ChE-381: Process Dynamics and Control
Sample Problems
1. Consider the temperature control system for the heater of Figure 1. The temperature T is the
controlled output while the inlet temperature 𝑇𝑖 is the load and the stream temperature is the
manipulated variable. The transfer functions for each component of the feedback loop are:
′
Process. If 𝑇′, 𝑇𝑖 ′, and 𝑇𝑠𝑡 are deviation variables, then the response of the process is given by:
1
𝐾
𝑇′(𝑠) = τ 𝑇𝑖′ (𝑠) + 𝑇 ′ (𝑠)
𝑠+𝑎 𝑠 + 𝑎 𝑠𝑡
Temperature sensor. Assume that the response of the thermocouple is very fast, and its dynamics
can be neglected. Thus,
𝑇𝑚′ (𝑠) = 𝐾𝑚 𝑇 ′ (𝑠)
Controller. The controller output is given by:
𝑈 ′ (𝑠) = 𝐾𝑐 (𝑇𝑠𝑝
′ (𝑠)
− 𝑇𝑚′ (𝑠))
Control valve. Assume first-order process:
′ (𝑠)
𝐾𝑣
Tst = 𝑈 ′ (𝑠)
𝜏𝑣 𝑠 + 1
a. Derive the process transfer function.
b. Construct a block diagram for the closed-loop system (with controller and sensor).
c. Derive the closed loop transfer function relating the controlled variable (𝑇 ′ ) with the set-point
′
(𝑇𝑠𝑝 ) and inlet temperature (𝑇𝑖′ ).
Figure 1. Closed-loop of temperature control.
2. A control system has the following transfer functions in its block diagram (Figure 2): 𝐺𝑐 = 1, 𝐺𝑣 =
5
2, 𝐺𝑑 = 𝐺𝑝 = 𝑠(𝑠+4). For a unit step change in 𝑌𝑠𝑝 , determine:
a. 𝑌(𝑠)/𝑌𝑠𝑝 (𝑠)
b. 𝑦(∞)
c. Offset
d. 𝑦(0.5)
1
e. If the closed-loop response is oscillatory.
Figure 2. Block diagram of a feedback control system.
3. Consider the two noninteracting tanks shown in Figure 3. We want to control the liquid level ℎ2 of
tank 2 by manipulating flow rate 𝐹1 through a proportional controller. Assume that the flow rate of
the free effluent stream is linearly dependent on the tank height. Assume that the cross-sectional
areas of the two tanks are equal to 5 ft2. Initially, the system is at steady state with 𝐹1 = 1 ft3/min
and ℎ1 = ℎ2 = 3 ft.
a. Derive the TF model relating the height of the two tanks with F1.
b. Find the values of controller gain which produce a critically damped response.
c. Produce an underdamped response with decay ratio ¼ for ℎ2 .
d. For cases b and c, qualitatively sketch the dynamic response of liquid level ℎ1 in tank 1 for
a unit step change in the set point of ℎ2 .
Decay ratio is the measure at which the oscillations are decaying, and it is defined as the ratio of
second and first overshoot.
Figure 3. Two-tank noninteracting system.
4. Each of the following systems is feedback controlled with a proportional controller. Find the values
of the proportional gain 𝐾𝑐 that produce (if possible) stable closed loop responses.
10
a. 𝐺𝑝 = 2𝑠−1
2
2
b. 𝐺𝑝 = 0.1𝑠+1
10
c. 𝐺𝑝 =
2𝑠2 +3𝑠−4
5. Repeat problem 4 assuming a PI controller with gain 𝐾𝑐 and 𝜏𝐼 = 1.
6. A first-order system with a transfer function
5
𝐺𝑝 =
0.1𝑠 + 1
is controlled with a feedback PI controller
1
𝐺𝑐 = 𝐾𝑐 (1 + )
𝜏𝐼 𝑠
The transfer function of the measuring device is:
𝐾𝑚
𝐺𝑚 =
𝜏𝑚 𝑠 + 1
The schematic is shown in Figure 4. Do the following:
a. Set 𝐾𝑚 = 1, 𝜏𝑚 = 1, and using the Routh criterion, find a pair of values of 𝐾𝑐 and 𝜏𝐼
which would yield stable closed-loop response.
b. Using the values of 𝐾𝑐 and 𝜏𝐼 found in part (a), examine the effect of changing 𝐾𝑚 on the
stability of the closed-loop response.
c. Do the same with 𝜏𝑚 .
d. Based on the results above, discuss the effect that measurement dynamics have on the
stability of the closed-loop response.
Figure 4. Schematic of the closed-loop system.
7. Consider a first-order system with dead time having the following transfer function:
10𝑒 −𝑡𝑑𝑠
𝐺𝑝 =
𝑠+1
The system is controlled with a proportional controller of gain 𝐾𝑐 . Approximate 𝑒 −𝑡𝑑 𝑠 by a first-
order Pade approximation and find the relationship between 𝐾𝑐 and 𝑡𝑑 that leads to a stable closed-
loop response.
1
8. A first-order process (𝐺𝑝 = ) is controlled with a PI controller. Find the values of the controller
𝑠+3
gain 𝐾𝑐 and reset time 𝜏𝐼 so that the decay ratio of the closed loop response is 1/4.
3
9. Sketch the Bode diagrams of the following transfer functions:
10
a. 𝐺(𝑠) = 𝑠(𝑠+5)
𝑠+1
b. 𝐺(𝑠) = 𝑠(𝑠+5)
50
c. 𝐺(𝑠) = (𝑠+2)2
𝑠−2
d. 𝐺(𝑠) = (𝑠+2)2