UNIVERSITY OF LAGOS

Chemical Engineering Department

2024/2025 SESSION, 1st SEMESTER

CHG 534 – Process Instrumentation and Control

Practice Problems Set II:

on
Process Dynamics – the transient Behaviour of Processes

(The use of MATLAB/SIMULINK, or other software, is highly encouraged)

Date given: Thursday, 12 December, 2024

Date due: Wednesday, 08 January, 2025
Tentative Test date: Thursday, 09 January 2025, 8:00 – 9:00 am
Why teamwork?

The essence of forming teams is to foster intra- and inter- teamwork, working together
as a team while at the same time relating with other teams.
The team supports its members and its members support the team – all for one, and one for all

“Great things in business are never done by one person. They’re done by a team of people.”
- Steve Jobs

“Individual commitment to a group effort – that’s what makes a team work, a company work, a society work, a
civilization work.” - Vince Lombardi

“The strength of the team is each individual member. The strength of each member is the team.”
- Phil Jackson

“Teamwork divides the task and multiplies the success.”

[Please find the teams for PPS-II on the last page]

Page 2 of 22
Question 2.1
Consider the perfectly mixed constant-volume stirred-tank heater shown in Fig. 1.

Figure 1. Constant-volume stirred tank heater

(a) show that the modeling equation describing the system is given by
dT Fi  T − T ) + Q 
=  i
dt V  V ρ c p 
(b) For the heater, the liquid volume is constant at 50 litres with a constant volumetric flow rate
of 10 litres/min. For the liquid ρcp = 1 kcal/litre oC. Obtain the transfer function for the heater.
(c) Plot the system response to the inputs shown in Fig. 2.

Figure 2. Some standard inputs

(d) Compare the impulse response above with a pulse response of magnitude 4 and a duration
o.5 time unit.
Page 3 of 22
Question 2.2
You have just returned to your room in the hostel after a very tiring day in the department and are
looking forward to a drink of cold ‘eva’ water. Unfortunately, the only bottle available has been left
sitting on the table in your room. Since sunlight from the room window has been warming the drink all
afternoon, it is hardly fit to drink. You are interested in cooling the water to a desired temperature of
16°C as quickly as possible.

You immediately spring into action by placing the bottle in the freezer section of the refrigerator, which
has a temperature of -21°C. If the initial temperature of the drink is 30°C, estimate how long it will take
to cool it to 16°C. (The ‘eva’ bottle of water is 75 cl, weighs approximately 0.75 kg and the heat capacity is
~4.2kJ/kg °C. The dimensions of the bottle are shown below:

2.5 cm

25 cm

20 cm

7.0 cm
Figure 3 – The dimensions of a 75 cl eva bottle

Question 2.3
Consider a water storage tank with inlet and outlet streams that can be independently
adjusted. The storage tank has a cross-sectional area of 100 m2. Initially, the flow in is equal to the
flow out, which is 5 m3/hr. The initial height of water in the tank is 4 m and the height of the tank
is 10 m. At t = 0 a ramp increase in the inlet flowrate is made, so that Fi (t ) = 5 + 0.25t , where the
flowrate units are m3/hr. How long does it take the tank to overflow?

Question 2.4
As the process engineer for an operating unit in a process plant, you are trying to get a "feel" for the
dynamic characteristics of a particular process. You have a discussion with the operator about a
process (which you feel is first-order) that uses steam flowrate as an input variable, and process
temperature as a measured variable. After the steam flowrate is increased from 1000 Kg/hr to 1100
Kg/hr (quickly), the process fluid temperature changes from 100°C (the initial steady-state) to 110°C in
30 minutes. The temperature eventually reaches a new steady-state value of 120°C.
(a) Find the process gain (show units).
(b) Find the process time constant (show units).

Page 4 of 22
Question 2.5
dy (t )
A first order system, τ + y (t ) = ku (t ), y (0) , is subject to the input
dt

Calculate the response of the output. Plot your result for k = 1, τ = 0.5.

Question 2.6
A process is described by two first-order systems in parallel:
−2 1
g(s) = +
3s + 1 s + 1
The input signal is given by the following transfer function:
1
u(s) =
s −1
Is this a bounded input? Is the system output bounded? Why? Discuss the implications of this behaviour.

Question 2.7
A process consists of five perfectly stirred tanks in series. The volume in each tank is 50 L, and the
volumetric flow rate through the system is 5 L/min. At some particular time, the inlet concentration
of the nonreacting species is changed from 0.7 to 0.83 (mass fraction) and held there. Write an
expression for c5 (the concentration leaving the fifth tank) as a function of time, and determine exit
concentrations from all tanks at t = 30 min.

Question 2.8
Find the poles of and classify the following processes as being stable, verge of instability, or unstable
1
(a) g(s) =
(3s + 1)(s + 1)
1
(b) g(s) =
(3s + s)(s + 2)
2

1
(c) g(s) =
3s + s2 + s + 1
3

1
(d) g(s) =
s + 4 s + 4 s 2 + 2s + 1
4 3

Explain your decisions

Page 5 of 22
Question 2.9
A system comprising of two fixed-volume stirred tank vessel connected in series (see figure) has been
proposed for the mixing of paint pigments. In order to ensure adequacy of mixing in the two tanks, a
tracer test is to be run on the system to determine if dead zones and/or channeling exists in the vessel.
The experimental steps involved are:
i. Apply a rectangular pulse in the tracer concentration to the 1st tank
ii. Use available instrumentation on the 2nd tank outflow line to measure the tracer
concentration.

Before performing the test, it is necessary to have a good idea of the result that should be expected
(that is the theory behind the experiment) if perfect mixing actually is accomplished in the system.
Using the process data and operating conditions given below obtain a model for the system.
Volume of Stage 1 = 4m3
Volume of Stage 2 = 3m3
Total flow rate = 2m 3 /min
Nominal reactant concentration in input = 1 kg mol / m3
The figure below shows the proposed pulse change of 0.25 min duration that can be made while
maintaining the total reactor input flow rate constant. As part of the theoretical solution, it is desired to
know how closely the rectangular pulse response might be approximated by the system response to an
impulse of equivalent magnitude. Based on the information above, obtain the following information:

(a) The magnitude of an impulse input equivalent to the rectangular pulse of Figure 1.4b.
(b) The impulse and pulse responses of the reactant concentration leaving the 1st stage.
(c) The impulse and pulse responses of the reactant concentration leaving the 2nd stage.
(d) Using Simulink, or otherwise, Plot the responses of (b) and (c.) above on the same graph and
comment

Page 6 of 22
Question 2.10a
A thermometer, initially at room temperature of 20 oC, is placed in a bath of temperature 50 oC for
exactly 1 min, and then it is brought back to 20 oC. The thermometer reading is shown below.
Calculate the time constant of the thermometer.

Question 2.10b
Let the same thermometer, initially at room temperature of 20 oC, now be placed in a liquid whose
temperature varies sinusoidally, according to the equation TL(t) = 20+sin(2t), in oC. The recorded
thermometer reading is shown below. Calculate the tie constant of the thermometer.

Page 7 of 22
Question 2.11
The control engineer supervising the exothermic reaction taking place in a continuous stirred tank
reactor (CSTR) uses a thermocouple mounted in a thermowell to measure the reactor temperature.
The temperature sensor/transmitter combination operates approximately as a first-order system
with time constant equal to 3 sec. The thermowell behaves like a first-order system with time
constant of 10 sec. The engineer notes that the measured reactor temperature has been
cycling approximately sinusoidally between 180 and 183 °C with a period of 30 sec for at least
several minutes. What is the range of the actual reactor temperature?

Question 2.12
A liquid surge tank has the transfer function:
h( s) 10
g (s) = =
Fi ( s ) 50 s + 1
where h is the tank level (m), Fi is the flowrate (m3/s), the gain is 10 m/m3/s, and the time constant is
50 s. The system is operating at steady state with Fis = 0.4 m3/s and hs = 4 m when a sinusoidal
perturbation in inlet flow rate begins with amplitude 0.1 m3/s and a cyclic frequency of 0.002 Hz (cycles/s).
[Note: ω is the frequency (in radians) = (2π)(cyclic frequency)]
(a) What are the maximum and minimum values of the tank level after the flowrate disturbance
has occurred for 6 min or more?
(b) What are the largest level perturbations expected as a result of this sinusoidal variation in
flowratre?
(c) What is the effect of high frequency variation: 0.2 cycles/s and 2 ccycles
(d) Show the input wave along with the output waves and comment on the amplitude and phase
angle of the output waves for the four different frequencies, 0.002, 0.02, 0.2 and 2
[Note that in Frequency Response Analysis, we shall be examining the variations in Amplitude Ratio and phase
angle with frequency, and of special interest is what happens to AR and φ at low, intermediate and high
frequencies, corresponding roughly to τω = 0.1, 1.0 and 10, respectively]

Question 2.13
A process is represented by the following transfer function:
y(s) k(τ a s + 1)
g(s) = =
u(s) ((τ 1 s + 1)((τ 2 s + 1)
For a step change in the input, u(s) = A/s, show that the dynamic response is given by the following
equation:
 τ − τ1 − t τ1 τ a − τ 2 − t τ 2 
y(t ) = AK 1 + a e + e 
 τ1 − τ 2 τ 2 − τ1 
 
(a) Discuss the effect of the zero.
(b) For the parameters, τ1 = 4, τ2 = 1, k = 4, and A = 1, plot the dynamic response of the process
and describe the response characteristics for the following cases:
τa = 8 and τa = 16
τa = 2
τa = −2 and τa = −4
(c) Why is there an overshoot, when τa > τ1 > τ2?
Hint: Consider the contributions of the exponential terms and their weights, when t is close to zero.
Page 8 of 22
Question 2.14
For each of the processes with transfer functions given in the following, (1) identify the poles and
zeros of the transfer function, as well as the process gain and (2) sketch the response to a unit-step
input change, clearly showing the key response characteristics:

10 5
g(s) = −
0.1s + 1 0.04s + 1
10 5
g(s) = −
0.2s + 1 0.3s + 1

Question 2.15
A process engineer responsible for the operation of a complex chemical reactor has the process
operator make a step change in the coolant flow-rate from 10 gpm to 15 gpm to the reactor at 2:00
pm. The reactor temperature is initially 150°F at 2:00 pm and drops to a low of 115°F at 2:10 pm.
Eventually the reactor temperature comes to a final steady-state temperature of 125°F. Assuming
 k 
that the response is second- order,  2 2  , find k , ζ , τ (show units).
 τ s + 2ζτ s + 1 

Question 2.16
K
(a) Show that the response of a second order system, g ( s ) = , with ζ < 1 , to a step
τ s + 2τζ s + 1
2 2

input of magnitude A is given by

 −ς t   1− ς 2  ς  2  
sin  1 − ς t   

y (t ) = AK 1 − e τ cos  t+
   τ  1− ς 2
 τ   
(b) Using the expression obtained for y (t ) in (a), derive the following expressions for some of the
characteristics of this step response.
τ
i Rise time, tr = (π − cos-1ζ ) ,
1−ζ 2

πτ
ii Peak time, tp = ,
1−ζ 2
 πζ 
iii Overshoot, OS = exp  − 2 ,
 1−ζ 
2
iv Decay Ratio, DR = OS ,
2πζ
v Period of oscillation, P = , and
1- ζ 2
3τ
vi Settling time, ts ≥
ζ
(c) A second order process is represented by the transfer function:
1
g(s) =
4s + s + 2
2

Page 9 of 22
 Introduce a step change of magnitude 5 into the system and using the correlations derived in
(b) above, determine
i. Rise time
ii. Maximum value of y(t)
iii. Percent overshoot
iv. Decay Ratio
v. Period of oscillation
vi. Ultimate value of y(t)
vii. Settling time
(d) Plot the response and indicate the features listed in (c) above on the plot, confirm the values
you obtained in (c) from the plot.

Question 2.17
A two-tank flow-surge system is given in Figure 4, along with the block diagram representing the
approximate dynamics of the system.
What is the response q2(t) to a step input of magnitude 0.5 m3/min in q0(t) if the system is initially at
steady state with q0,s = q1,s = q2,s = 1 m3/min
The head-flow relations for the tanks are
5m3 /min 2m3 /min
q1 = h1 , q 2 = h2
m m

Figure 4 A two-tank surge process (a) and its transfer function model (b).

What are the ultimate values of each tank aftyer 1 m3 of liquid is suddenly added to the first tank?
Why?
Page 10 of 22
Question 2.18
Consider the system in Fig. 5, consisting of two interacting tanks; the feed to the second tank is
introduced at the bottom; thus, its flow rate is influenced by the difference in the static heights in
both tanks, thus affecting their operation.

Figure 5 The system of two interacting tanks

For simplicity, assume that the resistance of outlet piping is linearly dependent on the static height,
that is Fi = βi hi
(a) Derive the transfer functions relating height of liquid in tank 1 to Fo and also height of liquid in
tank 2 to Fo Discuss the dynamic characteristics of the first tank and sketch the level response
against a change in the inlet flow.
(b) Discuss the effect of different design conditions, specifically how the tank cross-sectional area
and pipe resistance influence the location of poles and zeros.

Question 2.19
The dynamic behavior of a drum boiler can be represented by the following transfer function
between the liquid level and the cold water feed:
h(s) (τ − 1)s + 1
g(s) = =
qc (s) s(τ s + 1)
Indicate the poles and zeros of this transfer function on the complex plane for two cases:
τ = 0.5
τ = 2.0
For each case, sketch the level response to a step change in the cold water flow rate.

Question 2.20
An exothermic chemical reactor has the following transfer function relationship between the inlet
flow rate and the reactor temperature:
2(−2.5s + 1)
g(s) =
9s2 + 3s + 1
The units of the input are litres per minute and the output is in degrees Celsius. Is this system
overdamped or underdamped? Does this system exhibit overshoot when subjected to a unit-step
change in the input? If yes, what is the percentage overshoot? What is the ultimate value of the
output? Sketch the system response for this input and provide an explanation for the dynamic
behavior observed.
Page 11 of 22
Question 2.21
An irreversible exothermic reaction (A → B) takes place in a Continuous Stirred Tank Reactor (CSTR).
The reactor schematic given in Figure 6 shows that a cooling jacket is used to provide the mechanism
for energy removal from the reactor. The schematic indicates the flow, temperature and
concentration variables along with the subscripts A, 0, and j, corresponding to the reactant, the
initial feed and the jacket properties.

Figure 6 Schematic of a nonisothermal CSTR

A number of experiments have been performed by varying the reactor feed conditions and
monitoring the responses of the reactor temperature and concentration. Fig. 7 illustrates the
response of the reactor product concentration for a change in the feed concentration.

Page 12 of 22
Figure 7 The response of reactor concentration to a change in the feed concentration.

For this problem:

(a) Explain these results from a physical point of view, articulating the mechanisms involved for
such behavior.
(b) What type of model would be appropriate to capture such dynamics? Provide some thoughts
as to the values of the model parameters one would expect.
(c) The responses of the product concentration and temperature to a change in the feed flow
rate are given in Fig. 8

Page 13 of 22
Figure 8 The response of reactor concentration and temperature to a change in the feed flow rate.
(d) Explain these results from a physical point of view, articulating the mechanisms involved for
such behavior.
(e) What type of model would be appropriate to capture such dynamics? Provide some thoughts
as to the values of the model parameters one would expect.

Question 2.22
Show that the first- and second-order Padé approximations relate to a Taylor series expansion. The
Taylor series approximation to a time-delay in the Laplace domain is
t 2 s2 td3 s3 td4 s 4 td5 s5 td6 s6
e − td s ≈ 1 − t d s + d − + − + −⋯
2! 3! 4! 5! 6!
Use long division of the first- and second-order Padé approximations and comment on the number of
terms that are consistent with the Taylor series expression

Page 14 of 22
Question 2.23
After linearizing the original set of six coupled nonlinear, ordinary differential equations that describe
the dynamics of an industrial separations process, further simplification and Laplace transformation
gave rise to the following transfer function relating the input to the output:
y( s) 10.3
=
u ( s ) (1.5s + 1)5 (15.2 s + 1)
(a) Plot the unit step response of this process.
(b) Obtain an approximate first-order-plus-time-delay, FOPTD, transfer function model for the
process
(c) Plot the unit step response for the process using (b) and compare with the plot in (a).
(d) Rewrite the FOPTD transfer function in (b) by approximating the time delay term using:
1. Taylor series expansion
st
2. 1 order Padé approximation
nd
3. 2 order Padé approximation.
(e) Show all responses on the same plot; that is for (a), (b), and (d), compare and comment on the
different approximations.

Question 2.24
12s + 2
Consider the transfer function g(s) =
3s2 + 4s + 1
Rewrite the transfer function in the following forms:
gain-polynomial form k(τ n s + 1)
(a) g(s) =
τ s2 + 2ζτ s + 1
2

k(τ n s + 1)
(b) gain-time constant g(s) =
(τ 1 s + 1)(τ 2 s + 1)
k(s + z )
(c) Write the gain-pole-zero form g(s) =
(s + p1 )(s + p2 )

Question 2.25a
Obtain the unit step response for the transfer functions, g1 to g12 given below. In addition, locate the
poles and zeros of the transfer function on the complex plane (s-plane). Comment on your responses,
especially with regard to the nature of the transfer function’s poles and zeros.

0.3 0.3e−5s 0.3

g1 = g2 = g3 =
3s + 1 3s + 1 3s + s + 1
2

0.3e−9 s 18s + 1 4s + 1
g4 = g5 = g6 =
3s 2 + 8 s + 1 (3s + 1)(5s + 1) (3s + 1)(5s + 1)
0.1s + 1 0.03 −3s + 1
g7 = g8 = g9 =
(3s + 1)(5s + 1) s 12s 2 + 2s + 1
−3s + 1 3s − 1 ( −3s + 1)(2 s − 1)
g10 = 2 g11 = g12 =
s + 2s + 1 12 s + 2s + 1
2
12 s 2 + 2 s + 1

Page 15 of 22
Question 2.25b
A unit step change in input is made on a number of processes (I-IV). The resulting outputs are
shown below. Associate each process with a response curve.
Process Transfer Function Curve (letter) from Plot
−2 s
2e
I. g(s) =
2s + 1
1
II. g(s) = 2
s + s +1
2s + 1
III. g(s) =
s +1
4(s2 − 2s + 2)
IV. g(s) =
(s + 2)3

‘Hard work is rewarding beyond gold. Sweating is living”. - Terri Guillemets.

Yes or No ☺
Page 16 of 22
Appendix - Using MATLAB/SIMULINK

(see figure below)

Page 17 of 22
 (Figure 1)
(Figure 2)
(Fig. 3)

(Figure 1)

(Figure 2)

(Figure 3)

Page 18 of 22
 (Figure 4)
(Figure 5)

(Figure 4)

(Figure 5)

Page 19 of 22
Figure 7 – Simulink simulation of one tank and two tanks in series

Figure 8 – Simulink diagram for noninteracting first-order systems in series

Page 20 of 22
Grouping
Grouping for Practise Problem Set –II
Matric. No. NAMES (SURNAME FIRST) Group
190401511 Adegbite Olatunbosun
190401513 Amaize Oluwaseyi
180401052 Arasi Ericson
180401035 Dada Oluwatomisin
190401507 Giwa Dolapo
180401039 Godwin Chukwuemeka
180401019 Nelson Uchechukwu
1
180401026 Nwafor Chinonso
190401503 Okueyungbo Tomiwa
180401042 Olawale Akinbowale
180401046 Sunday Theresa

180401017 Adesanya Mujeeb

180401051 Akin Adamu Damilola
180401053 David Erioluwa
180401054 Iyaji Elizabeth
170401035 Mogbeyiro Praise
180401510 Nnabuihe Olisemeka Victor
180401036 Oguejiofor Nkem 2
180401048 Ojuawo Femisire
180401024 Omolaja David
180401031 Raji Memunat

190401509 Ikegwuonu Darlington

170401074 Ilesanmi Favour
180401021 Jimoh Oluwaseun
190401504 Lawal Aishat
180401015 Majoyegbe Ayomide
190401508 Odunlami Modupe
160401074 Ogunnaike Olusola 3
180401049 Ogunniyi Victor
180401040 Olorunfemi Michael
190401501 Sanni Nofisat

Page 21 of 22
190401510 Adeniyi Adedamola
180401030 Alabi Muyiz Opeyemi
160401510 Bajomo Bioluwaosi
180401012 Ike Okoro Chibuike
180401002 Kehinde Oluwafunmilayo
180401061 Ogundele Ayodeji
180401050 Ojoge Moses 4
180401066 Okoneyo Etieneobong
180401001 Okonkwo Donald
190401505 Osondu Nelson
160401026 Tanko Umar Farook

190401506 Abdulrahman Abdulhamid

180401014 Adeleke Yinka
180401016 Adewuyi Blessing
180401063 Ejor Divinefavour
180401010 Ekpo Nsikak Sunday
160401051 Njoku Fortune Nduka
170401077 Odusile Aishat Atinuke 5
160401074 Ogunnaike Olusola
180401023 Okoyechira Kenechukwu
180401057 Oladiran Damilare
180401056 Ologundudu Oluwatimilehin

180401029 Ademola Ebenezer

180401043 Ajayi Elisha
180401003 Akinsanya Simeon
180401005 Ashinze Emmanuel
170401074 Ilesanmi Favour
180401055 Iloenyosi Chukwuemeka
180401060 Nwokeji Ikenna
6
180401020 Okebello Iyanu
180401059 Okeke Mary jane
180401027 Oso Adebimpe
180401041 Williams Emmanuel

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