Chemical Engineering
Prepared by: Mr Ali Abbas
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Mathematical Background
Laplace transformer & inverse
laplace transformer
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Laplace Transformers
The first step in study and analysis any system is find
model mathematical
The Laplace transform can be used to solve differential
equations.
The Laplace transform converts differential equations from
time domain into an algebraic equation in (S) domain by
rules of algebraic obtain the solution in S domain, the final
solution by inverse Laplace.
The advantages of L.T. gives total solution (Transient and
steady state component)
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The Laplace Transformation
Time Domain Frequency Domain
Laplace Transform
Differential Algebraic
equations equations
Input Input
excitation e(t) excitation E(s)
Output Output
response r(t) response R(s)
Inverse Laplace Transform
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We can define the Laplace transform as:
L [f (t )] F (s ) f (t )e st
dt
0
Where; f(t)= is time function
F(s)= Laplace transform
S= complex frequency is given by
s i
Where is the real part and is the imaginary part
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Laplace transformers of some functions
Example1. Derive the Laplace transform of the step function.
0 t 0
f (t )
a t 0
F (s ) f (t )e dt st
0
F (s ) (A )e st dt
0
e st e 0 A
F (s ) A [ ]0 0 [ ]
s s S 6
Laplace transformers of some functions
Example 2. Derive the Laplace transform of the Ramp function.
0 t 0
f (t )
at t 0
F (s ) At .e dt st
0
st st
e e A
F (s ) [At . A . 2 ]0 2
s s s
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Laplace transformers of some functions
Example 3. Derive the Laplace transform of the exponential function
t
f (t ) e
t st ( s ) t
F (s) e e dt e dt
0 0
( s ) t
e e 0
0
( s ) 0 ( s )
1
s 8
Laplace transformers of some functions
Example 5. Derive the Laplace transform of the Impulse
function: 100
90
0 t 0
80
(t )
70
60
t 0
Input
50
40
30
20
10
0
0 1 2 3 4 5 6 7 8 9 10
Time
The impulse function has zero value every where
except at t=0, where the amplitude is infinite;
mathematically an impulse function is the
derivative of step function
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Laplace transformers of some functions
Impulse function is the derivative of step function:
d
L (t ) L [u (t )]
dt
sL [u (t )]
1
(s ) s * 1
s
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Table: (1) 11
Inverse Laplace Transformer
We can define the Inverse Laplace transform as:
1 j
1
L [ F ( s )] f (t ) F ( s ) e st
ds
2j j
But this method is not generally used; we can u
Partial fraction and take the inverse Laplace with
help table (1)
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Inverse Laplace Transformer
Example 6: Determine the inverse transform of the function below.
5 12 8
F (s) 2
s s s3
3t
f (t ) 5 12t 8e
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Time
Modelling response
and Ttransfer (First order
Function response
system)
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WHY WE NEED DYNAMIC
MODELS ?
Do the Bus and bicycle have different dynamics?
Which can make a U-turn in 1.5 meter?
Which responds better when it hits bump?
Dynamic performance
depends more on the vehicle
than the driver!
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WHY WE NEED DYNAMIC MODELS ?
Feed material is delivered periodically, but the
process requires a continuous feed flow. How
large should the tank volume be?
We must provide process flexibility
for good dynamic performance!
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WHY WE NEED DYNAMIC MODELS
?
The cooling water pumps have failed. How long
do we have until the exothermic reactor runs
away?
Process dynamics are
important for safety!
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WHY WE NEED DYNAMIC MODELS ?
Math models
help us answer How does the process influence
these the response?
questions!
- How far? -How fast -“Shape”
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Dynamic behavior of First-
order system
In analyzing process dynamic and process control systems, it
is important to know how the process responds to changes in
the process inputs.
• Two categories in process inputs.
1. Inputs that can be manipulated to control the process.
2. Inputs that are not manipulated, classified as disturbance
or load variable.
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A number of standard types of input
changes are widely used for two
reasons:
1. They are representative of the types of changes that
occur in plants.
2. They are easy to analyze mathematically.
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1. Step Input
A sudden change in a process variable can be approximated by
a step change of magnitude, M:
The step change occurs at an arbitrary time denoted as t = 0.
• Special Case: If M = 1, we have a “unit step change”. We give it the
symbol, S(t).
• Example of a step change: A reactor feedstock is suddenly switched
from one supply to another, causing sudden changes in feed
concentration, flow, etc.
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2. Ramp Input
• Industrial processes often experience “drifting
disturbances”, that is, relatively slow changes up or down
for some period of time.
• The rate of change is approximately constant.
We can approximate a drifting disturbance by a ramp input:
Examples of ramp changes:
1. Ramp a setpoint to a new value. (Why not make a step change?)
2. Feed composition, heat exchanger, ambient temperature.
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3. Rectangular Pulse
It represents a brief, sudden change in a process variable:
XRP
h
0 Tw Time, t
Examples:
1. Reactor feed is shut off for one hour.
2. The fuel gas supply to a furnace is briefly interrupted.
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4. Sinusoidal Input
Processes are also subject to periodic, or cyclic, disturbances.
They can be approximated by a sinusoidal disturbance:
where: A = amplitude, = angular frequency
Examples:
1. 24 hour variations in cooling water temperature.
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5. Impulse Input
Here, U I t t .
It represents a short, transient disturbance.
Examples:
1. Injection of a tracer dye.
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Transfer Function
The transfer function of a system is heart of the control system
analysis.
Transfer function is defined as ratio of Laplace transformer of
the output to the Laplace transformer of input with initial
conditions are zero.
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Simple Dynamic Systems:
1st Order
The basic equation for a 1st order system
However in process control, we have the standard form of
1st order by dividing each term by a0:
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Standard form of the first-order transfer function.
Y (s ) K
X (s ) s 1
Time constant: characterize the speed of response of
a first-order system.
Static gain: characterize the sensitivity of the output
to the input signal. 31
Example 1: Transfer Function of Liquid level
System
If qo is the volumetric flow rate through the resistance
and is related to the head (h) by q h
o
R
By writing the mass balance around the tank to find transfer
function;
Mass flow in – Mass flow out = rate of mass in the tank
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d ( A .h )
q i q o
dt
Dividing both sides of equation by then;
dh
q i qo A
dt
dh h
A qi
dt R
dh
At steady state condition, the term 0
dt
hs
q is 0
R
1 dh
(q i q is ) (h hs ) A
R dt 33
h h hs
Q i q i q is
1 dh
Qi H A
R dt
By take Laplace transformer of above equation
1
Q i (s ) H (s ) AsH (s )
R
H (s ) R1
Qi (s ) 1s 1
This called the transfer function for first order system
The term, τ (time constant) and R1 (static gain)
characterize the first order system
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If the transfer function relating inlet q i to the outlet
flow is desired, we follow the following steps:
h
qo
R
hs h hs
q os q o q os
R R
H H (s )
Qo Qo (s )
R R
H (s ) R
Qi (s ) s 1
Qo (s ) 1
Q i (s ) s 1 35
Time Response Analysis of system
First Order System
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Time Response
The time response of a control system is
divided into two parts
Transient response
Steady state response
y (t ) y t (t ) y ss (t )
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Transient response of first order system
Transientresponse: the time required to
change from one state to another state is
known as transient time.
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Example 2: Find time response of
thermometer if subjected difference inputs
function
:is The transfer function of Mercury
Thermometer
Y (s ) 1
X (s ) s 1
forfirst order system (e.g. thermometer)
is subjected to unit step change the
response can be evaluated as following: 39
The response of thermometer for unit step function
Y (s ) 1
X (s ) s 1
The Laplace transformer of unit step function
1 1 1
X s
1
Y s .
s s s 1 s ( s 1)
By applying the partial fraction
A B
Y s
s s 1 40
1
Y s
s s 1
1 1
Y s
s s1
By taking the inverse Laplace
transformer
y t 1 e t /τ
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The response of thermometer for unit step function
y t 1 e t /τ
Note: Large τmeans a slow response.
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Response of thermometer for ramp function
Y (s ) 1 1
X (s )
X (s ) s 1 s2
1
Y (s ) 2 Y s 2
k1
k2
k3
s ( s 1) s s s 1
1 2
Y s
s2 s s 1
1 1
Y s
2 s
.
s 1
s
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y t t .e t /τ
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Response of Unit-impulse response of first-order systems
The unit-impulse input x(t) = (t), t 0
Laplace transform: X(s) = 1.
1
The output transform: Y(s)=
s 1
Taking the inverse Laplace transform:
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