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Addis Ababa Science and Technology University College of Biological and Chemical Engineering Department of Chemical Engineering

This document provides an overview of process dynamics and control concepts including: 1. Linearization of nonlinear systems using Taylor series expansion to approximate nonlinear functions with linear ones near an operating point. This allows applying linear control theory. 2. Using Laplace transforms to solve differential equations by converting them from the time domain to the frequency (s) domain. Common functions and properties like derivatives, integrals, and initial/final value theorems are covered. 3. The inverse Laplace transform is used to convert solutions back from the s-domain to the time domain. Partial fraction expansion is a simple method for performing the inverse Laplace transform when the denominator is a polynomial. 4. An example problem demonstrates using Laplace transforms to

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54 views

Addis Ababa Science and Technology University College of Biological and Chemical Engineering Department of Chemical Engineering

This document provides an overview of process dynamics and control concepts including: 1. Linearization of nonlinear systems using Taylor series expansion to approximate nonlinear functions with linear ones near an operating point. This allows applying linear control theory. 2. Using Laplace transforms to solve differential equations by converting them from the time domain to the frequency (s) domain. Common functions and properties like derivatives, integrals, and initial/final value theorems are covered. 3. The inverse Laplace transform is used to convert solutions back from the s-domain to the time domain. Partial fraction expansion is a simple method for performing the inverse Laplace transform when the denominator is a polynomial. 4. An example problem demonstrates using Laplace transforms to

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dagmawi
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ADDIS ABABA SCIENCE AND TECHNOLOGY UNIVERSITY

COLLEGE OF BIOLOGICAL AND CHEMICAL ENGINEERING

DEPARTMENT OF CHEMICAL ENGINEERING

Course Name: Process Dynamics and Control (ChEg4183)


Lecture 4: 1. Linearization (Single and Multivariable)

2. Laplace Transform (LT) and Solutions of Differential Equation Using LT


By: Baru D.
Academic Year: 2020/2021
Linearization of Non-linear System (NLS)

Linearization: a process by which approximate the NLS with


linear once.
Why Linearization is important?
1. No general theory for analytical solutions of NLS
2. NLS can be effectively approximated by LS near some operating
conditions
3. Advantage for linear control theory (design effective controller)
Consider the following NLS (single variable)
where (f(x) is non linear function)

Expand f(x) using Taylor series expression around the point xo:
+ …+

Ignore all terms of order 2 and higher, and got the approximation for value of f(x)

( )
𝒇 ( 𝒙 ) ≈ 𝒇 ( 𝒙𝒐 ) +
𝒅𝒇
𝒅𝒙 𝒙𝒐
𝒙 − 𝒙𝒐
𝟏!

The approximation is exact only


at the point of Linearization

Linear approximation of non linear system


Consider the following NLS (multiple variables)
and

Expand the NL function f1(x1,x2) and f2(x1,x2) using Taylor series


expansion around the point (x1,o, x2,o):
Ignore terms of order 2 and higher
Substitute the approximations

Express the last two equations in


deviation form with respect to
steady state values ( assume x1,o
and x2,o are steady state values
x1,s and x2,s respectively),
therefore the equations become
the following in terms of
deviation variables
Example
Consider the tank system shown in the fig below, total mass balance if:
(a). The outlet flowrate is the linear function of the liquid’s level or (b).
Linearize if the system is NL and Express the linearized
form in to deviation variable

therefore it need linearize, use Taylor series expression


Laplace Transforms (LT)
Definition: The Laplace transform of a function f ( t ) or time domain is defined to
be F ( s ) or s-domain according to the equation:

Example f(t)=2, convert into Laplace Transform


F(s)
Solution F(s)=
Common functions
[ =-)=
1. Unit step/step functions f(t)= 1, find F(s)
2. Ramp function f(t)= t, find F(s)
3. Exponential function f(t) =e-2t, find F(s)
4. Unit pulse and Impulse/Dirac function
5. Trigonometric function (sinusoidal
function)
Laplace Transform of Derivatives and Integrals
Final and Initial Value Theorems
𝑠+ 4
Example 1: 𝑓 ( 𝑠 )=
1. Final Value Theorems: 𝑠 ( 𝑠+1 )( 𝑠+2 ) ( 𝑠 +3 )

(𝑠 − 1)( 𝑠+1)
Example 2: 𝑓 ( 𝑠 )=
2. Initial Value Theorems: 𝑠 ( 𝑠+ 3 ) ( 𝑠 − 4 )

1. Solution:

2. Solution:
Example: STH: Fi = F, (previous example), initially at steady state, and the inlet
temperature increased by 10C from the steady state value and remains at the new
level. Aim: want to know how it changes with time?

where

where k= and 1/ = , a= 1/ +k
Use Laplace Transform

this is called S-domain


Inverse of LT
Used to convert s-domain into time domain: Simple method: Partial
fraction expansion

Q and P are polynomials in S-domain


Exponential Function of Temperature
60
Invese Laplace Transform into Time domain
this is called S-domain 50

is called time domain


If a=0.75 and =0.25 40

peratureafunction
30

20

Tem
10

0
0 5 10 15 20 25
Time in minutes
Example: Distinct real roots of polynomial P(s), convert P(t) use partial
fraction.

Exercise

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