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Chapter 4Solutions

Process control (Jeonju University)

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Chapter 4 PROBLEM SOLUTIONS

4.1. A thermometer having a time constant of 0.2 min is placed in a temperature bath, and
after the thermometer comes to equilibrium with the bath, the temperature of the bath
is increased linearly with time at a rate of 1 ° /min. What is the difference between the
indicated temperature and the bath temperature (a) 0.1 min, (b) 1.0 min after the
change in temperature begins?
(c) What is the maximum deviation between indicated temperature and bath temperature,
and when does it occur?
(d) Plot the forcing function and response on the same graph. After a long enough time,
by how many minutes does the response lag the input?
If we let the actual fluid temperature be x, and the indicated thermometer temperature be
y.

Y (s) 1
=
X ( s) τ s + 1

1
X (t ) = t , X ( s ) =
s2

X ( s) 1 5 A B C
Y (s) = = 2 = 2 = + 2+
τ s + 1 s (0.2s + 1) s ( s + 5) s s s + 5

Cross-multiply and equate coefficients of the like powers of s on both sides of the
equation.

As ( s + 5) + B( s + 5) + Cs 2 = 5
s2 : A + C = 0
s : 5A + B = 0
s 0 : 5B = 5
∴ B = 1, A = −0.2, C=0.2
0.2 1 0.2
Y (s) = − + 2+
s s s+5

Inverting :

Y (t ) = t − 0.2(1 − e −5t )

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The difference between indicated temperature and the bath temperature is:

difference = −0.2(1 − e−5t )

a)
For t=0.1 min,
difference = −0.2(1 − e−5(0.1) ) = −0.079 F

b)
For t=1.0 min
difference = −0.2(1 − e−5(1) ) = −0.199 F

c)
As t → ∞, difference → −0.2 F (maximum value)
Maximum value of the temperature deviation =-0.2°F as t → ∞

d)
As t → ∞ the input and response are parallel lines:

4
Y(t) or X(t)

Y (t ) = t − 0.2
and since,
X (t ) = t
The response lags the input by 0.2 minutes

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Solving Problem 4.1 using MATLAB…

We know the transfer function for such a first order system with a time constant of 0.2
min is given by:

G='1/(0.2*s+1)'

G =
1/(0.2*s+1)

where the temperatures are expressed as deviations from the initial bath temperature. If
the temperature is ramped at 1 deg/min:

X=laplace('t*Heaviside(t)')

X =
1/s^2

and Y(s) is given by:

Y=symmul(X,G) (symbolic multiplication of two functions)

Y =
1/s^2/(.2*s+1)

Taking the inverse Laplace:

Y=invlaplace(Y)

Y =
t-.2000000000000000+.2000000000000000*exp(-5.*t)

We can now evaluate the difference between the thermometer temperature and the bath
temperature by evaluating Y(t):

difference=symsub(Y,X)

Tdiff =
-.2000000000000000+.2000000000000000*exp(-5.*t)

t=0.1; eval(difference)

ans =
-0.0787

t=1.0; eval(difference)

ans =
-0.1987

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ezplot(difference, [0 5]); title('Problem 5.1'); ylabel('T

difference');

-0.184

-0.186

-0.188
T difference

-0.19

-0.192

-0.194

-0.196

-0.198

-0.2

0 1 2 3 4 5
t

The temperature difference increases as time increases and asymptotically approaches 0.2
degrees as time approaches infinity.

ezplot(Y,[0 5]); title('Problem 4.1'); ylabel('Y(t)');

3
Y(t)

hold on

X=invlaplace(X)

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X =
t

ezplot(X, [0 5]); title('Problem 4.1'); ylabel('Y(t) or X(t)');

4
Y(t) or X(t)

0 1 2 3 4 5
t

hold off

By comparing Y and X:

Y, X

Y =
t-.2000000000000000+.2000000000000000*exp(-5.*t)
X =
t

We can see that for large t, Y lags X by 0.2 minutes, or, Y(t+0.2)=X(t).

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4.2. A mercury thermometer bulb is 12 in. long by 18 in. diameter. The glass envelope is
very thin. Calculate the time constant in water flowing at 10 ft/sec at a temperature of
100 ° F. In your solution, give a summary that includes
(a) Assumptions used
(b) Source of data
(c) Results

a) Assumptions:
ƒ All resistance to heat flow is in the outside film
ƒ All heat capacity is in mercury

b) the following data are from Kern "Process Heat Transfer":

Water:
Btu
Cp = 1
lbiΟ F
Btu
k = 0.36
ft ihr iΟ F
lb
μ = 0.72cp = 0.72(2.42)
ft ihr

Mercury:
Btu
C p = 0.33
lbiΟ F
specific gravity = 13.6

From Bennett and Myers third edition page 391.equation 24.9 we obtain:

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hD Du ρ n 1
= b( ) (1.1) Pr 3
k μ

where

b = 0.174, n = 0.618

1 1
( )(10)(3600)(62.5)
Du ρ
= 8 12 = 13451
μ (0.72)(2.42)

Cpμ (1)(0.72)(2.42) 1
Pr = = = 4.84, Pr 3 = 1.69
k 0.36

hD
= 0.174(13451)0.618 (1.1)(1.69) = 115.2
k

k 115.2(0.36) Btu
h = 11.52 = = 3989
D 1 1
( ) (hr )( ft 2 )(Ο f )
8 12

1 1 3.14 1 2
A = (3.14) + ( )( ) = 0.208in 2 = 0.00145 ft 2
8 2 4 8

3.14 1 2 ⎛ 1 ⎞
Hg vol = ( ) ⎜ ⎟ = 0.0059in3
4 8 ⎝2⎠
0.0059(62.4)(13.6)
Hg mass = = 0.0029lb
1728in3 / ft 3

mc (0.0029)(0.033)(3600)
τ= = = 0.059sec
hA (3989)(0.00145)

af af b gb
4.3.Given a system with the transfer function Y s / X s = T1s +1 / T2 s +1 . Find Y t if g af
af af
X t is a unit-step function. If T1 / T2 = 5 , sketch Y t versus t / T2 . Show the
numerical values of minimum, maximum, and ultimate values that may occur during
the transient. Check these using the initial-value and final-value theorems of Chap. 4.

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y ( s ) T1s + 1 1 T1
= , x(t ) = u (t ) = Step function x( s ) = , =5
x( s ) T2 s + 1 s T2

1 ⎡ T s + 1 ⎤ 1 ⎡ T1s 1 ⎤ T1 1 1
y ( s) = ⎢ 1 ⎥= ⎢ + ⎥= +
s ⎣ T2 s + 1 ⎦ s ⎣ T2 s + 1 T2 s + 1 ⎦ T2 s + 1 s T2 s + 1
response for impulse unit step response
function of magnitude
T1

t t
T − −
y (t ) = 1 e T2 + 1 − e T2
T2

⎡T ⎤ −
t t
−
y (t ) = 1 + ⎢ 1 − 1⎥ e T2 = 1 + (5 − 1)e T2
⎣ T2 ⎦

t
−
y (t ) = 1 + 4e T2

Minimum Value=1, Maximum Value=5, Final Ultimate Value=1

5

4.5

3.5
Y(t)

2.5

1.5

1
0 1 2 3 4 5
t

⎡ 1 T s + 1 ⎤ T1
Initial value theorem: y (0) = lim[ sy ( s )] = lim ⎢ s 1 ⎥= =5
s →∞ s →∞
⎣ s T2 s + 1 ⎦ T2

⎡ 1 T s +1⎤
Final value theorem: y (∞) = lim[ sy ( s )] = lim ⎢ s 1 ⎥ =1
s →0 s →0
⎣ s T2 s + 1 ⎦

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Using MATLAB to solve 4.3…

Given the transfer function:

G='(t1*s+1)/(t2*s+1)'

G =
(t1*s+1)/(t2*s+1)

and a unit step in X(t):

X=laplace('Heaviside(t)')

X =
1/s

Y=invlaplace(symmul(G,X))

Y =
-exp(-1/t2*t)+t1*exp(-1/t2*t)/t2+1

pretty(Y)

t
t1 exp(- ----)
t t2
- exp(- ----) + -------------- + 1
t2 t2

T1 t
Substituting for and defining x as :
T2 T2

Y='-exp(-x)+5*exp(-x)+1'

Y =
-exp(-x)+5*exp(-x)+1

Y=simple(Y)

Y =
4/exp(x)+1

ezplot(Y,[0 5]); title('Problem 4.3'); ylabel('Y(t)'); xlabel('t');

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4.5

3.5
Y(t)

2.5

1.5

1
0 1 2 3 4 5
t

The maximum value of Y is Y(t=0)=5 while the ultimate and minimum values are
Y (t = ∞) = 1 .

To apply the initial and final value theorems we need sY(s):

sY=symmul('s',symmul(G,X))

sY =
(t1*s+1)/(t2*s+1)

Since the denominator remains finite for all positive s, the final value of Y is given by
substituting s=0 to give Y (t = ∞) = 1 .

T1
The initial value of Y is given by substituting s = ∞ to give Y ( t = 0 ) = = 5.
T2

5.4.A thermometer having first-order dynamics with a time constant of 1 min is placed in
a temperature bath at 100 ° F. After the thermometer reaches steady state, it is
suddenly placed in a bath at 110° F at t = 0 and left there for 1 min, after which it is
immediately returned to the bath at 100 ° F.
(a) Draw a sketch showing the variation of the thermometer reading with time.
(b) Calculate the thermometer reading at t = 0.5 min and at t = 2.0 min.

First order dynamics for thermometer, τ = 1min

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X(t)=10u(t)-10u(t-1)

10 10 − s
X ( s) = − e
s s

Y (s) 1 10 1 10e − s s
= = −
X ( s ) τ s + 1 s s + 1 s ( s + 1)

Y (t ) = 10(1 − e −t ) − 10(1 − e − (t −1) )u (t − 1)

at t = 0.5 min
Y (t ) = 10(1 − e −0.5 ) = 3.935 y(0.5)=103.935 F
at t = 2 min
Y (t ) = 10(1 − e −2 ) − 10(1 − e − (2−1) ) = 2.235 y(2)=102.235 F

Bath Temperature
110

108

106

104
Thermometer Reading

102

100

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

t

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4.5) Repeat Prob. 4.4 if the thermometer is in the 110 ° F bath for only 10 sec.

First order dynamics for thermometer, τ = 1min

10 seconds=0.167min

x(t)=10u(t)-10u(t-0.167)

10 10 −0.167 s
X ( s) = − e
s s

Y (s) 1 10 1 10e −0.167 s

= = −
X ( s ) s + 1 s s + 1 s ( s + 1)

Y (t ) = 10(1 − e −t )u (t ) − 10(1 − e − (t −0.167) )u (t − 0.167)

y (t ) = 100 + 10(1 − e −t )u (t ) − 10(1 − e − ( t −0.167) )u (t − 0.167)

At t=0.5 min and 2 min:

Y (0.5) = 10 ⎡⎣1 − e −0.5 − (1 − e − (0.5−0.167) ) ⎤⎦

Y (0.5) = 10(0.1103) = 1.10 F y (0.5) = 101.10 F

Y (2) = 10 ⎡⎣1 − e −2 − (1 − e − (2−0.167) ) ⎤⎦

Y (2) = 0.25 F y (2) = 100.25 F

p( ) ( )( p( ))
110

109
Bath Temperature
108

107

106

105

104

103

102

Thermometer Reading
101

100
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
t

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4.6.A mercury thermometer, which has been on a table for some time, is registering the
room temperature, 75° F. Suddenly, it is placed in a 400 ° F oil bath. The following data
are obtained for the response of the thermometer.

Time, sec Thermometer Reading, °F

0 75
1 107
2.5 140
5 205
8 244
10 282
15 328
30 385

Give two independent estimates of the thermometer time constant.

0.9

0.8

0.7
0.632
0.6

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25 30

Using the tangent to the initial response and checking where it intersects the
ultimate value (1.0), we get an estimate of 10sec for the time constant. A second means is
by determining the time when the response is 63.2% complete, which also gives an
estimate of 10min for the time constant.

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4.7.Rewrite the sinusoidal response of a first-order system [Eq. (4.27)] in terms of a

cosine wave. Reexpress the forcing function [Eq. (4.22)] as a cosine wave, and
compute the phase difference between input and output cosine waves.
Forcing function: x = A sin(ωt ) = A cos(ωt − 90)

AK pωτ AK p
y= e −t /τ + sin(ωt + tan −1 (−ωτ ))
1 + (ωτ ) 2
1 + (ωτ ) 2

after transient dies out

ARsin(ωt +φ )= AR cos(ωt + φ − 90)

where
AR= AmplitudeRatio= AK p
1+ (ωτ )2

φ =tan−1(−ωτ )
thus, the phase angle is still φ = tan −1 (−ωτ )

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4.8.The mercury thermometer of Prob. 4.6 is again allowed to come to equilibrium in the
room air at 75 ° F. Then it is placed in the 400° F oil bath for a length of time less than 1
sec, and quickly removed from the bath and reexposed to the 75 ° F ambient conditions. It
may be estimated that the heat-transfer coefficient to the thermometer in air is one-fifth
that in the oil bath. If 10 sec after the thermometer is removed from the bath it reads 98°
F, estimate the length of time that the thermometer was in the bath.

From problem 4.6 Ts = 75 F

τ oil = 10sec
mc mc
τ oil = τ air =
hoil A hair A
τ air hoil
= =5
τ oil hair
∴τ air = 50sec

Now for the oil bath,

t
−
T (t ) = 325(1 − e
' 10
) deviation variable
and
t1
−
'
Tmax = 325(1 − e 10
) deviation variable
t1
−
Tmax = 75 + 325(1 − e 10
) actual indicated temperture (not a deviation variable)
The air interval is an exponential decay. If we let Tmax be the steady state initial reference
temperature for the thermometer as it is moved from the oil to the air, the thermometer experiences a
step change of:
t1
−
Δ = step change magnitude = 75 − Tmax = −325(1 − e 10
)
( )
∴T − Tmax = T ' = Δ 1 − e − (t2 −t1 )/50 = (75 − Tmax ) 1 − e − ( t2 −t1 )/50 ( )
98 − Tmax = (75 − Tmax ) 1 − e − (10)/50 ( )
Tmax = 103.09 F
using this to solve for t1 :
(
103.09 = 75 + 325 1 − e −t1 /10 )
t1 = 0.904sec

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4.9.A thermometer having a time constant of 1 min is initially at 50° C. It is immersed in

a bath maintained at 100° C at t = 0 . Determine the temperature reading at t = 1.2
min.

Thermometer with τ = 1min

Let x=bath temperature, y=indicated temperature

ys = 50 C

Y=y(t)-ys=y(t)-50
X= x(t)-xs=x(t)-50

Y (s) 1 1
= =
X ( s) τ s + 1 s + 1

50
X (t ) = 50u (t ) X (s) =
s

50 1
Y (s) =
s s +1

Y (t ) = 50(1 − e −t )

Y (1.2) = 50(1 − e−1.2 ) = 34.9

y (1.2) = 50 + 34.9 = 84.9 C

The thermometer reading is 84.9° C at t=1.2 min

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4.10.In problem 4.9, if at t = 1.5 min, the thermometer is removed from the bath and put
in a bath at 75 ° C, determine the maximum temperature indicated by the thermometer.
What will be the indicated temperature at t = 20 min?

X(t)=50u(t)-25u(t-1.5)
50 25e −1.5 s
X ( s) = −
s s

τ = 1min

X ( s ) X ( s ) 50 1 25 e −1.5 s
Y (s) = = = −
τ s +1 s +1 s s +1 s s +1

Y (t ) = 50(1 − e −t )u (t ) − 25(1 − e − ( t −1.5) )u (t − 1.5)

Y(t)=y(t)-ys=y(t)-50

Maximum temperature reading occurs just before the thermometer is removed from the
100Ο C bath, at t=1.5 min:

Y (1.5) = 50(1 − e−1.5 ) = 38.8 C

y (1.5) = Y (1.5) + 38.8 C

y (1.5) = 50 + 38.8 C = 88.8 C maximum temperature

Now, at t=20min
Y (20) = 50(1 − e−20 ) − 25(1 − e− (20−1.5) )

Y (20) = 50 − 25 = 25 C

y (20) = Y (20) + 50 = 25 + 50 = 75 C indicated temperature at t=20 minutes

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4.11.A process of unknown transfer function is subjected to a unit-impulse input. The

output of the process is measured accurately and is found to be represented by the
function y t = te − t . Determine the unit-step response of this process.
af
When x(t)= δ (t ) ; x(s)=1

y (t ) = te− t = t n e− at where n=1,a=1

From Table 2.1 we obtain:

n! 1 1
y ( s) = n +1
= 1+1
=
( s + a) ( s + 1) ( s + 1) 2

Since x(s)=1:

y ( s) 1
=
x( s ) ( s + 1) 2

If x(t)=u(t); x(s)=1/s

1 1
y ( s) =
s ( s + 1) 2

Inverting gives:

y (t ) = 1 − (1 + t )e− t Unit step response of the process

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4.12 The temperature of an oven being heated using a pulsed resistance heater varies as:
T = 120 + 5cos(25t + 30 )
where t is the time in seconds. The temperature of the oven is being measured with a
thermocouple having a time constant of 5 seconds.
a) What are the maximum and minimum temperatures indicated by the
thermocouple.
b) What is the maximum difference between the actual temperature and the indicated
temperature?
c) What is the time lag between the actual temperature and the indicated
temperature?

There was an error in the original problem statement. The units on the frequency are
rad/min: ω = 25rad / min , while the time constant is 5 seconds. So, the equation for the
oven temperature is:
T = 120 + 5cos(ωt + 30 )
rad
where t is in minutes, and ω = 25 .
min
Let Tind = measured temperature
Ts = 120
π
Toven = 5cos(25t + ) deviation variable Tovens = 120
6
Using the trigonometric identity:
cos( A + B ) = cos A cos B − sin A sin B
converting to a sine wave in lieu of cosine,
⎛ π π ⎞
Toven = 5 ⎜ cos cos 25t − sin sin 25t ⎟ = 5 ( 0.866 cos 25t − 0.5sin 25t ) = 4.33cos 25t − 2.5sin 25t
⎝ 6 6 ⎠
4.33s 2.5(25)
Toven ( s ) = 2 − 2
s + 625 s + 625
The transfer function for the thermocouple is:
Tind ( s ) 1 12
= = where the time constant (5sec) is expressed in minutes
Toven ( s ) 1 s + 1 s + 12
12
⎛ 4.33s 2.5(25) ⎞ ⎛ 12 ⎞ 52 s 750
Tind ( s ) = ⎜ 2 − 2 ⎟⎜ ⎟= 2 − 2
⎝ s + 625 s + 625 ⎠ ⎝ s + 12 ⎠ ( s + 625 ) ( s + 12 ) ( s + 625 ) ( s + 12 )
>> syms t s
>> ilaplace(52*s/(s^2+625)/(s+12))

ans =

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624/769*cos(25*t)+1300/769*sin(25*t)-624/769*exp(-12*t)

>> ilaplace(-750/(s^2+625)/(s+12))

ans =

750/769*cos(25*t)-360/769*sin(25*t)-750/769*exp(-12*t)

>> Tind=624/769*cos(25*t)+1300/769*sin(25*t)-624/769*exp(-12*t)+ans

Tind =

1374/769*cos(25*t)+940/769*sin(25*t)-1374/769*exp(-12*t)
1.787cos(25t)+1.222sin(25t)-1.787exp(-12t)
Combining the cos and sin terms into a single term:
R cos(α − β ) = R cos β cos α + R sin β sin α
Comparing this to the periodic form of the solution,
R cos(25t − β ) = R cos β cos 25t + R sin β sin 25t
1.787 1.222

R sin β 1.222
tan β = = = 0.683 → β = 34.4
R cos β 1.787
[ R cos β ] + [ R sin β ] = R 2 ⎡⎣cos 2 β + sin 2 β ⎤⎦ = R 2
2 2

1.787 2 1.2222

R = 2.16
∴ the indicated thermometer temperature is:
Tind = −1.787 exp(−12t ) + 2.16 cos(25t − 34.4)
Solution to Part 4.12a)
The maximum and minimum indicated temperatures, once the transient dies out, are:
Minimum = 120 − 2.16 = 117.84
Maximum = 120 + 2.16 = 122.16

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Solution to Part 4.12b)

Difference = 5cos(25t + 30 ) − 2.16 cos(25t − 34.4 )
t difference
0 2.547884
0.01 1.5482525
5 cos(25 t+1/6 π)-54/25 sin(25 t+139/450 π)
0.02 0.4523582
0.03 -0.671662 5

0.04 -1.753921 4

0.05 -2.72713 3
0.06 -3.530779
2
0.07 -4.114901
0.08 -4.443179 1

0.09 -4.495201 0

0.1 -4.267734 -1
0.11 -3.774919
-2
0.12 -3.047399
0.13 -2.130406 -3

0.14 -1.080954 -4

0.15 0.0357057 -5
0.16 1.1501456 0 0.05 0.1 0.15 0.2 0.25 0.3
0.17 2.193075 t

0.18 3.0996497
0.19 3.8135031
0.2 4.2902514
0.21 4.5002527
0.22 4.43045
0.23 4.0851834
0.24 3.4859199
0.25 2.6699187
0.26 1.687915
0.27 0.6009649
0.28 -0.52335
0.29 -1.615126
0.3 -2.606481
0.31 -3.435778
0.32 -4.051455
0.33 -4.415232
0.34 -4.504491
0.35 -4.313682

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Solution to Part 4.12c)

Time Lag is calculated as follows:
25rad ⎛ 180 ⎞
⎡tlag ⎦⎤ ⎜
⎣ ⎟ = 34.4
min ⎝ π ⎠
tlag = 0.024 min = 1.44sec
Using Simulink, we can also simulate this system:

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4.13 The temperature of an experimental heated enclosure is being ramped up from 80°F
to 450°F at the rate of 20°F /minute. A thermocouple, embedded in a thermowell for
protection, is being used to monitor the oven temperature. The thermocouple has a
time constant of 6 seconds.
a) At t=10minutes, what is the difference between the actual temperature and the
temperature indicated by the thermocouple? What is it at 60 minutes?
b) When the thermocouple indicates 450°F , the heater will begin to modulate and
maintain the temperature at the desired 450°F . What is the actual oven
temperature when the thermocouple first indicates 450°F?

Let Tind' = Tind − 80 (deviation variable)

⎛ −t
⎞ ⎛ −t
⎞
Tind' = bt − bτ ⎜1 − e τ ⎟ = 20t − 20(0.1) ⎜ 1 − e 0.1 ⎟ (standard 1st order response to a ramp input)
⎝ ⎠ ⎝ ⎠
Tind (10) = 198
'

Tind = 198 + 80 = 278 F

Tactual = 200 + 80 = 280 F
so, at 10 minutes, the difference is 2 F .

At 60min, Tind' (60) = 1198 F . This will not happen. When the indicated temperature reaches 450 F ,
the oven turns off. So, the indicated temperature will be 450 F , while the true temperature
will be 452 F .

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Using Simulink to model this system for P4.13:

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4.14 For the following transfer function

The response Y(t) is sinusoidal. The amplitude of the output wave is 0.6 and it lags
behind the input by 1.5 min. Find X(t). Note: the time constant in the transfer
function is in minutes.
The form of the response is:
AK p
sin (ωt − φ )
(ωτ ) + 1 write as:
2

ω ( t −tdelay )
0.6

so,
−ωtdelay = tan −1 (−ωτ )
1.5ω = tan −1 (4ω )
ω = 0.858rad
and ,
2A
= 0.6
16ω 2 + 1

A = 1.07
∴ Input = 1.07 sin(0.858t )
Output = 0.6sin(0.858t − 1.287 rad ) = 0.6sin(0.858t − 73.8 )

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To solve for the frequency in: 1.5ω = tan −1 (4ω ) , an easy way to do it is with Excel using
goal seek:
w atan(4w) 1.5w atan(4w)-1.5w
0 0 0 0
0.1 0.380506 0.15 0.230506377
0.2 0.674741 0.3 0.374740942
0.3 0.876058 0.45 0.426058051
0.4 1.012197 0.6 0.412197011
0.5 1.107149 0.75 0.357148718
0.6 1.176005 0.9 0.276005207
0.7 1.227772 1.05 0.177772386
0.8 1.267911 1.2 0.067911458 answer lies
0.9 1.299849 1.35 -0.050150524 in this range
1 1.325818 1.5 -0.174182336

frequency 0.8582351 <--use goal seek , adjust this cell until

f(w)=0? -8.257E-06 <-- this cell goes to zero, 1.5w-atan(4w)=0

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4.15 The graph below is the response of a suspected first order process to an impulse
function of magnitude 3. Determine the transfer function, G(s), of the unknown
process.
4.5

The system is: 4

3.5

2.5

X (t ) = 3δ (t ) X ( s) = 3 2

3K p 1.5

Y (s) =
3K p
= τ
τ s +1 s+ 1
1
τ
0.5
⎛ 3K ⎞ − t
Y (t ) = ⎜ p ⎟ e τ
⎝ τ ⎠
0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Need to find K p and τ :

⎛ 3K p ⎞
Y (0) = ⎜ ⎟ = 4.2
⎝ τ ⎠
⎛ 3K ⎞
@t =τ : Y t =τ = ⎜ p ⎟ e −1 = 1.55
⎝ τ ⎠
4.2

From graph, this occurs at t ≈ 2.5, therefore, τ =2.5

From above,
⎛ 3K p ⎞
⎜ ⎟ = 4.2 K p = 3.5
⎝ 2.5 ⎠
Therefore the transfer function is:
Y 3.5
=
X 2.5s + 1

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4.16 The level in a tank responds as a first order system with changes in the inlet flow.
Given the following level vs. time data that was gathered after the inlet flow was
increased quickly from 1.5gal/min to 4.8gal/min, determine the transfer function that
relates the height in the tank to the inlet flow. Be sure
Time (min) Level (ft) to use deviation variables and include units on the
0 4.8 steady state gain and the time constant.
0.138 5.3673
Figure P4.16
0.2761 5.9041
0.4141 6.412 16
0.5521 6.8927 15
0.6902 7.3475 14
0.8282 7.7779 13
0.9663 8.1852 12
1.1043 8.5706 11
Level (ft)

1.2423 8.9354 10
1.3804 9.2805 9
1.5184 9.6071 8

1.6564 9.9161 7

1.7945 10.2085 6

1.9325 10.4853 5

2.0705 10.7471 4
0 2 4 6 8 10 12 14 16
2.2086 10.9949 Time (min)

2.3466 11.2294
2.4847 11.4513
2.6227 11.6612 Inlet Flow
2.7607 11.8599 1.5gpmÆ 4.8gpm
at time = 0
………….. …………..
14.3558 15.3261
14.4938 15.328
14.6319 15.3297
14.7699 15.3313 LI

Note: LI = level indicator

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Solution
At SS,
ΔInput = 4.8 − 1.5 = 3.3 gpm
ΔOutput = 15.33 − 4.8 = 10.53 ft
10.53 ft
Kp = = 3.19 ft
3.3gpm gpm
For a first order system, the response is 63.2% complete at t = τ
The total change in the height is 10.53ft (from above). 63.2% of the change is 6.65ft.
The new height of fluid in the tank is 4.8+6.65=11.45ft, at the 63.2% complete mark.
This height occurs at t ≈ 2.5 min = τ .
The transfer function is thus:
ft
h' ( s ) 3.19 gpm
=
q' (s) 2.5s + 1
where:
h' = h − 4.8 ft ⎫⎪
⎬ deviation variables
q ' = q − 1.5 gpm ⎪⎭

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4.17A simple mixing process follows first order behavior. A 200gal mixing tank process,
initially at steady state, is shown below. At time, t=0, the inlet flow is switched from
5% salt to fresh water. What does the inlet flow rate need to be to reduce the exit
concentration to less than 0.5% in 30 minutes?

Salt Water
@ 5% salt

Volume = 200gal

Figure P4.17

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dCa
vCain − vCa = V
dt
V dCa
Cain − Ca =
v dt
CainS − Ca s = 0 (steady state)
V dC 'a
C 'ain − C ' a =
v dt
Where:
Ca (0) = 5
Cas = 5
Ca' = Ca − 5
Ca' in = Cain − 5

Transforming the differential equation and rearranging:

Ca' ( s ) 1 V
= where τ =
Cain ( s ) τ s + 1
'
v
−5
Ca' in =
s
−5
Ca' ( s ) =
s (τ s + 1)
−t
C (t ) = −5(1 − e τ )
'
a
−t −t
Ca = 5 − 5(1 − e ) = 5e τ
τ

Looking for Ca = 0.5 at t = 30 min .

−30
Ca
∴ = 0.1 = e τ
5
τ = 13min
and since,
V
τ=
v
200 gal
13min =
v
gal
v = 15.4
min

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4.18 Joe, the maintenance man, dumps the contents of a 55 gallon drum of water into
the tank process shown below.
40 gal per min

5 feet
Current Volume
200 gal of water
40 gal per min
3 feet

Figure P4.18
a) Will the tank overflow?
b) Plot the height as f(t), starting at t=0, the time of the dump.
c) Plot the output flow as f(t), starting at t=0, the time of the dump.

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4.19 Solution
a)
π D2 ⎛ gal ⎞ π 32 ⎛ gal ⎞
V= h * ⎜ 7.48 3 ⎟ = h * ⎜ 7.48 3 ⎟ = 52.87h gal
4 ⎝ ft ⎠ 4 ⎝ ft ⎠
Note: there are 52.87gal/ft of height in the tank

Now, when V = 200 gal , h = 3.78 ft

and when V = 255 gal , h = 4.82 ft (won't overflow)

Vmax ( @ h = 5 ft ) = 264 gal

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b)
In − Out = Accumulation
⎛ dh ⎞ ⎛ gal ⎞
Qin − Kh = ⎜ A ⎟ ⎜ 7.48 3 ⎟
⎝ dt ⎠ ⎝ ft ⎠
Note: assumes flow out is proportional to the height of fluid in the tank
When h=3.78ft, Qout = 40 gpm
189/50+26/25 exp(-1/5 t)
40 gpm gpm
∴K = = 10.58 4.7
3.78 ft ft 4.6

⎛ gal ⎞ ⎛ dh ⎞
Qin − 10.58h = ⎜ 52.87 ⎟⎜ ⎟
4.5

⎝ ft ⎠ ⎝ dt ⎠ 4.4

⎛ dh ⎞
Qin ( 0.0945 ) = ( 5 min ) ⎜ ⎟ + h
4.3

Height
⎝ dt ⎠ 4.2

⎛ dh ⎞
Qins ( 0.0945 ) = ( 5 min ) ⎜ s ⎟ + hs
4.1

⎝ dt ⎠ 4

⎛ ⎞ ⎛ d ( h − hs ) ⎞ ⎛ ⎞ 3.9
( 0.0945 ) ⎜ in ins ⎟ ⎜
⎜ Q − Q ⎟ = 5 ⎟ + ⎜ h − h ⎟
⎠ ⎜⎝ ⎟
s
⎝ 40 gpm ⎠ ⎝ dt 3.78 ft ⎠
3.8

0 5 10 15 20 25 30
dh'
0.0945Q in = 5
'
+ h' Time

dt 52

Transform :
0.0945Q 'in ( s) = (5s + 1)h' ( s ) 50

h' ( s) 0.0945
=
48
Transfer Function
Q in ( s ) 5s + 1
'
Outlet Flow

46

Q 'in ( s ) = 55 Impulse Function

0.0945*55 5.198 1.04 44

h' ( s) = = =
5s + 1 5s + 1 s + 1.02
42
−0.2 t
h (t ) = 1.04e
'

h(t ) = 3.78 + 1.04e −0.2t 40

0 5 10 15 20 25 30
Time

Part c)
⎛ gpm ⎞ ⎛ gpm ⎞
Output Flow = Qout = ⎜ 10.58 ⎟ h = ⎜10.58 ⎟ 3.78 + 1.04e
−0.2 t
= 40 gpm + 11e −0.2t gpm ( )
⎝ ft ⎠ ⎝ ft ⎠
K

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