HOMEWORK OF CHAPTER 2

MODELING AND RESPONSE ANALYSIS

Exe. 1 Two Tanks are connected together in the following way. The cross-sectional areas
of the two tanks are A1, A2; w2 is positive for flow from Tank 1 to Tank 2; the two valves
are linear with resistances R2, R3; the density of the incoming liquid, 𝝆, is constant.
w1

h1
h2

w3 w2

Develop a model for this system

a. The output is the liquid level in Tank 2.

b. The outputs are the liquid levels in both Tanks
c. Analyze degrees of freedom and identify all process variables (CV, MV, DV)

Exe. 2 Given two Tanks as follow:

w1 The cross-sectional areas of the two

tanks are A1, A2. The density of the
inlet liquid, 𝝆, is constant.

h1 Find the transfer function with the

output and input are deviation
w2 variables of w3, w1 respectively
R2
around their steady state.

h2
w3

R3

Exe. 3: A surge tank is designed with a slotted weir so that the outflow rate, w, is
proportional to the liquid level to the 1.5 power; that means 𝑤 = 𝑅ℎ1.5 , where R is
constant
w1 Find the transfer function with the output
and input are deviation variables of h and
w1 respectively around their steady state.

w2

Exe. 4: A horizontal cylindrical tank is used to slow the propagation of liquid flow surge
in a processing line. The parameters
of the tank are illustrated in the
figure.
qi a. Develop a model for the height
L
of liquid h in the tank at any time
q with the inlet and outlet volumetric
R flow rates (𝑞𝑖 , 𝑞) as model inputs.

h b. Linearize the model assuming

that the process initially is at steady
wi state and the density 𝜌 is constant.

Exe. 5: The liquid storage system has two inlet streams and an exit stream with the mass
flow rate 𝑤1 , 𝑤2 and 𝑤3 respectively. The cylindrical tank is 2.5 (m) tall and 2 (m) in
diameter. The liquid has a density of 800 𝑘𝑔/𝑚3 . Normal operating procedure is to
fill the tank until the liquid level reaches a nominal value of 1.75 (m) using constant
w1 w2 flow rates: 𝑤1 = 120 𝑘𝑔/𝑚𝑖𝑛, 𝑤2 = 100𝑘𝑔/𝑚𝑖𝑛,
𝑤3 = 200𝑘𝑔/𝑚𝑖𝑛. At that point, inlet flow rate 𝑤1
is adjusted so that the level remains constant.
However, on this particular day, corrosion of the
tank has opened up a hole in the wall at a height of
H
q4 1 (m), producing a leak whose volumetric flow rate
𝑞4 (𝑚3 ⁄𝑚𝑖𝑛) can be approximated by
h 1m
w3 q4 = 0.025 h − 1
 a. If the tank was initially empty, how long did it take for the liquid level to reach the
corrision point?
b. If mass flow rates 𝑤1 , 𝑤2 and 𝑤3 are kept constant indefinitely, will the tank
eventually overflow? Justify your answer.

Exe. 6: A stirred-tank blending system is shown in the figure

w1, w2, w: the mass flow rates of the inlet

w1 , x1 w2 , x2 and outlet streams (kg/s)

x1, x2, x: the mass fraction of the inlet and

exit streams [0..1]

h: the liquid level (m)

h
ρ: the density of liquid in the tank (kg/m 3)
w, x
A: the cross-sectional area (m2)
Assuming: x1 = 1, x2  1 , w2 is constant and
w1 <<w 2 .

1. Find the dynamic model of this system.

2. Assume that the process has been operating for a long period of time with w1 = 1
kg/min, w2 = 400 kg/min, x2 = 0.06, the volume of tank V=2 m3, ρ=800 kg/m3.
a. Determine x at steady state?
b. Determine an expression for x(t) when x2 changes suddenly from 0.06 to 0.03. Plot the
response w.r.t time?
c. Determine an expression for x(t) when w1 changes suddenly from 1 kg/min to 2
kg/min. Plot the response w.r.t time?
Exe. 7: A stirred-tank heating system is show in the figure

The mass flow rate of the inlet, w1 = 1000kg / h .

T1 , w1 The volume in the tank V=2 m3 (constant). The
density and heat capacity of the inlet stream are
 = 900kg / m3 , C = 1cal / g .o C respectively. The
process initially is operating with the inlet and
T,w outlet temperature of 1000C and 1300C.

Q a. What is the heater input at the initial

steady state?

Heater
 b. If the heater input is increased by 30%, how long will it take for the tank
temperature to achieve 99% of the final temperature change?
c. Assume the tank is at its initial steady state. If the inlet temperature is increased
suddenly from 1000C to 1200C, how long will it take for the outlet temperature to
increase from 1300C to 1350C?

Exe. 8: Find the dynamic model for the system in Exe. 6 in the case that the volume in
the tank is varied with time?

q1 q2 Exe. 9: A liquid storage system is

shown in the figure. The normal
operating conditions are q1s=10 ft3/min,
q2s=5 ft3/min, hs=4 ft. The tank is 6 ft in
diameter, and the density of each
stream is 60 lb/ft3. Suppose that a pulse
h
q
q1

change in q1 occurs as shown in the graph. 15

a. What is the transfer function relating H

10
to Q1
b. Derive an expression for h(t) for this
input change. 0 12 (min)
c. What is the new steady-state value of
liquid level?

Exe. 10: Two liquid storage systems are shown in the figure.

q1 q1

h h
q q
Each tank is 4 feet in diameter. For system 1, the valve acts as a linear resistance with the
flow-head relation q=8.33h, where q is in gal/min and h is in feet. For system 2,
variations in liquid level h do not affect exit flow rate q. Suppose that each system is
initially at steady state with hs= 6 ft and q1=50gal/min and that at time t=0, the inlet flow
rate suddenly changes from 50 to 70 gal/min. For each system, determine the following
information:

a. The transfer function H(s)/Q1(s) where the capital letters denote deviation
variables
b. The transient response h(t).
c. The new steady-state levels.
d. If each tank is 8 ft tall, which tank overflows first? When?

Exe.11:

The dynamic response of a stirred-tank bioreactor can be represented by the transfer

function:
𝑋(𝑠) 4
=
𝑋𝑖 (𝑠) 2𝑠+1

Where, X and Xi are the deviation variables of the exit and feed composition
respectively.
a. Derive an expression for x(t) if xi(t) is a pulse with the following information:

0 t0

xi (t ) = 4 0t 2
0 2t 


b. What is the maximum value of x(t)? When does it occur?

Exe.12:

A process has been modeled and Laplace transformed to obtain the following two
equations:

( a s + 1) Y1 ( s) = K1U1 ( s) + KbY2 ( s)
( b s + 1) Y2 ( s) = K 2U 2 ( s) + Y1 ( s)

Where the outputs are Y1 and Y2, and the inputs are U1 and U2
 a. Find the transfer functions:
Y1 ( s) Y ( s)
G1 ( s) = and G2 ( s) = 2
U1 ( s) U1 ( s )
b. What is the gain of each transfer function? G1 and G2 are first or second order? If
second order, can you determine if it is over or under-damped?
c. For parameter values  a = 2, b = 1, Kb = 0.5 , would y2 respond faster or slower to a
step change in u1 for this process compared to a process with transfer function:
Y2 ( s) 1
=
U1 ( s) (2s + 1)(s+ 1)

Exe. 13: Given a process with the following transfer function:

K (1 − s ) e − s
G ( s) =
(12s + 1)(3s + 1)(0.2s + 1)(0.05s + 1)

Using Skogestad’s half rule, determine approximated models:

a. The first order plus delay time (FOPDT)

b. The second order plus delay time (SOPDT)
c. Using Matlab to compare the output responses of the approximated models

Exe. 14: A simple tank is operating with the inlet flow rate q
= 30.4 [ft3/min]. An operator increases suddenly the inlet q h1
Tank1
flow rate by 10%, the level in the tank is recorded in the
following table

Time (min) h (ft) Time (min) h (ft) Knowing that the transfer
0 5.50 1.4 6.37 H ( s)
function G(s) = has
0.2 5.67 1.6 6.40 Q( s )
0.4 5.79 1.8 6.43 the form of overdamped
0.6 6.02 2.0 6.45
second order where H, Q
0.8 6.15 3.0 6.50
are variations of the
1.0 6.26 4.0 6.51
1.2 6.32 5.0 6.52 variables around their
steady state respectively.

a. Find out the transfer function of the tank?

b. Determine the expression of h(t) and plot it?
Exe. 15: A process consists of two coupled tank with the input q and the output T1, T2 as
the figure:

q T1 T2
Tank 1 Tank 2

A step change in input from 82 to 85, the output temperatures are recorded in the
following table

Time T1 T2 Time T1 T2
0 10.00 20.00 11 17.80 25.77
1 12.27 20.65 12 17.85 25.84
2 13.89 21.79 13 17.89 25.88
3 15.06 22.83 14 17.92 25.92
4 15.89 23.68 15 17.95 25.94
5 16.49 24.32 16 17.96 25.96
6 16.91 24.79 17 17.97 25.97
7 17.22 25.13 18 17.98 25.98
8 17.44 25.38 19 17.99 25.98
9 17.60 25.55 20 17.99 25.99
10 17.71 25.68 50 18.00 26.00

𝑇1′ (𝑠) 𝑇2′ (𝑠)

a. Find the transfer functions: 𝐺1 (𝑠) = and 𝐺2 (𝑠) = ?
𝑄(𝑠) 𝑇1′ (𝑠)
b. Determine the output response based on the above transfer functions? Using
Matlab to plot the obtained results.