.35 ft/cfm

As the tanks are non-interacting the transfer functions are

K1
H (s )
0.1
=
=
Q(s) 1 s +1 (s +1)
H2 (s )
R2
0.35
=
=
Q(s) ( 1 s +1)( 2 s+ 1) (s+1)(3.5 s +1)
Now, an impulse of (t) =10 ft3 is provided
Q ( s )=10=H 1 ( s )=

And

H 2 ( s) =

3.5
3.5
=
2
(s +1)(3.5 s+1) 3.5 s + 4.5 s+ 1

Now
2 =4.5==

1
=et
s+1

2=3.5= =1.871

4.5
=1.202
2
Thus, this is an over dumped system

Using fig 8.5, for

=1.2, we see that maximum is attained at

t
=0.95, t=1.776 min

And the maximum value is around

=0.325 Y2 (t) =0.174

=H2 (t) =0.174x3.5=0.16 ft.

Thus the max deviation is H1 will be at t=0=H1=1 ft.
Max deviation is H2 will be at t=1.776 min=H2max=0.61 ft.

3. The two-tank liquid-level system shown in figure below is

operating at steady state when a step change is made in the
flow rate to tank 1. The transient response is critically
damped, and it takes 1.0 min for the change in level of the
second tank to reach 50 percent of the total change. If the
ratio of the cross-sectional areas of the tanks is A1 / A2 = 2,
calculate the ratio R1 / R2 . Calculate the time constant for each
tank. How long does it take for the change in level of the first
tank to reach 90 percent of the total change?

For the first tank, transfer function

For the second tank

H 1 ( s)
R1
=
Q(s ) s +11

( 1 s+ 1)( 2 s+1)

H 2 (s) R
=
Q(s)

H 2 ( s)
R2
=
2
Q(s) 1 2 s + ( 1 + 2 ) s+1

R2
1
1
Q ( s ) = ; H 2 ( s )=
2
s
s 1 2 s + ( 1 + 2 ) s +1
( parameter )= 1 2
For

( parameter )= 1 2
t

t

1 1+
e
1 2
for =1, H 2 ( t )=R2

Given, t =1 for

1 2

( parameter )= 1 2

H2 (t) =R2 (1-(0)) =R2

R
t
R2 1 1+
e = 2 I
2
1 2

Also
=1=

1 2

2 = 1 + 2

1+ 2
R A
== A 1 R1= A 2 R2 = 1 = 2 =0.5
2
R2 A 1

From I
1
10.5= 1+ e

( )

R1

( 8.3 ) H 1 ( s )=
; H (t )=R 1 1e
s( 1 s+1) 1
1
1

0.94 ( t )=R ( 1e )
1

t
0.596

)
0.9 R =R ( 1e
1

e 0.596 =0.1 ; t=1.372 min

Thus
R1
=0.5
R2
1= 2=0.596 min
t 90 =1.372 min

4. Use Simulink to solve problem no. 3.