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Process Dynamics and Control Seborg 2nd Ch03 PDF
Process Dynamics and Control Seborg 2nd Ch03 PDF
3.1
a)
1e
bt
sin t = e
bt
sin t e dt = sin t e ( s + b )t dt
st
[ (s + b) sin t cos t ]
= e ( s + b ) t
( s + b ) 2 + 2
=
( s + b) 2 + 2
b)
1 e
bt
cos t = e
0
bt
cos t e dt = cos t e ( s + b )t dt
st
[ (s + b) cos t + sin t ]
= e ( s + b ) t
( s + b) 2 + 2
0
s+b
=
( s + b) 2 + 2
3.2
a)
4
s + 3s + 4 s 2 + 6 s + 4
4
2
=
2
s +
s2 + 2
2
( )
2 . Then
2
s +2
2
Since Y(s) = D-1(s) X(s) where D(s) is the characteristic polynomial (when
all initial conditions are zero),
Solution Manual for Process Dynamics and Control, 2nd edition,
Copyright 2004 by Dale E. Seborg, Thomas F. Edgar and Duncan A. Mellichamp.
3-1
Y (s) =
2 2
2
2
( s + 3s + 2) ( s + 2)
2
d2y
dy
+ 3 + 2 y = 2 2 sin 2t
2
dt
dt
b)
c)
2 2 2
( s + 1)( s + 2) + ( s 2 + 2)
a s + a2
+ 2 + 12
s +1 s + 2
s +2
e-2t ,
sin 2 t , cos 2 t
3.3
a)
or
t = h/a
b)
h
slope = -a
slope = a
x(t)
x(t)
slope = -a
c)
h a ae st h e st 1
X ( s) = 2 + 2 = +
s s
s
s
s2
d)
a)
3.4
b)
x(t)
x1
a
a
x4
tr
2tr
3tr
-a
-a
x2
x3
a
1 e tr s e 2tr s + e 3tr s
2
s
3-3
3.5
55
55
t S(t)
(t-30) S(t-30)
30
30
20 55 1
55 1 30 s 20 55 1
T (s) =
+
e
=
+
1 e 30 s
2
2
2
s 30 s
30 s
s 30 s
T(t) = 20 S(t) +
3.6
a)
X ( s) =
1 =
2 =
3 =
b)
s ( s + 1)
= 1 + 2 + 3
( s + 2)( s + 3)( s + 4) s + 2 s + 3 s + 4
s ( s + 1)
( s + 3)( s + 4)
s ( s + 1)
( s + 2)( s + 4)
s ( s + 1)
( s + 2)( s + 3)
=1
s = 2
= 6
s = 3
=6
s = 4
X (s) =
1
6
6
+
s+2 s+3 s+4
X (s) =
s +1
s +1
=
2
( s + 2)( s + 3)( s + 4) ( s + 2)( s + 3)( s + 2 j )( s 2 j )
X ( s) =
+ j 3 3 j 3
1
+ 2 + 3
+
s+2 s+3
s+2j
s+2j
1 =
2 =
s +1
( s + 3)( s 2 + 4)
s +1
( s + 2)( s 2 + 4)
3 + j 3 =
=
s = 2
=
s = 3
x(t ) = e2t 6e 3t + 6e 4t
and
1
8
2
13
s +1
( s + 2)( s + 3)( s 2 j )
3-4
=
s = 2 j
1 2 j
3 + 11 j
=
40 8 j
208
1
2
3
11
x(t ) = e 2t + e 3t + 2
cos 2t + 2
sin 2t
8
13
208
208
1
2
3
11
= e 2t + e 3t
cos 2t +
sin 2t
8
13
104
104
c)
X ( s) =
2
s+4
= 1 +
2
s + 1 ( s + 1) 2
( s + 1)
(1)
2 = ( s + 4) s =1 = 3
In Eq. 1, substitute any s-1 to determine 1. Arbitrarily using s=0, Eq. 1
gives
4 1 3
=
+
1 12
12
or
1 = 1
1
3
+
and
x( t ) = e t + 3te t
2
s + 1 ( s + 1)
1
1
1
X (s) = 2
=
=
2
2
2
s + s +1
1 3 (s + b ) +
s + +
2 4
1
3
where b =
and =
2
2
X (s) =
d)
1
2 2
3
x(t ) = e bt sin t =
e sin
t
2
3
e)
X(s) =
s +1
e 0.5 s
s ( s + 2)( s + 3)
To invert, we first ignore the time delay term. Using the Heaviside
expansion with the partial fraction expansion,
X ( s ) =
s +1
A
B
C
= +
+
s ( s + 2)( s + 3) s s + 2 s + 3
3-5
1
1
=
(2)(3) 6
Multiply by (s+2) and let s 2
A=
B=
2 +1
1
1
=
=
(2)(2 + 3) (2)(1) 2
3 +1
2
2
=
=
(3)(3 + 2) (3)(1)
3
Then
1 6 1 2 2 3
X ( s ) =
+
+
s s+2 s+3
x (t ) =
1 1 2 t 2 3t
+ e e
6 2
3
1 1 2 (t 0.5) 2 3( t 0.5)
+ e
e
6 2
3
for t 0.5
3.7
a)
Y (s) =
6( s + 1)
6
= 2 = 1 + 22
2
s
s ( s + 1) s
s
6
s2
6
Y (s) = 2
s
2 = s2
b)
Y (s) =
=6
1 = 0
s =0
12( s + 2) 1 2 s + 3
=
+ 2
s
s ( s 2 + 9)
s +9
3-6
or
12 s + 24 = ( 1 + 2 ) s + 3 s + 9 1
2
s + 12
8 1 3
Y (s) =
+
3s
s2 + 9
1 =
c)
2 =
3 =
2 =
( s + 2)( s + 3)
( s + 5)( s + 6)
( s + 2)( s + 3)
( s + 4)( s + 6)
( s + 2)( s + 3)
( s + 4)( s + 5)
=1
s = 4
= 6
s = 5
=6
s = 6
Y (s) =
1
6
6
+
s+4 s+5 s+6
Y (s) =
[(s + 1)
3 = 12
( s + 2)( s + 3)
= 1 + 2 + 3
( s + 4)( s + 5)( s + 6) s + 4 s + 5 s + 6
Y (s) =
1 =
d)
8
3
1
2
+ 1 ( s + 2)
1
( s + 2 s + 2) 2 ( s + 2)
2
s + 4
1 s + 2
+ 2 3
+ 5
2
2
s+2
s + 2s + 2 ( s + 2s + 2)
3-7
2 = 0
3=-1/2
4=0
1 / 4s
1 / 2s
1/ 4
+ 2
+
2
s+2
s + 2 s + 2 ( s + 2 s + 2)
2
3.8
a)
[ ]
3-8
5 =
X(s) =
and
b)
2
s ( s + 1) 2 ( s + 2)
s 0
s 0
2
=2
( s + 1) ( s + 2)
2
3.9
a)
X (s) =
6( s + 2)
6( s + 2)
=
( s + 9s + 20)( s + 4) ( s + 4)( s + 5)( s + 4)
2
6s ( s + 2)
=0
x(0) = lim
s ( s + 5)( s + 4) 2
6s ( s + 2)
x() = lim
=0
s 0 ( s + 5)( s + 4) 2
x(t) is converging (or bounded) because [sX(s)] does not have a limit at
s = 4, and s = 5 only, i.e., it has a limit for all real values of s 0.
x(t) is smooth because the denominator of [sX(s)] is a product of real
factors only. See Fig. S3.9a.
b)
10 s 2 3
10 s 2 3
X (s) = 2
=
( s 6 s + 10)( s + 2) ( s 3 + 2 j ) ( s 3 2 j )( s + 2)
10s 3 3s
x(0) = lim 2
= 10
s ( s 6 s + 10)( s + 2)
Application of final value theorem is not valid because [sX(s)] does not
have a limit for some real s 0, i.e., at s = 32j. For the same reason, x(t)
is diverging (unbounded).
x(t) is oscillatory because the denominator of [sX(s)] includes complex
factors. See Fig. S3.9b.
3-9
16 s + 5
16s + 5
=
2
( s + 9) ( s + 3 j ) ( s 3 j )
X (s) =
16s 2 + 5s
x(0) = lim 2
= 16
s
( s + 9)
Application of final value theorem is not valid because [sX(s)] does not
have a limit for real s = 0. This implies that x(t) is not diverging, since
divergence occurs only if [sX(s)] does not have a limit for some real value
of s>0.
x(t) is oscillatory because the denominator of [sX(s)] is a product of
complex factors. Since x(t) is oscillatory, it is not converging either. See
Fig. S3.9c
0.4
0.35
0.3
0.25
x(t)
0.2
0.15
0.1
0.05
-0.05
0.5
1.5
2.5
Time
3.5
4.5
6000
4000
2000
x(t)
c)
-2000
-4000
-6000
-8000
-10000
-12000
0.5
1.5
2.5
Time
3-10
20
15
10
x(t)
-5
-10
-15
-20
0.5
1.5
2.5
Time
3.5
4.5
Figure S3.9d. Simulink block diagram for cases a), b) and c).
3-11
3.10
a)
i)
ii)
iii)
iv)
Y(s) =
2
2
A B
C
= 2
= 2+ +
s s+4
s ( s + 4 s ) s ( s + 4) s
Y(s) =
2
2
A
B
C
=
= +
+
s ( s + 4 s + 3) s ( s + 1)( s + 3) s s + 1 s + 3
Y (s) =
2
2
A
B
C
=
= +
+
2
2
s ( s + 2)
s+2
s ( s + 4 s + 4) s ( s + 2)
Y (s) =
2
s ( s + 4 s + 8)
s 2 + 4 s + 8 = ( s 2 + 4 s + 4) + (8 4) = ( s + 2) 2 + 2 2
2
Y (s) =
s[(s + 2) 2 + 2 2 ]
b)
0=A+B
B = A =
s1 :
2= C
s0 :
2 = 4A
C=2
1
A=
2
3-12
1
2
Y(s) =
1 2 (1 2) s
2
+ 2
+ 2
2
s
s +2
s + 22
y(t) =
1 1
2
cos 2t + sin 2t
2 2
2
y(t) =
1
(1 cos 2t ) + sin 2t
2
3.11
a)
3
1
3
1
3
s ( s + 1)( s + +
j )( s +
j)
2 2
2 2
Denominator of [sX(s)] contains complex factors so that x(t) is oscillatory,
and denominator vanishes at real values of s= 1 and - which are all <0
so that x(t) is convergent. See Fig. S3.11a.
2
s 2 X ( s) X (s) =
s 1
2
2
X (s) =
=
2
( s 1)( s 1) ( s 1) 2 ( s + 1)
X (s) =
b)
3
s
3
=
s ( s + 2 s 2 + 2 s + 1)
3
s 3 X ( s) + X (s) =
X (s) =
1
s +1
2
1
=
( s + 1)( s 3 + 1)
2
1
1
3
1
3
( s + j )( s j )( s + 1)( s +
j )( s
j)
2 2
2 2
3-13
s 2 X ( s ) + sX ( s ) =
4
s
4
4
= 2
s ( s + s ) s ( s + 1)
X (s) =
2.5
x(t)
1.5
0.5
-0.5
5
time
10
600
500
400
x(t)
d)
300
200
100
0.5
1.5
2.5
time
3.5
4.5
3-14
80
60
x(t)
40
20
-20
-40
5
time
10
18
16
14
12
x(t)
10
0.5
1.5
2.5
3.5
4.5
time
3.12
dx(0)
=0
dt
X ( s) =
K
U (s)
1 2 s + ( 1 + 2 ) s + 1
2
Factoring denominator
X ( s) =
a)
K
U (s)
(1 s + 1)( 2 s + 1)
X a (s) =
a
s
Ka
s (1 s + 1)( 2 s + 1)
1 2
X b ( s) =
b
s +1
Kb
(s + 1)(1 s + 1)( 2 s + 1)
1 2
c)
c
1 s + 1
Kc
(1 s + 1) 2 ( 2 s + 1)
d
s + 2
2
Kd
( s + )(1 s + 1)( 2 s + 1)
2
3-16
3.13
dx3
+ 4 x = et
3
dt
a)
d 2 x(0) dx(0)
=
= x(0) = 0
dt 2
dt
with
X (s) =
1
s 1
1
1
=
3
( s 1)( s + 4) ( s 1)( s + 1.59)( s 0.79 + 1.37 j )( s 0.79 1.37 j )
3 + j 3
3 j 3
1
2
+
+
+
s 1 s + 1.59 s 0.79 + 1.37 j s 0.79 1.37 j
1 =
2 =
1
( s + 4)
s =1
1
5
1
( s 1)( s 0.79 + 1.37 j )( s 0.79 1.37 j )
3 + j 3 =
1
( s 1)( s + 1.59)( s 0.79 1.37 j )
=
s = 1.59
1
19.6
= 0.74 0.59 j
s = 0.79 1.37 j
1
1
b)
sX (s) 12 X(s) =
X (s) =
3
s +9
2
3
3
=
( s + 9)( s 12) ( s + 3 j )( s 3 j )( s 12)
2
3
1 + j 1 1 j 1
+
+
s+3j
s3j
s 12
3-17
1 + j 1 =
3 =
=
s = 3 j
3
1
4
=
j
18 + 72 j
102 102
3
1
=
( s + 9 ) s =12 51
2
X (s) =
x(t ) =
c)
3
( s 3 j )( s 12)
1
4
1
4
1
j
+
j
102 102 + 102 102 + 51
s+3j
s 3j
s 12
1
1
(cos 3t + 4 sin 3t ) + e12 t
51
51
d2x
dx
+ 6 + 25 x = e t
2
dt
dt
dx(0)
= x(0) = 0
dt
with
s 2 X ( s ) + 6 sX ( s ) + 25X ( s ) + X ( s ) =
X ( s) =
1 =
1
or
s +1
X( s ) =
1
( s + 1 )( s + 6 s + 25 )
2
+ 2 j 2 2 j
1
= 1 + 2
+
( s + 1)( s + 3 + 4 j )( s + 3 4 j ) s + 1 s + 3 + 4 j s + 3 4 j
1
( s + 6 s + 25)
2 + j 2 =
s = 1
1
20
1
( s + 1)( s + 3 4 j )
=
s = 3 4 j
1
1
j
40 80
1
1
1
1
1
j
j
X ( s ) = 20 + 40 80 + 40 80
s +1 s + 3 + 4 j
s + 3 4 j
x(t ) =
d)
1 t
1
1
e e 3t ( cos 4t + sin 4t )
20
20
40
(1)
(2)
3-18
From (2),
(s+3) Y2(s) = X2(s) + 2Y1(s)
Y2 ( s ) =
1
2
X 2 (s) +
Y1 ( s )
s+3
s+3
Substitute in Eq.1
sY1(s) +
1
2
X 2 (s) +
Y1 ( s ) = X1(s)
s+3
s+3
s+3
s+3
X 1 (s) =
X 1 (s)
( s + 1)( s + 2)
s + 3s + 2
2
1
s +1
s+3
A
B
C
Y1 ( s ) =
=
+
+
2
2
( s + 1) ( s + 2) ( s + 1) ( s + 1)
s+2
2
A
B
C
=
+
+
2
s+2
( s + 1) ( s + 2) ( s + 1) ( s + 1)
2
so that y2(t) will contain the same functions of time as y1(t) (although
different coefficients).
3-19
3.14
d 2 y (t )
dy (t )
d ( x 2)
+3
+ y (t ) = 4
x(t 2)
2
dt
dt
dt
Taking the Laplace transform and assuming zero initial conditions,
s2Y(s) + 3sY(s) + Y(s) = 4 e-2ssX(s) e-2sX(s)
Rearranging,
Y (s)
(1 4s )e 2 s
= G(s) = 2
X ( s)
s + 3s + 1
a)
(1)
b)
Steady-state gain
K = lim G ( s ) = 1
(from (1))
s 0
c)
0.5
-0.5
-1
-1.5
10
15
20
25
30
3-20
3.15
f (t ) = hS (t ) hS (t 1 / h)
dx
+ 4 x = h[S (t ) S (t 1 / h)]
dt
x(0)=0
1 es / h
sX ( s ) + 4 X ( s ) = h
s
s
1
X ( s ) = h(1 e s / h )
= h(1 e s / h ) 1 + 2
s ( s + 4)
s s + 4
1
1
1
1
1 =
=
, 2 =
=
s + 4 s =0 4
s s =4
4
h
1
1
(1 e s / h )
4
s s + 4
X ( s) =
h 1 e s / h
1
e s / h
4 s
s
s + 4 s + 4
0
h
(1 e 4t )
4
h 4( t 1 / h )
e
e 4t
4
x(t ) =
t <0
0 < t < 1/h
t > 1/h
1
h=1
h=10
h=100
0.9
0.8
0.7
x(t)
0.6
0.5
0.4
0.3
0.2
0.1
0.2
0.4
0.6
0.8
1
time
1.2
1.4
1.6
1.8
3-21
3.16
a)
Laplace transforming
(s2 + 6s + 9)Y(s) =
s
s +1
2
s
+s+8
s +1
2
s + s 3 + s + 8s 2 + 8
(s + 6s + 9)Y(s) =
s2 +1
2
Y(s) =
s 3 + 8s 2 + 2 s + 8
( s + 3) 2 ( s 2 + 1)
A
B
Cs
D
+
+ 2
+ 2
2
( s + 3)
s + 3 s +1 s +1
b)
Y(s)=
s +1
s ( s + 4 s + 8)
Since
42
< 8 we know we will have complex factors.
4
3-22
{ b = 2 , =2}
Y (s) =
A
B ( s + 2)
C
s +1
+ 2
+ 2
=
2
s s + 4 s + 8 s + 4 s + 8 s ( s + 4 s + 8)
Y (s) =
B = A =
s2 :
A+B=0
s1 :
4A + 2B + C = 1
s0 :
8A = 1
A=
1
1 3
C = 1 + 2 4 =
8
8 4
1
8
1
8
1 / 8 ( 1 / 8)( s + 2)
3/ 4
+
+
2
2
s
( s + 2) + 2
( s + 2) 2 + 2 2
1 1
3
y(t) = e-2t cos 2t + e-2t sin 2t
8 8
8
3.17
dC
+ qC = qCi
dt
,
,
t 0
t>0
3-23
ci
s
so that
sVC(s) + qC(s) = q
ci
s
or
C(s) =
qci
( sV + q ) s
ci
V
s +1 s
q
c(t) = ci 1 e q
50
45
40
35
c(t)
30
25
20
15
10
10
15
20
25
30
Time
3-24
3.18
a)
If Y(s) =
KA
s( s 2 + 2 )
A
= 1 {A sin t}
(s + 2 )
2
b)
Y(s) =
1 =
with
y(0) = 0
s
KA
= 1+ 2 2 2 + 2 3 2
2
2
s( s + ) s s +
s +
KA
s + 2
2
=
s 0
KA
0 = 1 + 2
s:
0 = 3
2 = 1 =
3 = 0
KA
KA / ( KA / ) s
=
2
2
2
s
s( s + )
s + 2
KA
(1 cos t )
y(t) =
Y(s) =
3-25
KA
c)
u(t)
-A
2KA/
y(t)
0
Time
i)
We see that y(t) follows behind u(t) by 1/4 cycle = 2/4= /2 rad.
which is constant for all
ii)
3-26