CH 6 Test

r
1
1.8 1.8
2
4 0.8 1 0.1K
c
+
( )
+
2 0.8
=
1.8
1.6
1.8
1.6
|
\
|
.
2
1 0.1K
c
+
0.8
+ =
Roots of the characteristic equation:
(b) Values of the controller gain for which the response is over-damped, critically
damped, and under-damped
0.8s
2
1.8s + 1 + 0.1K
c
+ 0 = Characteristic equation:
C s ( )
R s ( )
0.1K
c
0.8s
2
1.8s + 1 + 0.1K
c
+
= Closed-loop transfer function:
1

2
s
2

1

2
+
( )
s + 1 + K
c
K + 0 = Characteristic equation:
C s ( )
R s ( )
K
c
K
1
s 1 +
( )

2
s 1 +
( )
1 K
c
K
1
s 1 +
( )

2
s 1 +
( )
+
=
K
c
K
1
s 1 +
( )

2
s 1 +
( )
K
c
K +
=
(a) Closed loop transfer function and characteristic equation of the loop.
2
0.8min :=
1
1min := K 0.10
%TO
%CO
:= Problem parameters:
G
c
s ( ) K
c
= G
1
s ( )
K
1
s 1 +
( )

2
s 1 +
( )
=
G
c
(s) G
1
(s)
G
2
(s)
R(s) E(s) M(s)
D(s)
C(s)
+
+
+
-
Problem 6-1. Second-order loop with proportional controller.
Smith & Corripio, 3rd edition
%CO % := %TO % :=
e1
1
r
1
=
e1
2
1

2
1

2
+
( )

1

2
+
( )
2
4
1

2
1 K
c
K +
( )

:=
e1
0.889 min =
e2
1
r
2
=
e2
2
1

2
1

2
+
( )

1

2
+
( )
2
4
1

2
1 K
c
K +
( )
+
:=
e2
0.889 min =
K
c
0.2
%CO
%TO
:=
(under-damped, time constant and damping ratio)
2
s
2
2 s + 1 +

1

2
1 K
c
K +
s
2

1

2
+
1 K
c
K +
s + 1 + =
Match coefficients:

1

2
1 K
c
K +
:=

1

2
+
2 1 K
c
K +
( )
:= 0.886 min = 0.996 =

(d) Steady-state offset for a unit step change in set point.
Final value theorem:
t
Y t ( )
0 s
s Y s ( ) lim
= lim
R s ( )
1
s
=
(Table 2-1.1)
The response is critically damped when the term in the radical is zero:
1.8
1.6
|
\
|
.
2
1 0.1K
c
+
0.8
0 =
K
ccd
1
0.1
0.8
1.8
1.6
|
\
|
.
2
1
(
(
:= K
ccd
0.125
%CO
%TO
=
Critically damped:
Over-damped (real roots):
K
c
0.125
%CO
%TO
<
Under-damped:
K
c
0.125
%CO
%TO
>
The loop cannot be unstable for positive gain because,
for real roots the radical cannot be greater than the negative term, so both roots are negative
for complex conjugate roots the real part is always negative, -1.8/1.6, or -(
1
+
2
)/2
1
This is true for all positive values of the time constants and the product K.
c
K.
(c) Equivalent time constants for different values of the gain:
K
c
0.1
%CO
%TO
:=
(over-damped, two equivalent time constans)
e1
1
r
1
=
e1
2
1

2
1

2
+
( )

1

2
+
( )
2
4
1

2
1 K
c
K +
( )

:=
e1
0.935 min =
e2
1
r
2
=
e2
2
1

2
1

2
+
( )

1

2
+
( )
2
4
1

2
1 K
c
K +
( )
+
:=
e2
0.847 min =
K
c
0.125
%CO
%TO
:=
(critically damped, two equal real time constants)
K
c
0.1
%CO
%TO
:=
0 s
s
K
c
K
1

2
s
2

1

2
+
( )
s + 1 + K
c
K +
1
s
lim
9.9009900990099009901 10
-3

offset 1 0.0099 ( )%TO := offset 0.99 %TO =
K
c
0.125
%CO
%TO
:=
0 s
s
K
c
K
1

2
s
2

1

2
+
( )
s + 1 + K
c
K +
1
s
lim
1.2345679012345679012 10
-2

K
c
0.2
%CO
%TO
:=
0 s
s
K
c
K
1

2
s
2

1

2
+
( )
s + 1 + K
c
K +
1
s
lim
1.9607843137254901961 10
-2

These are very large offsets because the loop gains are so small.
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0.00842
%CO
%TO
K
c
< 0.825
%CO
%TO
< Under-damped (complex conjugate roots):
K
c
0.825
%CO
%TO
> and K
c
0.00842
%CO
%TO
< Over-damped (two real roots):
K
c
0.00842
%CO
%TO
= K
c
30 30
2
4 0.25 36
2 36
:=
K
c
0.82491
%CO
%TO
= K
c
30 30
2
4 0.25 36 +
2 36
:= 0.25 30K
c
36K
c
2
+ 0 =
The response is critically damped when the term in the radical is zero:
r
1
1.5 6K
c
( )
1.5 6K
c
( )
2
4 0.5 1 6K
c
+
( )
+
2 0.5
= 1.5 6K
c
+ 0.25 30K
c
36K
c
2
+ + =
Roots:
(b) Values of the gain for which the response is over-, critically, and under-damped
0.5 s
2
1.5 6K
c
( )
s + 1 + 6K
c
C s ( )
R s ( )
K
c
6 1 s ( )
s 1 + ( ) 0.5s 1 + ( ) K
c
6 1 s ( ) +
= Closed-loop transfer function:
(a) Closed-loop transfer function and characteristic equation of the loop.
G
c
s ( ) K
c
%CO
%TO
= G
1
s ( )
6 1 s ( )
s 1 + ( ) 0.5 s 1 + ( )
%TO
%CO
=
G
c
(s) G
1
(s)
G
2
(s)
R(s) E(s) M(s)
D(s)
C(s)
+
+
+
-
Problem 6-2. Inverse-response second-order system with proportional
controller.
1.5 6K
c
( )
min
2 1 6K
c
+
( )
:= 0.423 min = 0.127 =

(unstable)
Try values that result in equivalent time constants:
K
c
0.005
%CO
%TO
:=
e1
1min
1.5 6 K
c
0.25 30K
c
36K
c
2
+
:=
e1
0.868 min =
e2
1min
1.5 6 K
c
0.25 30K
c
36K
c
2
+ +
:=
e2
0.559 min =
K
c
1
%CO
%TO
:=
e1
1min
1.5 6 K
c
0.25 30K
c
36K
c
2
+
:=
e1
0.143 min =
(unstable)
e2
1min
1.5 6 K
c
0.25 30K
c
36K
c
2
+ +
:=
e2
0.5 min =
(d) Offset for various values of the gain and a unit step change in set point.
K
c
0.10
%CO
%TO
:=
0 s
s
K
c
6 1 s ( )
0.5s
2
1.5 6 K
c

( )
s + 1 + 6K
c
+
1
s
lim
.37500000000000000000
offset 1 0.375 := offset 0.625
%CO
%TO
=
The response is unstable when
K
c
0.25
%CO
%TO
>
(one real root is positive or the real part of the
complex roots i positive)
(c) Effective time constants or time constant and damping ratio for various values o
the gain:
0.5
1 6K
c
+
s
2
1.5 6K
c
1 6K
c
+
s + 1 +
2
s
2
2 s + 1 + =
K
c
0.1
%CO
%TO
:=
0.5min
2
1 6K
c
+
:=
1.5 6K
c
( )
min
2 1 6K
c
+
( )
:= 0.559 min = 0.503 =

K
c
0.125
%CO
%TO
:=
0.5min
2
1 6K
c
+
:=
1.5 6K
c
( )
min
2 1 6K
c
+
( )
:= 0.535 min = 0.401 =

K
c
0.2
%CO
%TO
:=

0.5min
2
1 6K
c
+
:=
1.5 6K
c
( )
min
2 1 6K
c
+
( )
:= 0.477 min = 0.143 =

K
c
0.3
%CO
%TO
:=

0.5min
2
1 6K
c
+
:=
K
c
0.125
%CO
%TO
:=
0 s
s
K
c
6 1 s ( )
0.5s
2
1.5 6 K
c

( )
s + 1 + 6K
c
+
1
s
lim
.42857142857142857143
%CO
%TO
=
K
c
0.20
%CO
%TO
:=
0 s
s
K
c
6 1 s ( )
0.5s
2
1.5 6 K
c

( )
s + 1 + 6K
c
+
1
s
lim
.54545454545454545455
%CO
%TO
=
The offsets are high because the gains are small. Of course, since for gains greater than
0.25%CO/%TO the loop is unstable, offsets can only be high with a proportional controller.
is unlawful.
K 1.8R :=
The real root cannot be negative for any positive value of the loop gain KK
c
because the radical is
always smaller than the negative term. Also, for complex conjugate roots, the real part is always
r
1
1 KK
c
+
( )

I
1 KK
c
+
( )
2
I
2
4
I
KK
c
+
2
I

=
No, there is no ultimate gain. This result just means that a negative loop gain will make the loop
unstable. Another way to show it is to determine the roots of the characteristic equation:
KK
cu
0 :=
u
0 :=
I

u
2
KK
cu
+ i 1 KK
cu
+
( )

u
+ 0 = Substitute s = i:
(b) Is there an ultimate gain for this loop?
(no offset)
0 s
KK
c

I
s 1 +
( )
I
s
2
1 KK
c
+
( )
I
s + KK
c
+
KK
c
KK
c
= 1 = lim
Offset: the steady state gain is:
I
s
2
1 KK
c
+
( )
I
s + KK
c
C s ( )
R s ( )
KK
c

I
s 1 +
( )
I
s s 1 +
( )
KK
c

I
s 1 +
( )
+
= Closed-loop transfer functon:
(a) Closed-loop transfer function and characteristic equation of the loop. Offset.
1 := To work in dimensionless units, t/, set:
G
c
s ( ) K
c
1
1
I
s
+
|
\
|
.
= G
1
s ( )
K
s 1 +
=
G
c
(s) G
1
(s)
G
2
(s)
R(s) E(s) M(s)
D(s)
C(s)
+
+
+
-
Problem 6-3. First-order process and proportional-integral controller.
R
K
1.8
:=
is unlawful.
As KKc increases c decreases and the response
is faster.
0 2 4
0
0.5
1
Y t ( )
R t ( )
t
Y t ( ) u t ( ) e
t
c
:=
Invert using Table 2-1.1:
R t ( ) u t ( ) :=

c
1 :=
u t ( ) 0 t 0 < if
1 t 0 if
:=
Y s ( )
1
c
s 1 +
1
s
=
1
s
1
s
1
c
+
=
c

KK
c
=
Let
Y s ( )
KK
c
s 1 +
( )
s s 1 +
( )
KK
c
s 1 +
( )
+
1
s
=
KK
c
s KK
c
+
1
s
=
(Table 2-1.1)
R s ( )
1
s
=
(c) Response of the loop to a step change in set point for
I
= as the gain varies
from 0 to infinity.
Real
1 KK
c
+
( )
2
0 < =
negative:
T
u
1.987 min =
T
u
2

u
:=
K
Iu
110
%CO
%TO min
=
u
3.162 min
1
= K
Iu

1

2
+
( )

u
2
K
:=
u
1
1

2
:=
2
0.1min :=
(b) Ultimate gain and period for other values of the smaller time constant:
T
u
5.62 min =
T
u
2
u
:=
K
Iu
22.5
%CO
%TO min
=
u
1.118 min
1
= K
Iu

1

2
+
( )

u
2
K
:=
u
1
1

2
:=
1

2

u
3
u
+ 0 =
1

2
+
( )

u
2
KK
Iu
+ 0 =
1

2
i
u
3

1

2
+
( )
u
2
i
u
+ KK
Iu
+ 0 0i + = Substitute s = i
u
:
1

2
s
3
1

2
+
( )
s
2
+ s + KK
I
+ 0 =
1

2
s
2

1

2
+
( )
s + 1 +
K K
I
s
+ 0 =
Characteristic equation:
2
0.8min :=
1
1min := K 0.1
%CO
%TO
:=
(a) Ultimate gain and period with the parameters of Problem 6-1:
G
c
s ( )
K
I
s
= G
1
s ( )
K
1
s 1 +
( )

2
s 1 +
( )
=
G
c
(s) G
1
(s)
G
2
(s)
R(s) E(s) M(s)
D(s)
C(s)
+
+
+
-
Problem 6-4. Second-order process with pure integral controller.
2
2min :=

u
1
1

2
:=
K
Iu

1

2
+
( )

u
2
K
:=
u
0.707 min
1
= K
Iu
15
%CO
%TO min
=
T
u
2
u
:=
T
u
8.886 min =
Reducing the non-dominat time constant increases the ultimate gain and reduces the ultimate
period, as expected. When
2
is increased to 2 min, it becomes the dominant time constant and
the ultmate gain should be higher than for part (a). However, in this case K
I
has units of rate and,
since the loop is slower, it results in a smaller ultimate gain.
is unlawful.
I
0.8min
2
1.8min
> 0.444min = or
I

1

2
1

2
+
>
Notice that for some values of
I
the ultimate frequency and period are complex. When this
happens there is no ultimate gain and the loop is stable for all values of the gain. So, the loop is
always stable as long as
T
u
2 0.8min
2
1.8min
I
= KK
cu
1.8min
I
0.8min
2
1.8min
I

= For the given numerical values:
T
u
2
u
= 2
1

2

1

2
+
( )

I
=
KK
cu

1

2
+
( )

I
1

2

1

2
+
( )

I

=
u
1
1

2

1

2
+
( )

I

=
1

2

I

u
2

I
+
1

2
+
( )
I
2
u
2
+ 0 = KK
cu

1

2
+
( )
I

u
2
=
1

2
+
( )

I

u
2
KK
cu
+ i
1

2

I

u
3

I
1 KK
cu
+
( )
u
+
+ 0 i0 + = Substitute s = i
u
:
1

2

I
s
3

1

2
+
( )
I
s
2
+
I
1 KK
c
+
( )
s + KK
c
+ 0 = Characteristic equation of the loop:
(a) Ultimate gain and period as a function of integral time
I
.
2
0.8min :=
1
1min :=
G
c
s ( ) K
c
1
1
I
s
+
|
\
|
.
= G
1
s ( )
K
1
s 1 +
( )

2
s 1 +
( )
=
G
c
(s) G
1
(s)
G
2
(s)
R(s) E(s) M(s)
D(s)
C(s)
+
+
+
-
Problem 6-5. Second-order process with proportional-integral controller.
is unlawful.
0 5 10
0
0.2
0.4
DR KK
c
( )
KK
c
5 10
0
0.5
1
1.5
KK
c
( )
KK
c
DR e
2
1
2
= e
2
2 0.8KK
c
1
1
4 0.8 KK
c
\
|
.

= e
2
3.2 KK
c
1
=
DR KK
c
( )
e
2
3.2KK
c
1
:=
Under these conditions the decay ratio is, from Eq. 2-5.18:
KK
c
1
4 0.8
> 0.3125 =
These are complex for
r
2
1 1 4 0.8 KK
c

2 0.8
= r
1
1 1 4 0.8 KK
c
+
2 0.8
=
Roots:
KK
c
( )
1
2 0.8KK
c
:=
1min
2 KK
c
=
1
2 0.8 KK
c

=
0.8min
2
KK
c
=
Damping ratio:
2
s
2
2 s + 1 +
0.8
KK
c
s
2 1
KK
c
s + 1 + =
Standard second-order differential equation:
1
KK
c
1
1
s
+
|
\
|
.
s 1 + ( ) 0.8s 1 + ( )
+ 1
KK
c
s 1 + ( )
s s 1 + ( ) 0.8s 1 + ( )
+ = 0.8s
2
s + KK
c
+ = 0 =
For these values there is no ultimate gain. THe characteristic equation becomes:
(b) Damping ratio and decay ratio with K
c
equal to one half the ultimate and
I
= 1
min
Block diagram of the control loop:
F
s
set
(s) E(s) M(s)
C(s)
F
s
(s)
G
c
(s) G
v
(s)
K
T
K
sp
+
-
Size the flow transmitter for 150% of design flow: f
smax
1.5 f
s
:=
f
smax
225
kscf
hr
=
Transmitter gain: K
T
100%TO
f
smax
:= K
sp
K
T
:= K
T
0.444
%TO hr
kscf
=
PI Controller: G
c
s ( ) K
c
1
1
I
s
+
|
\
|
.
=
Size the control valve for 100% overcapacity. From Eq. 5-2.3: Let C
f
0.9 :=
G
M lbmole
29lb
:= y
1.63
C
f
p
1
p
2
p
1
14.7psia +
:= y 1.181 = f
y
y 0.148y
3
:= f
y
0.937 =
Smith & Corripio, 3rd edition degF R := psia psi :=
kscf 1000ft
3
:= psig psi :=
Problem 6-6. Design of gas flow control loop.
FT
FC
f
s
(t)
m(t)
c(t)
f
s
set
(t)
p
1
p
2
Design conditions: lbmole 453.59mole :=
f
s
150
kscf
hr
:= p
1
150psig :=
T
1
60degF := p
2
80psig :=
M 29
lb
lbmole
:= 50 :=
v
0.06min :=
I

v
:=
K
c
0.9
%CO
%TO
:=
Assume the pressures and temperatures are constant and that the flow transmitter FT has a built-in
square-root extractor so that the signal c(t) is proportional to the flow f
s
(t). The valve is
equal-percentage and the controller is PI.
is unlawful.
So the closed-loop responds faster than the valve, and has no offset.
c
0.026 min =
c

v
K
T
K
c
K
v
:= Closed-loop time constant:

F
s
s ( )
F
s
set
s ( )
K
sp
K
c
K
v
v
s K
T
K
c
K
v
+
=
1
c
s 1 +
=
K
sp
K
T
=
I

v
= With
F
s
s ( )
F
s
set
s ( )
K
sp
G
c
s ( ) G
v
s ( )
1 K
T
G
c
s ( ) G
v
s ( ) +
=
K
sp
K
c
1
1
I
s
+
|
\
|
.
K
v
v
s 1 +
1 K
T
K
c
1
1
I
s
+
|
\
|
.
K
v
v
s 1 +
+
=
Closed-loop transfer function and time constant of the loop:
G
v
s ( )
K
v
v
s 1 +
=
Transfer function of the valve:
K
v
5.87
kscf
hr %CO
= K
v
ln
( )
100%CO
f
s
:=
Valve gain, equal-percentage, constant pressures, Eq. 5-2.24:
C
vmax
110
gal
min psi
:=
From Fig. C-10.1, p. 532, a 3-in Masoneilan valve is the smallest for this service:
C
vmax
58.91
gal
min psi
=
C
vmax
200 % f
s
G T
1
460 R +
( )

C
f
p
1
14.7psia +
( )
f
y
gal hr
0.836kscf min
psi
R
:=
Size the flow transmitter for :
Transmitter gain: K
T
100%TO
w
max
:= K
sp
K
T
:= K
T
0.02
%TO hr
lb
=
PI Controller: G
c
s ( ) K
c
1
1
I
s
+
|
\
|
.
=
Size the control valve for 100% overcapacity. From Eq. 5-2.3:
G
M lbmole
29lb
:= y
1.63
C
f
p
1
p
2
p
1
14.7psia +
:= y 1.319 = f
y
y 0.148y
3
:= f
y
0.979 =
From the steam table the saturated steam pressure at: p
1
14.7psia + 59.7 psia = T
sat
292degF :=
Problem 6-7. Steam flow control loop.
FT
FC
w(t)
m(t)
c(t)
w
set
(t)
p
1
p
2
Design conditions: lbmole 453.59mole :=
w 3500
lb
hr
:= p
1
45psig :=
T
sh
50degF := p
2
20psig :=
M 18
lb
lbmole
:= w
max
5000
lb
hr
:=
I

v
:=
Linear valve.
C
f
0.8 := K
c
0.5
%CO
%TO
:=
Assume the pressures and temperatures are constant and that the flow transmitter FT has a built-in
square-root extractor so that the signal c(t) is proportional to the flow w(t). The valve is linear and
the controller is PI.
Block diagram of the control loop:
W
set
(s) E(s) M(s)
C(s)
W(s)
G
c
(s) G
v
(s)
K
T
K
sp
+
-
is unlawful.
So the closed-loop responds slightly slower than the valve, and has no offset. What can be
adjusted to speed-up the response of the closed loop?
K
T
K
c
K
v
0.913 =
c

v
K
T
K
c
K
v
:=
Closed-loop time constant:
F
s
s ( )
F
s
set
s ( )
K
sp
K
c
K
v
v
s K
T
K
c
K
v
+
=
1
c
s 1 +
=
K
sp
K
T
=
I

v
=
With
W s ( )
W
set
s ( )
K
sp
G
c
s ( ) G
v
s ( )
1 K
T
G
c
s ( ) G
v
s ( ) +
=
K
sp
K
c
1
1
I
s
+
|
\
|
.
K
v
v
s 1 +
1 K
T
K
c
1
1
I
s
+
|
\
|
.
K
v
v
s 1 +
+
=
Closed-loop transfer function and time constant of the loop:
G
v
s ( )
K
v
v
s 1 +
=
Transfer function of the valve:
K
v
91.31
lb
hr %CO
= K
v
w
vmax
100%CO
:=
Valve gain, linear, constant pressures, Eq. 5-2.23:
w
vmax
9131
lb
hr
=
w
vmax
0.836kscf min
gal hr
R
psi
C
vmax
C
f
p
1
14.7psia +
G T
1
460R +
( )
f
y
M lbmole
0.380kscf
:=
C
vmax
110
gal
min psi
:=
From Fig. C-10.1, p. 532, a 3-in Masoneilan valve is the smallest for this service:
C
vmax
84.3
gal
min psi
=
C
vmax
200 % f
s
G T
1
460 R +
( )

C
f
p
1
14.7psia +
( )
f
y
gal hr
0.836kscf min
psi
R
:=
T
1
342 degF = T
1
T
sat
T
sh
+ := f
s
73.889
kscf
hr
= f
s
w
M
0.380
kscf
lbmole
:=
Real part:
u
4
6
u
2
1 + K
cu
+ 0 =
K
cu

u
min
( )
4
6min
2
u
( )
2
+ 1
:= K
cu
4
%CO
%TO
=
(b) G
1
s ( )
1
s 1 + ( )
2
= s 1 + ( )
2
K
c
+ 0 = s
2
2s + 1 + K
c
+ 0 =
Substitute s = i
u
at K
c
= K
cu
:
u
2
2
u
i + 1 + K
cu
+ 0 0i + =
Imaginary part: 2
u
0 =
u
0 := (There is no ultimate gain)
Real part:
u
2
1 + K
cu
+ 0 = K
cu
1
%CO
%TO
:=
The loop becomes monotonically unstable when the controller gain is less than -1%CO/%TO.
Problem 6-8. Ultimate gain and period of various process transfer functions.
G
c
(s) G
1
(s)
G
2
(s)
R(s) E(s) M(s)
D(s)
C(s)
+
+
+
-
Proportional controller: G
c
s ( ) K
c
= Characteristic equation: 1 K
c
G
1
s ( ) + 0 =
(a) G
1
s ( )
1
s 1 + ( )
4
= s 1 + ( )
4
K
c
+ 0 = s
4
4s
3
+ 6s
2
+ 4s + 1 + K
c
+ 0 =
Substitute s = i
u
at K
c
= K
cu
:
u
4
4
u
3
i 6
u
2
4
u
i + 1 + K
cu
+ 0 0i + =
Imaginary part: 4
u
3
4
u
+ 0 =
u
1min
1
:= T
u
2
u
:= T
u
6.28 min =
Imaginary part: 8
u
3
7 0.5K
cu
+
( )
u
+ 0 =
8
u
2
7 + 7
u
2
+ 0.5 0 =
u
6.5min
1
:= T
u
2
u
:=
K
cu
14min
2
u
2
1 := K
cu
90
%CO
%TO
= T
u
2.46 min =
(e) G
1
s ( )
1
4s 1 + ( ) 0.2s 1 + ( ) 0.1s 1 + ( )
= 0.08s
3
1.22s
2
+ 4.3s + 1 + K
c
+ 0 =
Substitute s = i
u
at K
c
= K
cu
: 0.08
u
3
i 1.22
u
2
4.3
u
i + 1 + K
cu
+ 0 0i + =
Imaginary part: 0.08
u.
3
4.3
u
+ 0 =
u
4.3
0.08
min
1
:= T
u
2
u
:=
Real part: 1.22
u
2
1 + K
cu
+ 0 =
T
u
0.857 min =
K
cu
1.22min
2
u
2
1 := K
cu
64.6
%CO
%TO
=
(c) G
1
s ( )
1
4s 1 + ( ) 2 s 1 + ( ) s 1 + ( )
= 8s
3
14s
2
+ 7s + 1 + K
c
+ 0 =
Substitute s = i
u
at K
c
= K
cu
: 8
u
3
i 14
u
2
7
u
i + 1 + K
cu
+ 0 0i + =
Imaginary part: 8
u
3
7
u
+ 0 =
u
7
8
min
1
:= T
u
2
u
:= T
u
6.72 min =
Real part: 14
u
2
1 + K
cu
+ 0 = K
cu
14min
2
u
2
1 := K
cu
11.25
%CO
%TO
=
(d) G
1
s ( )
0.5s 1 +
4s 1 + ( ) 2s 1 + ( ) s 1 + ( )
= 8s
3
14s
2
+ 7 0.5K
c
+
( )
s + 1 + K
c
+ 0 =
Substitute s = i
u
at K
c
= K
cu
: 8
u
3
i 14
u
2
7 0.5K
cu
+
( )
u
i + 1 + K
cu
+ 0 0i + =
Real part: 14
u
2
1 + K
cu
+ 0 = K
cu
14
u
2
1 =
is unlawful.
T
u
1.797 min =
T
u
2
u
:=
u
1 K
cu
+
1.8
min
1
:= 1.8
u
2
1 + K
cu
+ 0 = Real part:
K
cu
21
%CO
%TO
= K
cu
6.3
0.3
:= 6.3 0.3K
cu
( )
u
0 = Imaginary part:
1.8
u
2
6.3 0.3K
cu
( )
u
i + 1 + K
cu
+ 0 0i + = Substitute s = i
u
at K
c
= K
cu
:
1.8s
2
6.3 0.3K
c
( )
s + 1 + K
c
+ 0 =
e
0.6 s 1 0.3s
1 0.3s +
= Pad approximation:
6s 1 + K
c
e
0.6 s
+ 0 = G
1
s ( )
e
0.6 s
6s 1 +
= (f)
K
Iu
4 min
3
u
4
4min
u
2
+ := T
u
2
u
:=
K
Iu
0.569
%CO
%TO min
= T
u
15.17 min =
Must use the smaller ultimate frequency, as the ultimate gain for the other value is negative.
(b) G
1
s ( )
1
s 1 + ( )
2
= s
3
2s
2
+ s + K
I
+ 0 =
Substitute s = i
u
at K
I
= K
Iu
:
u
3
i 2
u
2

u
i + K
Iu
+ 0 0i + =
Imaginary part:
u
3

u
+ 0 =
u
1min
1
:= T
u
2
u
:= T
u
6.28 min =
Real part: 2
u
2
K
Iu
+ 0 = K
Iu
2min
u
2
:= K
Iu
2
%CO
%TO min
=
Problem 6-9. Ultimate gain and period with integral controller.
G
c
(s) G
1
(s)
G
2
(s)
R(s) E(s) M(s)
D(s)
C(s)
+
+
+
-
Integral controller: G
c
s ( )
K
I
s
= Characteristic equation: 1
K
I
s
G
1
s ( ) + 0 =
(a) G
1
s ( )
1
s 1 + ( )
4
= s
5
4s
4
+ 6s
3
+ 4s
2
+ s + K
I
+ 0 =
Substitute s = i
u
at K
I
= K
Iu
:
u
5
i 4
u
4
+ 6
u
3
i 4
u
2

u
i + K
Iu
+ 0 0i + =
Imaginary part:
u
5
6
u
3

u
+ 0 =
u
6 6
2
4 +
2min
2
:=
u
2.414 min
1
=
u
6 6
2
4
2min
2
:=
u
0.414 min
1
=
Real part: 4
u
4
4
u
3
K
Iu
+ 0 =
14
u
3
1 4
u
4
3.5
u
2
+
|
\
|
.
u
+ 0 = 4
u
4
10.5
u
2
1 + 0 =
u
10.5 10.5
2
4 4 ( )
2 4 ( ) min
2
:= T
u
2
u
:= T
u
20.71 min =
K
Iu
8 min
3
u
4
7min
u
2
+ := K
Iu
0.576
%CO
%TO min
=
(e) G
1
s ( )
1
4s 1 + ( ) 0.2s 1 + ( ) 0.1s 1 + ( )
= 0.08s
4
1.22s
3
+ 4.3s
2
+ s + K
I
+ 0 =
Substitute s = i
u
at K
I
= K
Iu
:
0.08
u
4
1.22
u
3
i 4.3
u
2

u
i + K
Iu
+ 0 0i + =
Imaginary part:
1.22
u
3
u
+ 0 =
u
1
1.22
min
1
:= T
u
2
u
:= T
u
6.94 min =
Real part:
0.08
u
4
4.3
u
2
K
Iu
+ 0 = K
Iu
0.08 min
3
u
4
4.3min
u
2
+ :=
K
Iu
3.47
%CO
%TO min
=
(c) G
1
s ( )
1
4s 1 + ( ) 2s 1 + ( ) s 1 + ( )
= 8s
4
14s
3
+ 7s
2
+ s + K
Iu
+ 0 =
Substitute s = i
u
at K
I
= K
Iu
:
8
u
4
14
u
3
i 7
u
2

u
i + K
Iu
+ 0 0i + =
Imaginary part:
14
u
3
u
+ 0 =
u
1
14
min
1
:= T
u
2
u
:= T
u
23.51 min =
Real part:
8
u
4
7
u
2
K
Iu
+ 0 = K
Iu
8 min
3
u
4
7min
u
2
+ := K
Iu
0.459
%CO
%TO min
=
(d) G
1
s ( )
0.5s 1 +
4s 1 + ( ) 2s 1 + ( ) s 1 + ( )
= 8s
4
14s
3
+ 7s
2
+ 1 0.5K
I
+
( )
s + K
I
+ 0 =
Substitute s = i
u
at K
I
= K
Iu
:
8
u
4
14
u
3
i 7
u
2
1 0.5 K
Iu
+
( )
u
i + K
Iu
+ 0 0i + =
Real part:
8
u
4
7
u
2
K
Iu
+ 0 = K
Iu
8
u
4
7
u
2
+ =
Imaginary part:
is unlawful.
T
u
12.07 min = K
Iu
1.707
%CO
%TO min
= K
Iu
6.3min
u
2
:=
T
u
2
u
:=
u
1
3.69
min
1
:= 1.8
u
3
1 1.89
u
2
|
\
|
.
u
+ 0 =
Imaginary part:
K
Iu
6.3
u
2
= 6.3
u
2
K
Iu
+ 0 =
Real part:
1.8
u
3
i 6.3
u
2
1 0.3K
Iu
( )
u
i + K
Iu
+ 0 0i + =
Substitute s = i
u
at K
I
= K
Iu
:
1.8s
3
6.3s
2
+ 1 0.3K
I
( )
s + K
I
+ 0 =
e
0.6 s 1 0.3s
1 0.3s +
=
Pad approximation:
6s
2
s + K
I
e
0.6 s
+ 0 = G
1
s ( )
e
0.6 s
6s 1 +
= (f)

T
+
( )
2
4
T
KK
c

T
< The dominant root is negative when:

T
+
( )
2
4
T
1.8
%CO
%TO
= KK
c

T
+
( )
2
4
T
The roots are real as long as:
2
2
T

T
2
+ 4
T
+ 4
T
KK
c

T
+
( )
2
4
T
KK
c
= The radical is:
r
1

T
( )

T
( )
2
4
T
1 KK
c
+
( )
+
2
T
= Dominant root:

T
s
2

T
( )
s + 1 KK
c
+ 0 =
T
1min := (b) Negligible valve time constant,
(negative real root) KK
c
1
%CO
%TO
> The loop is stable for
r
1 KK
c
= Root: s 1 KK
c
+ 0 =
T
0 :=
v
0 := (a) Negligible valve and transmitter time constants:
s 1
( )

v
s 1 +
( )

T
s 1 +
( )
KK
c
+ 0 = Charatcteristic equation of the loop:
5min := G
1
s ( )
K
s 1
( )

v
s 1 +
( )

T
s 1 +
( )
=
G
c
s ( ) K
c
=
G
c
(s) G
1
(s)
G
2
(s)
R(s) E(s) M(s)
D(s)
C(s)
+
+
+
-
Problem 6-10. Open-loop unstable process and proportional controller.
polyroots
1 KK
c
+

v

c
( )
min
1

v

T
+
( )
min
2

v

T
( )
min
3
(
(
(
(
(
(
(
(
(
(
(
(
(
(
10.036
0.966
2.064 10
3
\
|
|
.
=
Positive root, unstable
response
KK
c
0.99 :=
polyroots
1 KK
c
+

v

c
( )
min
1

v

T
+
( )
min
2

v

T
( )
min
3
(
(
(
(
(
(
(
(
(
(
(
(
(
(
10.037
0.963
0
|
\
|
.
=
Root at zero, integrating
response
KK
c
1 :=
Now, the response is unstable also for KK
c
< 1:
KK
cu
43.1
%CO
%TO
= KK
cu
1
v

T
+
v

T

( )
u
2
+ :=
T
u
2.25 min =
v

T
+
v

T

( )

u
2
1 KK
cu
+ 0 =
Real part:
T
u
2
u
:=
u

v

T

v

T
:=
v

T

u
3

v

T
( )
u
+ 0 =
Imaginary part:

v

T

u
3
i
v

T
+
v

T

( )
u
2

v

T
( )
u
i + 1 KK
cu
+ 0 0i + =
Substitute s = i at KK
c
= KK
cu
:

v

T
s
3

v

T
+
v

T

( )
s
2
+
v

T
( )
s + 1 KK
c
+ 0 =
T
1.0min :=
v
0.1min := (c)

T
( )
2
T
0.4 min
1
=
Note: When the roots are complex, the real part is negative:
KK
c
1
%CO
%TO
>
So, the loop is stable for:
2
2
T
+
T
2
+
2
2
T
+
T
2
4
T
KK
c
<

T
+
( )
2
4
T
KK
c

T
( )
2
<
KK
c
1.01 :=
Negative real roots, stable
response
polyroots
1 KK
c
+

v

c
( )
min
1

v

T
+
( )
min
2

v

T
( )
min
3
(
(
(
(
(
(
(
(
(
(
(
(
(
(
10.037
0.961
2.073 10
3
\
|
|
.
=
So the range of the gain for which the response is stable is: 1
%CO
%TO
KK
c
< 43.1
%CO
%TO
<
Notice that for all three cases there is a lower limit on the loop gain for which the response is
stable. This means the response is unstable when the feedback controller is on manual, KK
c
= 0.
is unlawful.
10 min =
V
f
1b
f
2b
+
:= f
2b
2.4
m
3
min
:= f
1b
1.6
m
3
min
:= From the solution to Problem 3-18:
G
2
s ( )
K
2
s 1 +
= G
1
s ( )
K
1
s 1 +
= H s ( )
K
T
T
s 1 +
= G
v
s ( )
K
v
v
s 1 +
= G
c
s ( ) K
c
=
K
sp
G
c
(s) G
v
(s)
C
set
(s)
G
1
(s)
H(s)
C(s)
M(s) E(s)
G
2
(s)
F
2
(s)
F
1
(s)
+
-
+
+
From the solution top Problem 3-18, ignoring the inlet concentration disturbances for simplicity:
Use subscript "b" to denote base values for linearization. f
1
0.1
m
3
min
:=
Disturbance:
c
max
70
kg
m
3
:= c
min
20
kg
m
3
:=
T
3min := Transmitter:
v
0.1min :=
p
v
5psi :=
Linear control valve sized for 100%
overcapacity.
c
b
50
kg
m
3
:=
c
2b
30
kg
m
3
:= f
b
4.0
m
3
min
:=
c
1b
80
kg
m
3
:= V 40m
3
:=
Problem parameters:
AC
AT
f(t)
c(t)
f
1
(t)
f
2
(t)
c
1
(t)
c
2
(t)
V
m(t)
c
set
(t)
Problem 6-11. Analyzer control loop for blender of Problem 3-18.
C s ( )
K
sp
G
c
s ( ) G
v
s ( ) G
2
s ( ) C
set
s ( ) G
1
s ( ) F
1
s ( ) +
1 H s ( ) G
c
s ( ) G
v
s ( ) G
2
s ( ) +
=
Characteristic equation: 1
K
T
T
s 1 +
K
c
K
v
v.
s 1 +
K
2
s 1 +
+ 0 =
T

v
s
3

T

v

T
+
v
+
( )
s
2
+
T

v
+ +
( )
s + 1 + K
T
K
c
K
v
K
2
+ 0 =
Let K K
T
K
v
K
2
:= K 0.542 =
Substitute s =
u
i at KK
c
= KK
cu
:
T

v

u
3
i
T

v

T
+
v
+
( )
u
2

T

v
+ +
( )
u
i + 1 + KK
cu
+ 0 0i + =
Imaginary part:
T

v

u
3

T

v
+ +
( )
u
+ 0 =
u

T

v
+ +
T

v

:= T
u
2
u
:=
Real part:
T

v

T
+
v
+
( )

u
2
1 + KK
cu
+ 0 = T
u
3.01 min =
K
cu

T

v

T
+
v
+
( )
u
2
1
K
:= K
cu
250
%CO
%TO
=
K
1
c
1b
c
b
f
1b
f
2b
+
:= K
2
c
2b
c
b
f
1b
f
2b
+
:= K
1
7.5
kg
m
3
min
m
3
= K
2
5
kg
m
3
min
m
3
=
Control valve: C
vmax
200 % f
2b
gal
3.785 10
3
m
3
1
p
v
:= C
vmax
567
gal
min psi
0.5
=
From Fig. C-10.1, p. 532, an 8-in valve is the smallest with enough capacity:
C
vmax
640
gal
min psi
0.5
:=
f
2max
C
vmax
p
v
3.785 10
3
m
3
gal
:=
f
2max
5.417
m
3
min
= K
v
f
2max
100%CO
:= K
v
0.054
m
3
min %CO
=
Valve fails closed (air-to-open), to prevent overflowing the tank.
Transmitter: K
T
100 %TO
c
max
c
min
:= K
sp
K
T
:= K
T
2
%TO m
3
kg
=
Closed-loop transfer function::
is unlawful.
This is a highly oscillatory response, with 11 cycles before it settles. Students should be
encouraged to study which controller gain actually gives quarter decay ratio.
Compare the results with the simulation of Problem 13-11.
5
0.104 min
1
48.08 min =
Settling time:
e
0.104 min
1
T
0.646 =
Decay ratio:
T 4.21 min =
T
2
1.494min
1
:=
polyroots
1 K K
c
+
T

v
+ +
( )
min
1
T

v

T
+
v
+
( )
min
2
T

v
min
3
(
(
(
(
(
(
(
(
(
(
(
(
(
(
10.226
0.104 1.494i +
0.104 1.494i
|
\
|
.
=
Response is stable and the
dominant roots are complex
conjugate. The period of
oscillation is:
Although not asked in the problem, let us determine the roots of the characteristic equation:
K
T
K
1
f
1
1 K
T
K
c
K
v
K
2
+
0.022 %TO =
Offset
0 s
s
K
T
T
s 1 +
K
1
s 1 +
f
1
s
1
K
T
T
s 1 +
K
c
K
v
v
s 1 +
K
2
s
1 +
+
|
\
|
|
|
|
.
K
T
K
1
f
1
1 K
T
K
c
K
v
K
2
+
= lim
=
By the final-value theorem:
E s ( ) K
sp
C
set
s ( ) H s ( ) C s ( ) = H s ( ) C s ( ) =
K
c
125
%CO
%TO
= K
c
K
cu
2
:= C
set
s ( ) 0 = F
1
s ( )
f
1
s
= Offset:
Direct-acting controller, because the dilute stream has a negative gain on the product composition.
(Eq. 4-2.39) (Eq. 4-2.41) G s ( )
35.77 2.07s 1 + ( )
26.27s
3
36.31s
2
+ 10.14s + 1 +
=
G
F
s ( )
31.79 0.976 s 1 + ( ) 1 2.77 s ( )
26.27s
3
36.31s
2
+ 10.14s + 1 +
= H s ( ) K
T
= G
v
s ( ) K
v
= G
c
s ( ) K
c
= K
sp
K
T
=
K
sp
G
c
(s) G
v
(s)
T
set
(s)
G
F
(s)
H(s)
T(s)
M(s) E(s)
G(s)
F
c
(s)
F(s)
+
-
+
+
Block diagram, from Section 4-2.3, ignoring disturbances for simplicity:
(use subscript "p" to denote
base values for linearization)
f
cp
0.8771
ft
3
min
:=
T
max
700R := T
min
640R :=
Transmitter: negligible time constant.
50 :=
Control Valve: equal-percentage,
negligible time constant.
TC
TT
T
c
(t)
c
A
(t)
f(t)
f
c
(t)
c
Ai
(t)
T
ci
V
m(t)
T
set
(t)
T
i
(t)
T(t)
Problem 6-12. Temperature control of non-isothermal reactor of Section
4-2.3 by manipulation of coolant flow to the jacket.
is unlawful.
The ultimate frequency cannot be an imaginary number. This means that there is no ultimate gain
and period for this loop. The reason is the G(s) has a net order of 2--one zero and three poles--and
there are no additional lags for the valve and the transmitter. So, the loop cannot be made unstable
with a proportional controller of positive gain.
u
0.406i min
1
=
u
10.14 2.07
26.27 2.07 36.31
min
1
:=
10.14 2.07 26.27 2.07 36.31 ( )
u
2
= 26.27
u
3
10.14 2.07KK
cu
+
( )
u
+ 0 =
Imaginary part:
KK
cu
36.31
u
2
1 = 36.31
u
2
1 + KK
cu
+ 0 =
Real part:
26.27
u
3
i 36.31
u
2
10.14 2.07 KK
cu
+
( )
u
i + 1 + KK
cu
+ 0 0i + =
Rearrange and substitute s =
u
i at KK
c
= KK
cu
:
The positive K requires a positive K
c
,
that is, a reverse-acting controller.
K 2.046
%TO
%CO
= K 35.77
R min
ft
3
K
v
K
T
:=
Let
1 K
c
K
v
K
T
35.77 2.07 s 1 + ( )
26.27s
3
36.31s
2
+ 10.14s + 1 +
+ 0 =
Characteristic equation of the loop:
K
T
1.667
%TO
R
= K
T
100%TO
T
max
T
min
:=
Transmitter gain:
The control valve fails opened (air-to-close) to prevent overheating the reactor on loss of power. This
is why its gain is negative.
K
v
0.034
ft
3
min %CO
= K
v
ln
( )
f
cp
100%CO
:=
Control valve gain, Eq. 5-2.24, p. 171:
(Eq. 4-2.39) (Eq. 4-2.41) G s ( )
35.77 2.07s 1 + ( )
26.27s
3
36.31s
2
+ 10.14s + 1 +
=
G
F
s ( )
31.79 0.976 s 1 + ( ) 1 2.77 s ( )
26.27s
3
36.31s
2
+ 10.14s + 1 +
= H s ( ) K
T
= G
v
s ( ) K
v
= G
c
s ( ) K
c
= K
sp
K
T
=
K
sp
G
c
(s) G
v
(s)
T
set
(s)
G
F
(s)
H(s)
T(s)
M(s) E(s)
G(s)
F
c
(s)
F(s) +
-
+
+
Block diagram, from Section 4-2.3, ignoring disturbances for simplicity:
(use subscript "p" to denote
base values for linearization)
f
p
1.3364
ft
3
min
:=
T
max
700R := T
min
640R :=
Transmitter: negligible time constant.
p
v
5psi :=
Control Valve: linear, sized for
100% overcapacity, negligible time
constant. Assume
TC
TT
T
c
(t)
c
A
(t)
f(t)
f
c
(t)
c
Ai
(t)
T
ci
V
m(t)
T
set
(t)
T
i
(t)
T(t)
Problem 6-13. Temperature control of non-isothermal reactor of Section
4-2.3 by manipulation of the reactants flow.
The positive K requires a positive K
c
,
that is, a reverse-acting controller.
u
i at KK
c
= KK
cu
:
26.27
u
3
i 36.31 0.976 2.77 ( ) KK
cu
+
u
2
10.14 0.976 2.77 ( ) KK
cu
+
u
i + 1 + KK
cu
+ 0 =
Real part: 36.31 0.976 2.77 ( ) KK
cu
+

u
2
1 + KK
cu
+ 0 = KK
cu
36.31
u
2
1
1 0.976 2.77 ( )
u
2
=
Imaginary part: 26.27
u
3
10.14 0.976 2.77 ( )KK
cu
+
u
+ 0 = 0.976 2.77 1.794 =
0.976 2.77 ( ) 2.704 =
26.27
u
2
10.14 + 1.794 ( )
36.31
u
2
1
1 2.704 ( )
u
2
+ 0 =
26.27 2.704 ( )
u
4
26.27 10.14 2.704 ( ) + 1.794 ( )36.31 + [ ]
u
2
+ 10.14 1.794 + ( ) + 0 =
26.27 2.704 ( ) 71.034 = 26.27 10.14 2.704 ( ) + 1.794 ( )36.31 + 63.992 = 10.14 1.794 + 11.934 =
71.034
u
4
63.992
u
2
11.934 + 0 =
Control valve size: C
vmax
200% f
p
p
v
7.48gal
ft
3
:= C
vmax
8.941
gal
min psi
=
From Fig. C-10.1, p. 532, a -in valve is required: C
vmax
11
gal
min psi
:= f
max
C
vmax
p
v
:=
Control valve gain, Eq. 5-2.23, p. 171: K
v
f
max
100%CO
:= K
v
0.033
ft
3
min %CO
=
The control valve fails closed (air-to-open) to prevent overflowing the reactor on loss of power.
Transmitter gain: K
T
100%TO
T
max
T
min
:= K
T
1.667
%TO
R
=
Characteristic equation of the loop: 1 K
c
K
v
K
T
31.79 0.976 s 1 + ( ) 1 2.77s ( )

26.27s
3
36.31s
2
+ 10.14s + 1 +
+ 0 =
Let K 31.79
R min
ft
3
K
v
K
T
:= K 1.742
%TO
%CO
=
u
63.992 63.992
2
4 71.034 ( ) 11.934 ( )
2 71.034 ( ) min
2
:= T
u
2
u
:= T
u
15.78 min =
K
cu
1
K
36.31min
2
u
2
1
1 2.704min
2
u
2
+
:=
K
cu
1.91
%CO
%TO
=
The reason there is an ultimate gain in this case and not when the cooling water is manipulated
(Problem 6-12) is the inverse response of the temperature to the reactants flow (negative zero in the
transfer function).
is unlawful.
K 1.8R :=
x
3
16.667 % = x
4
40.882 % = f
4
3400
gal
min
= x
4
f
3
x
3
f
2
x
2
+
f
4
:= f
4
f
3
f
2
+ :=
f
3
2400
gal
min
= x
3
f
5
x
5
f
3
:= f
3
f
1
f
5
+ := Assume perfectly mixed tanks, constant density.
x
7
90% := f
7
500
gal
min
:= x
5
80% := f
5
500
gal
min
:=
x
2
99% := f
2
1000
gal
min
:= f
1
1900
gal
min
:= V 7000gal := Problem parameters (Table P4-1):
K
sp
G
c
(s) G
v
(s)
X
6
set
(s)
G
2
(s)
H(s)
X
6
(s)
M(s) E(s)
G
1
(s)
F
1
(s)
F
2
(s)
+
-
+
+
Block diagram, considering only f
1
(t) anf f
2
(t) as input variables:
V V V
f
5
(t)
f
1
(t)
f
2
(t)
f
7
(t)
f
3
(t) f
4
(t) f
6
(t)
x
5
(t) x
2
(t) x
7
(t)
x
3
(t) x
4
(t) x
6
(t)
AT
AC
x
6
set
(t)
m(t)
Problem 6-14. Analyzer control of three mixing tanks of Problem 4-3.
2
V
f
4
:=
3
V
f
6
:= K
6
f
4
f
6
:= K
7
x
6
x
4
f
6
:= K
3
f
3
f
4
:= K
5
x
4
x
3
f
4
:= K
2
x
3
f
3
:=
K
8
x
2
x
4
f
4
:=
1
2.917 min =
2
2.059 min =
3
1.795 min = K
6
0.872 = K
8
0.017
% min
gal
=
K
3
0.706 = K
5
7.122 10
3
% min
gal
= K
2
6.944 10
3
% min
gal
= K
7
1.615 10
3
% min
gal
=
Eliminate X
3
(s) and X
4
(s):
X
4
s ( )
K
2
K
3
K
5

1
s 1 +
( )

1
s 1 +
( )

2
s 1 +
( )
F
1
s ( )
K
8
2
s 1 +
F
2
s ( ) + =
X
6
s ( ) G
1
s ( ) F
1
s ( ) G
2
s ( ) F
2
s ( ) + =
G
1
s ( )
K
6
K
2
K
3
K
5

1
s 1 +
( )

K
7

1
s 1 +
( )

2
s 1 +
( )

1
s 1 +
( )

2
s 1 +
( )

3
s 1 +
( )
=
G
2
s ( )
K
6
K
8
K
7

2
s 1 +
( )

2
s 1 +
( )

3
s 1 +
( )
=
f
6
f
4
f
7
+ := x
6
f
4
x
4
f
7
x
7
+
f
6
:= f
6
3900
gal
min
= x
6
47.179 % =
Control valve: Equal-percentage valve, constant pressure drop, = 50, negligible time constant.
G
v
s ( ) K
v
= K
v
ln 50 ( )
100%CO
f
1
:= (Eq. 5-2.24, p. 171) K
v
74.3
gal
min %CO
=
The valve fails closed (air-to-open) to
prevent overflowing the tanks on loss
of power.
Analyzer Transmitter: negligible lag, 30 to 70% range:
H s ( ) K
T
= K
T
100%TO
70 30 ( )%
:= K
T
2.5
%TO
%
=
Proportional controller: G
c
s ( ) K
c
=
Process Transfer Functions:
From the soution to Problem 4-3: X
6
s ( )
1
3
s 1 +
K
6
X
4
s ( ) K
7
F
1
s ( ) K
7
F
2
s ( )
( )
=
X
4
s ( )
1
2
s 1 +
K
3
X
3
s ( ) K
5
F
1
s ( ) K
8
F
2
s ( ) +
( )
=
(where we have added F
2
(s) as an
input variable) X
3
s ( )
K
2
1
s 1 +
F
1
s ( ) =
1
V
f
3
:=
Substitute s =
u
i at K
c
= K.
cu
:
A

u
3
i
B
K
A
K
cu

( )
u
2

C
K
B
K
cu

( )
u
i + 1 + K
C
K
cu
0 0i + =
Real part:
B
K
A
K
cu

( )

u
2
1 + K
C
K
cu
0 = K
cu

B

u
2
1
K
C
K
A

u
2

=
Imaginary part:
A

u
3

C
K
B

B

u
2
1
K
C
K
A

u
2

+
|
\
|
|
.
u
+ 0 =
K
A

A

u
4

A
K
C
K
B

B
+ K
A

C

( )
u
2
+ K
C

C
+ K
B
0 =
Let a K
A

A
:= b
A
K
C
K
B

B
+ K
A

C
:= c K
C

C
K
B
:=
a 19.419 min
5
= b 36.13 min
3
= c 10.361 min =
u
b b
2
4 a c +
2 a
:=
u
0.595i min
1
=
The complex ultimate frequency mens that there is no ultimate gain. The process is stable for all
negative Kc (direct-acting controller): increasing concentration increases controller output, opening
the valve and increasing the flow of pure water. This dilutes the solution and brings the
concentration down.
Characteristic equation of the loop: 1 H s ( ) G
c
s ( ) G s ( ) G
1
s ( ) + 0 =
1 K
T
K
c
K
v
K
6
K
2
K
3
K
5

1
s 1 +
( )

K
7

1
s 1 +
( )

2
s 1 +
( )

1
s 1 +
( )

2
s 1 +
( )

3
s 1 +
( )
+ 0 =
1

2

3
s
2

1

2

1

3
+
2

3
+ K
7
K
T
K
c
K
v

1

2

( )
s
2
+ +
1

2
+
3
+ K
6
K
5
K
T
K
c
K
v

1
K
7
K
T
K
c
K
v

1

2
+
( )

s + +
1 + K
6
K
2
K
3
K
5
+
( )
K
7
+
K
T
K
c
K
v
0 =
Let
A

1

2

3
:=
B

1

2

1

3
+
2

3
+ :=
C

1

2
+
3
+ := K
A
K
7
K
T
K
v

1

2
:=
K
B
K
T
K
v
K
6
K
5

1
K
7

1

2
+
( )
+
:= K
C
K
6
K
2
K
3
K
5
+
( )
K
7
+
K
T
K
v
:=
A
10.778 min
3
=
B
14.935 min
2
=
C
6.77 min = K
A
1.802 min
2
= K
B
4.858 min =
K
C
2.248 =
K
G2
0.013
min %
gal
= K
G2
K
6
K
8
K
7
:= G
2
0 ( ) K
G2
= f
2
10
gal
min
:=
Offset K
sp
x
6
set
K
T
x
6
= 0 K
T
G
2
0 ( )
1 K
T
K
c
K
v
G
1
0 ( ) +
f
2
=
Offset for an increase of 10 gal/min in flow f
2
:
The reason there is no ultimate gain is that the transfer function of the process in the loop has a net
order of one (three poles and two zeros). So, with negligible valve and transmitter lags, the loop
cannot be made unstable with a proportional controller. In practice there will be some lags in the
valve and transmitter, however small, and this will impose a limit on the controller gain. Note: In the
second edition of this text the analyzer transmitter was specified to have a dead time of 2 min. This
is a more realistic situation and did result in an ultimate gain and period.
polyroots
1 K
C
K
c

C
K
B
K
c

( )
min
1
B
K
A
K
c

( )
min
2
A
min
3
(
(
(
(
(
(
(
(
(
(
(
(
(
(
1.67 10
3
2.105
0.593
|
\
|
|
.
=
Negative real roots. Loop is
stable.
Roots of the characteristic equation: K
c
10000
%CO
%TO
:=
polyroots
1 K
C
K
c

C
K
B
K
c

( )
min
1
B
K
A
K
c

( )
min
2
A
min
3
(
(
(
(
(
(
(
(
(
(
(
(
(
(
15.183
2.326
0.593
|
\
|
.
=
Negative real roots. Loop
is stable.
c
100
%CO
%TO
:=
polyroots
1 K
C
K
c

C
K
B
K
c

( )
min
1
B
K
A
K
c

( )
min
2
A
min
3
(
(
(
(
(
(
(
(
(
(
(
(
(
(
0.59
0.481 0.528i
0.481 0.528i +
|
\
|
.
=
Negative real root and
complex conjugate roots
with negative real parts.
Loop is stable.
c
1
%CO
%TO
:=
Test:
G
1
0 ( ) K
G1
= K
G1
K
6
K
2
K
3
K
5
( )
K
7
:= K
G1
0.012
min %
gal
=
Offset K
c
( )
K
T
K
G2
1 K
T
K
c
K
v
K
G1
+
f
2
:=
For K
c
= -1 %CO/%TO: Offset 1 ( ) 0.102 %TO =
Open-loop offset (K
c
= 0): Offset 0 ( ) 0.332 %TO =
For a PI controller the offset is zero.
10 5 0
0.004
0.002
0
Offset X ( )
X
Let X K
c
=
is unlawful.
f
1
f
0
f
R
+ := k
2
k
1
:=
f
R
0
ft
3
min
:= f
0
10
ft
3
min
:= k
1
0.2min
1
:= c
A0
7
lbmole
ft
3
:= V
2
V
1
:= V
1
125ft
3
:=
Problem data:
K
T
20
%TO ft
3
lbmole
= K
T
100 %TO ft
3
5lbmole
:=
T
0.5min := H s ( )
K
T
T
s 1 +
= Transmitter:
G
v
s ( ) K
v
= Control valve: G
c
s ( ) K
c
= Proportional controller:
K
sp
G
c
(s) G
v
(s)
C
A2
set
(s)
G
2
(s)
H(s)
C
A2
(s)
M(s) E(s)
G
1
(s)
F
0
(s)
C
A0
(s)
+
-
+
+
Block diagram:
V
1
f
0
(t)
f
R
f
1
(t)
c
A0
(t) c
A1
(t) c
A2
(t)
AT
AC
c
A2
set
(t)
m(t)
V
2
Problem 6-15. Analyzer control of reactors in series of Problem 4-9.
1
V
1
f
1
k
1
V
1
+
:=
2
V
2
f
1
k
2
V
2
+
:=
1
3.571 min =
2
3.571 min =
K
1
f
0
f
1
k
1
V
1
+
:= K
2
f
R
f
1
k
1
V
1
+
:= K
3
f
1
f
1
k
2
V
2
+
:= K
1
0.286 = K
2
0 =
K
3
0.286 =
C
A1
s ( )
1
1
s 1 +
K
1
C
A0
s ( ) K
4
F
0
s ( ) + K
2
C
A2
s ( ) +
( )
= K
4
c
A0
c
A1
f
1
k
1
V
1
+
:= K
4
0.143
lbmole min
ft
6
=
C
A2
s ( )
K
3
2
s 1 +
C
A1
s ( )
K
5
2
s 1 +
F
0
s ( ) + = K
5
c
A1
c
A2
f
1
k
2
V
2
+
:= K
5
0.041
lbmole min
ft
6
=
Substitute to eliminate C
A1
(s):
C
A2
s ( ) K
3
K
1
C
A0
s ( ) K
4
F
0
s ( ) + K
2
C
A2
s ( ) +
( )
2
s 1 +
( )

1
s 1 +
( )
K
5
2
s 1 +
F
0
s ( ) + =
K
1
K
3
C
A0
s ( ) K
3
K
4
K
5

1
s 1 +
( )
+
F
0
s ( ) +
1
s 1 +
( )

2
s 1 +
( )
K
2
K
3

=
At the initial steady state: f
1
k
1
V
1
+
( )
c
A1
f
0
c
Ao
f
R
c
A2
+ = f
1
k
2
V
2
+
( )
c
A2
f
1
c
A1
=
c
A1
f
0
c
A0
f
1
k
1
V
1
+
f
R
f
1
f
1
k
2
V
2
+
:= c
A2
f
1
c
A1
f
1
k
2
V
2
+
:=
c
A1
2
lbmole
ft
3
= c
A2
0.571
lbmole
ft
3
=
Control valve gain: linear sized for 100% overcapacity, assume p
v
5psi :=
C
vmax
200% f
0
7.48 gal
ft
3
p
v
:= C
vmax
66.903
gal
min psi
=
From Fig. C-10.1, p. 532, a 3-in valve is needed: C
vmax
110
gal
min psi
:=
f
0max
C
vmax
p
v
ft
3
7.48gal
:= K
v
f
0max
100%CO
:= K
v
0.329
ft
3
min %CO
=
The valve fails closed (air-to-open) so as not to overflow the reactor on power failure.
Process transfer functions from the solution to Problem 4-9:
G
2
s ( )
K
1
K
3
1
s 1 +
( )

2
s 1 +
( )
K
2
K
3

=
Offset
K
sp
c
A2
set
K
T
c
A2

1 K
T
K
c
K
v
G
1
0 ( ) +
=
0 K
T
G
2
0 ( ) c
A0
1 K
T
K
c
K
v
G
1
0 ( ) +
=
Offset for an increase of 1 lbmole/ft
3
in inlet reactant cncentration.
The imaginary value of the ultimate gain means that there is no ultimate gain. The loop is stable for
all positive values of the controller gain. The reason is that the net order of the transfer function
G
1
(s) is one (two poles and one zero). With an additional lag in the transmitter, the total order of
the transfer function is two, not enough lags to produce instability with a proportional controller.
The controller gain is positive (reverse action): an increase in composition decreases the controller
output. This decreases the flow of reactants and decreases the concentration.
u
0.507i min
1
=
u
K
L

C

D
1 K
2
K
3

( )

K
L

A

D

B

:=
A

u
3

C

D

B

u
2
1 K
2
K
3
+
K
L
+
|
\
|
.
u
+ 0 = Imaginary part:
K
cu

B

u
2
1 K
2
K
3
+
K
L
=
B

u
2
1 + K
2
K
3
K
L
K
cu
+ 0 = Real part:
A

u
3
i
B

u
2

C

D
K
cu
+
( )
u
i + 1 + K
2
K
3
K
L
K
cu
+ 0 0i + =
Substitute s =
u
i at K
c
= K
cu
:
K
3
K
4
0.041
lbmole min
ft
6
= K
L
0.537 =
D
0.959 min =
C
7.643 min =
B
16.327 min
2
=
A
6.378 min
3
= K
L
K
T
K
v
K
3
K
4
K
5
+
( )
:=
D
K
T
K
v
K
5

1
:=
C

T

1
+
2
+ K
2
K
3

T
:=
B

T

1

T

2
+
1

2
+ :=
A

1

2

T
:= Let
1 + K
2
K
3
K
T
K
c
K
v
K
3
K
4
K
5
+
( )
+ 0 =
T

1

2
s
3

T

1

T

2
+
1

2
+
( )
s
2
+
T

1
+
2
+ K
2
K
3

T
K
T
K
c
K
v
K
5

1
+
( )
s +
1
K
T
T
s 1 +
K
c
K
v
G
1
s ( ) + 0 = Charactetristic equation of the loop:
G
1
s ( )
C
A2
s ( )
F
0
s ( )
=
K
3
K
4
K
5

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

2
s 1 +
( )
K
2
K
3

=
is unlawful.
X K
c
= Let
0 5 10
0.02
0.01
0
Offset X ( )
X
Compare these results with the simulation of this process in Problem 13-16.
Offset 0 ( ) 1.633 %TO = Open-loop offset (K
c
= 0):
Offset 1 ( ) 1.062 %TO = For K
c
= 1 %CO/%TO:
Offset K
c
( )
K
T
K
G2
1 K
T
K
c
K
v
K
G1
+
c
A0
:=
K
G1
0.082
lbmole min
ft
6
= K
G1
K
3
K
4
K
5
+
1 K
2
K
3

:= G
1
0 ( ) K
G1
=
K
G2
0.082 = K
G2
K
1
K
3
1 K
2
K
3

:= G
2
0 ( ) K
G2
= c
A0
1
lbmole
ft
3
:=
Block diagram, ignoring the inlet temperature as a variable:
T
10s
min
60s
:= H
s
1145.4
BTU
lb
:= From the steam tables, the enthalpy of the steam is:
T
max
100degF :=
T
min
50degF :=
Assumptions:
Perfectly mixed tank, constant volume, negligible heat losses
Constant density and physical properties
Steam is at atmospheric pressure
Transmitter has a range of 50 to 100F and a time constant of 10 s
f
1
2
gal
min
:= Disturbance:
v
4s
min
60s
:=
"p" denotes base value
for linearization.
w
2
t ( ) 1.954
lb
min
vp t ( )
p
v
psi
=
p
v
10psi := Control valve:
T
3p
80degF :=
T
1p
60degF := f
1p
25
gal
min
:=
Design conditions:
c
p
0.8
BTU
lb degF
:=
7
lb
gal
:= V 5gal :=
TT
TC
f
1
(t)
f
3
(t)
w
2
(t)
T
1
(t)
T
3
set
(t)
Saturated
steam
Liquid
T
3
(t)
m(t)
Problem parameters:
Problem 6-16. Temperature control of direct contact heater of Problem 4-5.
W
2
t ( ) w
2
t ( ) w
2p
= F
1
t ( ) f
1
t ( ) f
1p
=
3
t ( ) T
3
t ( ) T
3p
=
1
t ( ) T
1
t ( ) T
1p
= where
V c
v
d
3
t ( )
dt
a
1

1
t ( )
3
t ( )
( )
a
2
F
1
t ( ) + a
3
W
2
t ( ) + a
4

3
t ( ) =
Linearize:
Note: This value differs from the value given in the statement of Problem 4-5, probably because a
different steam pressure was assumed.
w
2p
2.529
lb
min
= w
2p
f
1p
c
p
T
3p
T
1p
( )
H
s
c
p
T
3p
32degF
( )

:=
At the initial steady state:
V c
v
d T
3
t ( )
dt
f
1
t ( ) c
p
T
1
t ( ) T
3
t ( )
( )
w
2
t ( ) H
s
c
p
T
3
t ( ) 32 degF
( )

+ =
Sustitute into enthalpy balance:
f
3
t ( ) f
1
t ( ) w
2
t ( ) + =
f
1
t ( ) w
2
t ( ) + f
3
t ( )
d V
dt
= 0 = Mass balance, assuming constant volume:
f
1
t ( ) c
p
T
1
t ( ) 32 degF
( )
w
2
t ( ) H
s
+ f
3
t ( ) c
p
T
3
t ( ) 32 degF
( )
V c
v
d T
3
t ( )
dt
=
Enthalpy balance on the tank, neglecting heat losses:
K
T
2
%TO
degF
= K
sp
K
T
:= K
T
100%TO
T
max
T
min
:= H s ( )
K
T
T
s 1 +
= Temperature transmitter:
K
v
0.062
lb
min %CO
= K
v
1.954
lb
min
p
v
psi
1
100%CO
:= G
v
s ( )
K
v
v
s 1 +
= Linear control valve:
G
c
s ( ) K
c
= Proportional controller:
K
sp
G
c
(s) G
v
(s)
T
3
set
(s)
G
2
(s)
H(s)
T
3
(s)
M(s) E(s)
G
3
(s)
W
2
(s)
F
1
(s)
+
-
+
+
Ultimate gain and period of the loop:
1
K
T
T
s 1 +
K
c
K
v
v
s 1 +
K
3
s 1 +
+ 0 =
let
KK
c
K
T
K
c
K
v
K
3
=
T

v
s
3

T

v

T
+
v
+
( )
s
2
+
T

v
+ +
( )
s + 1 + KK
c
+ 0 =
Substitue s =
u
i at KK
c
= KK
cu
:
T

v

u
3
i
T

v

T
+
v
+
( )

u
2

T

v
+ +
( )
u
i + 1 + KK
cu
+ 0 =
Imaginary part:

T

v

u
3

T

v
+ +
( )

u
+ 0 =
u

T

v
+ +
T

v

:= T
u
2
u
:=
Real part:

T

v

T
+
v
+
( )

u
2
1 + KK
cu
+ 0 = T
u
0.448 min =
K
cu

T

v

T
+
v
+
( )
u
2
1
K
T
K
v
K
3
:= K
cu
10.61
%CO
%TO
=
Offset caused by change in inlet liquid flow at one half the ultimate gain:
Offset
K
sp
T
3
set
K
T
T
3

1 K
T
K
c
K
v
K
3
+
=
0 K
T
K
2
f
1

1 K
T
K
c
K
v
K
3
+
= K
c
K
cu
2
:=
a
1
f
1p
c
p
:= a
2
c
p
T
1p
T
3p
( )
:= a
3
H
s
c
p
T
3p
32degF
( )
:= a
4
w
2p
c
p
:=
Rearrange:

d
3
t ( )
dt

3
t ( ) + K
1

1
t
( )
K
2
F
1
t ( ) + K
3
W
2
t ( ) + =
3
0 ( ) 0 =
where
V c
p
a
1
a
4
+
:= K
1
a
1
a
1
a
4
+
:= K
2
a
2
a
1
a
4
+
:= K
3
a
3
a
1
a
4
+
:= 0.197 min =
K
1
0.986 = K
2
0.789
degF min
gal
= K
3
7.794
degF min
lb
=
Note: These values differ from the solution to Problem 4-5 because a different steam pressure is
assumed here.
Laplace transform:

3
s ( )
K
1
s 1 +

1
s ( )
K
2
s 1 +
F
1
s ( ) +
K
3
s 1 +
W
2
s ( ) + =
G
2
s ( )
K
2
s 1 +
= G
3
s ( )
K
3
s 1 +
=
Offset
K
T
K
2
f
1
1 K
T
K
c
K
v
K
3
+
:=
Offset 0.516 %TO =
Offset
K
T
0.258 degF =
is unlawful.
V
d c
3
t ( )
dt
f t ( ) c
2
t ( ) f t ( ) c
3
t ( ) k V c
3
t ( ) =
V
d c
2
t ( )
dt
f t ( ) c
1
t ( ) f t ( ) c
2
t ( ) k V c
2
t ( ) =
V
d c
1
t ( )
dt
f t ( ) c
i
t ( ) f t ( ) c
1
t ( ) k V c
1
t ( ) =
Model of the reactors, from mass balances on each reactor, assuming
Perfectly mixed, constant volume
Constant density and physical properties
K
v
2.46
gal
min %CO
= K
v
C
vmax
p
v
100%CO
:=
The valve fails closed (air-to-open)
to prevent overflowing the reactors
on power failure.
C
vmax
110
gal
min psi
:= From Fig. C-10.1, page 532, a 3-in valve is required:
C
vmax
89.443
gal
min psi
= C
vmax
200% f
p
p
v
:= p
v
5psi :=
v
0.1min := Control valve: linear with constant pressure drop and sized for 100% overcapacity.
K
T
100
%TO gal
lb
= K
T
100%TO
c
max
c
min
:= c
max
1.0
lb
gal
:= c
min
0
lb
gal
:= Analyzer transmitter:
c
ip
4
lb
gal
:= f
p
100
gal
min
:= k 0.1min
1
:= V 1000gal := Problem data:
V V V
f(t) c
1
(t)
c
i
(t)
AT
AC
c
3
set
(t)
m(t)
c
2
(t)
c
3
(t)
Problem 6-17. Composition control of three isothermal reactors in series.
V
f
p
k V +
:= K
i
f
p
f
p
k V +
:= K
1
c
ip
c
1p
f
p
k V +
:= K
2
c
1p
c
2p
f
p
k V +
:= K
3
c
2p
c
3p
f
p
k V +
:=
5 min = K
i
0.5 = K
1
0.01
lb min
gal
2
= K
2
0.005
lb min
gal
2
= K
3
0.0025
lb min
gal
2
=
Laplaxce transform:
C
1
s ( )
K
i
C
i
s ( ) K
1
F s ( ) +
s 1 +
= C
2
s ( )
K
i
C
1
s ( ) K
2
F s ( ) +
s 1 +
= C
3
s ( )
K
i
C
2
s ( ) K
3
F s ( ) +
s 1 +
=
Combine to obtain the transfer functions:
G
1
s ( )
C
3
s ( )
F s ( )
=
1
s 1 +
K
i
s
1 +
K
i
K
1
s 1 +
K
2
+
|
\
|
.
K
3
+
(
(
=
G
1
s ( )
K
i
K
i
K
1
K
2
s 1 +
( )
+
K
3

s
1 +
( )
2
+
s 1 +
( )
3
=
G
1
s ( )
K
i
2
K
1
K
i
K
2
s 1 +
( )
+ K
3
s 1 +
( )
2
+
s 1 +
( )
3
= G
2
s ( )
C
3
s ( )
C
i
s ( )
=
K
i
3
s 1 +
( )
3
=
Linearize:
V
d C
1
t ( )
dt
f
p
C
i
t ( ) f
p
k V +
( )
C
1
t ( ) c
ip
c
1p
( )
F t ( ) + =
V
d C
2
t ( )
dt
f
p
C
1
t ( ) f
p
k V +
( )
C
2
t ( ) c
1p
c
2p
( )
F t ( ) + =
V
d C
3
t ( )
dt
f
p
C
2
t ( ) f
p
k V +
( )
C
3
t ( ) c
2p
c
3p
( )
F t ( ) + =
where C
j
t ( ) C
j
t ( ) c
jp
= F t ( ) t ( ) f
p
=
At the initial steady-state:
c
1p
f
p
c
ip
f
p
k V +
:= c
2p
f
p
c
1p
f
p
k V +
:= c
3p
f
p
c
2p
f
p
k V +
:=
Rearrange:
d C
1
t ( )
dt
C
1
t ( ) + K
i
C
i
t ( ) K
1
F t ( ) + =
C
1
0 ( ) 0 =
d C
2
t ( )
dt
C
2
t ( ) + K
i
C
1
t ( ) K
2
F t ( ) + =
C
2
0 ( ) 0 =
d C
2
t ( )
dt
C
2
t ( ) + K
i
C
i
t ( ) K
3
F t ( ) + =
C
3
0 ( ) 0 =
where
(c) Ultimate gain and period of the loop with a proportional controller.
Offset 12.5 %TO = Offset K
T
K
i
3
c
i
:= For the open loop, K
c
= 0:
Offset
K
T
0.044
lb
gal
= Offset 4.39 %TO =
Offset
K
T
K
i
3
c
i
1 K
T
K
c
K
v
K
A
+
:= Offset
K
sp
c
3
set
K
T
G
2
0 ( ) c
i
1 K
T
K
c
K
v
G
1
0 ( ) +
=
K
c
1.
%CO
%TO
:= c
i
1
lb
gal
:= (b) Offset for a change in inlet concentration
K
B
0.0075
lb min
gal
2
= K
3
0.0025
lb min
gal
2
=
K
A
0.0075
lb min
gal
2
= 5 min = K
B
2 K
3
K
i
K
2
+ := K
A
K
i
2
K
1
K
i
K
2
+ K
3
+ :=
G
1
s ( )
K
A
K
B
s + K
3

2
s +
s 1 +
( )
3
=
G
2
s ( )
K
i
3
s 1 +
( )
3
=
G
c
s ( ) K
c
= Proportional controller: G
v
s ( )
K
v
v
s 1 +
= H s ( ) K
T
= K
sp
K
T
:=
K
sp G
c
(s) G
v
(s)
C
3
set
(s)
G
2
(s)
H(s)
C
3
(s)
M(s) E(s)
G
1
(s)
F(s)
C
i
(s)
+
-
+
+
(a) Block diagram of the loop:
is unlawful.
The imaginary value of the ultimate frequency shows that there is no ultimate gain for this loop. This
is because the net order of the loop is one--three poles and two zeros--and it cannot be unstable for
any positive value of the controller gain. The controller gain is positive, reverse acting: increases
concentration decreases the signal to the valve. This decreases the reactants flow and the
concentration decreases.
u
2.45i min
1
=
u
b b
2
4 a
B
( )

2 a
:=
b 1.537 min
3
= a 1.962 10
14
min
5
=
b 3
v

2
K
L

v

A

B
3
v
+ := a 3
v

2

A

B

v

3
:=
Let
3
v

2

A

B

v

3

|
\
|
.
u
4
3
v

2
K
L

v

A

B
3
v
+
|
\
|
.
u
2
+
B
0 =
3
v

2

u
3
v

B
3
v

u
2

v

3

u
4
1
K
L

A

u
2

+
|
\
|
|
.
u
+ 0 =
Imaginary part:
K
cu
3
v

u
2

v

3

u
4
1
K
L

A

u
2

=
v

3

u
4
3
v

A
K
cu
+
( )
u
2
1 + K
L
K
cu
+ 0 =
Real part:
B
9.224 min =
A
15.373 min
2
=
K
L
1.845
%TO
%CO
= K
L
K
T
K
v
K
A
:=
B
K
T
K
v
K
B
:=
A
K
T
K
v
K
3

2
:=
where
v

3

u
4
3
v

2

u
3
i 3
v

A
K
cu
+
( )
u
2

v

B
K
cu
+
( )
u
i + 1 + K
L
K
cu
+ 0 =
u
i at K
c
= K
cu
:
1 K
T
K
c
K
v
v
s 1 +
K
A
K
B
s + K
3

2
s
2
+
s 1 +
( )
3
+ 0 =
Closed-loop transfer function:
G
p
s ( )
K
p
p
s 1 +
=
G
sc
s ( )
K
sc
sc
s 1 +
= K
T
5
%TO
psi
= H s ( )
K
T
T
s 1 +
= K
sp
K
T
:= K
T
100%TO
P
max
P
min
:=
K
sp
G
c
(s) G
sc
(s)
P
s
set
(s)
G
p
(s)
H(s)
P
s
(s)
M(s) E(s)
G
p
(s)
F
c
(s)
F
i
(s)
+
-
-
+
(a) Block diagram of the loop, closed-loop transfer function, and characteristic
equation of the loop.
T
1.2s := P
max
20psig := P
min
0psig := Pressure transmitter, PC:
sc
2.5s :=
K
sc
0.36
kscf
min %CO
:=
F
c
s ( )
K
sc
sc
s 1 +
M s ( ) =
p
7.5s :=
K
p
0.5
psi min
kscf
:=
P
s
s ( )
K
p
p
s 1 +
F
i
s ( ) F
c
s ( )
( )
=
Steam
Suction
Discharge
f
i
(t)
f
c
(t)
p
s
(t)
m(t)
PT
PC
SC
Problem Data:
Problem 6-18. Compressor suction pressure control.
psig psi :=
kscf 1000ft
3
:= %TO % := %CO % := Smith & Corripio, 3rd edition
is unlawful.
Offset
K
T
0.061 psi =
Offset 0.307 %TO = Offset
0 K
T
K
p
f
i

1 K
L
K
c
+
:=
Offset
K
sp
p
s
set
K
T
K
p
f
i

1 K
L
K
c
+
=
K
c
7.9
%CO
%TO
= K
c
K
cu
2
:= f
i
1
kscf
min
:= (c) Offset caused by a change in inlet flow.
K
cu
15.9
%CO
%TO
=
T
u
8.91 s = T
u
2
u
:= K
cu

T

sc

T

p
+
sc

p
+
( )
u
2
1
K
L
:= Real part:
u

T

sc
+
p
+
T

sc

p
:=
T

sc

p

u
3

T

sc
+
p
+
( )
u
+ 0 = Imaginary part:
K
L
0.9
%TO
%CO
= K
L
K
T
K
sc
K
p
:= where
T

sc

p

u
3
i
T

sc

T

p
+
sc

p
+
( )
u
2

T

sc
+
p
+
( )
u
i + 1 + K
L
K
cu
+ 0 0i + =
Rearrange the characteristic equation and sunbstiture s =
u
i at K
c
= K
cu
:
G
c
s ( ) K
c
= (b) Ultimate gain and period for a preportional controller.
The controller must be direct-acting (negative gain): increasing pressure increases the signal to te
speed controller (SC). This increases the compressor speed and the flow through the compressor,
decreasing the suctiion pressure.
1 H s ( ) G
c
s ( ) G
sc
s ( ) G
p
s ( ) 1
K
T
T
s 1 +
G
c
s ( )
K
sc
sc
s 1 +
K
p
p
s 1 +
= 0 =
P
s
s ( )
K
sp
G
c
s ( ) G
sc
s ( ) G
p
s ( )
1 H s ( ) G
c
s ( ) G
sc
s ( ) G
p
s ( )
P
s
set
s ( )
G
p
s ( )
1 H s ( ) G
c
s ( ) G
sc
s ( ) G
p
s ( )
( )
F
i
s ( ) + =
K
sp G
c
(s) G
FC
(s)
T
set
(s)
G
2
(s)
H(s)
T(s)
M(s) E(s)
G
1
(s)
F
c
(s)
T
i
(s)
+
-
-
+
(a) Block diagram of the temperature control loop, valve fail position, controller
action.
FC
0.1min := f
max
0.8
m
3
min
:= f
min
0
m
3
min
:= Flow transmitter(FT):
T
0.6min := T
max
70degC := T
min
20degC :=
Temperature transmitter (TT):
T
ci
25degC := T 45degC :=
T
i
70degC := f 0.1
m
3
min
:=
Design conditions:
c
pc
4.2
kJ
kg degC
:=
c
1000
kg
m
3
:=
c
p
3.8
kJ
kg degC
:= 800
kg
m
3
:=
V
c
1.1m
3
:= A 4m
2
:=
U 200
kJ
m
2
min degC
:= V 5m
3
:=
Problem Data:
TC
TT
T
c
(t)
f(t)
f
c
(t)
T
ci
V
m(t)
T
set
(t)
T
i
(t)
T(t)
FT
FC
SP
Problem 6-19. Temperature control of stirred-tank cooler of Problem 4-7.
degC K := kJ 1000joule := Smith & Corripio, 3rd edition
T
c
T
f c
p
T
i
T
( )
U A
:= T
c
35.5 degC =
f c
p
T
i
T
( )
f
c

c
c
pc
T
c
T
ci
( )
0 = f
c
f c
p
T
i
T
( )
c
c
pc
T
c
T
ci
( )
:= f
c
0.172
m
3
min
=
2
V
c

c
c
pc
f
c

c
c
pc
U A +
:= K
3

c
c
pc
T
c
T
ci
( )
f
c

c
c
pc
U A +
:= K
4
U A
f
c

c
c
pc
U A +
:=
2
3.03 min = K
3
28.94
degC min
m
3
= K
4
0.525 =
The coolant valve must fail opened (air-to-close) to prevent loss of coolant on power failure. This
means that the flow controller must be direct acting: incease in flow increases the output to close
the valve and reduce the flow.
The temperature controller must also be direct acting (negative gain): increasing temperature must
increase the output to incrase the coolant flow and reduce the temperature.
(b) Ultimate gain and period of the loop with a proportional controller. G
c
s ( ) K
c
=
1
K
T
T
s 1 +
K
c
K
FC
FC
s 1 +
K
2
K
3
1
s 1 +
( )

2
s 1 +
( )
K
2
K
4

+ 0 =
u
i at K
c
= K
cu
:
A

u
4

B

u
3
i
C

u
2

D

u
i + 1 + K
2
K
4
K
L
K
cu
+ 0 0i + =
Temperature transmitter: K
T
100%TO
T
max
T
min
:= K
sp
K
T
:= H s ( )
K
T
T
s 1 +
= K
T
2
%TO
degC
=
Flow contriol loop: K
FC
f
max
f
min
100%TO
:= G
FC
s ( )
K
FC
FC
s 1 +
= K
FC
8 10
3
m
3
min %TO
=
From the results of Problem 4-7:
G
1
s ( )
K
2
K
3
1
s 1 +
( )

2
s 1 +
( )
K
2
K
4

= G
2
s ( )
K
1

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

2
s 1 +
( )
K
2
K
4

=
where
1
V c
p
f c
p
U A +
:= K
1
f c
p
f c
p
U A +
:= K
2
U A
f c
p
U A +
:=
1
13.77 min =
At the initial steady state (design) conditions: K
1
0.275 = K
2
0.725 =
f c
p
T
i
T
( )
U A T T
c
( )
0 =
K
cu

A

u
4

C

u
2
+ 1 K
2
K
4
+
K
L
:= K
cu
86.7
%CO
%TO
=
(c) Offset for change in inlet temperature with a proportional copntroller.
T
i
5degC := K
c
K
cu
2
:= K
c
43.3
%CO
%TO
=
Offset
K
sp
T
set
K
T
G
2
0 ( ) T
i
1 K
T
K
c
K
FC
G
1
0 ( ) +
= Offset
0 K
T
K
1
T
i

1 K
2
K
4
K
T
K
c
K
FC
K
2
K
3

:=
Offset 0.18 %TO =
Offset
K
T
0.09 degC =
Open-loop, K
c
= 0:
Offset 0
K
T
K
1
T
i
1 K
2
K
4

:= Offset 4.44 %TO =
With a PI controller the offset is zero.
Students should verify these results with the simulation of this process in Problem 13-18.
is unlawful.
where
A

T

FC

1

2
:=
B

T

FC

1

T

FC

2
+
FC

1

2
+
T

1

2
+ :=
A
2.505 min
4
=
C

T

FC
1 K
2
K
4

( )

T

1
+
T

2
+
FC

1
+
FC

2
+
1

2
+ :=
B
30.228 min
3
=
D

T

FC
+
( )
1 K
2
K
4

( )

1
+
2
+ := K
L
K
T
K
FC
K
2
K
3
:=

C
53.54 min
2
=
K
L
0.336
%TO
%CO
=
D
17.234 min =
Imaginary part:

B

u
3

D

u
+ 0 =
u

D
B
:= T
u
2
u
:= T
u
8.32 min =
Real part:

A

u
4

C

u
2
1 + K
2
K
4
K
L
K
cu
+ 0 =
G 1.724 =
Use Eqs. 5-2.3 and 5-2.5, page 160.
Valve 1: y
1
1.63
C
f
p
1
p
2
p
1
14.7psia +
:= y
1
1.187 =
C
v1max
200% f
1
G T 460R + ( )
836 C
f
p
1
14.7psia +
( )
y
1
0.148y
1
3
|
\
|
.
gal psia hr
min R
0.5
scf
60min
hr
:= C
v1max
90.9
gal
min psi
=
From Fig. C-10.1, page 532, a 3-in valve is required: C
v1max
110
gal
min psi
:=
Valve 3: y
3
1.63
C
f
p
2
p
3
p
2
14.7psia +
:= y
3
0.908 =
C
v3max
200% f
3
G T 460R + ( )
836 C
f
p
2
14.7psia +
( )
y
3
0.148y
3
3
|
\
|
.
gal psia hr
min R
0.5
scf
60min
hr
:= C
v3max
62.6
gal
min psi
=
v3max
110
gal
min psi
:=
Valve 4: From initial steady state conditions: f
4
f
1
f
3
:= f
4
1000
scf
min
=
y
4
1.63
C
f
p
2
p
4
p
2
14.7psia +
:= y
4
1.284 =
Smith & Corripio, 3rd edition degF R := scf ft
3
:= psia psi :=
lbmole 453.59mole :=
Problem 6-20. Pressure control og gas torage tank.
PT
PC
vp
1
(t)
vp
3
(t)
vp
4
(t)
p
2
(t)
p
1
(t)
p
3
(t)
p
4
(t)
p
2
set
(t)
Problem Data:
MW 50
lb
lbmole
:=
V 550000ft
3
:= T 350degF :=
f
1
1500
scf
min
:= p
1
90psi :=
f
3
500
scf
min
:= p
3
30psig :=
p
2
45psig := p
4
15psig :=
Pressure transmitter PT:
p
min
0psig := p
max
100psig :=
(a) Size control valves for 100% overcapacity.
C
f
0.9 := G
MW lbmole
29lb
:=
s
0.132
lb
scf
=
Valve 1: f
1
t ( )
836 scf R min
gal psia hr
1 hr
60 min
C
v1max
C
f
p
1
t ( ) 14.7 psia +
( )
G T 460R + ( )
y
1
t ( ) 0.148 y
1
t ( )
3
|
\
|
.
vp
1
t ( ) =
4 eqns. 6 unks. (y
1
)
y
1
t ( )
1.63
C
f
p
1
t ( ) p
2
t ( )
p
1
t ( ) 14.7psia +
=
Valve 3: f
3
t ( )
836 scf R min
gal psia hr
1 hr
60 min
C
v3max
C
f
p
2
t ( ) 14.7 psia +
( )
G T 460R + ( )
y
3
t ( ) 0.148 y
3
t ( )
3
|
\
|
.
vp
3
t ( ) =
6 eqns. 7 unks. (y
3
)
y
3
t ( )
1.63
C
f
p
2
t ( ) p
3
t ( )
p
2
t ( ) 14.7psia +
=
Valve 4: f
4
t ( )
836 scf R min
gal psia hr
1 hr
60 min
C
v4max
C
f
p
2
t ( ) 14.7 psia +
( )
G T 460R + ( )
y
4
t ( ) 0.148 y
4
t ( )
3
|
\
|
.
vp
4
t ( ) =
8 eqns. 8 unks. (y
4
)
y
4
t ( )
1.63
C
f
p
2
t ( ) p
4
t ( )
p
2
t ( ) 14.7psia +
=
Substitute ideal gas law:
MW V
R
g
T 460 R + ( )
s
d p
2
t ( )
dt
f
1
t ( ) f
3
t ( ) f
4
t ( ) =
Linearize and substitute deviation variables:
MW V
R
g
T 460 + ( )
s
d P
2
t ( )
dt
a
1
VP
1
t ( ) b
1
P
1
t ( ) + c
1
P
2
t ( ) a
3
VP
3
t ( ) b
3
P
2
t ( ) c
3
P
3
t ( ) + =
C
v4max
200% f
4
G T 460R + ( )
836 C
f
p
2
14.7psia +
( )
y
4
0.148y
4
3
|
\
|
.
gal psia hr
min R
0.5
scf
60min
hr
:= C
v4max
102.9
gal
min psi
=
v4max
110
gal
min psi
:=
(c) Block diagram of the loop considering all disturbances.
Transmitter PT: H s ( ) K
T
= K
T
100%TO
p
max
p
min
:= K
sp
K
T
:= K
T
1
%TO
psi
=
Process model:
Mass balance: V
d
2
t ( )
dt

s
f
1
t ( )
s
f
3
t ( )
s
f
4
t ( ) =
1 eqn. 4 unks. (
2
, f
1
, f
2
, f
3
)
Ideal gas law:
2
t ( )
MW p
2
t ( ) 14.7psia +
( )
R
g
T 460R + ( )
=
2 eqns. 5 unks. (p
2
)
R
g
10.73
psia ft
3
lbmole R
:=

s
MW 14.7 psia
R
g
520 R
:=
k
y11
1.63
C
f
1
2
p
1
p
2
p
1
14.7 psia +
|
\
|
.
0.5
p
1
14.7 psia +
( )
p
1
p
2
( )
p
1
14.7psia +
( )
2
:=
b
1
f
1
t ( )
p
1
= b
1
k
v
C
v1max
vp
1
100%CO
y
1
0.148 y
1
3
p
1
14.7psia +
( )
1 3 0.148 y
1
2
|
\
|
.
k
y11
+
:=
k
y11
0.00752 psia
1
= b
1
18.819
scf
min psi
=
k
y12
y
1
t ( )
p
2
=
k
y12
1.63
C
f
1
2
p
1
p
2
p
1
14.7 psia +
|
\
|
.
0.5
1
p
1
14.7psia +
( )
:= k
y12
0.013 psi
1
=
c
1
f
1
t ( )
p
2
= c
1
k
v
C
v1max
vp
1
100%CO
p
1
14.7psia +
( )
1 3 0.148 y
1
2
|
\
|
.
k
y12
:= c
1
7.878
scf
min psi
=
k
y32
y
3
t ( )
p
2
= k
y32
1.63
C
f
1
2
p
2
p
3
p
2
14.7 psia +
|
\
|
.
0.5
p
2
14.7 psia +
( )
p
2
p
3
( )
p
2
14.7psia +
( )
2
:=
b
3
f
3
t ( )
p
2
= b
3
k
v
C
v3max
vp
3
100%CO
y
3
0.148 y
3
3
p
2
14.7psia +
( )
1 3 0.148 y
3
2
|
\
|
.
k
y32
+
:=
k
y32
0.02266 psia
1
= b
3
17.387
scf
min psi
=
k
y33
y
3
t ( )
p
3
=
k
y33
1.63
C
f
1
2
p
2
p
3
p
2
14.7 psia +
|
\
|
.
0.5
1
p
2
14.7psia +
( )
:= k
y33
0.03 psi
1
=
a
4
VP
4
t ( ) b
4
P
2
t ( ) c
4
P
4
t ( ) +
Let k
v
836scf R min
gal psia hr
hr
60min
C
f
G T 460R + ( )
:= k
v
0.336
scf
gal psia
=
a
1
f
1
t ( )
vp
= a
1
k
v
100%CO
C
v1max
p
1
14.7psia +
( )
y
1
0.148y
1
3
|
\
|
.
:= a
1
36.312
scf
min %CO
=
a
3
f
3
t ( )
vp
= a
3
k
v
100%CO
C
v3max
p
2
14.7psia +
( )
y
3
0.148y
3
3
|
\
|
.
:= a
3
17.565
scf
min %CO
=
a
4
f
4
t ( )
vp
= a
4
k
v
100%CO
C
v4max
p
2
14.7psia +
( )
y
4
0.148y
4
3
|
\
|
.
:= a
4
21.39
scf
min %CO
=
Initial valve positions: vp
1
f
1
a
1
:= vp
3
f
3
a
3
:= vp
4
f
4
a
4
:= vp
1
41.3 %CO = vp
3
28.5 %CO =
vp
4
46.8 %CO =
k
y11
y
1
t ( )
p
1
=
K
1
a
1
c
1
b
3
+ b
4
+
:= K
3
a
3
c
1
b
3
+ b
4
+
:=
K
4
a
4
c
1
b
3
+ b
4
+
:= K
p1
b
1
c
1
b
3
+ b
4
+
:= K
p3
c
3
c
1
b
3
+ b
4
+
:= K
p4
c
4
c
1
b
3
+ b
4
+
:=
534.3 min = K
1
0.808
psig
%CO
= K
3
0.391
psi
%CO
= K
4
0.476
psi
%CO
=
K
p1
0.419 = K
p3
0.268 = K
p4
0.131 =
Process transfer function: Laplace transform:
P
2
s ( )
1
s 1 +
K
1
VP
1
s ( ) K
3
VP
3
s ( ) K
4
VP
4
s ( ) K
p1
P
1
s ( ) + K
p3
P
3
s ( ) + K
p4
P
4
s ( ) +
( )
=
The very long time constant, approximately 9 hours, denotes that the pressure in the tank behaves
as an integrating process. See discussion of controller tuning for integrating processes in Section
7-3.
Block diagram of the loop:
c
3
f
3
t ( )
p
3
= c
3
k
v
C
v3max
vp
3
100%CO
p
2
14.7psia +
( )
1 3 0.148 y
3
2
|
\
|
.
k
y33
:= c
3
12.036
scf
min psi
=
k
y42
y
4
t ( )
p
2
= k
y42
1.63
C
f
1
2
p
2
p
4
p
2
14.7 psia +
|
\
|
.
0.5
p
2
14.7 psia +
( )
p
2
p
4
( )
p
2
14.7psia +
( )
2
:=
b
4
f
4
t ( )
p
2
= b
4
k
v
C
v4max
vp
4
100%CO
y
4
0.148 y
4
3
p
2
14.7psia +
( )
1 3 0.148 y
4
2
|
\
|
.
k
y42
+
:=
k
y42
0.01065 psia
1
= b
4
19.691
scf
min psi
=
k
y44
y
4
t ( )
p
4
=
k
y44
1.63
C
f
1
2
p
2
p
4
p
2
14.7 psia +
|
\
|
.
0.5
1
p
2
14.7psia +
( )
:= k
y44
0.021 psi
1
=
c
4
f
4
t ( )
p
4
= c
4
k
v
C
v4max
vp
4
100%CO
p
2
14.7psia +
( )
1 3 0.148 y
4
2
|
\
|
.
k
y44
:= c
4
5.911
scf
min psi
=
Rearrange equation into standard first-order form:
d P
2
t ( )
dt
P
2
t ( ) + K
1
VP
1
t ( ) K
3
VP
3
t ( ) K
4
VP
4
t ( ) K
p1
P
1
t ( ) + K
p3
P
3
t ( ) + K
p4
P
4
t ( ) + =
where
MW V
R
g
T 460R + ( )
s
c
1
b
3
+ b
4
+
( )
:=
K
sp
G
c
(s) K
1
P
2
set
(s)
H(s)
P
2
(s)
VP
1
(s) E(s)
1
F
1
(s)
P
1
(s)
+
-
-
+
Js + 1
K
3
VP
3
(s)
K
4
VP
4
(s)
K
p1
-
+
K
p3
K
p4
P
4
(s)
P
3
(s)
+
+
(c) Ultimate gain. The response of the loop cannot be unstable with a proportional controller
with positive gain because the loop transfer function is first-order. There is no
ultimate gain. The controller is reverse acting: increasing tank pressure
decreases the controller output to close the control valve and decrease the
inlet flow. This decreases the pressure in the tank.
The valve fails closed (air-to-open) to prevent over-pressuring the tank on
instrument power failure.
(d) Offset for a proportinal controller and a change in set point. p
2set
5psi :=
K
c
50
%CO
%TO
:=
Offset
K
sp
p
2set
1 K
T
K
c
K
1
+
:= Offset 0.121 %TO =
Offset
K
T
0.121 psi =
is unlawful.
X
B
0 ( ) 0 = W
B
t ( ) w X
B
t ( ) x
B
W
A
t ( ) W
B
t ( ) +
( )
M
d X
B
t ( )
dt
=
Linearize and express in terms of deviation variables:
(b) Linearize the equations, transfer functions and block diagram:
2 eqns. 2 unks. (w, x
B
)
w
B
t ( ) w t ( ) x
B
t ( ) M
d x
B
t ( )
dt
= Mass balance on component B:
w t ( ) w
A
t ( ) w
B
t ( ) + = w
A
t ( ) w
B
t ( ) + w t ( )
d M
dt
= 0 = Total mass balance:
Assumptions:
Perfectly mixed
Constant mass and density
Negligible transportation lag
Inlet streams are pure A and B, respectively
(a) Model of the composition control loop
Range is C
L
to C
H
.
C t ( )

x
B
t ( )
mho
m
= Analyzer AT measures solution conductivity:
q t ( ) q
max
m t ( ) = w
B
t ( ) K
v2
vp
2
t ( ) = w
A
t ( ) K
v1
vp
1
t ( ) = Problem Data:
AT
AC
TT
TC
w
A
(t)
w
B
(t)
T
A
(t)
T
B
(t)
vp
1
(t)
vp
2
(t)
m
2
(t)
m(t)
x
B
(t)
T(t)
b(t)
Problem 6-21. Temperature and analysis control of a heated mixer.
Assumptions:
perfectly mixed
constant mass and physical properties
(c) Model of the temperature control loop
(negative set point scale) K
sp
K
T
=
If the control valve is air-to-open, the controller must be direct acting, because of the negative
gain in the transmitter: Increasing composition decreases the signal from the transmitter; the
controller decreases the signal to the valve; this closes the valve and reduces the flow of
component B, decreasing the composition. Notice also that
K
sp
G
AC
(s)
K
v2
K
B
X
B
set
(s)
H(s)
X
B
(s) M
2
(s) E(s)
1
+
-
-
Js + 1
VP
1
(s)
+
+
K
v1
K
A
100
Block diagram of the composition loop:
W
B
s ( ) K
v2
VP
2
s ( ) =
K
v2
100%CO
M
2
s ( ) = W
A
s ( ) K
v1
VP
1
s ( ) = Control valves:
H s ( ) K
AT
=
100 %TO
C
H
C
L
( )
x
B
2
= B t ( )
100%TO
C
H
C
L

x
B
2
|
\
|
.
X
B
t ( ) = Linearize:
b t ( )
C t ( ) C
L
C
H
C
L
100%TO =
100%TO
C
H
C
L

x
B
t ( )
C
L
\
|
.
= Transmitter:
X
B
s ( )
1
s 1 +
K
B
W
B
s ( ) K
A
W
A
s ( )
( )
= Laplace transform and solve for output:
d X
B
t ( )
dt
X
B
+ K
B
W
B
t ( ) K
A
W
A
t ( ) = K
B
1 x
B
w
= K
A
x
B
w
=
M
w
= Let
M
w
d X
B
t ( )
dt
X
B
t ( ) +
1 x
B
w
W
B
t ( )
x
B
w
W
A
t ( ) = Rearrange in the standard first-order form:
Block diagram of the loop:
The controller is reverse acting: increasing temperature decreases the controller output, decresing
the rate of heat input. This decreases the temperature.
H s ( ) K
TT
=
100%TO
T
H
.L
=
Temperature transmitter TT:
Q s ( )
q
max
100%CO
M s ( ) =
Electric heater:
K
5
w
B
w
= K
4
w
A
w
= K
3
1
w c
p
= K
2
T
B
T
w
= K
1
T
A
T
w
=
M
w
=
s ( )
1
s 1 +
K
1
W
A
s ( ) K
2
W
B
s ( ) + K
3
Q s ( ) + K
4

A
s ( ) + K
5

B
s ( ) +
( )
=
Laplace transform:
0 ( ) 0 =
M
w
d t ( )
dt
t ( ) +
T
A
T
( )
w
W
A
t ( )
T
B
T
( )
w
W
B
t ( ) +
1
w c
p
Q t ( ) +
w
A
w

A
t ( ) +
w
B
w

B
t ( ) + =
Rearrange into the standard first-oder equation form:
w
B
c
p

B
t ( ) + w
A
w
B
+
( )
c
p
t ( )
M c
p
d t ( )
dt
c
p
T
A
T
( )
W
A
t ( ) c
p
T
B
T
A
( )
W
B
t ( ) + Q t ( ) + w
A
c
p

A
t ( ) + =
(d) Linearize the equation, transfer functions, block diagram.
M c
p
d T t ( )
dt
w
A
t ( ) c
p
T
A
t ( ) T t ( )
( )
w
B
t ( ) c
p
T
B
t ( ) T t ( )
( )
+ q t ( ) + =
c
p
c
pA
= c
pB
= c
v
=
Assume
w t ( ) w
A
t ( ) w
B
t ( ) + =
Substitute
1 eqn. 1 unk. (T)
M c
v
d T t ( )
dt
w
A
t ( ) c
pA
T
A
t ( ) T
ref
( )
w
B
t ( ) c
pB
T
B
t ( ) T
ref
( )
+ q t ( ) + w t ( ) c
p
T t ( ) T
ref
( )
=
Energy balance:
negligible heat losses and ransportantioon lag
K
sp
G
TC
(s)
q
max
K
3
'
set
(s)
H(s)
M(s) E(s)
1
+
-
Js + 1
VP
2
(s)
+
+
K
v2
K
2
100
'(s)
VP
1
(s)
K
v1
K
1
K
4
K
5
'
A
(s)
'
B
(s)
+
+
+
(e) Characteristic equations of the control loops.
Analyzer control loop:
1 K
AT
G
AC
s ( )
K
v2
100%CO
K
B
s 1 +
+ 1
100 %TO
C
H
C
L
( )
x
B
2
G
AC
s ( )
K
v2
100%CO
1 x
B
( )
w s 1 +
( )
+ = 0 =
Temperature control loop:
1 K
TT
G
TC
s ( )
q
max
100%CO
K
3
s 1 +
+ 1
100%TO
T
H
T
L
G
TC
s ( )
q
max
100%CO
1
w c
p
s 1 +
( )
+ = 0 =
For both loops:
M
w
=
There is no ultimate gain for either loop because they are first-order when a proportional controller
is used. The loops cannot be made unstable as long as the controller gains have the proper sign.
In practice there will be lags on the transmitter and final control elements and there will be an
ultimate gain and period.
is unlawful.
f
i
50
gal
min
:= f
A
50
gal
min
:=
(a) Size the control valve for 100% overcapacity.
G

A
MW
A
gal
8.33lb
:= C
vmax
200% f
A
G
p
v
:= C
vmax
77.475
gal
min psi
=
From Fig. C-10.1, page 532, a 3-in valve is required. C
vmax
110
gal
min psi
:=
Valve gain: K
v
C
vmax
100%CO
p
v
G
:= K
v
1.42
gal
min %CO
=
The valve fails closed (air-to-open) to prevent overflowing the reactors on loss of instrument power.
(b) Model of the reactors.
Assumptions:
Perfectly mixed reactors
Constant volume, temperatures, and physical properties.
Negligible transportation lags.

A

i
= =
Total mass balance: f t ( )
A
f
A
t ( )
i
f
i
t ( ) + = 1 eqn. 1 unk. (f)
Problem 6-22. Control of reactors in series.
LT
LC
AT
AC
f
i
(t)
c
Ai
(t)
c
A1
(t)
c
A2
set
(t)
V
V
c
A2
(t)
D
A
f
A
(t)
Problem Data:
V 500gal := k
1
0.25min
1
:=
A
2
lbmole
gal
:= k
2
0.50min
1
:=
MW
A
25
lb
lbmole
:=
Control valve, linear, sized for
100% overcapacity.
p
v
10psi :=
Analyzer transmitter:
c
AL
0.05
lbmole
gal
:=
c
AH
0.5
lbmole
gal
:=
T
0.5min :=
Design conditions: c
Ai
0.8
lbmole
gal
:=
2
d C
A2
t ( )
dt
C
A2
t ( ) + K
4
F
A
t ( ) K
4
F
i
t ( ) + K
5
C
A1
t ( ) + = C
A2
0 ( ) 0 =
where
1
V
f V k
1
+
:= K
1

A
c
A1
f V k
1
+
:= K
2
c
Ai
c
A1
f V k
1
+
:= K
3
f
i
f V k
1
+
:=
2
V
f V k
2
+
:= K
4
c
A1
c
A2
f V k
2
+
:= K
5
f
f V k
2
+
:=
1
2.222 min = K
1
0.006123
lbmole min
gal
2
= K
2
0.00079
lbmole min
gal
2
= K
3
0.222 =
2
1.429 min = K
4
0.00127
lbmole min
gal
2
= K
5
0.286 =
Laplace transform:
C
A1
s ( )
K
1
F
A
s ( ) K
2
F
i
s ( ) + K
3
C
Ai
s ( ) +
1
s 1 +
=
Reactant balances:
Reactor 1: V
d c
A1
t ( )
dt

A
f
A
t ( ) f
i
t ( ) c
Ai
t ( ) + V k
1
c
A1
t ( ) f t ( ) c
A1
t ( ) =
2 eqns. 2
unks. (c
A1
) Reactor 2:
V
d c
A2
t ( )
dt
f t ( ) c
A1
t ( ) f t ( ) c
A2
t ( ) V k
2
c
A2
t ( ) =
3 eqns. 3 unks. (c
A2
)
At the initial steady state: f f
A
f
i
+ := c
A1

A
f
A
f
i
c
Ai
+
f V k
1
+
:=
f 100
gal
min
=
c
A2
f c
A1
f V k
2
+
:= c
A1
0.622
lbmole
gal
= c
A2
0.178
lbmole
gal
=
(c) Linearize the model equations and obtain the block diagram.
V
d C
A1
t ( )
dt

A
F
A
t ( ) c
Ai
F
i
t ( ) + f
i
C
Ai
t ( ) + V k
1
f +
( )
C
A1
t ( ) c
A1
F
A
t ( ) F
i
t ( ) +
( )
=
V
d C
A2
t ( )
dt
c
A1
c
A2
( )
F
A
t ( ) F
i
t ( ) +
( )
f C
A1
t ( ) + f V k
2
+
( )
C
A2
t ( ) =
Rearrange in the standard first-order form:
1
d C
A1
t ( )
dt
C
A1
t ( ) + K
1
F
A
t ( ) K
2
F
i
t ( ) + K
3
C
Ai
t ( ) + = C
A1
0 ( ) 0 =
C
A2
s ( )
C
Ai
s ( )
G
3
s ( )
1 H s ( ) G
c
s ( ) G
v
s ( ) G
1
s ( ) +
=
C
A2
s ( )
F
i
s ( )
G
2
s ( )
1 H s ( ) G
c
s ( ) G
v
s ( ) G
1
s ( ) +
=
C
A2
s ( )
C
A2
set
s ( )
K
sp
G
c
s ( ) G
v
s ( ) G
1
s ( )
1 H s ( ) G
c
s ( ) G
v
s ( ) G
1
s ( ) +
=
K
sp
K
T
:= (d) Closed-loop transfer functions.
K
T
222
%TO gal
lbmole
= K
T
100%TO
c
AH
c
AL
:= H s ( )
K
T
T
s 1 +
= Transmitter: G
v
s ( ) K
v
= Control valve:
K
sp
G
c
(s) G
v
(s)
C
A2
set
(s)
G
2
(s)
H(s)
C
A2
(s)
M(s) E(s)
G
1
(s)
F
A
(s)
F
i
(s)
+
-
+
+
G
3
(s)
C
Ai
(s)
+
Block diagram:
G
3
s ( )
K
5
K
3
1
s 1 +
( )

2
s 1 +
( )
= G
2
s ( )
K
4

1
s 1 +
( )
K
5
K
2
+
1
s 1 +
( )

2
s 1 +
( )
= G
1
s ( )
K
4

1
s 1 +
( )
K
5
K
1
+
1
s 1 +
( )

2
s 1 +
( )
=
where
C
A2
s ( ) G
1
s ( ) F
A
s ( ) G
2
s ( ) F
i
s ( ) + G
3
s ( ) C
Ai
s ( ) + =
C
A2
s ( )
K
4
2
s 1 +
F
A
s ( ) F
i
s ( ) +
( )
K
5
1
s 1 +
( )

2
s 1 +
( )
K
1
F
A
s ( ) K
2
F
i
s ( ) + K
3
C
Ai
s ( ) +
( )
+ =
Combine to obtain over-all transfer function:
C
A2
s ( )
K
4
F
A
s ( ) K
4
F
i
s ( ) + K
5
C
A1
s ( ) +
2
s 1 +
=
is unlawful.
The imaginary value of the ultimate frequency means that there is no ultimate gain, that is, the loop
is stable for all positive values of the gain. This is because the net order of the process is one--two
poles and one zero--and, with the lag in the transmitter, the order is two. An order of at least three
is needed to have an ultimate gain.
The controller is reverse acting: increasing reactants composition decreases the controller output,
closing the reactant feed valve; this decreases the reactants flow and the composition of reactants.
u
1.021i min
1
=
u

D
K
p

C

D

B

A
K
p

:=
A

u
3

C

D

B

u
2
1
K
p
+
|
\
|
.
u
+ 0 =
Imaginary part:
K
cu

B

u
2
1
K
p
=
B

u
2
1 + K
p
K
cu
+ 0 =
Real part:
A

u
3
i
B

u
2

C

D
K
cu
+
( )
u
i + 1 + K
p
K
cu
+ 0 0 i + =
Substitute s =
u
i at K
c
= K
cu
K
p
0.953 =
D
0.89 min =

C
4.151 min =
B
5 min
2
= K
p
K
T
K
v
K
4
K
5
K
1
+
( )
:=
D
K
T
K
v
K
4

1
:=
A
1.587 min
3
=
C

1

2
+
T
+ :=
B

T

1

T

2
+
1

2
+ :=
A

T

1

2
:=
Let
1
K
T
T
s 1 +
K
c
K
v
K
4

1
s 1 +
( )
K
5
K
1
+
1
s 1 +
( )

2
s 1 +
( )
+ 0 =
G
c
s ( ) K
c
=
Proportional controller: (e) Ultimate gain and period of the loop.
Substitute and simplify:
3 eqns. 3 unks.
f f
1
f
2
+ = f
1
f
2
+ f = Total mass balance on tank 1:
2 eqns. 3 unks. (T
4
)
V
2
c
p
d T
4
t ( )
dt
f c
p
T
3
t ( ) T
ref
( )
w
s
t ( ) + f c
p
T
4
t ( ) T
ref
( )
=
1 eqn. 2 unks. (f, T
3
) f c
p
T
3
t ( ) T
ref
( )
Tank 2:
V
1
c
v
d T
3
t ( )
dt
f
1
c
p
T
1
t ( ) T
ref
( )
f
2
c
p
T
2
t ( ) T
ref
( )
+ U A T
c1
t ( ) T
3
t ( )
( )
+ =
Energy balances, Tank 1:
Assumptions:
Constant volumes in the tanks
Each tank is perfectly mixed
Negligible heat losses
Heating coil temperature T
c1
is uniform (high flow of heating fluid)
Constant and uniform densities and specific heats
Negligible transportation lag.
Model the process.
TT
TC
f
2
T
2
(t)
T
4
set
(t)
f
1
T
1
(t)
T
c1
(t)
T
3
(t)
T
4
(t)
Steam
Cond.
f
f
Problem 6-23. Temperature control of two heaters in series.
G
v
s ( )
K
v
v
s 1 +
= Control valve:
G
4
s ( )
K
4
2
s 1 +
=
G
3
s ( )
K
3
1
s 1 +
( )

2
s 1 +
( )
= G
2
s ( )
K
2
1
s 1 +
( )

2
s 1 +
( )
= G
1
s ( )
K
1
1
s 1 +
( )

2
s 1 +
( )
4
s ( ) G
1
s ( )
1
s ( ) G
2
s ( )
2
s ( ) + G
3
s ( )
c1
s ( ) + G
4
s ( ) W s ( ) + =
4
s ( )

3
s ( ) K
4
W s ( ) +
2
s 1 +
=
3
s ( )
K
1

1
S ( ) K
2

2
s ( ) + K
3

c1
s ( ) +
1
s 1 +
=
Laplace transform and solve for the outputs:
K
4

f c
p
=
2
V
2
c
v
f c
p
=
K
2
f
2
c
p
f c
p
U A +
= K
1
f
1
c
p
f c
p
U A +
:=
1
V
1
c
v
f c
p
U A +
= where
K
3
U A
f c
p
U A +
:=
4
0 ( ) 0 =
2
d
4
t ( )
dt

4
t ( ) +
3
t ( ) K
4
W s ( ) + =
3
0 ( ) 0 =
1
d
3
t ( )
dt

3
t ( ) + K
1

1
t ( ) K
2

2
t ( ) + K
3

c1
t ( ) + =
Rearrange into first-order standard form:
V
2
c
v
d
4
t ( )
dt
f c
p

3
t ( ) W s ( ) + f c
p

4
s ( ) =
V
1
c
v
d
3
t ( )
dt
f
1
c
p

1
t ( ) f
2
c
p

2
t ( ) + U A
c1
t ( ) + f c
p
U A +
( )
3
t ( ) =
Linearize and express in terms of the deviation variables:
V
2
c
v
d T
4
t ( )
dt
f c
p
T
3
t ( ) T
4
t ( )
( )
w
s
t ( ) + =
V
1
c
v
d T
3
t ( )
dt
f
1
c
p
T
1
t ( ) T
3
t ( )
( )
f
2
c
p
T
2
t ( ) T
3
t ( )
( )
+ U A T
c1
t ( ) T
3
t ( )
( )
+ =
Temperature transmitter TT: H s ( )
K
T
T
s 1 +
= K
T
100%TO
T
H
T
L
= K
sp
K
T
=
Block Diagram:
K
sp
G
c
(s) G
v
(s)
'
4
set
(s)
G
1
(s)
H(s)
M(s) E(s)
G
4
(s)
W(s)
+
-
+
+
G
2
(s)
+
G
3
(s)
'
2
(s)
'
c1
(s)
'
1
(s)
'
4
(s)
+
Characteristic equation of the loop.
1 H s ( ) G
c
s ( ) G
v
s ( ) G
4
s ( ) + 1
K
T
T
s 1 +
G
c
s ( )
K
v
v
s 1 +
K
4
2
s 1 +
+ = 0 =
T

v

2
s
3

T

v

T

2
+
v

2
+
( )
s
2
+
T

v
+
2
+
( )
s + 1 + K
T
K
v
K
4
G
c
s ( ) + 0 =
is unlawful.
(20 BWG) L 974ft := w
m
0.178
lb
ft
:= c
pm
0.12
BTU
lb degF
:=
A
o
D
o
L := A
o
127.5 ft
2
= C
M
w
m
L c
pm
:= C
M
20.805
BTU
degF
=
Level transmitter: h
L
7ft := h
H
10ft :=
LT
0.01min :=
Temperature transmitter: T
L
100degF := T
H
300degF :=
TT
0.5min :=
(a) Size control valves for 50% overcapacity.
Assume
Perfectly mixed tank
Constant and uniform densities, specific heats, and steam latent heat
The metal is at the same temperature as the condensing steam
Negligible heat losses and transpotation lags
Constant pressure drop across the steam valve.
Problem 6-24. Temperature and level control of oil heater.
LT
LC
vp
2
(t)
T
3
set
(t)
f
s
(t)
T
1
(t)
T
3
(t)
h
set
(t)
Steam
Condensate
3 ft
h(t)
TT
TC
p
1
(t)
p
2
= 40 psia
5 ft
N
2

AO AO
T
p
3
(t)
Problem Data: 53
lb
ft
3
:= c
p
0.45
BTU
lb degF
:= T
1
70degF := T
3
200degF := D 3ft :=
Steam, saturated at 115 psig (130 psia). from steam tables: T
s1
347degF :=
s
873
BTU
lb
:=
p
2
40psia := p
1
45psig := p
3
15psig := U 136
BTU
hr ft
2
degF
:=
f
1
100
gal
min
:=
Heating coil: D
o
0.5in :=
C
v2max
37.7
gal
min psi
=
From Fig. C-10.1, page 532, a 2-in valve is required.
C
v2max
46
gal
min psi
:=
Size steam valve:
p
s1
130psia := G
18
29
:= G 0.621 =
Assume
C
f
0.9 :=
y
1.63
C
f
p
s1
p
s
p
s1
:= y 0.42 = f
s
w
s
18lb
380scf
60min
hr
:= f
s
60138
scf
hr
=
C
vsmax
150 % f
s
G T
s1
460 R +
( )

C
f
p
s1
y 0.148 y
3

( )
gal hr
836 min scf
psia
R
:= C
vsmax
50.4
gal
min psi
=
C
vsmax
110
gal
min psi
:=
(b) Block diagram of the level control loop.
Mass balance:
D
2
4
7.48gal
ft
3

d h t ( )
dt
f
1
t ( ) f
3
t ( ) =
1 eqn. 3 unks. (h, f
1
, f
3
)
Valves:
f
1
t ( ) C
v1max
vp
1
t ( )
1
G
f
p
1
t ( ) p
2
g h t ( ) 5 ft ( )
ft
12 in
|
\
|
.
2

(
(
=
At the initial steady state:
f
3
f
1
:= f
1
c
p
T
3
T
1
( )
w
s

s
+ 0 =
w
s
f
1
c
p
T
3
T
1
( )
s
:= w
s
47.5
lb
min
=
w
s

s
U A
o
T
s
T
3
( )
0 = T
s
T
3
w
s

s
U A
o
+ := T
s
343.4 degF = p
s
123psia :=
(steam tables)
Size inlet oil valve:
Assume initially the level is at 50% of the level transmitter range:
h
h
H
h
L
+
2
:=
p
v1
p
1
14.7psia + p
2
g h 5ft ( )
ft
12in
|
\
|
.
2
:=
h 8.5ft = p
v1
18.41 psi =
G
f
ft
3
62.4lb
:=
C
v1max
150% f
1
G
f
p
v1
:= C
v1max
32.2
gal
min psi
=
C
v1max
46
gal
min psi
:=
Size exit oil valve:
p
v2
p
2
g h
ft
12in
|
\
|
.
2
+ p
3
14.7psia +
( )
:= p
v2
13.43 psi =
C
v2max
150% f
3
G
f
p
v2
:=
a
1
2.716
gal
min psi
= a
2
3.723
gal
min psi
= a
3
1
gal
min ft
= a
4
1.37
gal
min ft
=
Rearrange model equation in standrd first-oder form:
d H t ( )
dt
H t ( ) + K
1
VP
1
t ( ) K
2
VP
2
t ( ) K
3
P
1
t ( ) + K
4
P
3
t ( ) + = H 0 ( ) 0 =
where
D
2
4
7.48gal
ft
3
1
a
3
a
4
+
:= K
1
f
1max
a
3
a
4
+
:= K
2
f
3max
a
3
a
4
+
:= K
3
a
1
a
3
a
4
+
:= K
4
a
2
a
3
a
4
+
:=
22.31 min = K
1
90.4 ft = K
2
77.2 ft = K
3
1.146
ft
psi
= K
4
1.571
ft
psi
=
Laplace transform:
H s ( )
1
s 1 +
K
1
VP
1
s ( ) K
2
VP
2
s ( ) K
3
P
1
s ( ) + K
4
P
3
s ( ) +
( )
=
2 eqns. 3 unks.
f
3
t ( ) C
v2max
vp
2
t ( )
1
G
f
p
2
p
3
t ( ) g h t ( )
ft
12 in
|
\
|
.
2
+
(
(
=
3 eqns. 3 unks.
f
1max
C
v1max
p
v1
G
f
:= f
3max
C
v2max
p
v2
G
f
:= f
1max
214.2
gal
min
= f
3max
182.9
gal
min
=
Linearize the model equations and express in terms of deviation variables:
D
2
4
7.48gal
ft
3
d H t ( )
dt
f
1max
VP
1
t ( ) f
3max
VP
2
t ( ) a
1
P
1
t ( ) + a
3
H t ( ) a
2
P
3
t ( ) + a
4
H t ( ) =
where
a
1
f
1
t ( )
p
1
= a
2
f
3
t ( )
p
3
= a
3
f
1
t ( )
h
= a
4
f
3
t ( )
h
=
vp
1
f
1
f
1max
:= vp
2
f
3
f
3max
:= vp
1
0.467 = vp
2
0.547 =
a
1
C
v1max
vp
1
1
2
1
G
f
p
v1
:= a
2
C
v2max
vp
2
1
2
1
G
f
p
v2
1 ( ) :=
a
3
C
v1max
vp
1
1
2
1
G
f
p
v1
g
ft
2
144 in
2
\
|
.
:= a
4
C
v2max
vp
2
1
2
1
G
f
p
v2
g
ft
2
144 in
2
\
|
.
:=
2 eqns. 3 nks. (w
s
)
2 eqns. 3 unks. (w
s
)
C
M
d T
s
t ( )
dt

s
w
s
t ( ) U A
o
T
s
t ( ) T
3
t ( )
( )
=
Energy balance on steam chest:
1 eqn. 2 unks. (T
3
, T
s
)
f
3
t ( ) c
p
T
3
t ( ) T
ref
( )
D
2
4
7.48gal
ft
3
c
v
d
dt
h t ( ) T
3
t ( )
( )
f
1
t ( ) c
p
T
1
t ( ) T
ref
( )
U A
o
T
s
t ( ) T
3
t ( )
( )
+ =
Energy balance on tank:
(c) Block diagram and characteristic equation of the temperature control loop.
K
Lc
K
1
R(s)
K
2
H
LT
(s)
M
1
(s) E(s)
Js + 1
+
-
+
-
K
3
+
K
4
P
1
(s)
P
3
(s)
VP
2
(s)
H(s)
+
100
1
Block diagram of the level control loop:
G
Lc
s ( ) K
Lc
=
Proportional controller, LC:
The controller is reverse acting: increasing level
decreases the controller output closing the valve
and decreasing the inlet flow.
K
LT
33.33
%TO
ft
= K
LT
100%TO
h
H
h
L
:= H
LT
s ( )
K
LT
LT
s 1 +
=
Level transmitter LT:
VP
1
s ( )
1
100%CO
M
1
s ( ) =
Level control valve:
1
d
3
t ( )
dt

3
t ( ) + K
1
F
1
t ( ) K
2

1
t ( ) + K
3

s
t ( ) + =
2
d
s
t ( )
dt

s
t ( ) + K
4
W
s
t ( )
3
t ( ) + =
where
1
V c
v
f
1
c
p
U A
o
+
:= K
1
c
p
T
1
T
3
( )
f
1
c
p
U A
o
+
:= K
2
f c
p
f c
p
U A
o
+
:= K
3
U A
o
f c
p
U A
o
+
:=
2
C
M
U A
o
:= K
4

s
U A
o
:=

1
2.357 min =
2
0.072 min = K
1
0.682
degF min
gal
=
K
2
0.525 = K
3
0.475 = K
4
3.021
degF min
lb
=
Laplace transform:

3
s ( )
K
1
F
1
s ( ) K
2

1
s ( ) + K
3

s
s ( ) +
1
s 1 +
=
s
s ( )
K
4
W
s
s ( )
3
s ( ) +
2
s 1 +
=
Steam valve:
w
s
t ( )
836 scf min
hr gal
R
psia
hr
60 min
18 lb
380 scf
C
vsmax
vp
s
t ( ) C
f
p
s1
y 0.148 y
3

( )
G T
s1
460R +
( )
=
3 eqns. 3 unks.
Let
w
smax
836 scf min
hr gal
R
psia
hr
60 min
18 lb
380 scf
C
vsmax
C
f
p
s1
y 0.148 y
3

( )
G T
s1
460R +
( )
:=
w
smax
155.3
lb
min
=
Substitute mass balance into energy balance and simplify:
D
2
4
7.48 gal
ft
3
c
v
h t ( )
d T
3
t ( )
dt
f
1
t ( ) c
p
T
1
t ( ) T
3
t ( )
( )
U A
o
T
s
t ( ) T
3
t ( )
( )
+ =
w
s
t ( ) w
smax
vp
s
t ( ) =
Linearize the equations: Let
V
D
2
4
7.48gal
ft
3
h := V 449.4 gal =
Assume
c
v
c
p
:=
V c
v
d
3
t ( )
dt
c
p
T
1
T
3
( )
F
1
t ( ) f
1
c
p

1
t ( )
3
t ( )
( )
+ U A
o

s
t ( )
3
t ( )
( )
+ =
C
M
d
s
t ( )
dt

s
W
s
t ( ) U A
o

s
t ( )
3
t ( )
(
=
3
0 ( ) 0 =
s
0 ( ) 0 =
Rearrange into standard first-order form:
K
sp
G
Tc
(s)
f
1max
'
3
set
(s)
G
2
(s)
H
TT
(s)
M
s
(s) E(s)
G
3
(s)
W
s
(s)
+
-
+
+
G
1
(s)
-
a
1
F
1
(s) P
1
(s)
'
1
(s)
'
3
(s)
+
100
M
1
(s)
a
3
H(s)
100
w
smax
+
-
Block diagram of the temperature control loop:
a
3
1
gal
min ft
= a
1
2.716
gal
min psi
=
f
1max
100%CO
2.142
gal
min %CO
= F
1
s ( )
f
1max
100%CO
M
1
s ( ) a
1
P
1
s ( ) + a
3
H s ( ) =
Inlet flow:
G
Tc
s ( ) K
Tc
1
1
IT
s
+
|
\
|
.

DT
s 1 +
D

DT
s 1 +
|
\
|
.
=
PID controller:
K
TT
0.5
%TO
degF
= K
TT
100%TO
T
H
T
L
:= H
TT
s ( )
K
TT
TT
s 1 +
=
Temperature transmitter TT:
w
smax
100%CO
1.553
lb
min %CO
= W
s
s ( )
w
smax
100%CO
M
s
s ( ) =
Steam control valve:
G
3
s ( )
K
3
K
4
1
s 1 +
( )

2
s 1 +
( )
K
3
=
G
2
s ( )
K
2

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

2
s 1 +
( )
K
3
= G
1
s ( )
K
1

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

2
s 1 +
( )
K
3
=
where
3
s ( ) G
1
s ( ) F
1
s ( ) G
2
s ( )
1
s ( ) + G
3
s ( ) W
s
s ( ) + =
Combine:
is unlawful.
Compare these results with the simulation of this process in Problem 13-24.
K
cu
38.9
%CO
%TO
= K
cu
K
3
1
B

u
2
+
K
p
:=
B

u
2
1 + K
3
K
p
K
cu
+ 0 =
Real part:
T
u
1.069 min = T
u
2
u
:=
u

C
A
:=
A

u
3

C

u
+ 0 =
Imaginary part:
K
p
1.116
%TO
%CO
=
C
2.692 min =
B
1.384 min
2
=
A
0.085 min
3
= K
p
K
TT
w
smax
100%CO
K
3
K
4
:=
C

TT
1 K
3
( )

1
+
2
+ :=
B

TT

1

TT

2
+
1

2
+ :=
A

TT

1

2
:= where
A

u
3
i
B

u
2

C

u
i + 1 + K
3
K
p
K
cu
+ 0 0 i + =
Substitute s =
u
i at K
Tc
= K
cu
:
G
Tc
s ( ) K
Tc
=
Proportional controller:
(d) Ultimate gain nad period of the temperature control loop.
1 H
TT
s ( ) G
Tc
s ( )
w
smax
100%CO
G
3
s ( ) + 1
K
TT
TT
s 1 +
G
Tc
s ( )
w
smax
100%CO
K
3
K
4
1
s 1 +
( )

2
s 1 +
( )
K
3
+ = 0 =
3 eqns. 4 unks. f
1
t ( ) C
v1

w
g h
1
t ( )
ft
12in
|
\
|
.
2
= k
v1
h
1
t ( ) = Valves:
2 eqns. 4 unks. (h
2
, f
2
)
D
2
2
4

d h
2
t ( )
dt
f
1
t ( ) f
2
t ( ) = tank 2:
1 eqn. 2 unks. (h
1
, f
1
)
D
1
2
4

d h
1
t ( )
dt
f
i
t ( ) f
3
t ( ) + f
o
t ( ) f
1
t ( ) = Mass balance, tank 1:
Assume
constant and uniform densities
constant valve positions and inlet valve pressures
(a) Block diagram and transfer functions of level control loop.
H
LT
s ( ) K
T
=
100%TO
h
max
= Level transmitter LT has negligible time constant:
K
v
C
v3
p
v3
G
f
= G
v
s ( )
K
v
v
s 1 +
=
Linear control valve with constant pressure drop
and time constant:
F
o
s ( )
f
max
100%CO
1
p
s 1 +
M
1
s ( ) = Linear pump with a time constant:
LT
LC
f
1
(t)
.f
i
(t)
h
2
(t)
.f
3
(t)
f
o
(t)
h
1
(t)
f
2
(t)
.m
1
(t)
Problem 6-25. Level control of two tanks in series.
K
Lc
G
v
(s)
R(s)
K
T
M
1
(s) E(s)
(J
1
s+1)(J
2
s+1)
+
-
+
-
.f
max
+
M
1
(s)
F
o
(s)
H
2
(s)
K
1
K
2
100(J
p
s+1)
F
i
(s)
F
3
(s)
Block diagram of the level control loop:
H
2
s ( )
K
2
2
s 1 +
H
1
s ( ) =
K
1
K
2
1
s 1 +
( )

2
s 1 +
( )
F
i
s ( ) F
3
s ( ) + F
o
s ( )
( )
=
H
1
s ( )
K
1
1
s 1 +
F
i
s ( ) F
3
s ( ) + F
o
s ( )
( )
=
Laplace transform:
K
2
k
v1
k
v2
h
2
h
1
=
2
D
2
2
h
2
2 k
v2
= K
1
2 h
1
k
v1
=
1
D
1
2
h
1
2 k
v1
=
where
2
d H
2
t ( )
dt
H
2
t ( ) + K
2
H
1
t ( ) =
1
d H
1
t ( )
dt
H
1
t ( ) + K
1
F
i
t ( ) K
1
F
3
t ( ) + K
1
F
o
t ( ) =
Rearrangle into the standard first-order form:
H
2
0 ( ) 0 =
D
2
2
4
d H
2
t ( )
dt
k
v1
2 h
1
H
1
t ( )
k
v2
2 h
2
H
2
t ( ) =
H
1
0 ( ) 0 =
D
1
2
4
d H
1
t ( )
dt
F
i
t ( ) F
3
t ( ) + F
o
t ( )
k
v1
2 h
1
H
1
t ( ) =
Linearize the equations and express in terms of deviation variables::
4 eqns. 4 unks.
f
2
t ( ) C
v2

w
g h
2
t ( )
ft
12in
|
\
|
.
2
= k
v2
h
2
t ( ) =
(b) Characteristic equation and ultimate gain and period.
1 K
T
K
LC
K
v
v
s 1 +
K
1
K
2
1
s 1 +
( )

2
s 1 +
( )
+ 0 =
Substitute s =
u
i at K
LC
= K.
cu
: Let
K
p
K
T
K
v
K
1
K
2
=
100 %TO
h
max
f
3max
100 CO
2 h
2
k
v2
=
v

1

2

u
3
i
v

1

v

2
+
1

2
+
( )
u
2

v

1
+
2
+
( )

u
i + 1 + K
p
K
cu
+ 0 0 i + =
Imaginary part:

v

1

2

u
3

v

1
+
2
+
( )
u
+ 0 =
u

v

1
+
2
+
v

1

2
= T
u
2
u
=
Real part:

v

1

v

2
+
1

2
+
( )

u
2
1 + K
p
K
cu
+ 0 =
K
cu

v

1

v

2
+
1

2
+
( )
u
2
1
K
p
=
is unlawful.
Substitute, linearize the equations, and express in terms of linearized variables:
s
2.635 10
3
lbmole
scf
=
s
14.7psia
R
g
520 R
:=
5 eqns. 5 unks. t ( )
p t ( )
R
g
T
lbmole
ft
3
= Ideal gas law:
4 eqns. 5 unks.
y t ( )
1.63
C
f
p t ( ) p
2
p t ( )
=
3 eqns. 5 unks. (y, p)
f
3
t ( )
836scf min
hr gal
R
psia
hr
60min
C
v3
C
f
p t ( )
G t ( ) T
y t ( ) 0.148 y t ( )
3

( )
= Exit valve:
2 eqns. 3 unks. (x
3
)
V
d
dt
t ( ) x
3
t ( )
( )

s
f
1
t ( ) x
1
t ( )
s
f
2
t ( ) x
2
t ( ) +
s
f
3
t ( ) x
3
t ( ) =
Methane mole balance:
1 eqn. 2 unks. (, f
3
) V
d t ( )
dt

s
f
1
t ( )
s
f
2
t ( ) +
s
f
3
t ( ) = Total mole balance:
Assume
Gas obeys ideal gas law
Temperature is constant
Perfectly mixed tank
(a) Block diagram and transfer functions.
G
c
s ( ) K
c
1
1
I
s
+
|
\
|
.
=
Controller is PI:
Sensor transmitter, lag
T
,
range hv
L
to hv
H
.
Fan driver, linear, lag
F
,
range 0 to f
2max
.
G t ( ) a b x
3
t ( ) + =
hv t ( ) c g x
3
t ( ) + =
Problem Data:
AT
AC
hv
set
(t)
Natural gas
Waste gas
f
2
(t) x
2
(t)
f
1
(t) x
1
(t)
f
3
(t) x
3
(t)
p
2
p(t)
hv
Problem 6-26. Control of heating value of fuel stream.
K
F
f
2max
100%CO
= F
2
s ( )
K
F
F
s 1 +
M s ( ) =
Variable speed fan:
HV s ( ) g X
3
s ( ) = HV t ( ) g X
3
t ( ) =
Linearize the eating value equation:
P s ( )
1
2
s 1 +
1
a
1
F
1
s ( )
1
a
1
F
2
s ( ) +
a
2
a
3
X
3
s ( ) +
|
\
|
.
=
X
3
s ( )
1
1
s 1 +
K
1
X
1
s ( ) K
2
X
2
s ( ) + K
3
F
1
s ( ) K
4
F
2
s ( ) +
( )
=
Laplace transform:
2
V
R
g
T
s
a
1
= K
4
x
2
x
3
f
3
= K
3
x
3
x
1
f
3
= K
2
f
2
f
3
= K
1
f
1
f
3
=
1
V
f
3

s
2
d P t ( )
dt
P t ( ) +
1
a
1
F
1
t ( )
1
a
1
F
2
t ( ) +
a
2
a
1
X
3
t ( ) + =
1
d X
3
t ( )
dt
X
3
t ( ) + K
1
X
1
t ( ) K
2
X
2
t ( ) + K
3
F
1
t ( ) K
4
F
2
t ( ) + =
Rearrange into standrad first-order form:
a
2
836 scf min
hr gal
R
psia
hr
60min
C
v3
C
f
p
T
y 0.148 y
3

( )
b
2 a b x
3
+
( )
1.5
=
a
1
836scf min
hr gal
R
psia
hr
60min
C
v3
C
f
G T
y 0.148 y
3
p 1 3 0.148 y
2

( )
1.63
C
f
2
p p
2
p
|
\
|
.
0.5
p
2
p
2
+
(
(
(
=
P 0 ( ) 0 =
V
R
g
T
s
d P t ( )
dt
F
1
t ( ) F
2
t ( ) + a
1
P t ( ) a
2
X
3
t ( ) + =
x
3
0 ( ) 0 =
V
s
d x
3
t ( )
dt
f
1
X
1
t ( ) f
2
X
2
t ( ) + f
3
X
3
t ( ) x
1
x
3
( )
F
1
t ( ) + x
2
x
3
( )
F
2
t ( ) + =
Combine total and methane balances, and substitute valve equation:
a
2
f
3
t ( )
x
3
= a
1
f
3
t ( )
p
=
where
F
3
t ( ) a
1
P t ( ) a
2
X
3
t ( ) =
V x
3
R
g
T
d P t ( )
dt
V P
R
g
T
d x
3
t ( )
dt
+
s
f
1
X
1
t ( ) f
2
X
2
t ( ) + f
3
X
3
t ( ) x
1
F
1
t ( ) + x
2
F
2
t ( ) + x
3
F
3
t ( )
( )
=
V
R
g
T
d P t ( )
dt

s
F
1
t ( )
s
F
2
t ( ) +
s
F
3
t ( ) =
Heating value transmitter:
H s ( )
K
T
T
s 1 +
= K
T
100%TO
hv
H
hv
L
= K
sp
K
T
=
Block diagram of the heating value control
K
sp
K
F
K
4
HV
set
(s)
K
3
H(s)
M(s) E(s)
J
1
s + 1
+
-
+
-
K
2
+
K
1
X
2
(s)
X
1
(s)
F
1
(s)
HV(s)
+
g
G
c
(s)
J
F
s + 1
The controller must be reverse acting (negative gain): increasing heating value decreases the
controller output; this decreases the fan speed and the flow of natural gas, decreasing the heating
value.
(b) Characteristic equation of the loop.
1
K
T
T
s 1 +
G
c
s ( )
K
F
F
s 1 +
K
4
1
s 1 +
+ 0 =
T
s 1 +
( )

F
s 1 +
( )

1
s 1 +
( )
K
T
K
c
1
1
I
s
+
|
\
|
.
K
F
K
4
+ 0 =
is unlawful.

CH 6 Test

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CH 6 Test

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r

:= 0.886 min = 0.996 =

:= 0.423 min = 0.127 =

:= 0.559 min = 0.503 =

:= 0.535 min = 0.401 =

:= 0.477 min = 0.143 =

Offset: the steady state gain is:

:= Closed-loop time constant:

The roots are real as long as:

31.79 0.976 s 1 + ( ) 1 2.77s ( )

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