ERT 321

Process Control & dynamics

CHAPTER 6
Dynamic Response Characteristics of
More Complicated Processes
Mrs Anis Atikah binti Ahmad
 OUTLINE
1. Poles and Zeros
and Their Effect on
Process Response

2. Process with
6 6

Time Delays
Chapter
Chapter

3. Approximation
Dynamic Response
of Higher-Order
Characteristics
Transfer Functions

4. Interacting and
Noninteracting
Processes

5. Multiple-Input,
Multiple-Output
2 (MIMO) Processes
 1. Poles and Zeros and Their Effect on Process Response
• General Representation of standard transfer function form:
- There are two equivalent representations:

(6-2)
Chapter
Chapter 6 6

where {zi} are the “zeros” and {pi} are the “poles”.
3
 Poles and Zeros and Their Effect on Process Response
• Consider a particular transfer function;

, where 0   < 1. (6-1)

6 6

The roots of these factors are

Chapter

The values of s
Chapter

that are the

denominator
polynomial-refer
as poles
 Poles and Zeros and Their Effect on Process Response
POLES:
Chapter 6

Figure 6.1 Poles of G(s) plotted

in the complex s plane.
5 (X denotes a pole location)
 Summary: Effects of Pole and Zero Locations
1. Poles

• Pole in “right half plane (RHP)”: results in unstable system (i.e., unstable
step responses) Example
Imaginary axis
Chapter 6 6

x x = unstable pole
Chapter

x Real axis
(grows with time)
x

• Complex pole: results in oscillatory responses (contains sine and cosine

terms) Example
Imaginary axis
x = complex poles
x
Real axis
x
6
 2. Zeros

Note: Zeros have no effect on system stability.

• Zero in RHP: results in an inverse response to a step change in
the input
Chapter
Chapter 6 6

Imaginary axis

Real inverse
x y 0 response
axis

t
• Zero in left half plane: may result in “overshoot” during a step
response (see Fig. 6.3).
7
 EXAMPLE
Calculate the response to a step input of magnitude M and plot the results
for and several values of

Changing s-function to time domain;

8
 EXAMPLE
Calculate the response to a step input of magnitude M and plot the results
for and several values of

Case 1: Overshoot

Case 2:
Similar to 1st
order process

Case 3:
Inverse response

9
 2. Process with Time Delays Transportation
lag/ transport
delay/ dead time
Chapter 6

Ѳ= Time taken to transport

Mathematical description: fluid from point 1 to point 2

• A time delay, between an input u and an output y results in the

following expression:

Transfer Function Representation:

10
Chapter 6 2. Process with Time Delays (cont’)

11
 3. Approximation of Higher-Order Transfer Functions

• Two widely used approximations are:

1. Taylor Series Expansion:
Chapter 6

The approximation is obtained by truncating after only a few

terms.

2. Padé Approximations:
Many are available. For example, the 1/1 approximation is,

12
 3. Approximation of Higher-Order Transfer Functions (cont’)

• The 2/2 Padé Approximations approximation;

(6.37)
Chapter 6

Note:
• Please refer page 138 and 139 for more explanations.

13
 3. Approximation of Higher-Order Transfer Functions

In this section, we present a general approach for approximating

high-order transfer function models with lower-order models
that have similar dynamic and steady-state characteristics.
In Eq. 6-34 we showed that the transfer function for a time delay
6 6

can be expressed as a Taylor series expansion. For small values

Chapter

of s, after truncating the expansion after the first-order term

Chapter

provides a suitable approximation:

14
 • An alternative first-order approximation consists of the
transfer function,
Chapter
Chapter 6 6

where the time constant has a value of

• Equations 6-57 and 6-58 were derived to approximate time-
delay terms.
• However, these expressions can also be used to approximate
the pole or zero term on the right-hand side of the equation by
the time-delay term on the left side.

15
 Skogestad’s “half rule”

• Skogestad (2002) has proposed a related approximation method

for higher-order models that contain multiple time constants.
• He approximates the largest neglected time constant in the
following manner.
Chapter 6 6

• One half of its value is added to the existing time delay (if
Chapter

any) and the other half is added to the smallest retained time
constant.
• Time constants that are smaller than the “largest neglected
time constant” are approximated as time delays using (6-58).

16
 Example 6.4
Consider a transfer function:
6 6

Derive an approximate first-order-plus-time-delay model,

Chapter
Chapter

using two methods:

(a) The Taylor series expansions of Eqs. 6-57 and 6-58.
(b) Skogestad’s half rule

Compare the normalized responses of G(s) and the approximate

17 models for a unit step input.
 Solution
(a) The dominant time constant (5) is retained. Applying
the approximations in (6-57) and (6-58) gives:

and
Chapter 6

Substitution into (6-59) gives the Taylor series approximation

18
 (b) To use Skogestad’s method, we note that the largest neglected
time constant in (6-59) has a value of three.

• According to his “half rule”, half of this value is added to the

next largest time constant to generate a new time constant

• The other half provides a new time delay of 0.5(3) = 1.5.

6 6

• The approximation of the RHP zero in (6-61) provides an

Chapter

additional time delay of 0.1.

Chapter

• Approximating the smallest time constant of 0.5 in (6-59) by

(6-58) produces an additional time delay of 0.5.
• Thus the total time delay in (6-60) is,

19
 and G(s) can be approximated as:

The normalized step responses for G(s) and the two approximate models
are shown in Fig. 6.10. Skogestad’s method provides better agreement
6 6

with the actual response.

Chapter
Chapter

Figure 6.10 Comparison

of the actual and
approximate models for
Example 6.4.

20
 Example 6.5
Consider the following transfer function:
6 6

Use Skogestad’s method to derive two approximate models:

Chapter

(a) A first-order-plus-time-delay model in the form of (6-60)

Chapter

(b) A second-order-plus-time-delay model in the form:

Compare the normalized output responses for G(s) and the

approximate models to a unit step input.
21
 Solution
(a) For the first-order-plus-time-delay model, the dominant time
constant (12) is retained.
• One-half of the largest neglected time constant (3) is allocated
to the retained time constant and one-half to the approximate
6 6

time delay.
Chapter

• Also, the small time constants (0.2 and 0.05) and the zero (1)
Chapter

are added to the original time delay.

• Thus the model parameters in (6-60) are:

22
 (b) An analogous derivation for the second-order-plus-time-delay
model gives:
6 6

In this case, the half rule is applied to the third largest time
Chapter

constant (0.2). The normalized step responses of the original and

Chapter

approximate transfer functions are shown in Fig. 6.11.

Figure 6.11 Comparison

of the actual model and
approximate models for
Example 6.5. The actual
and second-order model
responses are almost
indistinguishable.
23
 4. Interacting and Noninteracting Processes
• Consider a process with several input variables and several
output variables. The process is said to be interacting if:
 Each input affects more than one output.
or
6 6

 A change in one output affects the other outputs.

Chapter

Otherwise, the process is called noninteracting.

Chapter

• As an example, we will consider the two liquid-level storage

systems shown in Figs. 4.3 and 6.13.
• In general, transfer functions for interacting processes are more
complicated than those for noninteracting processes.

24
 Figure 4.3. A noninteracting system:
two surge tanks in series.
Chapter
Chapter 6 6

25 Figure 6.13. Two tanks in series whose liquid levels interact.

 Figure 4.3. A noninteracting system:
two surge tanks in series.
Chapter
Chapter 6 6

Mass Balance:

Valve Relation:

Substituting (4-49) into (4-48) eliminates q1:

26
Chapter 6 6 Putting (4-49) and (4-50) into deviation variable form gives

The transfer function relating to is found by

Chapter

transforming (4-51) and rearranging to obtain

where = and = Similarly, the transfer function

relating to is obtained by transforming (4-52).
27
 The same procedure leads to the corresponding transfer functions
for Tank 2,
Chapter
Chapter 6 6

where = and = Note that the desired transfer

function relating the outflow from Tank 2 to the inflow to Tank 1
can be derived by forming the product of (4-53) through (4-56).

28
 or
Chapter
Chapter 6 6

which can be simplified to yield

a second-order transfer function. Figure 4.4 is a block diagram

showing information flow for this system.
29
Block Diagram for Noninteracting
Surge Tank System

Figure 4.4. Input-output model for two liquid surge tanks in series.

30
Chapter
Chapter 6 6 Dynamic Model of An Interacting Process

Figure 6.13. Two tanks in series whose liquid levels interact.

The transfer functions for the interacting system are:

31
 Chapter
Chapter 6 6

32
=
=
Model Comparison
 Noninteracting system

= =
• Interacting system

=
• General Conclusions
The interacting system has a slower response.

33
 5. Multiple-Input, Multiple-Output
(MIMO) Processes

• Most industrial process control applications involved a

number of input (manipulated) and output (controlled)
6 6

variables.
Chapter
Chapter

• These applications often are referred to as multiple-input/

multiple-output (MIMO) systems to distinguish them
from the simpler single-input/single-output (SISO)
systems that have been emphasized so far.
• Modeling MIMO processes is no different conceptually
than modeling SISO processes.

34
 • For example, consider the system illustrated in Fig. 6.14.
• Here the level h in the stirred tank and the temperature T
are to be controlled by adjusting the flow rates of the hot
and cold streams wh and wc, respectively.
• The temperatures of the inlet streams Th and Tc represent
6 6

potential disturbance variables.

Chapter

• Note that the outlet flow rate w is maintained constant and the
Chapter

liquid properties are assumed to be constant in the following

derivation.

(6-88)
35
Chapter
Chapter 6 6

Figure 6.14. A multi-input, multi-output thermal mixing

process.
36
Chapter
Chapter 6 6

Figure 6.15. Block

diagram of the MIMO
thermal mixing system
with variable level.

37
 Chapter
Chapter 6 6

38
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