PROCESS DYNAMICS

CHE F 342

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
 INVERSION BY PARTIAL FRACTIONS

CHE F 342

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
 LAPLACE TRANSFORMS

∞
DEFINITION 𝑳𝒇 𝒕 = න 𝒆−𝒔𝒕 𝒇 𝒕 𝒅𝒕 = 𝑭(𝒔)
𝟎

LAPLACE
𝒇 𝒕 TRANSFORMATION 𝑭(𝒔)

𝑭(𝒔) INVERSION 𝒇 𝒕

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
LAPLACE TRANSFORMS OF SOME TIME FUNCTIONS - SUMMARY
FUNCTION LAPLACE FUNCTION LAPLACE FUNCTION LAPLACE
TRANSFORM TRANSFORM TRANSFORM
𝒇 𝒕 =𝑪 𝑪 𝒇 𝒕 = 𝐬𝐢𝐧 𝒌𝒕 𝒌 𝒇 𝒕 = 𝒆−𝒂𝒕 𝐬𝐢𝐧 𝒌𝒕 𝒌
𝒔 𝒔 𝟐 + 𝒌𝟐 𝒔 + 𝒂 𝟐 + 𝒌𝟐
𝒇 𝒕 = 𝒆−𝒂𝒕 𝟏 𝒇 𝒕 = 𝐜𝐨𝐬 𝒌𝒕 𝒔 𝒇 𝒕 = 𝒆−𝒂𝒕 𝐜𝐨𝒔 𝒌𝒕 𝒔 + 𝒂
(𝒔 + 𝒂) 𝒔 𝟐 + 𝒌𝟐 (𝒔 + 𝒂)𝟐 + 𝒌𝟐

𝒇 𝒕 =𝒕 𝟏
DERIVATIVES LAPLACE TRANSFORM
𝒔𝟐
𝒇 𝒕 = 𝟏 𝒅 𝒇(𝒕) 𝒔𝑭 𝒔 −𝒇 𝟎
𝒕 𝒆−𝒂𝒕 (𝒔 + 𝒂)𝟐 𝒅𝒕
𝒇 𝒕 = 𝟐 𝒅𝟐 𝒇(𝒕) 𝒔𝟐 𝑭 𝒔 − 𝒔 𝒇 𝟎 − 𝒇′ (𝟎)
𝒕𝟐 𝒆−𝒂𝒕 (𝒔 + 𝒂)𝟑 𝒅𝒕𝟐

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
SOLVING DIFFERENTIAL EQUATIONS BY LAPLACE TRANSFORMATION

𝑑3𝑦 𝑑2𝑦 𝑑𝑦
+4 2 +5 + 2𝑦 = 2 𝐼𝑛𝑖𝑡𝑖𝑎𝑙 𝐶𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛𝑠 ∶ 𝑦 0 = 0 ; 𝑦 ′ 0 = 0 ; 𝑦 ′′ 0 = 0
𝑑𝑡 3 𝑑𝑡 𝑑𝑡
2
𝑠3𝑌 𝑠 − 𝑠2𝑦 0 − 𝑠 𝑦′ 0 − 𝑦" 0 +4 𝑠2𝑌 𝑠 − 𝑠 𝑦 0 − 𝑦′ 0 +5 𝑠𝑌 𝑠 −𝑦 0 + 2𝑌 𝑠 =
𝑠
3 2
2
𝑠 𝑌 𝑠 + 4 𝑠 𝑌 𝑠 + 5 𝑠 𝑌 𝑠 + 2𝑌 𝑠 =
𝑠
2 3 2
𝑌 𝑠 = 3 2 𝑠 + 4 𝑠 +5𝑠 +2
𝑠 𝑠 +4𝑠 +5𝑠 +2
3 2 2
2 = 𝑠 + 3 𝑠 + 3 𝑠 + 1 + 𝑠 +2𝑠+1
𝑌 𝑠 = 2 = (𝑠 + 1)3 +(𝑠 + 1)2 = 𝑠 + 1 2 𝑠 + 2
𝑠 𝑠 + 2 (𝑠 + 1)

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
 INVERSE LAPLACE TRANSFORMATION BY PARTIAL FRACTIONS
2 𝐴 𝐵 𝐶 𝐷
𝑌 𝑠 = 2
= + + 2
+
𝑠 𝑠 + 2 (𝑠 + 1) 𝑠 𝑠+2 (𝑠 + 1) 𝑠+1
2
1. Multiply both sides by s and set s= 0 =𝐴=1
2 (1)2
2
2. Multiply both sides by 𝑠 + 2 and set s = - 2 2
= 𝐵 = −1
−2 (−1)

3. Multiply both sides by (𝑠 + 1)2 and set s = - 1 2

= 𝐶 = −2
−1 (1)
1 1 2 𝐷
𝑌 𝑠 = − − +
𝑠 𝑠+2 𝑠+1 2 𝑠+1 𝑦 𝑡 = 1 − 𝑒 −2𝑡 − 2 𝑡 𝑒 −𝑡
2 + 𝐷𝑠 2 + 3𝐷𝑠 2 + 2𝐷𝑠 = 2 𝐷=0

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
 USING LAPLACE TRANSFORMS TO SOLVE

Unsteady state Material Balance 𝑞1 = 20 L/min q2 = 10 L/min

𝐶𝐴1 = 1 gm/L CA1 = 4 gm/L
𝑇1 = 25 ° C T2 = 55 ° C
𝑑 𝑉𝐶𝐴 𝑡
= 𝑞1 𝐶𝐴1 + 𝑞2 𝐶𝐴2 − 𝑞3 𝐶𝐴 𝑡
𝑑𝑡
𝑉 𝑑𝐶𝐴 𝑡 𝑞1 𝐶𝐴1 + 𝑞2 𝐶𝐴2
= − 𝐶𝐴 𝑡
𝑞3 𝑑𝑡 𝑞3

Q = 73.5 KW
𝑑𝐶𝐴 𝑡 20 + 40
6 = − 𝐶𝐴 𝑡 V = 180 L
𝑑𝑡 30
2
6 𝑠 𝐶𝐴 𝑠 − 𝐶𝐴 0 = − 𝐶𝐴 𝑠
𝑠 𝑞3 = 30 L/min
2
𝐶𝐴 𝑠 6𝑠 + 1 = + 18
2 18 𝐶𝐴 (t) = ? gm/L
𝑠 𝐶𝐴 𝑠 = +
𝑠 6𝑠 + 1 6𝑠 + 1 𝑇(𝑡) = ? ° C
JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
USING LAPLACE TRANSFORMS TO SOLVE

Unsteady state Material Balance 1Τ3 𝐴 𝐵

= +
𝑠 𝑠 + 1Τ6 𝑠 𝑠 + 1Τ6
2 18 1Τ3 3 𝐴 = 2;
𝐶𝐴 𝑠 = + = + 𝐵 = −2;
𝑠 6𝑠 + 1 6𝑠 + 1 𝑠 𝑠 + 1Τ6 𝑠 + 1Τ6

2 2 3
𝐶𝐴 𝑠 = − +
𝑠 Τ
𝑠+1 6 𝑠 + 1Τ6

−𝑡ൗ −𝑡ൗ −𝑡ൗ

𝐶𝐴 𝑡 = 2 − 2 𝑒 6 + 3 𝑒 6 =2+ 𝑒 6

−𝑡Τ6
𝐶𝐴 𝑡 = 3 − 1 − 𝑒

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
USING LAPLACE TRANSFORMS TO SOLVE
Unsteady State Energy Balance 𝑞1 = 20 L/min 𝑞2 = 10 L/min
𝐶𝐴1 = 1 gm/L 𝐶𝐴1 = 4 gm/L
𝑑 𝑉ρ𝐶𝑝 𝑇 𝑡 𝑇1 = 25 ° C 𝑇2 = 55 ° C
= 𝑞1 ρ𝐶𝑝 𝑇1 + 𝑞2 ρ𝐶𝑝 𝑇2 + 𝑄 − 𝑞3 ρ𝐶𝑝 T 𝑡
𝑑𝑡
𝐷𝑖𝑣𝑖𝑑𝑖𝑛𝑔 𝑏𝑦 𝑞3 ρ 𝐶𝑝
𝑉 𝑑𝑇 𝑡 𝑞1 𝑇1 + 𝑞2 𝑇2 𝑄
= + −𝑇 𝑡
𝑞3 𝑑𝑡 𝑞3 𝑞3 ρ 𝐶𝑝
𝐽 𝑠𝑒𝑐
𝑑𝑇 𝑡 500 + 550 73500 60 Q = 73.5
6 = + 𝑠𝑒𝑐 𝑚𝑖𝑛 −𝑇 𝑡 V = 180 L
𝑑𝑡 30 𝐿 𝑔 𝐽 K Watts
30 1000 4.2
𝑚𝑖𝑛 𝐿 𝑔. ℃
𝑑𝑇 𝑡 70
6
𝑑𝑡
= 35 + 35 − 𝑇 𝑡 6 𝑠𝑇 𝑠 − 𝑇 0 =
𝑠
−𝑇 𝑠 𝑞3 = 30 L/min
70 70 480 𝐶𝐴 (t) = ? gm/L
6𝑠 + 1 𝑇 𝑠 = + 480 𝑇 𝑠 = +
𝑠 𝑠 6𝑠 + 1 6𝑠 + 1 T(t) = ? ° C
JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
 USING LAPLACE TRANSFORMS TO SOLVE

Unsteady State Energy Balance

70 480 70Τ6 80 70Τ6 𝐴 𝐵
𝑇 𝑠 = + = + = +
𝑠 6𝑠 + 1 6𝑠 + 1 𝑠 𝑠 + 1Τ6 𝑠 + 1Τ6 𝑠 𝑠 + 1Τ6 𝑠 𝑠 + 1Τ6
𝐴 = 70 𝐵 = −70
70 70 80
𝑇 𝑠 = − +
𝑠 𝑠 + 1 Τ6 𝑠 + 1Τ6
−𝑡ൗ −𝑡ൗ
𝑇 𝑡 = 70 − 70 𝑒 6 + 80 𝑒 6

−𝑡ൗ
𝑇 𝑡 = 70 + 10 𝑒 6

𝑡
𝑇 𝑡 = 80 − 10(1 − 𝑒 − ൗ6 )

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
 DYNAMIC ANALYSIS WITH LAPLACE TRANSFORMS

UNSTEADY STATE 𝒅𝒚 LAPLACE

MATERIAL & = 𝒇(𝒕) TRANSFORMATION
𝒀 𝒔 = 𝑭(𝒔)
ENERGY BALANCES 𝒅𝒕

𝑫 𝒔 =𝟎 𝑵(𝒔) PREDICTING NATURE

CHARACTERESTIC 𝒀 𝒔 = OF y(t) FROM Y(s)
EQUATION 𝑫(𝒔)

ROOTS OF
INVERSION BY PARTIAL
𝑫 𝒔 =𝟎 𝒚 𝒕 FRACTIONS

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
LAPLACE INVERSION WHEN ROOTS OF CE ARE REAL

Example 1: 𝑑𝑦 1
+𝑦 =1 𝑦(0) = 0 𝑠𝑌 𝑠 − 𝑦 0 + 𝑌(𝑠) =
𝑑𝑡 𝑠
1
𝑌 𝑠 = The roots of the Characteristic Equations
𝑠 𝑠+1
are REAL 𝒔 𝒔+𝟏 =𝟎
1 𝐴 𝐵
𝑌 𝑠 = = +
𝑠 𝑠+1 𝑠 𝑠+1
1 1
𝑌 𝑠 = −
Multiply by s and let s = 0 𝐴=1 𝑠 𝑠+1

Multiply by (s+1) and let s = -1 𝐵 = −1 𝒚 𝒕 = 𝟏 − 𝒆−𝒕

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
LAPLACE INVERSION WHEN ROOTS OF CE ARE IMAGINARY

𝑑2𝑦 𝑑𝑦
Example 2 2
+2 + 2𝑦 = 2 𝑦 0 =0 𝑦′ 0 = 0
𝑑𝑡 𝑑𝑡
2
2
𝑠 𝑌 𝑠 − 𝑠𝑦 0 − 𝑦′(0) + 2(𝑠𝑌 𝑠 − 𝑦(0)) + 2𝑌(𝑠) =
𝑠
2
2 𝒔𝟐
+ 𝟐𝒔 + 𝟐 = 0 does not have REAL ROOTS
𝑠 𝑌 𝑠 + 2𝑠𝑌 𝑠 + 2𝑌(𝑠) =
𝑠
2 −2 ± 2 2 − 4(2)
𝑌 𝑠 = 2 𝑠= 𝑠 = −1 ± 𝑖
𝑠 𝑠 + 2𝑠 + 2 2

The roots of the CE are imaginary

2 𝐴 𝐵𝑠 + 𝐶 Multiplying by s
𝑌 𝑠 = = + 2 𝐴=1
2
𝑠 𝑠 + 2𝑠 + 2 𝑠 𝑠 + 2𝑠 + 2 and setting s=0

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
LAPLACE INVERSION WHEN ROOTS OF CE ARE IMAGINARY
Example 2 (continued) The roots of the Characteristic Equation are imaginary

2 1 𝐵𝑠 + 𝐶
𝑌 𝑠 = = + 2 𝑠 2 + 2𝑠 + 2 + 𝐵𝑠 2 + 𝐶𝑠 = 2
2
𝑠 𝑠 + 2𝑠 + 2 𝑠 𝑠 + 2𝑠 + 2
1 𝑠+2 𝐵+1= 0 𝐶+2 = 0
𝑌 𝑠 = − 2
𝑠 𝑠 + 2𝑠 + 2

1 𝑠+1+1 1 𝑠+1 1
𝑌 𝑠 = − 2 𝑌 𝑠 = − 2
−
𝑠 𝑠 + 2𝑠 + 1 + 1 𝑠 𝑠+1 +1 𝑠+1 2+1

𝑦 𝑡 = 1 − 𝑒 −𝑡 𝑐𝑜𝑠 𝑡 − 𝑒 −𝑡 𝑠𝑖𝑛 𝑡 𝑦 𝑡 = 1 − 𝑒 −𝑡 𝑐𝑜𝑠 𝑡 + 𝑠𝑖𝑛 𝑡

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
LAPLACE INVERSION WHEN ROOTS OF CE ARE REPEATED
Example 3: 𝑑3𝑦 𝑑2 𝑦 𝑑𝑦 𝑦 0 =0 𝑦" 0 = 0
3
+3 2 +3 +𝑦 = 1
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑦′ 0 = 0
1
𝑠3𝑌 𝑠 − 𝑠2𝑦 0 − 𝑠𝑦′ 0 − 𝑦"(0) + 3 𝑠2 𝑌 𝑠 − 𝑠𝑦 0 − 𝑦′(0) + 3(𝑠𝑌 𝑠 − 𝑦(0)) + 𝑌(𝑠) =
𝑠
3 2
1
𝑠 𝑌 𝑠 + 3𝑠 𝑌 𝑠 + 3𝑠 𝑌 𝑠 + 𝑌(𝑠) =
𝑠
1 1 𝑪𝒉𝒂𝒓𝒂𝒄𝒕𝒆𝒓𝒊𝒔𝒕𝒊𝒄 𝑬𝒒𝒖𝒂𝒕𝒊𝒐𝒏 𝒉𝒂𝒔
𝑌 𝑠 = 3 2
=
𝑠 𝑠 + 3𝑠 + 3𝑠 + 1 𝑠 (𝑠 + 1)3 𝑹𝑬𝑷𝑬𝑨𝑻𝑬𝑫 𝑹𝑶𝑶𝑻𝑺

1 𝐴 𝐵 𝐶 𝐷
𝑌 𝑠 = 3
= + 3
+ 2
+
𝑠 (𝑠 + 1) 𝑠 (𝑠 + 1) (𝑠 + 1) (𝑠 + 1)

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
 LAPLACE INVERSION WHEN ROOTS OF CE ARE REPEATED
Example 3 (continued): The roots of the Characteristic Eqn. are REPEATED
1 𝐴 𝐵 𝐶 𝐷 Multiply with (𝑠 + 1)3
𝑌 𝑠 = = + + +
𝑠 (𝑠 + 1)3 𝑠 (𝑠 + 1)3 (𝑠 + 1)2 (𝑠 + 1) and set s = -1
Multiply with s and set s = 0 𝐴=1 𝐵 = −1
1 1 1 𝐶 𝐷
𝑌 𝑠 = = − + +
𝑠 (𝑠 + 1)3 𝑠 (𝑠 + 1)3 (𝑠 + 1)2 (𝑠 + 1)

(𝑠 + 1)3 −𝑠 + 𝐶𝑠 𝑠 + 1 + 𝐷𝑠 𝑠 + 1 2
=1 −3 − 2𝐷 + 𝐷 = −2

3𝑠 2 + 𝐶𝑠 2 + 2𝐷𝑠 2 = 0 3𝑠 − 𝑠 + 𝐶𝑠 + 𝐷𝑠 = 0 𝐷 = −1
𝐶 + 2𝐷 = −3 𝐶 + 𝐷 = −2 𝐶 = −1
JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
 LAPLACE INVERSION WHEN ROOTS OF CE ARE REPEATED
Example 3 (continued): The roots of the CE are REPEATED
1 1 1 1 1
𝑌 𝑠 = 3
= − 3
− 2
−
𝑠 (𝑠 + 1) 𝑠 𝑠+1 𝑠+1 (𝑠 + 1)

𝑡 2 −𝑡
𝑦 𝑡 =1− 𝑒 − 𝑡 𝑒 −𝑡 − 𝑒 −𝑡
2

𝑡2
𝑦 𝑡 = 1 − 𝑒 −𝑡 +𝑡+1
2

JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus
LOCATION OF ROOTS OF CE AND ITS EFFECT ON THE TIME FUNCTION

+𝒊
+ 𝒃𝒊
𝒂 + 𝒃𝒊
−𝒂 + 𝒃𝒊
−𝒂 +𝑹𝒆
−𝑹𝒆
+𝒂

−𝒂 − 𝒃𝒊 𝒂 − 𝒃𝒊
− 𝒃𝒊

−𝒊
JAIDEEP CHATTERJEE
BITS Pilani, Hyderabad Campus