Worked Examples
School of Chemical Engineering and Advanced Materials
Newcastle University
2nd order system with delay
Find the time domain solution of the following
when the input is a unit step:
G ( s) =
exp( 5s )
s 2 + 0.7 s + 1
Y (s)
= G(s)
U (s)
Y (s) =
Y (s) =
Y ( s) = G ( s).U ( s )
U ( s ) = 1/ s
exp(5s ) 1
.
s 2 + 0.7 s + 1 s
(s
1
exp( 5s )
+ 2 0.35s + 1) s
School of Chemical Engineering and Advanced Materials
Newcastle University
2nd order system with delay (contd)
Delay free case:
Ynodelay ( s ) =
(s
ynodelay (t ) = 1
1
+ 2 0.35s + 1) s
exp(n t )
1 2
= tan 1
1 2
y (t ) = ynodelay (t 5)
sin n 1 2 t +
n = 1
= 0.35
Always work out the delay
free case first
School of Chemical Engineering and Advanced Materials
Newcastle University
2nd order system
Find the time domain solution of the following
when the input is a unit step:
1
(1 + 2s )(1 + 5s )
G(s) =
Y (s)
= G(s)
U (s)
Y ( s) = G ( s).U ( s )
Y (s) =
1
1
.
(1 + 2 s )(1 + 5s) s
Y (s) =
A
B
C
+
+
(1 + 2 s ) (1 + 5s ) s
U ( s ) = 1/ s
Use partial fraction expansion
to decompose to low order
terms
School of Chemical Engineering and Advanced Materials
Newcastle University
2nd order system (continued)
Y (s) =
A
B
C
+
+
(1 + 2 s ) (1 + 5s ) s
A = 4 / 3; B = 25 / 3; C = 1
Y (s) =
4 1
25 1
1
+
3 (1 + 2 s) 3 (1 + 5s ) s
Y (s) =
4 1/ 2
25 1/ 5
1
+
3 (1/ 2 + s ) 3 (1/ 5 + s ) s
y (t ) =
2
5
exp(t / 2) exp( t / 5) + 1
3
3
School of Chemical Engineering and Advanced Materials
Newcastle University
Example: Single Tank System
Volumetric flow rates
Cylindrical tank
Outflow is proportional to level
Qin
Required
Qout
a) Dynamic mass balance of system
b) Laplace transfer function
between level (h) and input
flowrate (Qin)
c) Change in level when there is a
unit step change in input flowrate
d) Time domain solution of transfer
function found in (b), to a unit
step change in input flowrate
School of Chemical Engineering and Advanced Materials
Newcastle University
Example: Single Tank System (contd)
d (Ah)
= Qin Qout
dt
a) Dynamic mass balance of
system
Qin
Adh
= Qin Qout
dt
Adh
= Qin Qout
dt
Qout = k .h
h
dh
= Qin k .h
dt
A dh
1
+ h = Qin
k dt
k
Qout
School of Chemical Engineering and Advanced Materials
Newcastle University
Example: Single Tank System (contd)
A dh
1
+ h = Qin
k dt
k
b) Laplace transfer function between level (h) and input
flowrate (Qin)
Assuming the use of deviation variables (hence zero initial
conditions) and taking Laplace Transforms:
A
1
sH ( s ) + H ( s ) = Qin ( s )
k
k
( )
( )
1
H ( s)
k
=
Qin ( s ) 1 + A s
k
School of Chemical Engineering and Advanced Materials
Newcastle University
Example: Single Tank System (contd)
( )
( )
1
H ( s)
k
=
Qin ( s ) 1 + A s
k
Qin ( s ) = 1/ s
c) Final change in level when
there is a unit step change in
input flowrate
H ( s) =
( 1k ) . 1
1+ ( A ) s s
k
Apply Final Value Theorem:
h(t ) = sH ( s)
lim t
( )
( )
lim s 0
h(t ) = sH ( s ) = s.
lim t
lim s 0
1
1
k
=
.
k
1+ A s s
k
s 0
h(t ) =
lim t
1
k
School of Chemical Engineering and Advanced Materials
Newcastle University
Example: Single Tank System (contd)
( )
( )
1
H ( s)
k
=
Qin ( s ) 1 + A s
k
H ( s) =
d) Time domain solution to a unit
step change in input flowrate
( 1k ) . 1
1+ ( A ) s s
k
(k )
( k ) k A+ s s
( A )
H ( s) = 1
From Laplace Transform table:
( k ) 1 exp kA t
h(t ) = 1
School of Chemical Engineering and Advanced Materials
Newcastle University
Response sketching
Input: Step change of 1 (unit step)
1
1 + 10s
School of Chemical Engineering and Advanced Materials
Newcastle University
Response sketching
Input: Step change of 1 (unit step)
2 e 5 s
1 + 15s
School of Chemical Engineering and Advanced Materials
Newcastle University
Response sketching
Input: Step change of 1 (unit step)
2
s 2 2s 2
School of Chemical Engineering and Advanced Materials
Newcastle University
Response sketching
Input: Step change of 1 (unit step)
1
2s
School of Chemical Engineering and Advanced Materials
Newcastle University
Response sketching
Input: Step change of 1 (unit step)
1
s 2 + 0.7 s + 1
School of Chemical Engineering and Advanced Materials
Newcastle University
Response sketching
Input: Step change of 1 (unit step)
1 s
(1 + 2 s )(1 + 3s )
School of Chemical Engineering and Advanced Materials
Newcastle University
A simple problem
R(s)
(1 + s)(1 + 3s) )
Y(s)
1. Determine the transfer function between Y(s) and
R(s)
2. Find the value of K that will give the fastest nonoscillatory response in Y(s) to a step change in R(s)
3. What is the corresponding ODE that relates r(t) to
y(t)?
School of Chemical Engineering and Advanced Materials
Newcastle University
A simple problem (contd)
R(s)
(1 + s)(1 + 3s) )
Y(s)
1. Determine the transfer function between Y(s) and
R(s)
Y ( s)
K
=
R( s) 3s 2 + 4s + (1 + K )
School of Chemical Engineering and Advanced Materials
Newcastle University
A simple problem (contd)
R(s)
(1 + s)(1 + 3s) )
Y(s)
Y ( s)
K
=
R( s) 3s 2 + 4s + (1 + K )
2. Find the value of K that will give the fastest nonoscillatory response in Y(s) to a step change in R(s)
For fastest non oscillatory response, poles must be real and
equal. Therefore find the value of K that sets
16-4*3*(1+K) = 0,
i.e. K=1/3.
School of Chemical Engineering and Advanced Materials
Newcastle University
A simple problem (contd)
R(s)
(1 + s)(1 + 3s) )
Y(s)
Y ( s)
K
=
R( s) 3s 2 + 4s + (1 + K )
3. What is the corresponding ODE that relates r(t) to
y(t)?
d 2 y(t )
dy(t )
+4
+ (1 + K ) y(t ) = Kr (t )
dt 2
dt
School of Chemical Engineering and Advanced Materials
Newcastle University
Required to know
formulate dynamic material and energy balances
basic properties of Laplace Transforms
how to transform ODEs to the Laplace domain
transfer functions and block diagrams algebra
move from Laplace domain to time-domain
meanings of the different transfer function
parameters
sketch system responses given their transfer
functions
solve dynamics problems using Laplace
Transforms
School of Chemical Engineering and Advanced Materials
Newcastle University
