Department of Chemical Engineering

Process Dynamics and Control

UNIT-1

1a) Find the initial value of the function that has the following transform
s 4  6s 2  9s  8
xs  
ss  2s 3  2s 2  s  2
(b) Find the final value of the function for which the Laplace transform is
xs  
1
ss  3s 2  3s  1
3

dx
c) Solve  2 x  2; x(0)  0 using Laplace Transform method
dt
2a) What is a first order system? What are its characteristic parameters? Define the time
constant and run time for a first order system.
b) What is a transfer function? How is it useful in solving problems of process
dynamics? How do you represent the transfer function by a block diagram?
3a) Develop the transfer function for a first order system by considering the unsteady-state
behavior of an ordinary mercury-in-glass thermometer.

Inverse the transfer function xs  

1
b)
ss  10.5s  1

4) Define step, impulse and sinusoidal input functions. Write their mathematical
equations with graphical representation and obtain expressions for the response of a
first-order system to those forcing functions.

5) a) Explain the method of linearization using Taylor series.

(b) Differentiate linear and non linear differential equations. Explain the necessity for
linearizing a non-linear model.
6) A temperature sensing device can be modeled as a first order system with a time
constant of 6 sec. It is suddenly subjected to a step input change of 25 0C to 1500 C.
What temperature will be indicated after 10 sec?
7) A liquid-level system has a cross-sectional area of 3.0 ft 2. The valve characteristics are
q  8 h where q = flow rate ft/m3, h = level above the valve, ft. Calculate the time
constant for this system if the average operating level is
(a) 3 ft (b) 9 ft
8) Consider a mixing process in which a stream of solution containing dissolved salt flows
at a constant volumetric flow rate ‘q’ into a tank of constant holdup volume V. The
concentration of the salt in the entering stream x (mass of salt/volume) varies with time.
Determine the transfer function relating the outlet concentration ‘y’ to the inlet concentration
‘x’ and also expression for time constant.
9) A mercury thermometer having first order dynamics with a time constant of 60 sec is
placed in a temperature bath at 400 C. After the thermometer resumes steady state, it
 is suddenly placed in a bath at 450 C at t = 0 and left there for 60 sec, after which it is
immediately returned to the bath at 400 C.
(a) Draw a sketch showing the variation of thermometer reading with time.
(b) Calculate the thermometer reading at t = 70 sec and t = 120 sec.
10) A mercury thermometer having a time constant of 0.1 minute is placed in a
temperature bath at 100 0C and allowed to come to equilibrium with the bath. At time t = 0,
the temperature of the bath begins to vary sinusoidally about its average temperature 100 0C
with an amplitude of 2 0C. If the frequency of oscillation is 10/π cycles/min, plot the ultimate
response of the thermometer reading as a function of time. What is the phase lag?
dx
11(a) Solve  2 x  2; x(0)  0
dt
Invert xs  
1
(b)
ss  10.5s  1
d 2x dx
12. Solve 2
 2  2 x  2 at x(0)  x' (0)  0
dt dt
13. Find inverse Laplace of
s 1
s  1 s 2  1
(a) (b)
2
s  1s  2(s  3)(s  4)
14(a) Determine f(t) at t = 1.5 and t = 3 for the following function:
f(t) = 0.5u(t) – 0.5u(t-1) + (t-3) u(t-2)
e 3s
(b) Determine Y(5) if Y s  
s(7 s  1)
15. Find the Laplace transform of the function x(t) that satisfies the differential equation
and initial conditions
d 3x d 2x dx
3
 4 2
 5  2 x  2 at x(0)  x' (0)  x' ' (0)  0
dt dt dt
dx dx
16 Solve (a)  3x  0; x(0)  2 (b)  x  1; x(0)  0
dt dt
d 2x
17. Solve  4 x  2e t at x(0)  x' (0)  0
dt 2
18(a) Solve the following using Laplace transform.
d 3x d 2x dx
3
 3 2
 3  x  1 at x(0) = x’(0) = x’’’(0) = 0 and x’’(0) = 0
dt dt dt
1
ss  2s  5
(b) Invert the following Laplace transform 2

19Express the general form of first order transfer function. Write the expressions for the
response in Laplace and time domain for step change in input.
20. Derive an expression for the dynamic response of a general first order system for step
change in input.
21. Define the impulse forcing function and impulse response. Write the Laplace and time
domain expressions for the impulse response of a general first order system.
22. Write the expressions in Laplace and time domain for the sinusoidal response of a
general first order system.
23.A thermometer having a time constant of 0.1 min is at a steady state temperature of 90%
At time t = 0, the thermometer is placed in a temperature bath maintained at 100°F.
Determine the time needed for the thermometer to read 98°F.
24. A mercury thermometer having first order dynamics with a time constant of 60 sec is
placed in a temperature bath at 400 C. After the thermometer resumes steady state, it
is suddenly placed in a bath at 450 C at t = 0 and left there for 60 sec, after which it is
immediately returned to the bath at 400 C.
(a) Draw a sketch showing the variation of thermometer reading with time.
(b) Calculate the thermometer reading at t = 70 sec and t = 120 sec.
25. A thermometer has a time constant of 15 sec and an initial temperature of 20 0C is
suddenly expanded to a temperature of 100 0C and held there. Determine the rise time
and the temperature at the rise time.

26.Derive the transfer function H(s)/Q(s) for the liquid level system shown in figure 17, when
the tank level operates about the steady state value of hs=1m and hs=3m. The pump
removes water at a constant rate of 10m3. This rate is independent of head. The cross
sectional area of the tank is 1m2 and the resistance R is 0.5m/m3/min.

27. A tank having a time constant of 1 min and a resistance of 1/9 ft/cfm is operating at
steady state with an inlet flow of 10 ft3/min. At time t = 0, the flow is suddenly increased to
100 ft3/min for 0.1 min by adding an additional 9 ft3 of water to the tank uniformly over a
period of 0.1 min. Plot the response in tank level and compare with the impulse response.

28.Derive the transfer function H/Q for the liquid level system shown in below fig. The
resistances are linear. H and Q are deviation variables. Show clearly how you derived
the transfer function. You are expected to give numerical values in the transfer
function.
29. A liquid-level system has a cross-sectional area of 3.0 ft 2. The valve characteristics
are q  8 h where q = flow rate ft/m3, h = level above the valve, ft. Calculate the
time constant for this system if the average operating level is
(a) 3 ft (b) 9 ft
30. Derive the transfer function H(s)/Q(s) for the liquid level system shown in figure 17,
when the tank level operates about the steady state value of hs=1m and hs=3m. The
pump removes water at a constant rate of 10m3. This rate is independent of head. The
cross sectional area of the tank is 1m2 and the resistance R is 0.5m/m3/min.

31. A tank having a time constant of 1 min and a resistance of 1/9 ft/cfm is operating at
steady state with an inlet flow of 10 ft3/min. At time t = 0, the flow is suddenly
increased to 100 ft3/min for 0.1 min by adding an additional 9 ft3 of water to the tank
uniformly over a period of 0.1 min. Plot the response in tank level and compare with
the impulse response.
32. A Liquid process shown in figure is operating at steady state condition, when the
following disturbances occur at time t = 0, 2ft3 of water is added suddenly to the tank.
At t = 1, 3ft3 of water is added suddenly to the tank. Sketch the response of the tank in
terms of level versus time and determine the level at t = 0, 0.5, 1.0, and 1.5. Time
constant of the process is 1 min.

33. Consider a mixing process in which a stream of solution containing dissolved salt
flows at a constant volumetric flow rate ‘q’ into a tank of constant holdup volume V.
The concentration of the salt in the entering stream x (mass of salt/volume) varies
with time. Determine the transfer function relating the outlet concentration ‘y’ to the
inlet concentration ‘x’ and also expression for time constant.

34. The input and output concentrations of a well stirred vessel of volume V are x and y,
respectively, and the inflow and outflow rates are qi and q. No reaction occurs. Write
the unsteady state material balance for the system, and write an expression for the
solution of y.
35)A tank having a cross-sectional area of 2 ft2 is operating at steady state with an inlet flow
rate of 2.0 cfm. The flow-head characteristics are shown in Figure
(a) Find the transfer function H ( s )/ Q ( s ).
(b) If the flow to the tank increases from 2.0 to 2.2 cfm according to a step change, calculate
the level h two minutes after the change occurs.

36) Derive the transfer function H (s)/ Q (s) for the liquid-level system of Fig. when
(a) The tank level operates about the steady-state value of hs = 1 ft
(b) The tank level operates about the steady-state value of hs =3 ft
The pump removes water at a constant rate of 10 cfm (cubic feet per minute); this rate is
independent of head. The cross-sectional area of the tank is 1.0 ft2 , and the resistance R is 0.5
ft/cfm.

37) A tank having a cross-sectional area of 2 ft2 and a linear resistance of R=1 ft/cfm is
operating at steady state with a flow rate of 1 cfm. At time 0, the flow varies as shown in
Fig.
(a) Determine Q ( t ) and Q ( s ) by combining simple functions. Note that Q is the deviation
in flow rate.
(b) Obtain an expression for H ( t ) where H is the deviation in level.
(c) Determine H ( t ) at t =2 and t= ∞.
38) Derive the transfer function H/Q for the liquid-level system shown in Fig. The
resistances are linear; H and Q are deviation variables. Show clearly how you derived the
transfer function. You are expected to give numerical values in the transfer function.

UNIT-2

1a) What is an interacting and non - interacting system? Explain with examples.
b) Derive an expression for the response of two non-interacting liquid - level tanks in
series with equal time constants, for step change in the inlet flow rate to tank 1 .
2a) Derive unit step response of a second order non-interacting system with gain of unity
and time constants 40s and 1min.
(b) Define time constant and gain of a process
3) Sketch the response Y(t) if Y(s) = e-2s/(s2 + 1.2s + 1). Determine Y(t) for t = 0, 1, 5, and
∞.

4) Derive the transfer function for two tank liquid levels system with interaction, relating
inflow to the First tank out flow from second tank. Specify all the quantities used.
Explain the concept of effective time constants.
5) Explain in detail the terms used to describe an under damped II order response.
6. An under damped second order system is represented by the transfer function
Y s  1
 2 2
X ( s)  s  2s  1
. The input is subjected to a disturbance of the form X(t) =

U(t) Derive, the expression for the response Y(t), and obtain the expression for
overshoot.
7(a) Define and explain transportation lag.
(b) Develop transfer function for transportation lag.

8. Consider a second - order system with the following transfer function.

Gs   2
1
s  s 1
Introduce a step change of magnitude 5 into the system and find
(a) Percent over shoot
(b) Decay ratio
(c) Maximum value of Y(t)
(d) Rise time
(e) Ultimate value of Y(t)
(f) Period of oscillation.
9. A step change of magnitude 3 is introduced into the transfer function
Y s  10

X ( s) 2s  0.3s  0.5
2
Determine the overshoot, frequency of oscillation

10. A second order system is found to have the following transfer function

Y s  1

 
Find out
X ( s) 2.5s  1.5s  1
2

(a) Damping coefficient

(b) Overshoot
(c) Natural Frequency
(d) Y(t) for unit impulse input.

11 (a) Find the transfer functions H2/Q and H3/Q for the three-tank system shown in below
fig. where H2, H3 and Q are deviation variables. Tank 1 and Tank 2 are interacting.
(b) For a unit-step change in q (i.e., Q = l/s), determine H3(0), H3(∞), and sketch H3(t)
versus t.
 12)A step change of magnitude 4 is introduced into a system having the transfer function
Y s  10
 2
X ( s) s  1.6s  4
Determine

(a) Percent overshoot

(b) Rise time
(c) Maximum value of Y(t)
(d) Ultimate value of Y(t) and
(e) Period of oscillation.

13(a) Define and explain transportation lag.

(b) Develop transfer function for transportation lag.

14. In the two-tank mixing process shown in below fig., x varies from 0 lb salt/ft3 to 1 lb
salt/ft3 according to a step function. At what time does the salt concentration in tank 2
reach 0.6 lb salt/ft3? The holdup volume of each tank is 6 ft3.

15. Two non-interacting tanks are connected in series. The transfer function relating the
level, h2 in the second tank to the inflow, q to the first tank is given by the following
H s  R2
transfer function, 2  The time constants are τ1=0.5 seconds and
Q( s)  1 s  1 2 s  1
τ2=1 seconds, and the resistance to out flow R2 = 1. Sketch the response of the level in
tank 2 if a unit step change is made in inlet flow rate to tank 1.
16. Determine the transfer function H(s)/Q(s) for the liquid-level system shown in below
fig. Resistances Rl and R2 ate linear. The flow rate from tank 3 is maintained constant
at b by means of a pump; i.e., the flow rate from tank 3 is independent of head h. The
tanks are non-interacting.
17 (a) Find the transfer functions H2/Q and H3/Q for the three-tank system shown in below
fig. where H2, H3 and Q are deviation variables. Tank 1 and Tank 2 are interacting.
(b) For a unit-step change in q (i.e., Q = l/s), determine H3(0), H3(∞), and sketch H3(t)
versus t.

18)Determine the transfer function H (s)/ Q (s) for the liquid-level system shown in Fig.
Resistances R1 and R2 are linear. The flow rate from tank 3 is maintained constant at b by
means of a pump; i.e., the flow rate from tank 3 is independent of head h. The tanks are
Non interacting.
2) Starting from first principles, derive the transfer functions H1(s)/ Q ( s ) and H2 ( s )/
Q ( s ) for the liquid-level system shown in Fig. The resistances are linear and R1 = R2 = 1.
Note that two streams are flowing from tank 1, one of which flows into tank 2. You are
expected to give numerical values of the parameters in the transfer functions and to show
clearly how you derived the transfer functions.

UNIT-3
1a) What are the various components of Control system? Explain them in detail.
b) What do you understand by the term Control System? Explain its industrial
significance with a suitable example?
2. Write short notes on:
(a) Negative feedback versus Positive feedback.
(b) Servo problem versus Regulator problem.
3. Define the following:
(a) Set - point
(b) Load
(c) Closed - loop system
(d) Comparator.

4. Develop transfer functions relating input and output for the following controllers.
(a) Proportional control
(b) Proportional - Integral control
(c) Proportional - Derivative control
(d) Proportional - Integral - Derivative control.
5(a) Define:
i. Proportional Band.
ii. Gain of control.
(b) Write short notes on on-off control.
(c) A pneumatic proportional controller is used to control temperature within the range of
60 to 1000C. The controller is adjusted so that the output pressure goes from 3 psi
 (valve fully open) to 15 psi (valve fully closed) as the measured temperature goes for
71 to 750C with the set-point held constant. Find the gain and proportional band.
6a) Give the advantages and disadvantages of pneumatic controllers with electronic
controller.
b) Define proportional band and gain of a controller. How are they related.

7(a) Define:
i. Proportional Band.
ii. Gain of control.
(b) Write short notes on on-off control.
(c) A pneumatic proportional controller is used to control temperature within the range of
60 to 1000C. The controller is adjusted so that the output pressure goes from 3 psi
(valve fully open) to 15 psi (valve fully closed) as the measured temperature goes for
71 to 750C with the set-point held constant. Find the gain and proportional band.

P  Ds 1
8) The transfer function of PD controller in industry is given by  KC
  D /  s  1
where β is a constant. If a unit step change in error is introduced into the controller
show that P(t )  K C (1  Ae  t /  D ) , where A is a function of β.
For β = 5 and KC, = 0.5, plot P(t) versus t/ τD. As β →∞, show that the unit-step
response approaches that for the ideal controller.

9a) A pneumatic PI controller has an output of 10psi when the set point and pen point are
together. The set point and pen point are suddenly displaced by 0.5 inches (i.e. a step
change in error is introduced) and the following data are obtained:

Time 0- 0+ 20 60 90
Psig 10 8 7 5 8.5
Determine the actual gain (psig per inch displacement ) and the integral time

b) A unit step change is given to a PI controller. If the proportional sensitivity or gain KC

is 4, the integral time τI is 2, obtain the response of the PI controller. (b) Differentiate
negative feed back and positive feed back.

10(a) In a PID controller the error is increased linearly at the rate of 5 0C/min. The
proportional sensitivity of the PID controller is 4, the reset rate is 1 and the derivative
time is 0.5. Obtain the response equation of the controller.
(b) A PID controller is at steady state with an output pressure of 9 psig. The set point and
pen point are initially together. At time t = 0, the set point is moved away and pen point at a
rate of 0.5 in./min. The motion of the set point is in the direction of lower readings. If the
knob settings are Kc = 2 psig/in. of pen travel,  i  1.25 min ,  D  0.4 min . Plot the output
pressure versus time.

11)The input (ε) to a PI controller is shown in Fig. P10.5. Plot the output of the controller if
KC = 2 and τI = 0.50 min.
12)Explain the following
1) Controller
2) Final control element
3) Measuring element
4) Manipulated variable
5) Deviation variable
6) Error
7) Load
8) Closed loop

13) Explain the following

1) Negative feedback
2) Positive feedback
3) Regulator problem
4) Servo problem Set point
(a) Proportional control
(b) Proportional - Integral control
(c) Proportional - Derivative control
(d) Proportional - Integral - Derivative control.
UNIT-4

1a) Determine the transfer function Y(s)/X(s) for the block diagram shown in below
figure.

b) Determine the transfer function Y(s)/X(s) for the block diagram shown in below figure.

2. For the control system shown in below figure given below determine an expression
for C (t) if a unit-step change occurs in R. Sketch the response C (t) and compute C
(2).

3. Determine the transfer function Y(s)/X(s) for the block diagram shown in below

figure.
4. Consider the control system shown in below figure. Derive Y(s)/R(s) and Y(s) /U(s)
5(a) Determine the transfer function Y(s)/X(s) for the block diagrams shown in below
figure. Express the results in terms of Ga, Gb, Gc.

(b) Find the transfer function Y(s)/X(s) of the system shown in the below figure:

6(a) For the control system shown in below figure: Determine the transfer function
C(s)/R(s).

(b) Derive the transfer function Y/X for the control system shown in below figure.

7. For the control system shown in below figure determine:

 (a) C(s)/R(s)
(b) C(∞)
(c) Offset
(d) C(0.5)
(e) Whether the closed loop response is oscillatory.

8. The location of the load change in a control loop may affect the system response. In
the block diagram shown in the figure given below, a unit – step change in load enters
at either location 1 or location 2.
(a) What is the offset when the load enters at location 1 and when it enters at location 2?
(b) Sketch the transient response to a step change in U1 and to a step change in U2.

9. For the control system shown in below figure determine

(a) C(s)/R(s)
(b) offset
(c) C(0.5)
(d) whether the closed loop response is underdamped when U = 0

10. The set point of the control system shown below is given a step change of 0.1 unit.
Determine:
(a) The maximum value of C and the time at which it occurs.
(b) The offset.
(c) The period of oscillation - Draw the sketch of c(t) as a function of time.
11)Determine the transfer function C/R, C/U1 and B/U2 for the system shown in below
figure. Also determine an expression for C in terms of R and U1 for the situation
when both set-point change and load change occur simultaneously.

12. The set point of the control system shown in below figure is given a step change of
0.1 unit.
Determine:
(a) The maximum value of C and the time at which it occurs.
(b) The offset.
(c) The period of oscillation.
Draw a sketch of C (t) as a function of time

13a) Find expressions for  and  for the closed-loop response.

b) If  1  1 min,  m  10 sec , find Kc, so that  = 0.7 for the two cases: (1)  D =0, (2)  D
= 3 sec.
c) Compare the offset and period realized for both cases, and comment on the advantage
of adding the derivative mode.
14. The set point of the control system shown below is given a step change of 0.1unit.
Determine:
a) The maximum value of C and the time at which it occurs.
b) The offset.
c) The period of oscillation - Draw the sketch of c(t) as a function of time.

15)For the control system shown below explain the Response of proportional control and
proportional Integral control for load change.

16. Find the transfer function Y(s)/X(s) of the system shown below:
17. Determine the nansfer functions C/R, C/U1, and B/U2 for the system show in below
figure. Also determine an expression for C in terms of R and U1 for the situation when
both set-point change and load change occur simultaneously.

18)Determine the transfer function C/R for the system shown in below figure. This block
diagram represents a cascade control system, which will be discussed later.

UNIT-5

1 a) Discuss Routh test for the Stability

(b) Determine the stability by Routh criterion for the characteristic equation
S4+ 3S3 + 5S2 +4S + 2 = 0

2(a) Test the stability of the control system characterized by the characteristic equation
s4 + 2s3 + 3s2 + 4s + 5 = 0.
(b) A unit feedback control system is described by the characteristic equation
s4 + 4s3 + 7s2 + 16s + 5 = 0. Test its stability and find the roots on the imaginary axis.

3. Write the characteristic equation and construct the Routh array for the control system
shown in the figure given below. Is the system stable for (a) Kc =9.5 (b) Kc =11
(c) Kc = 12?
4. Write briefly on the following:
(i) Gain and phase margins
(ii) Frequency response for process control
5a). Describe the method of control system design by frequency response method. Explain
how it helps the designer.
b) Draw the Bode diagram for the system whose overall transfer function is
1
( s  1)( s  5)

6a) Write in detail about the Zeigler-Nichols controller settings.

(b) Write about the precautions to be taken in applying Z-N method.
7) Define controller tuning. Explain Ziegler-Nicholas method of a feed back control
system tuning.

8) (a) For the system shown in the below fig. determine the value of Kc that will
give
300 of phase margin.
(b) If a PI controller with τ1 = 2 is used in place of the proportional controller, determine
the value of Kc for 30’ of phase margin.

9(a) A control system with a P controller has an open loop transfer function
KC
G( s)  where time is in minutes. Obtain the cross over frequency and the
s(5s  1) 2
ultimate controller gain.
(b) Write short notes on resonant frequency and gain margin.

10 (a) Draw the Bode diagram for the system whose overall transfer function is
1
( s  1)( s  5)
(b) Derive expression for amplitude ratio and phase angle as functions of  for the
transfer function G(s) = 1/ (s2-1)
Unit-6

1(a) Develop the closed-loop transfer function for a Cascade control system
(b) Write short notes on Dead-Time compensation

2) a) Explain ratio control in detail with a neat schematic diagram.

(b) Quote some commonly encountered examples from chemical industry where ratio control can
be used.

3. With the aid of necessary block diagrams explain the following systems.
a) Feed forward control b) Cascade control c) Ratio control d) Internal
model control

4 (a) Under what conditions would an equal percentage valve be used instead of a linear
valve?
(b) What are some reasons to use a valve positioner?

5(a) Explain Pressure-to-close and Pressure-to-open valve?

(b) A valve with a CV, rating of 4.0 is used to throttle the flow of glycerin for which G =
Determine the maximum flow through the valve for a pressure drop of 100 psi.

6. Write short notes on (a) Integral of the square of error. (b) Integral of time-weighted
absolute error.
7 Define controller tuning. Explain Ziegler-Nicholas method of a feed back control system
tuning.

8a) Discuss the Cohen and Coon rules of controller tuning in detail.
b) Discuss an open-loop method of tuning controllers

9. Explain “Process Identification” and its need in controller tuning.

10) Explain the following experimental procedures used for process identification:
(a) Step testing (b) pulse testing (c) frequency testing.

1. A linear control valve having a CV of 0.1 is connected to a source of water. If the

pressure drop across the valve is 400 psi and if the pneumatic pressure to the valve top is 12
psig, what is the flow rate through the valve? The valve goes from completely shut to
completely open as the valve-top pressure varies from 3 to 15 psig.