‘Chap. Computer Simulation andthe Linearization of Nonlinear Systems 126 It should be noted that the modeling eqs. (6.26) and (6.27) are in the form that we would like to have for process control purposes (i.e. linear- ized approximation of the nonlinear state equations), in terms of devia tion variables. Example 6.4: Linearization of a Nonisothermal CSTR ‘The modeling equations for a CSTR were given in Example 4.10 by eas. (4 8a), (4.99), and (4.10h), Assume that the volume lof the reacting mixture remains constant. Then the dynamic model of the reactor is reduced to the following: (ca,~ en) ~ koe" cn (6.28) 7 and eck UA A w= (Ti = T) + Shoe "8 ec, = — (T - T,) (6.29) a i y me vo ) (6.29) whee, 1 = Fi/¥. This model is nonlinear due to the presence of the nonlinear term e~**Tc,, while all the other terms are linear. Thus to linearize eqs. (6.28) and (6.29), we need only to linearize the nonlinear term around some point (Cam Ts). [ae oq) Leior Mites i: al len=e Cement (7-70) Ga Sustiting te approximation above ina es (628) 4nd (628), we ke the following neared mode! fora nonisthermal CSTR: (6.30) Meng TT) + 6 en emu) ) " >| + aye mMeadT ~ Te) 7 631) semen en)| (T pen¥ We can proceed a step further to develop a more convenient form for eqs. (6.30) and (6.31) using the deviation variables. Assume that Tp and cay are the steady-state conditions for the CSTR and for given input condi- tions cs... Tia, and T.» Then from one (6 28) and (6.20),