ch06 PDF

%TO := % %CO := %
Smith & Corripio, 3rd edition

Problem 6-1. Second-order loop with proportional controller.
D(s)
G2(s)
R(s) + E(s) M(s) + C(s)
Gc(s) G1(s)
+
-
K
G1 ( s) = Gc( s) = Kc
( 1 s + 1) ( 2 s + 1)
%TO
Problem parameters: K := 0.10 1 := 1min 2 := 0.8min
%CO
(a) Closed loop transfer function and characteristic equation of the loop.
K
Kc
C( s)
=
( 1 s + 1) ( 2 s + 1) =
Kc K
R( s)
1 + Kc
K ( 1 s + 1) ( 2 s + 1) + Kc K
( 1 s + 1) ( 2 s + 1)
Characteristic equation:
2
( )
1 2 s + 1 + 2 s + 1 + Kc K = 0
C( s) 0.1Kc
Closed-loop transfer function: =
R( s) 2
0.8s + 1.8s + 1 + 0.1Kc
2
Characteristic equation: 0.8s + 1.8s + 1 + 0.1Kc = 0
(b) Values of the controller gain for which the response is over-damped, critically
damped, and under-damped
Roots of the characteristic equation:
( )
2 2
1.8 + 1.8 4 0.8 1 + 0.1Kc 1.8
+ 1.8 1 + 0.1Kc
r1 = =
2 0.8 1.6 1.6 0.8
The response is critically damped when the term in the radical is zero: 2
1.8 1 + 0.1Kc = 0

1.6 0.8
1 1.8 2
%CO
Critically damped:
Kccd := 0.8 1 Kccd = 0.125
0.1 1.6 %TO
%CO %CO
Over-damped (real roots): Kc < 0.125 Under-damped: Kc > 0.125
%TO %TO
The loop cannot be unstable for positive gain because,

for real roots the radical cannot be greater than the negative term, so both roots are negative
for complex conjugate roots the real part is always negative, -1.8/1.6, or -(1 +2 )/21 2
This is true for all positive values of the time constants and the product K. cK.
(c) Equivalent time constants for different values of the gain:

%CO
Kc := 0.1 (over-damped, two equivalent time constans)
%TO
1 2 1 2
e1 = e1 := e1 = 0.935 min
r1
( 1 + 2) ( 1 + 2) 2
(
4 1 2 1 + Kc K)
1 2 1 2
e2 = e2 := e2 = 0.847 min
r2
( 1 + 2) + ( 1 + 2) 2
(
4 1 2 1 + Kc K)
%CO
Kc := 0.125 (critically damped, two equal real time constants)
%TO
1 2 1 2
e1 = e1 := e1 = 0.889 min
r1
( 1 + 2) ( 1 + 2) 2
(
4 1 2 1 + Kc K)
1 2 1 2
e2 = e2 := e2 = 0.889 min
r2
( 1 + 2) + ( 1 + 2) 2
(
4 1 2 1 + Kc K)
%CO
Kc := 0.2 (under-damped, time constant and damping ratio)
%TO
2 2 1 2 2 1 + 2
s + 2 s + 1 = s + s+1
1 + Kc K 1 + Kc K
1 2 1 + 2
Match coefficients: := := = 0.886 min = 0.996
1 + Kc K (
2 1 + Kc K )
(d) Steady-state offset for a unit step change in set point.
1
Final value theorem: lim Y( t) = lim s Y( s) R( s) = (Table 2-1.1)
t s0 s
%CO Kc K 1 -3
Kc := 0.1 lim s 9.9009900990099009901 10
%TO s0 2
( )
1 2 s + 1 + 2 s + 1 + Kc K
s
offset := ( 1 0.0099)%TO offset = 0.99 %TO
%CO Kc K 1 -2
Kc := 0.125 lim s 1.2345679012345679012 10
%TO s 0 2
( )
1 2 s + 1 + 2 s + 1 + Kc K
s
offset := ( 1 0.01235 )%TO offset = 0.988 %TO

%CO Kc K 1 -2
Kc := 0.2 lim s 1.9607843137254901961 10
%TO s0 2
( )
1 2 s + 1 + 2 s + 1 + Kc K
s
offset := ( 1 0.01961 )%TO offset = 0.98 %TO
These are very large offsets because the loop gains are so small.
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is unlawful.
Problem 6-2. Inverse-response second-order system with proportional
controller.
D(s)
G2(s)
R(s) + E(s) M(s) + C(s)
Gc(s) G1(s)
+
-
6 ( 1 s) %TO %CO
G1 ( s) = Gc( s) = Kc
( s + 1 ) ( 0.5 s + 1 ) %CO %TO
(a) Closed-loop transfer function and characteristic equation of the loop.

C( s) Kc 6 ( 1 s)
Closed-loop transfer function: =
R( s) ( s + 1 ) ( 0.5s + 1 ) + Kc 6 ( 1 s)
( )
2
Characteristic equation: 0.5 s + 1.5 6Kc s + 1 + 6Kc = 0
(b) Values of the gain for which the response is over-, critically, and under-damped
Roots:
( ) (1.5 6Kc) ( ) = 1.5 + 6K

2
1.5 6Kc + 4 0.5 1 + 6Kc 2
r1 =
2 0.5 c+ 0.25 30Kc + 36Kc
The response is critically damped when the term in the radical is zero:
2
2 30 + 30 4 0.25 36 %CO
0.25 30Kc + 36Kc = 0 Kc := Kc = 0.82491
2 36 %TO
2
30 30 4 0.25 36 %CO
Kc := Kc = 0.00842
2 36 %TO
%CO %CO
Over-damped (two real roots): Kc < 0.00842 and Kc > 0.825
%TO %TO
%CO %CO
Under-damped (complex conjugate roots): 0.00842 < Kc < 0.825
%TO %TO
%CO
The response is unstable when Kc > 0.25 (one real root is positive or the real part of the
%TO complex roots i positive)
(c) Effective time constants or time constant and damping ratio for various values o
the gain:
0.5 2 1.5 6Kc 2 2

s + s + 1 = s + 2 s + 1
1 + 6Kc 1 + 6Kc
%CO 0.5min
2 (1.5 6Kc)min
Kc := 0.1 := := = 0.559 min = 0.503
%TO 1 + 6Kc 2 ( 1 + 6Kc)
%CO 0.5min
2 (1.5 6Kc)min
Kc := 0.125 := := = 0.535 min = 0.401
%TO 1 + 6Kc 2 ( 1 + 6Kc)
Kc := 0.2
%CO
0.5min
2 (1.5 6Kc)min
%TO := := = 0.477 min = 0.143
1 + 6Kc 2 ( 1 + 6Kc)
Kc := 0.3
%CO
0.5min
2 (1.5 6Kc)min
%TO := := = 0.423 min = 0.127
1 + 6Kc 2 ( 1 + 6Kc)
(unstable)
Try values that result in equivalent time constants:
%CO 1min
Kc := 0.005 e1 := e1 = 0.868 min
%TO 2
1.5 6 Kc 0.25 30Kc + 36Kc
1min
e2 := e2 = 0.559 min
2
1.5 6 Kc + 0.25 30Kc + 36Kc
%CO 1min
Kc := 1 e1 := e1 = 0.143 min
%TO 2
1.5 6 Kc 0.25 30Kc + 36Kc
(unstable)
1min
e2 := e2 = 0.5 min
2
1.5 6 Kc + 0.25 30Kc + 36Kc
(d) Offset for various values of the gain and a unit step change in set point.
%CO Kc 6 ( 1 s) 1
Kc := 0.10 lim s .37500000000000000000
%TO s
( )
s0 2
0.5s + 1.5 6 Kc s + 1 + 6Kc
%CO
offset := 1 0.375 offset = 0.625
%TO
%CO Kc 6 ( 1 s) 1
Kc := 0.125 lim s .42857142857142857143
%TO s
s0 2
( )
0.5s + 1.5 6 Kc s + 1 + 6Kc
%CO
offset := 1 0.429 offset = 0.571
%TO
%CO Kc 6 ( 1 s) 1
Kc := 0.20 lim s .54545454545454545455
%TO s
s0 2
( )
0.5s + 1.5 6 Kc s + 1 + 6Kc
%CO
offset := 1 0.545 offset = 0.455
%TO
The offsets are high because the gains are small. Of course, since for gains greater than
0.25%CO/%TO the loop is unstable, offsets can only be high with a proportional controller.
is unlawful.
K := 1.8R
Problem 6-3. First-order process and proportional-integral controller.
D(s)
G2(s)
R(s) + E(s) M(s) + C(s)
Gc(s) G1(s)
+
-
Gc( s) = Kc 1 +
K 1
G1 ( s) =
s + 1 I s

To work in dimensionless units, t/, set: := 1
(a) Closed-loop transfer function and characteristic equation of the loop. Offset.
Closed-loop transfer functon:

C( s)
=
(
KKc I s + 1 )
R( s) I s ( s + 1 ) + KKc ( I s + 1 )
( )
2
Characteristic equation: I s + 1 + KKc I s + KKc = 0
Offset: the steady state gain is: lim

(
KKc I s + 1 ) =
KKc
=1
KKc
I (
s 0 s2 + 1 + KK s + KK
c I c )
(no offset)
(b) Is there an ultimate gain for this loop?

2
Substitute s = i: (
I u + KKcu + i 1 + KKcu u = 0 ) u := 0 KKcu := 0
No, there is no ultimate gain. This result just means that a negative loop gain will make the loop
unstable. Another way to show it is to determine the roots of the characteristic equation:
2
( ) (1 + KKc)
2
1 + KKc I + I 4 I KKc
r1 =
2 I
The real root cannot be negative for any positive value of the loop gain KK c because the radical is
always smaller than the negative term. Also, for complex conjugate roots, the real part is always
negative:
(
1 + KKc )
Real = <0
2
(c) Response of the loop to a step change in set point for I = as the gain varies
from 0 to infinity.
R( s) =
1
(Table 2-1.1) KKc ( s + 1 ) 1 KKc 1
s Y( s) = =
s ( s + 1 ) + KKc ( s + 1 ) s s + KKc s
1 1 1 1
Let c = Y( s) = =
KKc c s + 1 s s 1 u ( t) := 0 if t < 0
s+
c 1 if t 0
c := 1
t R( t) := u ( t)
Invert using Table 2-1.1: c
Y( t) := u ( t) e
1
As KKc increases c decreases and the response
is faster. Y ( t)
R( t) 0.5
0
0 2 4
t
is unlawful.
K
R :=
1.8
Problem 6-4. Second-order process with pure integral controller.
D(s)
G2(s)
R(s) + E(s) M(s) + C(s)
Gc(s) G1(s)
+
-
K KI
G1 ( s) = Gc( s) =
( 1 s + 1) ( 2 s + 1) s
(a) Ultimate gain and period with the parameters of Problem 6-1:
%CO
K := 0.1 1 := 1min 2 := 0.8min
%TO
K KI
( )
Characteristic equation: 2
1 2 s + 1 + 2 s + 1 + =0
s
3
( )2
1 2 s + 1 + 2 s + s + KKI = 0
( )
3 2
Substitute s = iu : 1 2 i u 1 + 2 u + i u + KKIu = 0 + 0i
( ) 2
1 + 2 u + KKIu = 0
3
1 2 u + u = 0
u :=
1
KIu :=
( 1 + 2) u2 u = 1.118 min
1
KIu = 22.5
%CO
1 2
K %TO min
2
Tu :=
u Tu = 5.62 min
(b) Ultimate gain and period for other values of the smaller time constant:
2 := 0.1min
u :=
1
KIu :=
( 1 + 2) u2 u = 3.162 min
1
KIu = 110
%CO
1 2
K %TO min

Tu := 2
u Tu = 1.987 min
2 := 2min
u :=
1
KIu :=
( 1 + 2) u2 u = 0.707 min
1
KIu = 15
%CO
1 2
K %TO min
2
Tu :=
u Tu = 8.886 min
Reducing the non-dominat time constant increases the ultimate gain and reduces the ultimate
period, as expected. When 2 is increased to 2 min, it becomes the dominant time constant and
the ultmate gain should be higher than for part (a). However, in this case K I has units of rate and,
since the loop is slower, it results in a smaller ultimate gain.
is unlawful.
Problem 6-5. Second-order process with proportional-integral controller.
D(s)
G2(s)
R(s) + E(s) M(s) + C(s)
Gc(s) G1(s)
+
-
Gc( s) = Kc 1 +
K 1
G1 ( s) =
( 1 s + 1) ( 2 s + 1) I s

1 := 1min 2 := 0.8min
(a) Ultimate gain and period as a function of integral time I.
Characteristic equation of the loop:

3
( ) 2
(
1 2 I s + 1 + 2 I s + I 1 + KKc s + KKc = 0 )
1 + 2 I u + KKcu + i 1 2 I u + I 1 + KKcu u = 0 + i0
( ) 2 3
Substitute s = iu :
( )
( ) ( )
2 2 2 2
KKcu = 1 + 2 I u 1 2 I u + I + 1 + 2 I u = 0
u =
1
KKcu =
( 1 + 2) I
(
1 2 1 + 2 I ) 1 2 ( 1 + 2) I
Tu =
2
u
(
= 2 1 2 1 + 2 I )
1.8min I 2
For the given numerical values: KKcu = Tu = 2 0.8min 1.8min I
2
0.8min 1.8min I
Notice that for some values of I the ultimate frequency and period are complex. When this
happens there is no ultimate gain and the loop is stable for all values of the gain. So, the loop is
always stable as long as
1 2 2
0.8min
I > or I > = 0.444min
1 + 2 1.8min
(b) Damping ratio and decay ratio with Kc equal to one half the ultimate and I = 1
min
For these values there is no ultimate gain. THe characteristic equation becomes:
KKc 1 +
1
KKc ( s + 1 )
1+
s
=1+
2
= 0.8s + s + KKc = 0
( s + 1 ) ( 0.8s + 1 ) s( s + 1 ) ( 0.8s + 1 )
2 2 0.8 2 1
Standard second-order differential equation: s + 2 s + 1 = s + s+1
KKc KKc
2
0.8min 1min 1 1
Damping ratio: =
KKc
=
2 KKc
=
2 0.8 KKc
(
KKc := ) 2 0.8KKc
Roots: 1 + 1 4 0.8 KKc 1 1 4 0.8 KKc

r1 = r2 =
2 0.8 2 0.8
1
These are complex for KKc > = 0.3125
4 0.8
Under these conditions the decay ratio is, from Eq. 2-5.18:
2
2
2 1 2
2 0.8KKc 1 3.2KKc 1
DR = e
1
2
=e 4 0.8 KKc
=e 3.2 KKc 1
(
DR KKc := e )
1.5 0.4
1
(
KKc ) DR KKc( ) 0.2
0.5
0 0
5 10 0 5 10
KKc KKc
is unlawful.
Smith & Corripio, 3rd edition degF := R psia := psi
3
kscf := 1000ft psig := psi
Problem 6-6. Design of gas flow control loop.
Design conditions: lbmole := 453.59mole
fsset(t)
kscf
fs := 150 p 1 := 150psig
hr c(t)
T1 := 60degF p 2 := 80psig
FC
lb
M := 29 := 50 m(t)
lbmole
FT
v := 0.06min I := v fs(t)
Kc := 0.9
%CO p1 p2
%TO
Assume the pressures and temperatures are constant and that the flow transmitter FT has a built-in
square-root extractor so that the signal c(t) is proportional to the flow f s(t). The valve is
equal-percentage and the controller is PI.
Block diagram of the control loop:
Fsset(s) E(s) M(s) Fs(s)

Ksp + Gc(s) Gv(s)
- C(s) KT
Size the flow transmitter for 150% of design flow: fsmax := 1.5 fs kscf
fsmax = 225
hr
100%TO %TO hr
Transmitter gain: KT := Ksp := KT KT = 0.444
fsmax kscf
Gc( s) = Kc 1 +
1
PI Controller:
I s

Size the control valve for 100% overcapacity. From Eq. 5-2.3: Let Cf := 0.9
M lbmole 1.63 p1 p2 3
G := y := y = 1.181 fy := y 0.148y fy = 0.937
29lb Cf p 1 + 14.7psia
Cvmax :=
(
200 % fs G T1 + 460 R ) gal hr

psi
( )
Cf p 1 + 14.7psia fy 0.836kscf min R
gal
Cvmax = 58.91
min psi
From Fig. C-10.1, p. 532, a 3-in Masoneilan valve is the smallest for this service:
gal
Cvmax := 110
min psi
Valve gain, equal-percentage, constant pressures, Eq. 5-2.24:
ln( ) kscf
Kv := f Kv = 5.87
100%CO s hr %CO
Transfer function of the valve: Kv

Gv ( s) =
v s + 1
Closed-loop transfer function and time constant of the loop:
Kv
Ksp Kc 1 +
1
Ksp Gc( s) Gv ( s) I s
Fs( s)
= =
v s + 1
set 1 + KT Gc( s) Gv ( s) Kv
1 + KT Kc 1 +
Fs ( s) 1
I s v s + 1

With I = v Ksp = KT Fs( s) Ksp Kc Kv 1

= =
set v s + KT Kc Kv c s + 1
Fs ( s)
v
Closed-loop time constant: c := c = 0.026 min
KT Kc Kv
So the closed-loop responds faster than the valve, and has no offset.
is unlawful.
Problem 6-7. Steam flow control loop.
Design conditions: lbmole := 453.59mole
wset(t)
lb
w := 3500 p 1 := 45psig
hr c(t)
Tsh := 50degF p 2 := 20psig
FC
lb lb
M := 18 wmax := 5000 m(t)
lbmole hr
FT
Linear valve.
I := v w(t)
Cf := 0.8 Kc := 0.5
%CO p1 p2
%TO
Assume the pressures and temperatures are constant and that the flow transmitter FT has a built-in
square-root extractor so that the signal c(t) is proportional to the flow w(t). The valve is linear and
the controller is PI.
Block diagram of the control loop:
Wset(s) E(s) M(s) W(s)

Ksp + Gc(s) Gv(s)
- C(s) KT
Size the flow transmitter for :
100%TO %TO hr
Transmitter gain: KT := Ksp := KT KT = 0.02
wmax lb
Gc( s) = Kc 1 +
1
PI Controller:
I s

Size the control valve for 100% overcapacity. From Eq. 5-2.3:
M lbmole 1.63 p1 p2 3
G := y := y = 1.319 fy := y 0.148y fy = 0.979
29lb Cf p 1 + 14.7psia
From the steam table the saturated steam pressure at: p 1 + 14.7psia = 59.7 psia Tsat := 292degF
w kscf kscf
fs := 0.380 fs = 73.889 T1 := Tsat + Tsh T1 = 342 degF
M lbmole hr
(
200 % fs G T1 + 460 R ) gal hr psi
Cvmax :=
(
Cf p 1 + 14.7psia fy ) 0.836kscf min R
gal
Cvmax = 84.3
min psi
From Fig. C-10.1, p. 532, a 3-in Masoneilan valve is the smallest for this service:
gal
Cvmax := 110
min psi
0.836kscf min R p 1 + 14.7psia M lbmole

wvmax := Cvmax Cf fy
gal hr psi (
G T1 + 460R ) 0.380kscf
lb
wvmax = 9131
hr
Valve gain, linear, constant pressures, Eq. 5-2.23:

wvmax lb
Kv := Kv = 91.31
100%CO hr %CO
Transfer function of the valve: Kv

Gv ( s) =
v s + 1
Closed-loop transfer function and time constant of the loop:
Kv
Ksp Kc 1 +
1
Ksp Gc( s) Gv ( s) I s
W( s)
= =
v s + 1
set 1 + KT Gc( s) Gv ( s) Kv
1 + KT Kc 1 +
W ( s) 1
I s v s + 1

With I = v Ksp = KT Fs( s) Ksp Kc Kv 1

= =
set v s + KT Kc Kv c s + 1
Fs ( s)
v
Closed-loop time constant: c := KT Kc Kv = 0.913
KT Kc Kv
So the closed-loop responds slightly slower than the valve, and has no offset. What can be
adjusted to speed-up the response of the closed loop?
is unlawful.
Problem 6-8. Ultimate gain and period of various process transfer functions.
D(s)
G2(s)
R(s) + E(s) M(s) + C(s)
Gc(s) G1(s)
+
-
Proportional controller: Gc( s) = Kc Characteristic equation: 1 + Kc G1 ( s) = 0
1 4 4 3 2
(a) G1 ( s) = ( s + 1 ) + Kc = 0 s + 4s + 6s + 4s + 1 + Kc = 0
4
( s + 1)
4 3 2
Substitute s = iu at Kc = K cu : u 4 u i 6 u + 4 u i + 1 + Kcu = 0 + 0i
3 1 2
Imaginary part: 4 u + 4 u = 0 u := 1min Tu := Tu = 6.28 min
u
4 2
Kcu := u min
( )4 + 6min2 ( u)2 1
Real part: u 6 u + 1 + Kcu = 0 %CO
Kcu = 4
%TO
1 2 2
(b) G1 ( s) = ( s + 1 ) + Kc = 0 s + 2s + 1 + Kc = 0
2
( s + 1)
2
Substitute s = iu at Kc = K cu : u + 2 u i + 1 + Kcu = 0 + 0i
Imaginary part: 2 u = 0 u := 0 (There is no ultimate gain)
2 %CO
Real part: u + 1 + Kcu = 0 Kcu := 1
%TO
The loop becomes monotonically unstable when the controller gain is less than -1%CO/%TO.
1 3 2
(c) G1 ( s) = 8s + 14s + 7s + 1 + Kc = 0
( 4s + 1 ) ( 2 s + 1 ) ( s + 1 )
3 2
Substitute s = iu at Kc = K cu : 8 u i 14 u + 7 u i + 1 + Kcu = 0 + 0i
3
Imaginary part: 8 u + 7 u = 0 7 1 2
u := min Tu := Tu = 6.72 min
8 u
2 2 2 %CO
Real part: 14 u + 1 + Kcu = 0 Kcu := 14min u 1 Kcu = 11.25
%TO
0.5s + 1
( )
3 2
(d) G1 ( s) = 8s + 14s + 7 + 0.5Kc s + 1 + Kc = 0
( 4s + 1 ) ( 2s + 1 ) ( s + 1 )
3 2
Substitute s = iu at Kc = K cu : ( )
8 u i 14 u + 7 + 0.5Kcu u i + 1 + Kcu = 0 + 0i
2 2
Real part: 14 u + 1 + Kcu = 0 Kcu = 14 u 1
3
Imaginary part: (
8 u + 7 + 0.5Kcu u = 0 )
2 2 1 2
8 u + 7 + 7 u 0.5 = 0 u := 6.5 min Tu :=
u
2 2 %CO
Kcu := 14min u 1 Kcu = 90 Tu = 2.46 min
%TO
1 3 2
(e) G1 ( s) = 0.08s + 1.22s + 4.3s + 1 + Kc = 0
( 4s + 1 ) ( 0.2s + 1 ) ( 0.1s + 1 )
3 2
Substitute s = iu at Kc = K cu : 0.08 u i 1.22 u + 4.3 u i + 1 + Kcu = 0 + 0i
3
Imaginary part: 0.08 u. + 4.3 u = 0 4.3 1 2
u := min Tu :=
0.08 u
2
Real part: 1.22 u + 1 + Kcu = 0
Tu = 0.857 min
2 2 %CO
Kcu := 1.22min u 1 Kcu = 64.6
%TO
0.6s
e 0.6s
(f) G1 ( s) = 6s + 1 + Kc e =0
Pad approximation:
0.6s 1 0.3s
6s + 1 e =
1 + 0.3s
( )
2
1.8s + 6.3 0.3Kc s + 1 + Kc = 0
2
Substitute s = iu at Kc = K cu : ( )
1.8 u + 6.3 0.3Kcu u i + 1 + Kcu = 0 + 0i
6.3 %CO
Imaginary part: ( )
6.3 0.3Kcu u = 0 Kcu :=
0.3
Kcu = 21
%TO
2 1 + Kcu 1 2
Real part: 1.8 u + 1 + Kcu = 0 u := min Tu :=
1.8 u
Tu = 1.797 min
is unlawful.
Problem 6-9. Ultimate gain and period with integral controller.
D(s)
G2(s)
R(s) + E(s) M(s) + C(s)
Gc(s) G1(s)
+
-
KI KI
Integral controller: Gc( s) = Characteristic equation: 1+ G1 ( s) = 0
s s
1 5 4 3 2
(a) G1 ( s) = s + 4s + 6s + 4s + s + KI = 0
4
( s + 1)
5 4 3 2
Substitute s = iu at KI = K Iu: u i + 4 u 6 u i 4 u + u i + KIu = 0 + 0i
5 3
Imaginary part: u 6 u + u = 0
2 2
6+ 6 4 1 6 6 4 1
u := u = 2.414 min u := u = 0.414 min
2 2
2min 2min
4 3 3 4 2 2
Real part: 4 u 4 u + KIu = 0 KIu := 4 min u + 4min u Tu :=
u
%CO
KIu = 0.569 Tu = 15.17 min
%TO min
Must use the smaller ultimate frequency, as the ultimate gain for the other value is negative.
1 3 2
(b) G1 ( s) = s + 2s + s + KI = 0
2
( s + 1)
3 2
Substitute s = iu at KI = K Iu: u i 2 u + u i + KIu = 0 + 0i
3 1 2
Imaginary part: u + u = 0 u := 1min Tu := Tu = 6.28 min
u
2 2 %CO
Real part: 2 u + KIu = 0 KIu := 2min u KIu = 2
%TO min
1 4 3 2
(c) G1 ( s) = 8s + 14s + 7s + s + KIu = 0
( 4s + 1 ) ( 2s + 1 ) ( s + 1 )
4 3 2
Substitute s = iu at KI = K Iu: 8 u 14 u i 7 u + u i + KIu = 0 + 0i
3 1 1 2
Imaginary part: 14 u + u = 0 u := min Tu := Tu = 23.51 min
14 u
4 2 3 4 2 %CO
Real part: 8 u 7 u + KIu = 0 KIu := 8 min u + 7min u KIu = 0.459
%TO min
0.5s + 1
(d) G1 ( s) =
( 4s + 1 ) ( 2s + 1 ) ( s + 1 )
4 3 2
8s + 14s + 7s + 1 + 0.5KI s + KI = 0 ( )
4 3 2
Substitute s = iu at KI = K Iu: (
8 u 14 u i 7 u + 1 + 0.5 KIu u i + KIu = 0 + 0i )
4 2 4 2
Real part: 8 u 7 u + KIu = 0 KIu = 8 u + 7 u
14 u + 1 4 u + 3.5 u
3 4 2 4 2
Imaginary part:
u = 0 4 u 10.5 u + 1 = 0
2
10.5 10.5 4 ( 4 ) 2
u := Tu := Tu = 20.71 min
2 u
2 ( 4 ) min
3 4 2 %CO
KIu := 8 min u + 7min u KIu = 0.576
%TO min
1 4 3 2
(e) G1 ( s) = 0.08s + 1.22s + 4.3s + s + KI = 0
( 4s + 1 ) ( 0.2s + 1 ) ( 0.1s + 1 )
4 3 2
Substitute s = iu at KI = K Iu: 0.08 u 1.22 u i 4.3 u + u i + KIu = 0 + 0i
3 1 1 2
Imaginary part: 1.22 u + u = 0 u := min Tu := Tu = 6.94 min
1.22 u
4 2 3 4 2
Real part: 0.08 u 4.3 u + KIu = 0 KIu := 0.08min u + 4.3min u
%CO
KIu = 3.47
%TO min
0.6s
e 2 0.6s 0.6s 1 0.3s
(f) G1 ( s) = 6s + s + KI e =0 Pad approximation: e =
6s + 1 1 + 0.3s
3 2
(
1.8s + 6.3s + 1 0.3KI s + KI = 0 )
3 2
Substitute s = iu at KI = K Iu: ( )
1.8 u i 6.3 u + 1 0.3KIu u i + KIu = 0 + 0i
2 2
Real part: 6.3 u + KIu = 0 KIu = 6.3 u
1.8 u + 1 1.89 u
3 2 1 1 2
Imaginary part:
u = 0 u :=
3.69
min Tu :=
u
2 %CO
KIu := 6.3min u KIu = 1.707 Tu = 12.07 min
%TO min
is unlawful.
Problem 6-10. Open-loop unstable process and proportional controller.
D(s)
G2(s)
R(s) + E(s) M(s) + C(s)
Gc(s) G1(s)
+
-
Gc( s) = Kc K
G1 ( s) = := 5min
( s 1) ( v s + 1) ( T s + 1)
Charatcteristic equation of the loop: ( s 1 ) ( v s + 1 ) ( T s + 1) + KKc = 0

(a) Negligible valve and transmitter time constants: v := 0 T := 0
1 KKc
s 1 + KKc = 0 Root: r=

%CO
The loop is stable for KKc > 1 (negative real root)
%TO
(b) Negligible valve time constant, T := 1min

2
( )
T s + T s 1 + KKc = 0
Dominant root: r1 =
(
T + ) ( T)2 4 T (1 + KKc)
2 T
( )2 4 T KKc
2 2
The radical is: 2 T + T + 4 T 4 T KKc = + T
( + T) ( + T)2 = 1.8 %CO

2
The roots are real as long as: KKc
4 T 4 T %TO
The dominant root is negative when: ( + T)2 4 T KKc < T

( + T)2 4 T KKc < ( T)2
2 2 2 2
+ 2 T + T + 2 T T < 4 T KKc
%CO
So, the loop is stable for: KKc > 1
%TO
Note: When the roots are complex, the real part is negative:
(
T ) = 0.4 min 1
2 T
(c) v := 0.1min T := 1.0min

3
( )2 (
Characteristic equation: v T s + v + T v T s + v T s 1 + KKc = 0 )
Substitute s = i at KKc = KKcu :
( ) ( )
3 2
v T u i v + T v T u + v T u i 1 + KKcu = 0 + 0i
v T
( )
3 2
Imaginary part: v T u + v T u = 0 u := Tu :=
v T u
( ) 2
Real part: v + T v T u 1 + KKcu = 0 Tu = 2.25 min
( ) 2 %CO
KKcu := 1 + v + T v T u KKcu = 43.1
%TO
Now, the response is unstable also for KK c < 1:
KKc := 1 1 + KKc

( v c) min 1 10.037
polyroots = 0.963 Root at zero, integrating
( v T)
+ min 2 response
0
3
( v T) min
KKc := 0.99 1 + KKc

( v c) min 1 10.036 Positive root, unstable
polyroots = 0.966 response
( + ) min 2 3
v T 2.064 10
3
( v T) min
KKc := 1.01 1 + KKc
Negative real roots, stable
( v c) min 1 10.037 response
polyroots = 0.961
( + ) min 2
3
v T 2.073 10
min 3
( v T)
%CO %CO
So the range of the gain for which the response is stable is: 1 < KKc < 43.1
%TO %TO
Notice that for all three cases there is a lower limit on the loop gain for which the response is
stable. This means the response is unstable when the feedback controller is on manual, KK c = 0.
is unlawful.
Problem 6-11. Analyzer control loop for blender of Problem 3-18.
Problem parameters:
3 kg c set(t)
V := 40m c1b := 80 AC
3
m
3 m(t)
m kg
fb := 4.0 c2b := 30
min 3
m
kg
cb := 50 f1(t)
3
m
Linear control valve sized for 100% AT
overcapacity.
c 1(t) V
v := 0.1min
p v := 5psi f2(t) c(t) f(t)
Transmitter: T := 3min
c 2(t)
kg kg
cmin := 20 cmax := 70
3 3
m m
3
Disturbance: m
f1 := 0.1 Use subscript "b" to denote base values for linearization.
min
From the solution top Problem 3-18, ignoring the inlet concentration disturbances for simplicity:
F1(s)
G1(s)
Cset(s) + E(s) M(s) F2(s) + C(s)

Ksp Gc(s) Gv(s) G2(s)
- +
H(s)
Kv KT K1 K2
Gc( s) = Kc Gv ( s) = H( s) = G1 ( s) = G2 ( s) =
v s + 1 T s + 1 s + 1 s + 1
3 3
m m V
From the solution to Problem 3-18: f1b := 1.6 f2b := 2.4 := = 10 min
min min f1b + f2b
c1b cb c2b cb kg min kg min
K1 := K2 := K1 = 7.5 K2 = 5
f1b + f2b f1b + f2b 3 3 3 3
m m m m
200 % f2b gal 1 gal
Control valve: Cvmax := Cvmax = 567
3 3 p v 0.5
3.785 10 m min psi
From Fig. C-10.1, p. 532, an 8-in valve is the smallest with enough capacity:
gal
Cvmax := 640
0.5
min psi
3 3
3.785 10 m
f2max := Cvmax p v
gal
3 f2max 3
m m
f2max = 5.417 Kv := Kv = 0.054
min 100%CO min %CO
Valve fails closed (air-to-open), to prevent overflowing the tank.

3
100 %TO %TO m
Transmitter: KT := Ksp := KT KT = 2
cmax cmin kg
set
Ksp Gc( s) Gv ( s) G2 ( s) C ( s) + G1 ( s) F1 ( s)
Closed-loop transfer function:: C( s) =
1 + H( s) Gc( s) Gv ( s) G2 ( s)
KT Kv K2
Characteristic equation: 1+ Kc =0
T s + 1 v. s + 1 s + 1
3
( ) 2
( )
T v s + T v + T + v s + T + v + s + 1 + KT Kc Kv K2 = 0
Let K := KT Kv K2 K = 0.542
Substitute s = u i at KKc = KKcu :
( ) ( )
3 2
T v u i T v + T + v u + T + v + u i + 1 + KKcu = 0 + 0i
T + v +
( ) 2
3
Imaginary part: T v u + T + v + u = 0 u := Tu :=
T v u
( ) 2
Real part: T v + T + v u + 1 + KKcu = 0 Tu = 3.01 min
Kcu :=
( T v + T + v ) u 2 1 Kcu = 250
%CO
K %TO
Direct-acting controller, because the dilute stream has a negative gain on the product composition.
f1 set
Kcu %CO
Offset: F1 ( s) = C ( s) = 0 Kc := Kc = 125
s 2 %TO
set
E( s) = Ksp C ( s) H( s) C( s) = H( s) C( s)
By the final-value theorem:
KT K1 f1

T s + 1 s + 1 s KT K1 f1
Offset = lim s =
s0
1+
KT
Kc
Kv K2
1 + KT Kc Kv K2
T s + 1 v s + 1 s + 1

KT K1 f1
= 0.022 %TO
1 + KT Kc Kv K2
Although not asked in the problem, let us determine the roots of the characteristic equation:
Response is stable and the

1 + K Kc dominant roots are complex
conjugate. The period of
( T + v + ) min 1 10.226 oscillation is:
polyroots = 0.104 + 1.494i
( + + ) min 2 T :=
2
T v T v 0.104 1.494i 1
1.494min
3
T v min
T = 4.21 min
1
0.104 min T
Decay ratio: e = 0.646
5
Settling time: = 48.08 min
1
0.104 min
This is a highly oscillatory response, with 11 cycles before it settles. Students should be
encouraged to study which controller gain actually gives quarter decay ratio.
Compare the results with the simulation of Problem 13-11.

is unlawful.
Problem 6-12. Temperature control of non-isothermal reactor of Section
4-2.3 by manipulation of coolant flow to the jacket.
Control Valve: equal-percentage,
negligible time constant. Tset(t)
TC
:= 50
m(t)
Transmitter: negligible time constant.
f(t)
TT
Tmin := 640R Tmax := 700R cAi(t)
Tc(t)
3
Ti(t)
ft
fcp := 0.8771 V
min
(use subscript "p" to denote fc(t)

base values for linearization)
Tci
c A(t) T(t)
Block diagram, from Section 4-2.3, ignoring disturbances for simplicity:
F(s)
GF(s)
Tset(s) + E(s) M(s) Fc(s) + T(s)

Ksp Gc(s) Gv(s) G(s)
- +
H(s)
31.79 ( 0.976 s + 1 ) ( 1 2.77 s)

Ksp = KT Gc( s) = Kc Gv ( s) = Kv H( s) = KT GF( s) =
3 2
26.27s + 36.31s + 10.14s + 1
35.77 ( 2.07s + 1 )
G( s) = (Eq. 4-2.41) (Eq. 4-2.39)
3 2
26.27s + 36.31s + 10.14s + 1
ln( ) fcp ft
3
Control valve gain, Eq. 5-2.24, p. 171: Kv := Kv = 0.034
100%CO min %CO
The control valve fails opened (air-to-close) to prevent overheating the reactor on loss of power. This
is why its gain is negative.
100%TO %TO
Transmitter gain: KT := KT = 1.667
Tmax Tmin R
35.77 ( 2.07 s + 1 )
Characteristic equation of the loop: 1 + Kc Kv KT =0
3 2
26.27s + 36.31s + 10.14s + 1
R min %TO
Let K := 35.77 Kv KT K = 2.046
3 %CO
ft
The positive K requires a positive K c,
that is, a reverse-acting controller.
Rearrange and substitute s = u i at KKc = KKcu :
3 2
( )
26.27 u i 36.31 u + 10.14 + 2.07 KKcu u i + 1 + KKcu = 0 + 0i
2 2
Real part: 36.31 u + 1 + KKcu = 0 KKcu = 36.31 u 1
3 2
Imaginary part: (
26.27 u + 10.14 + 2.07KKcu u = 0 ) 10.14 2.07 = ( 26.27 2.07 36.31 ) u
10.14 2.07 1 1
u := min u = 0.406i min
26.27 2.07 36.31
The ultimate frequency cannot be an imaginary number. This means that there is no ultimate gain
and period for this loop. The reason is the G(s) has a net order of 2--one zero and three poles--and
there are no additional lags for the valve and the transmitter. So, the loop cannot be made unstable
with a proportional controller of positive gain.
is unlawful.
Problem 6-13. Temperature control of non-isothermal reactor of Section
4-2.3 by manipulation of the reactants flow.
Control Valve: linear, sized for

100% overcapacity, negligible time Tset(t)
constant. Assume
TC
p v := 5psi m(t)
Transmitter: negligible time constant.
f(t)
TT
Tmin := 640R Tmax := 700R cAi(t)
Tc(t)
3
Ti(t)
ft
fp := 1.3364 V
min
(use subscript "p" to denote fc(t)

base values for linearization)
Tci
c A(t) T(t)
Block diagram, from Section 4-2.3, ignoring disturbances for simplicity:
Tset(s) + E(s) M(s) F(s)

Ksp Gc(s) Gv(s) GF(s)
-
Fc(s) + T(s)
G(s)
+
H(s)
31.79 ( 0.976 s + 1 ) ( 1 2.77 s)

Ksp = KT Gc( s) = Kc Gv ( s) = Kv H( s) = KT GF( s) =
3 2
26.27s + 36.31s + 10.14s + 1
35.77 ( 2.07s + 1 )
G( s) = (Eq. 4-2.41) (Eq. 4-2.39)
3 2
26.27s + 36.31s + 10.14s + 1
200% fp 7.48gal gal
Control valve size: Cvmax := Cvmax = 8.941
p v ft
3 min psi
gal
From Fig. C-10.1, p. 532, a -in valve is required: Cvmax := 11 fmax := Cvmax p v
min psi
fmax 3
ft
Control valve gain, Eq. 5-2.23, p. 171: Kv := Kv = 0.033
100%CO min %CO
The control valve fails closed (air-to-open) to prevent overflowing the reactor on loss of power.
100%TO %TO
Transmitter gain: KT := KT = 1.667
Tmax Tmin R
31.79 ( 0.976 s + 1 ) ( 1 2.77s)

Characteristic equation of the loop: 1 + Kc Kv KT =0
3 2
26.27s + 36.31s + 10.14s + 1
R min %TO
Let K := 31.79 Kv KT K = 1.742
3 %CO
ft
The positive K requires a positive K c,
that is, a reverse-acting controller.
Rearrange and substitute s = u i at KKc = KKcu :
3 2
26.27 u i 36.31 + 0.976 ( 2.77) KKcu u + 10.14 + ( 0.976 2.77) KKcu u i + 1 + KKcu = 0

2
2 36.31 u 1
Real part: 36.31 + 0.976 ( 2.77) KKcu u + 1 + KKcu = 0 KKcu =
2
1 0.976 ( 2.77) u
3
Imaginary part: 26.27 u + 10.14 + ( 0.976 2.77)KKcu u = 0 0.976 2.77 = 1.794

2 0.976 ( 2.77) = 2.704
2 36.31 u 1
26.27 u + 10.14 + ( 1.794 ) =0
2
1 ( 2.704 ) u
4 2
26.27 ( 2.704 ) u + [ 26.27 + 10.14 ( 2.704 ) + ( 1.794 )36.31 ] u + ( 10.14 + 1.794 ) = 0
26.27 ( 2.704 ) = 71.034 26.27 + 10.14 ( 2.704 ) + ( 1.794 )36.31 = 63.992 10.14 + 1.794 = 11.934
4 2
71.034 u 63.992 u + 11.934 = 0
2
63.992 63.992 4 ( 71.034) ( 11.934) 2
u := Tu := Tu = 15.78 min
2 u
2 ( 71.034) min
2 2
1 36.31min u 1
Kcu := %CO
K 2 2 Kcu = 1.91
1 + 2.704min u %TO
The reason there is an ultimate gain in this case and not when the cooling water is manipulated
(Problem 6-12) is the inverse response of the temperature to the reactants flow (negative zero in the
transfer function).
is unlawful.
K := 1.8R
Problem 6-14. Analyzer control of three mixing tanks of Problem 4-3.
m(t) x6set(t)
AC
AT
f1(t) f3(t) f4(t) f6(t)
V V V
x3(t) x4(t) x6(t)
f5(t) f2(t) f7(t)
x5(t) x2(t) x7(t)
Block diagram, considering only f 1 (t) anf f2 (t) as input variables:
F2(s)
G2(s)
X6set(s) + E(s) M(s) F1(s) + X6(s)

- +
H(s)
gal gal
Problem parameters (Table P4-1): V := 7000gal f1 := 1900 f2 := 1000 x 2 := 99%
min min
gal gal
f5 := 500 x 5 := 80% f7 := 500 x 7 := 90%
min min
f5 x 5 gal
Assume perfectly mixed tanks, constant density. f3 := f1 + f5 x 3 := f3 = 2400
f3 min
f3 x 3 + f2 x 2 gal
f4 := f3 + f2 x 4 := f4 = 3400 x 4 = 40.882 % x 3 = 16.667 %
f4 min
f4 x 4 + f7 x 7 gal
f6 := f4 + f7 x 6 := f6 = 3900 x 6 = 47.179 %
f6 min
Control valve: Equal-percentage valve, constant pressure drop, = 50, negligible time constant.
ln( 50) gal
Gv ( s) = Kv Kv := f (Eq. 5-2.24, p. 171) Kv = 74.3
100%CO 1 min %CO
The valve fails closed (air-to-open) to
prevent overflowing the tanks on loss
Analyzer Transmitter: negligible lag, 30 to 70% range:
of power.
100%TO %TO
H( s) = KT KT := KT = 2.5
( 70 30)% %
Proportional controller: Gc( s) = Kc
Process Transfer Functions:

1
From the soution to Problem 4-3: X6 ( s) =
3 s + 1
(K6 X4(s) K7 F1( s) K7 F2(s))
1
X4 ( s) =
2 s + 1
(K3 X3(s) K5 F1( s) + K8 F2(s))
K2 (where we have added F2 (s) as an
X3 ( s) = F1 ( s) input variable)
1 s + 1
V V V f4 x6 x4 f3 x4 x3 x3
1 := 2 := 3 := K6 := K7 := K3 := K5 := K2 :=
f3 f4 f6 f6 f6 f4 f4 f3
x2 x4 % min
K8 := 1 = 2.917 min 2 = 2.059 min 3 = 1.795 min K6 = 0.872 K8 = 0.017
f4 gal
3 % min 3 % min 3 % min

K3 = 0.706 K5 = 7.122 10 K2 = 6.944 10 K7 = 1.615 10
gal gal gal
Eliminate X3 (s) and X4 (s):
X4 ( s) =
(
K2 K3 K5 1 s + 1 ) F (s) + K8
F2 ( s)
( 1 s + 1) ( 2 s + 1) 1
2 s + 1
X6 ( s) = G1 ( s) F1 ( s) + G2 ( s) F2 ( s)
G1 ( s) =
(
K6 K2 K3 K5 1 s + 1
) K7 ( 1 s + 1) ( 2 s + 1)
( 1 s + 1) ( 2 s + 1) ( 3 s + 1)
G2 ( s) =
(
K6 K8 K7 2 s + 1 )
( 2 s + 1) ( 3 s + 1)
Characteristic equation of the loop: 1 + H( s) Gc( s) G ( s) G1 ( s) = 0
1 + KT Kc Kv
(
K6 K2 K3 K5 1 s + 1
) K7 ( 1 s + 1) ( 2 s + 1) = 0
( 1 s + 1) ( 2 s + 1) ( 3 s + 1)
2
(
1 2 3 s + 1 2 + 1 3 + 2 3 K7 KT Kc Kv 1 2 s + )2
+ 1 + 2 + 3 K6 K5 KT Kc Kv 1 K7 KT Kc Kv 1 + 2 s +
( )
( )
+ 1 K6 K2 K3 + K5 + K7 KT Kc Kv = 0

Let A := 1 2 3 B := 1 2 + 1 3 + 2 3 C := 1 + 2 + 3 KA := K7 KT Kv 1 2
KB := KT Kv K6 K5 1 + K7 1 + 2
( ) ( )
KC := K6 K2 K3 + K5 + K7 KT Kv

3 2 2
A = 10.778 min B = 14.935 min C = 6.77 min KA = 1.802 min KB = 4.858 min
KC = 2.248
Substitute s = u i at Kc = K.cu :
( ) ( )
3 2
A u i B KA Kcu u + C KB Kcu u i + 1 KC Kcu = 0 + 0i
2
B u 1
( ) 2
Real part: B KA Kcu u + 1 KC Kcu = 0 Kcu =
2
KC KA u
B u 1
2
3
Imaginary part: A u + C + KB u = 0
2

KC KA u

( )
4 2
KA A u + A KC + KB B KA C u + KC C KB = 0
Let a := KA A b := A KC + KB B KA C c := KC C KB
5 3
a = 19.419 min b = 36.13 min c = 10.361 min
2
b + b 4 a c 1
u := u = 0.595i min
2 a
The complex ultimate frequency mens that there is no ultimate gain. The process is stable for all
negative Kc (direct-acting controller): increasing concentration increases controller output, opening
the valve and increasing the flow of pure water. This dilutes the solution and brings the
concentration down.
Test: %CO
Kc := 1 Roots of the characteristic equation:
%TO
1 KC Kc
Negative real root and
( C KB Kc) min 1 0.59 complex conjugate roots
polyroots
= 0.481 0.528i
with negative real parts.
( K K ) min 2 Loop is stable.
B A c 0.481 + 0.528i
3
A min

%CO
%TO
1 KC Kc Negative real roots. Loop
is stable.
( C KB Kc) min 1 15.183
polyroots = 2.326
( K K ) min 2
B A c 0.593
3
A min

%CO
%TO
1 KC Kc
Negative real roots. Loop is
( C KB Kc) min 1 1.67 103 stable.
polyroots =
( K K ) min 2 2.105
B A c 0.593
3
A min

The reason there is no ultimate gain is that the transfer function of the process in the loop has a net
order of one (three poles and two zeros). So, with negligible valve and transmitter lags, the loop
cannot be made unstable with a proportional controller. In practice there will be some lags in the
valve and transmitter, however small, and this will impose a limit on the controller gain. Note: In the
second edition of this text the analyzer transmitter was specified to have a dead time of 2 min. This
is a more realistic situation and did result in an ultimate gain and period.
Offset for an increase of 10 gal/min in flow f2:

set G2 ( 0 )
Offset = Ksp x 6 KT x 6 = 0 KT f
1 + KT Kc Kv G1 ( 0 ) 2
gal min %
f2 := 10 G2 ( 0 ) = KG2 KG2 := K6 K8 K7 KG2 = 0.013
min gal
min %
G1 ( 0 ) = KG1 ( )
KG1 := K6 K2 K3 K5 K7 KG1 = 0.012
gal
KG2
( )
Offset Kc := KT f
1 + KT Kc Kv KG1 2
For Kc = -1 %CO/%TO: Offset( 1 ) = 0.102 %TO
Open-loop offset (Kc = 0): Offset( 0 ) = 0.332 %TO
For a PI controller the offset is zero.
0
Let X = Kc
Offset( X ) 0.002
0.004
10 5 0
X
is unlawful.
Problem 6-15. Analyzer control of reactors in series of Problem 4-9.
m(t) cA2set(t)
AC
AT
f0(t) f1 (t)
V1 V2
cA0(t) cA1(t) cA2(t)
fR
Block diagram:
CA0(s)
G2(s)
CA2set(s)
+ E(s) M(s) F0(s) + CA2(s)
- +
H(s)
Proportional controller: Gc( s) = Kc Control valve: Gv ( s) = Kv
KT 3 3
100 %TO ft %TO ft
Transmitter: H( s) = T := 0.5min KT := KT = 20
T s + 1 5lbmole lbmole
Problem data:
3 3
3 lbmole 1 ft ft
V1 := 125ft V2 := V1 cA0 := 7 k 1 := 0.2min f0 := 10 fR := 0
3 min min
ft
k 2 := k 1 f1 := f0 + fR
At the initial steady state: (f1 + k1 V1) cA1 = f0 cAo + fR cA2 (f1 + k2 V2)cA2 = f1 cA1
f0 cA0 f1 cA1
cA1 := cA2 :=
fR f1 f1 + k 2 V2
f1 + k 1 V1
f1 + k 2 V2
lbmole lbmole
cA1 = 2 cA2 = 0.571
3 3
ft ft
Control valve gain: linear sized for 100% overcapacity, assume p v := 5psi
200% f0 7.48gal gal

Cvmax := Cvmax = 66.903
3
ft p v min psi
gal
From Fig. C-10.1, p. 532, a 3-in valve is needed: Cvmax := 110
min psi
3 f0max 3
ft ft
f0max := Cvmax p v Kv := Kv = 0.329
7.48gal 100%CO min %CO
The valve fails closed (air-to-open) so as not to overflow the reactor on power failure.
Process transfer functions from the solution to Problem 4-9:

K1 K3 V1 V2
G2 ( s) = 1 := 2 := 1 = 3.571 min
( 1 s + 1) ( 2 s + 1) K2 K3 f1 + k 1 V1 f1 + k 2 V2
2 = 3.571 min
f0 fR f1
K1 := K2 := K3 := K1 = 0.286 K2 = 0
f1 + k 1 V1 f1 + k 1 V1 f1 + k 2 V2
K3 = 0.286
1 cA0 cA1 lbmole min

CA1( s) =
1 s + 1
(K1 CA0(s) + K4 F0( s) + K2 CA2( s) ) K4 :=
f1 + k 1 V1
K4 = 0.143
6
ft
K3 K5 cA1 cA2 lbmole min
CA2( s) = CA1( s) + F0 ( s) K5 := K5 = 0.041
2 s + 1 2 s + 1 f1 + k 2 V2 6
ft
Substitute to eliminate CA1(s):
CA2( s) = K3
(K1 CA0(s) + K4 F0( s) + K2 CA2( s) ) + K5
F0 ( s)
( 2 s + 1) ( 1 s + 1) 2 s + 1
=
( )
K1 K3 CA0( s) + K3 K4 + K5 1 s + 1 F0 ( s)
( 1 s + 1) ( 2 s + 1) K2 K3
G1 ( s) =
CA2( s)
=
K3 K4 + K5 1 s + 1 ( )
F0 ( s) ( )(
1 s + 1 2 s + 1 K2 K3 )
KT
Charactetristic equation of the loop: 1+ Kc Kv G1 ( s) = 0
T s + 1
3
( )2 (
T 1 2 s + T 1 + T 2 + 1 2 s + T + 1 + 2 K2 K3 T + KT Kc Kv K5 1 s )
+ 1 K2 K3 + KT Kc Kv K3 K4 + K5 = 0 ( )
Let A := 1 2 T B := T 1 + T 2 + 1 2 C := T + 1 + 2 K2 K3 T
( )
3 2
D := KT Kv K5 1 KL := KT Kv K3 K4 + K5 A = 6.378 min B = 16.327 min
lbmole min
C = 7.643 min D = 0.959 min KL = 0.537 K3 K4 = 0.041
6
ft
Substitute s = u i at Kc = K cu :
( )
3 2
A u i B u + C + D Kcu u i + 1 K2 K3 + KL Kcu = 0 + 0i
2
2 B u 1 + K2 K3
Real part: B u + 1 K2 K3 + KL Kcu = 0 Kcu =
KL
B u 1 + K2 K3
2
3
Imaginary part: A u + C + D u = 0
KL

u :=
(
KL C D 1 K2 K3 ) u = 0.507i min
1
KL A D B
The imaginary value of the ultimate gain means that there is no ultimate gain. The loop is stable for
all positive values of the controller gain. The reason is that the net order of the transfer function
G1 (s) is one (two poles and one zero). With an additional lag in the transmitter, the total order of
the transfer function is two, not enough lags to produce instability with a proportional controller.
The controller gain is positive (reverse action): an increase in composition decreases the controller
output. This decreases the flow of reactants and decreases the concentration.
Offset for an increase of 1 lbmole/ft3 in inlet reactant cncentration.

set
Ksp cA2 KT cA2 0 KT G2 ( 0 ) cA0
Offset = =
1 + KT Kc Kv G1 ( 0 ) 1 + KT Kc Kv G1 ( 0 )
lbmole K1 K3
cA0 := 1 G2 ( 0 ) = KG2 KG2 := KG2 = 0.082
3 1 K2 K3
ft
K3 K4 + K5 lbmole min
G1 ( 0 ) = KG1 KG1 := KG1 = 0.082
1 K2 K3 6
ft
KG2
( )
Offset Kc := KT c
1 + KT Kc Kv KG1 A0
For Kc = 1 %CO/%TO: Offset( 1 ) = 1.062 %TO
Open-loop offset (Kc = 0): Offset( 0 ) = 1.633 %TO
Compare these results with the simulation of this process in Problem 13-16.
Let X = Kc
Offset( X) 0.01
0.02
0 5 10
X
is unlawful.
Problem 6-16. Temperature control of direct contact heater of Problem 4-5.
Problem parameters:
V := 5gal := 7
lb T3set(t)
gal TC
BTU
cp := 0.8 f1(t)
lb degF
T1(t) TT
Design conditions:
gal Liquid f3(t)
f1p := 25 T1p := 60degF
min
T3(t)
T3p := 80degF
w2(t)
Control valve: p v := 10psi
Saturated
m(t)
steam
lb p v
w2 ( t) = 1.954 vp( t)
min psi
"p" denotes base value
min gal
v := 4s Disturbance: f1 := 2 for linearization.
60s min
Assumptions:
Perfectly mixed tank, constant volume, negligible heat losses Tmin := 50degF
Constant density and physical properties
Steam is at atmospheric pressure Tmax := 100degF
Transmitter has a range of 50 to 100F and a time constant of 10 s
BTU min
From the steam tables, the enthalpy of the steam is: Hs := 1145.4 T := 10s
lb 60s
Block diagram, ignoring the inlet temperature as a variable:
F1(s)
G2(s)
T3set(s)
+ E(s) M(s) W2(s) + T3(s)
- +
H(s)
Proportional controller: Gc( s) = Kc
Kv lb p v 1 lb
Linear control valve: Gv ( s) = Kv := 1.954 K = 0.062
v s + 1 min psi 100%CO v min %CO
KT 100%TO %TO
Temperature transmitter: H( s) = KT := Ksp := KT KT = 2
T s + 1 Tmax Tmin degF
Enthalpy balance on the tank, neglecting heat losses:
d T3 ( t )
( ) (
f1 ( t) cp T1 ( t) 32 degF + w2 ( t) Hs f3 ( t) cp T3 ( t) 32 degF = V cv ) dt
d V
Mass balance, assuming constant volume: f1 ( t) + w2 ( t) f3 ( t) = =0
dt
f3 ( t) = f1 ( t) + w2 ( t)
Sustitute into enthalpy balance:
d T3 ( t )
V cv
dt
( ) (
= f1 ( t) cp T1 ( t) T3 ( t) + w2 ( t) Hs cp T3 ( t) 32 degF
)
At the initial steady state:
w2p :=
(
f1p cp T3p T1p ) w2p = 2.529
lb
(
Hs cp T3p 32degF ) min
Note: This value differs from the value given in the statement of Problem 4-5, probably because a
different steam pressure was assumed.
Linearize: d 3( t)
V cv
dt
( )
= a1 1 ( t) 3 ( t) + a2 F1 ( t) + a3 W2 ( t) a4 3 ( t)
where 1 ( t) = T1 ( t) T1p 3 ( t) = T3 ( t) T3p F1 ( t) = f1 ( t) f1p W2 ( t) = w2 ( t) w2p

a1 := f1p cp (
a2 := cp T1p T3p ) (
a3 := Hs cp T3p 32degF ) a4 := w2p cp
d 3 ( t)
Rearrange:
dt
()
+ 3 ( t) = K1 1 t + K2 F1 ( t) + K3 W2 ( t) 3(0) = 0
where V cp a1 a2 a3
:= K1 := K2 := K3 := = 0.197 min
a1 + a4 a1 + a4 a1 + a4 a1 + a4
degF min degF min

K1 = 0.986 K2 = 0.789 K3 = 7.794
gal lb
Note: These values differ from the solution to Problem 4-5 because a different steam pressure is
assumed here.
K1 K2 K3
Laplace transform: 3 ( s) = 1 ( s) + F1 ( s) + W2 ( s)
s + 1 s + 1 s + 1
K2 K3
G2 ( s) = G3 ( s) =
s + 1 s + 1
Ultimate gain and period of the loop:

KT Kv K3
Characteristic equation: 1+ Kc =0
T s + 1 v s + 1 s + 1
let KKc = KT Kc Kv K3
3
( ) 2
(
T v s + T v + T + v s + T + v + s + 1 + KKc = 0 )
Substitue s = u i at KK c = KKcu :
( ) ( )
3 2
T v u i T v + T + v u + T + v + u i + 1 + KKcu = 0
T + v +
( )
3 2
Imaginary part: T v u + T + v + u = 0 u := Tu :=
T v u
( ) 2
Real part: T v + T + v u + 1 + KKcu = 0 Tu = 0.448 min
Kcu :=
( T v + T + v ) u 2 1 Kcu = 10.61
%CO
KT Kv K3 %TO
Offset caused by change in inlet liquid flow at one half the ultimate gain:
set
Ksp T3 KT T3 0 KT K2 f1 Kcu
Offset = = Kc :=
1 + KT Kc Kv K3 1 + KT Kc Kv K3 2
KT K2 f1
Offset :=
1 + KT Kc Kv K3 Offset = 0.516 %TO
Offset
= 0.258 degF
KT
is unlawful.
Problem 6-17. Composition control of three isothermal reactors in series.
m(t) c3set(t)
AC
AT
f(t) c1(t) c2(t) c3(t)
V V V
ci(t)
1 gal lb
Problem data: V := 1000gal k := 0.1min fp := 100 cip := 4
min gal
lb lb 100%TO %TO gal
Analyzer transmitter: cmin := 0 cmax := 1.0 KT := KT = 100
gal gal cmax cmin lb
Control valve: linear with constant pressure drop and sized for 100% overcapacity. v := 0.1min
200% fp gal
p v := 5psi Cvmax := Cvmax = 89.443
p v min psi
gal
From Fig. C-10.1, page 532, a 3-in valve is required: Cvmax := 110
min psi
Cvmax p v The valve fails closed (air-to-open)
gal
Kv := to prevent overflowing the reactors Kv = 2.46
100%CO on power failure. min %CO
Model of the reactors, from mass balances on each reactor, assuming

Perfectly mixed, constant volume
Constant density and physical properties
d c1 ( t )
V = f ( t) ci( t) f ( t) c1 ( t) k V c1 ( t)
dt
d c2 ( t )
V = f ( t) c1 ( t) f ( t) c2 ( t) k V c2 ( t)
dt
d c3 ( t )
V = f ( t) c2 ( t) f ( t) c3 ( t) k V c3 ( t)
dt
Linearize: d C1 ( t )
V
dt
( )
= fp Ci( t) fp + k V C1 ( t) + cip c1p F( t)( )
d C2 ( t )
V
dt
( ) (
= fp C1 ( t) fp + k V C2 ( t) + c1p c2p F( t) )
d C3 ( t )
V
dt
( ) (
= fp C2 ( t) fp + k V C3 ( t) + c2p c3p F( t) )
where Cj( t) = Cj( t) cjp F( t) = ( t) fp
At the initial steady-state: fp cip fp c1p fp c2p

c1p := c2p := c3p :=
fp + k V fp + k V fp + k V
Rearrange:
d C1 ( t )
+ C1 ( t) = Ki Ci( t) + K1 F( t)
dt C1 ( 0 ) = 0
d C2 ( t )
+ C2 ( t) = Ki C1 ( t) + K2 F( t)
dt C2 ( 0 ) = 0
d C2 ( t )
+ C2 ( t) = Ki Ci( t) + K3 F( t)
dt C3 ( 0 ) = 0
V fp cip c1p c1p c2p c2p c3p

where := Ki := K1 := K2 := K3 :=
fp + k V fp + k V fp + k V fp + k V fp + k V
lb min lb min lb min

= 5 min Ki = 0.5 K1 = 0.01 K2 = 0.005 K3 = 0.0025
2 2 2
gal gal gal
Laplaxce transform:
Ki Ci( s) + K1 F( s) Ki C1 ( s) + K2 F( s) Ki C2 ( s) + K3 F( s)
C1 ( s) = C2 ( s) = C3 ( s) =
s + 1 s + 1 s + 1
Combine to obtain the transfer functions:

C3 ( s) 1 Ki Ki K1
G1 ( s) = = + K2 + K3
F( s) s + 1 s + 1 s + 1

Ki Ki K1 + K2 ( s + 1 ) + K3 s + 1 ( )2
G1 ( s) =

( s + 1)3
Ki K1 + Ki K2 ( s + 1 ) + K3 ( s + 1 )
2 2 3
C3 ( s) Ki
G1 ( s) = G2 ( s) = =
Ci( s)
( s + 1) 3 ( s + 1)3
(a) Block diagram of the loop:
Ci(s)
G2(s)
C3set(s) C3(s)
+ E(s) M(s) F(s) +
- +
H(s)
Kv
Ksp := KT H( s) = KT Gv ( s) = Proportional controller: Gc( s) = Kc
v s + 1
3
Ki 2
G2 ( s) = KA + KB s + K3 s
G1 ( s) =
( s + 1) 3 ( s + 1)3
2 lb min
KA := Ki K1 + Ki K2 + K3 KB := 2 K3 + Ki K2 = 5 min KA = 0.0075
2
gal
lb min lb min
K3 = 0.0025 KB = 0.0075
2 2
gal gal
lb %CO
(b) Offset for a change in inlet concentration ci := 1 Kc := 1.
gal %TO
set 3
Ksp c3 KT G2 ( 0 ) ci KT Ki ci
Offset = Offset :=
1 + KT Kc Kv G1 ( 0 ) 1 + KT Kc Kv KA
Offset lb
Offset = 4.39 %TO = 0.044
KT gal
3
For the open loop, Kc = 0: Offset := KT Ki ci Offset = 12.5 %TO
(c) Ultimate gain and period of the loop with a proportional controller.
2 2
Kv KA + KB s + K3 s
Characteristic equation of the loop: 1 + KT Kc =0
v s + 1 ( s + 1) 3
Rearrange and substitute s = u i at Kc = K cu :
( ) ( )
3 4 2 3 2
v u 3 v u i 3 v + A Kcu u + v + B Kcu u i + 1 + KL Kcu = 0
2 %TO
where A := KT Kv K3 B := KT Kv KB KL := KT Kv KA KL = 1.845
%CO
2
A = 15.373 min B = 9.224 min
( )
3 4 2
Real part: v u 3 v + A Kcu u + 1 + KL Kcu = 0
2 3 4
3 v u v u 1
Kcu =
2
KL A u
3 v u v u 1
2 3 4
2 3
Imaginary part: 3 v u + v + B u = 0
2
KL A u

3 2 3 4 + 3 2 K + 3 2 = 0
v A B v u v L v A B v u B
2 3 2
Let a := 3 v A B v b := 3 v KL v A + B 3 v
14 5 3
a = 1.962 10 min b = 1.537 min
u :=
b
2
b 4 a B ( ) u = 2.45i min
1
2 a
The imaginary value of the ultimate frequency shows that there is no ultimate gain for this loop. This
is because the net order of the loop is one--three poles and two zeros--and it cannot be unstable for
any positive value of the controller gain. The controller gain is positive, reverse acting: increases
concentration decreases the signal to the valve. This decreases the reactants flow and the
concentration decreases.
is unlawful.
3
Smith & Corripio, 3rd edition %CO := % %TO := % kscf := 1000ft
psig := psi
Problem 6-18. Compressor suction pressure control.
Problem Data:
Kp
Ps( s) =
p s + 1
(Fi( s) Fc( s) )
PC
psi min
Kp := 0.5
kscf m(t)
p := 7.5s SC
Ksc
Steam
Fc( s) =
sc s + 1
M ( s) fc(t)
kscf PT Discharge
Ksc := 0.36
min %CO Suction
sc := 2.5s
ps(t)
fi(t)
Pressure transmitter, PC: Pmin := 0psig Pmax := 20psig T := 1.2s
(a) Block diagram of the loop, closed-loop transfer function, and characteristic
equation of the loop.
Fi(s)
Gp(s)
Psset(s)
+ E(s) M(s) Fc(s) + Ps(s)
Ksp Gc(s) Gsc(s) Gp(s)
- -
H(s)
100%TO KT %TO Ksc

KT := Ksp := KT H( s) = KT = 5 Gsc( s) =
Pmax Pmin T s + 1 psi sc s + 1
Kp
Gp ( s) =
Closed-loop transfer function: p s + 1
Ksp Gc( s) Gsc( s) Gp ( s) set Gp ( s)
Ps( s) = Ps ( s) + F ( s)
1 H( s) Gc( s) Gsc( s) Gp ( s) (
1 H( s) Gc( s) Gsc( s) Gp ( s) i )
Characteristic equation of the loop:
KT Ksc Kp
1 H( s) Gc( s) Gsc( s) Gp ( s) = 1 Gc( s) =0
T s + 1 sc s + 1 p s + 1
The controller must be direct-acting (negative gain): increasing pressure increases the signal to te
speed controller (SC). This increases the compressor speed and the flow through the compressor,
decreasing the suctiion pressure.
(b) Ultimate gain and period for a preportional controller. Gc( s) = Kc

Rearrange the characteristic equation and sunbstiture s = u i at Kc = K cu :
( ) ( )
3 2
T sc p u i T sc + T p + sc p u + T + sc + p u i + 1 + KL Kcu = 0 + 0i
%TO
where KL := KT Ksc Kp KL = 0.9
%CO
T + sc + p
( )
3
Imaginary part: T sc p u + T + sc + p u = 0 u :=
T sc p
( T sc + T p + sc p) u 2
1 2
Real part: Kcu := Tu := Tu = 8.91 s
KL u
%CO
Kcu = 15.9
%TO
kscf Kcu %CO

(c) Offset caused by a change in inlet flow. fi := 1 Kc := Kc = 7.9
set min 2 %TO
Ksp p s KT Kp fi
Offset = 0 KT Kp fi
1 + KL Kc Offset := Offset = 0.307 %TO
1 + KL Kc
Offset
= 0.061 psi
KT
is unlawful.
Smith & Corripio, 3rd edition kJ := 1000joule degC := K
Problem 6-19. Temperature control of stirred-tank cooler of Problem 4-7.

Problem Data:
3 kJ Tset(t)
V := 5m U := 200 TC
2
m min degC
A := 4m
2
Vc := 1.1m
3 f(t) m(t)
TT
kg kJ Ti(t)
:= 800
3
cp := 3.8
kg degC
Tc(t)
m
V SP
kg kJ
c := 1000 cpc := 4.2 FC
3 kg degC
m
Design conditions:
3
FT
m
f := 0.1 Ti := 70degC
min
T := 45degC Tci := 25degC fc(t) Tci

T(t)
Temperature transmitter (TT):
Tmin := 20degC Tmax := 70degC T := 0.6min

3 3
m m
Flow transmitter(FT): fmin := 0 fmax := 0.8 FC := 0.1min
min min
(a) Block diagram of the temperature control loop, valve fail position, controller
action.
Ti(s)
G2(s)
Tset(s) T(s)
+ E(s) M(s) Fc(s) +
Ksp Gc(s) GFC(s) G1(s)
- -
H(s)
100%TO KT %TO
Temperature transmitter: KT := Ksp := KT H( s) = KT = 2
Tmax Tmin T s + 1 degC
fmax fmin KFC 3

3 m
Flow contriol loop: KFC := GFC( s) = KFC = 8 10
100%TO FC s + 1 min %TO
From the results of Problem 4-7:
G1 ( s) =
K2 K3
G2 ( s) =
(
K1 2 s + 1 )
( 1 s + 1) ( 2 s + 1) K2 K4 ( 1 s + 1) ( 2 s + 1) K2 K4
V cp f cp U A
where 1 := K1 := K2 := 1 = 13.77 min
f cp + U A f cp + U A f cp + U A
At the initial steady state (design) conditions: K1 = 0.275 K2 = 0.725
(
f c p Ti T )
( ) (
f cp Ti T U A T Tc = 0 ) Tc := T
U A
Tc = 35.5 degC
(
f c p Ti T ) m
3
( ) (
f cp Ti T fc c cpc Tc Tci = 0 ) fc := fc = 0.172
(
c cpc Tc Tci ) min
2 :=
Vc c cpc
K3 :=
(
c cpc Tc Tci ) K4 :=
U A
fc c cpc + U A fc c cpc + U A fc c cpc + U A
degC min
2 = 3.03 min K3 = 28.94 K4 = 0.525
3
m
The coolant valve must fail opened (air-to-close) to prevent loss of coolant on power failure. This
means that the flow controller must be direct acting: incease in flow increases the output to close
the valve and reduce the flow.
The temperature controller must also be direct acting (negative gain): increasing temperature must
increase the output to incrase the coolant flow and reduce the temperature.
(b) Ultimate gain and period of the loop with a proportional controller. Gc( s) = Kc
Characteristic equation of the loop: KT KFC K2 K3
1+ Kc =0
T s + 1 ( )(
FC s + 1 1 s + 1 2 s + 1 K2 K4 )
Rearrange and substitute s = u i at Kc = K cu :
4 3 2
A u B u i C u + D u i + 1 K2 K4 + KL Kcu = 0 + 0i
where A := T FC 1 2 B := T FC 1 + T FC 2 + FC 1 2 + T 1 2
4
= 2.505 min
( )
C := T FC 1 K2 K4 + T 1 + T 2 + FC 1 + FC 2 + 1 2 A
3
B = 30.228 min
( )(
D := T + FC 1 K2 K4 + 1 + 2 ) KL := KT KFC K2 K3
C = 53.54 min
2
%TO
KL = 0.336 D = 17.234 min
%CO
3 D 2
Imaginary part: B u + D u = 0 u := Tu := Tu = 8.32 min
B u
4 2
Real part: A u C u + 1 K2 K4 + KL Kcu = 0
4 2
A u + C u 1 + K2 K4 %CO
Kcu := Kcu = 86.7
KL %TO
(c) Offset for change in inlet temperature with a proportional copntroller.

Kcu %CO
Ti := 5degC Kc := Kc = 43.3
2 %TO
set
Ksp T KT G2 ( 0 ) Ti 0 KT K1 Ti
Offset = Offset :=
1 + KT Kc KFC G1 ( 0 ) 1 K2 K4 KT Kc KFC K2 K3
Offset
Offset = 0.18 %TO = 0.09 degC
KT
KT K1 Ti
Open-loop, Kc = 0: Offset := 0 Offset = 4.44 %TO
1 K2 K4
With a PI controller the offset is zero.
Students should verify these results with the simulation of this process in Problem 13-18.
is unlawful.
3
Smith & Corripio, 3rd edition degF := R scf := ft psia := psi
lbmole := 453.59mole
Problem 6-20. Pressure control og gas torage tank.
Problem Data: lb
MW := 50
lbmole p2set(t)
V := 550000ft
3
T := 350degF PC
p3(t)
scf
f1 := 1500 p := 90psi
min 1 PT vp3(t)
scf
f3 := 500 p 3 := 30psig
min p1(t) p4(t)
p2(t)
p 2 := 45psig p 4 := 15psig
vp1(t) vp4(t)
Pressure transmitter PT:
p min := 0psig p max := 100psig
(a) Size control valves for 100% overcapacity. MW lbmole

Cf := 0.9 G := G = 1.724
Use Eqs. 5-2.3 and 5-2.5, page 160. 29lb
1.63 p1 p2
Valve 1: y 1 := y 1 = 1.187
Cf p 1 + 14.7psia
200% f1 G ( T + 460R ) gal psia hr 60min gal

Cv1max := Cv1max = 90.9
836 C f p 1 + 14.7psia y 1 0.148y 1
3 hr
( ) 0.5
min R scf
min psi
gal
From Fig. C-10.1, page 532, a 3-in valve is required: Cv1max := 110
min psi
1.63 p2 p3
Valve 3: y 3 := y 3 = 0.908
Cf p 2 + 14.7psia

836 C f p 2 + 14.7psia y 3 0.148y 3
3 hr
( ) 0.5
min R scf
min psi
gal
min psi
scf
Valve 4: From initial steady state conditions: f4 := f1 f3 f4 = 1000
min
1.63 p2 p4
y 4 := y 4 = 1.284
Cf p 2 + 14.7psia
836 C f p 2 + 14.7psia y 4 0.148y 4
3 hr
( ) 0.5
min R scf
min psi
gal
min psi
(c) Block diagram of the loop considering all disturbances.

100%TO %TO
Transmitter PT: H( s) = KT KT := Ksp := KT KT = 1
p max p min psi
Process model:
d 2( t)
Mass balance: V = s f1 ( t ) s f3 ( t ) s f4 ( t )
dt
1 eqn. 4 unks. (2 , f1 , f2 , f3 )
Ideal gas law: 2( t) =
(
MW p 2 ( t ) + 14.7psia )
Rg ( T + 460R ) 2 eqns. 5 unks. (p 2 )
3
psia ft
Rg := 10.73 MW 14.7psia lb
lbmole R s := s = 0.132
R g 520 R scf
836 scf R min

1 hr

(
C v1max C f p 1 ( t ) + 14.7 psia ) y 3
1( t) 0.148 y 1( t) vp1 ( t)
Valve 1: f1 ( t ) =
gal psia hr 60 min G ( T + 460R)
1.63 p1 ( t) p2 ( t) 4 eqns. 6 unks. (y1 )

y1 ( t) =
Cf p 1 ( t ) + 14.7psia
836 scf R min

1 hr

(
C v3max C f p 2 ( t ) + 14.7 psia ) y 3
3( t) 0.148 y 3( t) vp3 ( t)
Valve 3: f3 ( t ) =
1.63 p2 ( t) p3 ( t) 6 eqns. 7 unks. (y3 )

y3 ( t) =
Cf p 2 ( t ) + 14.7psia
836 scf R min

1 hr

(
C v4max C f p 2 ( t ) + 14.7 psia ) y 3
4( t) 0.148 y 4( t) vp4 ( t)
Valve 4: f4 ( t ) =
1.63 p2 ( t) p4 ( t) 8 eqns. 8 unks. (y4 )

y4 ( t) =
Cf p 2 ( t ) + 14.7psia
MW V d p 2( t)
Substitute ideal gas law: = f1 ( t ) f3 ( t ) f4 ( t )
Rg ( T + 460 R ) s dt
Linearize and substitute deviation variables:
MW V d P2 ( t )
= a1 VP 1 ( t ) + b 1 P1 ( t ) c1 P2 ( t ) a3 VP 3 ( t ) b 3 P2 ( t ) + c3 P3 ( t )
Rg ( T + 460 ) s dt
a4 VP 4 ( t ) b 4 P2 ( t ) + c4 P4 ( t )
836scf R min hr Cf scf

Let k v := k v = 0.336
gal psia hr 60min G ( T + 460R) gal psia
f1 ( t ) kv
C v1max p 1 + 14.7psia y 1 0.148y 1
3 scf
a1 =
vp
a1 :=
100%CO
( ) a1 = 36.312 min %CO
f3 ( t ) kv
C v3max p 2 + 14.7psia y 3 0.148y 3
3 scf
a3 =
vp
a3 :=
100%CO
( ) a3 = 17.565 min %CO
f4 ( t ) kv
p + 14.7psia y 4 0.148y 4
3 scf
a4 =
vp
a4 := C
100%CO v4max 2
( ) a4 = 21.39 min %CO
f1 f3 f4
Initial valve positions: vp1 := vp3 := vp4 := vp1 = 41.3 %CO vp3 = 28.5 %CO
a1 a3 a4
vp4 = 46.8 %CO
0.5
k y11 =
y1 ( t)
k y11 :=
1.63 1

p1 p2

(p1 + 14.7 psia) (p1 p2)
p1 Cf 2 p 1 + 14.7 psia
(p1 + 14.7psia)2
f1 ( t ) k v C v1max vp1
b1 = b 1 := y 0.148 y 3 + ( p + 14.7psia) 1 3 0.148 y 2 k
p1 100%CO 1 1 1 1 y11
1 scf
k y11 = 0.00752 psia b 1 = 18.819
min psi
y1 ( t) 0.5
k y12 = 1.63 1 p1 p2 1 1
p2 k y12 := k y12 = 0.013 psi
Cf 2 p 1 + 14.7 psia
(p1 + 14.7psia)
c1 = c1 := ( p + 14.7psia) 1 3 0.148 y 2 k c = 7.878 scf
p2 100%CO 1 1 y12 1 min psi
0.5
k y32 =
y3 ( t)
k y32 :=
1.63 1

p2 p3

(p2 + 14.7 psia) (p2 p3)
p2 Cf 2 p 2 + 14.7 psia
(p2 + 14.7psia)2
b3 = b 3 := y 0.148 y 3 + ( p + 14.7psia) 1 3 0.148 y 2 k
p2 100%CO 3 3 2 3 y32
1 scf
k y32 = 0.02266 psia b 3 = 17.387
min psi
y3 ( t) 0.5
k y33 = 1.63 1 p2 p3 1 1
p3 k y33 := k y33 = 0.03 psi
Cf 2 p 2 + 14.7 psia
(p2 + 14.7psia)
c3 = c3 := ( p + 14.7psia) 1 3 0.148 y 2 k c = 12.036 scf
p3 100%CO 2 3 y33 3 min psi
0.5
y4 ( t) 1.63 1 p2 p4 (p2 + 14.7 psia) (p2 p4)
k y42 = k y42 :=
p2 Cf 2 p 2 + 14.7 psia
(p2 + 14.7psia)
2

b4 = b 4 := y 0.148 y 3 + ( p + 14.7psia) 1 3 0.148 y 2 k
p2 100%CO 4 4 2 4 y42
1 scf
k y42 = 0.01065 psia b 4 = 19.691
min psi
y4 ( t) 0.5
k y44 = 1.63 1 p2 p4 1 1
p4 k y44 := k y44 = 0.021 psi
Cf 2 p 2 + 14.7 psia
( p 2 + 14.7psia )
c4 = c4 := ( p + 14.7psia) 1 3 0.148 y 2 k c = 5.911 scf
p4 100%CO 2 4 y44 4 min psi
Rearrange equation into standard first-order form:
d P2 ( t )
+ P2 ( t ) = K1 VP 1 ( t ) K3 VP 3 ( t ) K4 VP 4 ( t ) + Kp1 P1 ( t ) + Kp3 P3 ( t ) + Kp4 P4 ( t )
dt
MW V a1 a3
where := K1 := K3 :=
(
Rg ( T + 460R ) s c1 + b 3 + b 4 ) c1 + b 3 + b 4 c1 + b 3 + b 4
a4 b1 c3 c4
K4 := Kp1 := Kp3 := Kp4 :=
c1 + b 3 + b 4 c1 + b 3 + b 4 c1 + b 3 + b 4 c1 + b 3 + b 4
psig psi psi

= 534.3 min K1 = 0.808 K3 = 0.391 K4 = 0.476
%CO %CO %CO
Kp1 = 0.419 Kp3 = 0.268 Kp4 = 0.131
Process transfer function: Laplace transform:
1
P2 ( s) =
s + 1
(K1 VP1( s) K3 VP3(s) K4 VP4( s) + Kp1 P1(s) + Kp3 P3( s) + Kp4 P4(s))
The very long time constant, approximately 9 hours, denotes that the pressure in the tank behaves
as an integrating process. See discussion of controller tuning for integrating processes in Section
7-3.
Block diagram of the loop:
P1(s)
Kp1
VP4(s)
K4 P4(s)
F1(s) Kp4
VP3(s) P3(s)
K3 + Kp3
P2set(s)
- +
+ E(s) VP1(s) - + 1 P2(s)
Ksp Gc(s) K1
- + Js + 1
H(s)
(c) Ultimate gain. The response of the loop cannot be unstable with a proportional controller
with positive gain because the loop transfer function is first-order. There is no
ultimate gain. The controller is reverse acting: increasing tank pressure
decreases the controller output to close the control valve and decrease the
inlet flow. This decreases the pressure in the tank.
The valve fails closed (air-to-open) to prevent over-pressuring the tank on

instrument power failure.
(d) Offset for a proportinal controller and a change in set point. p2set := 5psi
%CO
Kc := 50
Ksp p 2set %TO
Offset := Offset = 0.121 %TO
1 + KT Kc K1 Offset
= 0.121 psi
KT
is unlawful.
Problem 6-21. Temperature and analysis control of a heated mixer.
wB(t)
TB(t) m2(t) AC
vp2(t)
m(t) TC
b(t)
vp1(t) TT AT
wA(t)
T(t) x B(t)
TA(t)
Problem Data: wA( t ) = Kv1 vp1 ( t ) wB ( t ) = Kv2 vp2 ( t ) q ( t ) = q max m( t )
mho
Analyzer AT measures solution conductivity: C( t) =
x B( t) m
Range is C L to C H.
(a) Model of the composition control loop

Assumptions:
Perfectly mixed
Constant mass and density
Negligible transportation lag
Inlet streams are pure A and B, respectively
d M
Total mass balance: wA( t ) + wB ( t ) w( t ) = =0 w( t ) = wA( t ) + wB( t )
dt
d xB( t)
Mass balance on component B: wB ( t ) w( t ) x B( t ) = M
dt 2 eqns. 2 unks. (w, xB)
(b) Linearize the equations, transfer functions and block diagram:

Linearize and express in terms of deviation variables:
d XB( t )
( )
WB( t ) w XB ( t ) x B WA( t ) + WB( t ) = M
dt
XB ( 0 ) = 0
M d XB( t ) 1 xB xB
Rearrange in the standard first-order form: + XB( t ) = WB( t ) WA( t )
w dt w w
M xB 1 xB d XB ( t )
Let = KA = KB = + XB = KB WB( t ) KA WA( t )
w w w dt
1
Laplace transform and solve for output: XB ( s) =
s + 1
(KB WB(s) KA WA(s))
C( t) CL
Transmitter: b( t) = 100%TO =
100%TO CL

CH CL CH CL x B( t)

100%TO 100 %TO
Linearize: B( t) = XB ( t ) H( s) = KAT =
CH CL 2
xB ( C H C L) x B 2
Kv2
Control valves: WA( s) = Kv1 VP 1 ( s) WB( s) = Kv2 VP 2 ( s) = M ( s)
100%CO 2
Block diagram of the composition loop:
VP1(s)
Kv1KA
X (s)
set
-
B
+ E(s) M2(s) XB(s)
Ksp GAC(s)
Kv2KB + 1
-
100 + Js + 1
H(s)
If the control valve is air-to-open, the controller must be direct acting, because of the negative
gain in the transmitter: Increasing composition decreases the signal from the transmitter; the
controller decreases the signal to the valve; this closes the valve and reduces the flow of
component B, decreasing the composition. Notice also that
Ksp = KT (negative set point scale)
(c) Model of the temperature control loop

Assumptions:
perfectly mixed
constant mass and physical properties
negligible heat losses and ransportantioon lag
Energy balance:
d T( t )
M cv
dt
( ) ( ) (
= wA( t ) cpA TA( t ) Tref + wB( t ) cpB TB ( t ) Tref + q ( t ) w( t ) cp T( t ) Tref )
1 eqn. 1 unk. (T)
Substitute w( t ) = wA( t ) + wB( t ) Assume cp = cpA = cpB = cv
d T( t )
M cp
dt
( ) ( )
= wA( t ) cp TA( t ) T( t ) + wB ( t ) cp TB( t ) T( t ) + q ( t )
(d) Linearize the equation, transfer functions, block diagram.

d ( t)
M cp
dt
( ) ( )
= cp TA T WA( t ) + cp TB TA WB ( t ) + Q( t ) + wA cp A( t )
( )
+ wB cp B( t ) wA + wB cp ( t )
Rearrange into the standard first-oder equation form:
M d ( t) TA T ( TB T ) 1 ( wA ) wB
+ ( t) = WA( t ) + WB( t ) + Q( t ) + A( t ) + ( t)
w dt w w w cp w w B
( 0) = 0
Laplace transform:
(K1 WA( s) + K2 WB( s) + K3 Q( s) + K4 A(s) + K5 B( s) )

1
( s) =
s + 1
M TA T TB T 1 wA wB
= K1 = K2 = K3 = K4 = K5 =
w w w w cp w w
q max 100%TO
Electric heater: Q( s) = M ( s) Temperature transmitter TT: H( s) = KTT =
100%CO TH .L
The controller is reverse acting: increasing temperature decreases the controller output, decresing
the rate of heat input. This decreases the temperature.
Block diagram of the loop:
VP1(s)
'A(s)
Kv1K1 K4
VP2(s) 'B(s)
Kv2K2 K5
'set(s) + +
+ E(s) M(s) + + 1 '(s)
Ksp qmaxK3
GTC(s)
-
100 + Js + 1
H(s)
(e) Characteristic equations of the control loops.

Analyzer control loop:
1 + KAT GAC( s)
Kv2

KB
=1+
100 %TO
GAC( s)
Kv2

1 xB ( =0
)
100%CO s + 1 100%CO w( s + 1 )
( C H C L) x B 2
Temperature control loop:
q max K3 100%TO q max 1

1 + KTT GTC ( s) =1+ GTC ( s) =0
100%CO s + 1 TH TL 100%CO w cp ( s + 1 )
M
For both loops: =
w
There is no ultimate gain for either loop because they are first-order when a proportional controller
is used. The loops cannot be made unstable as long as the controller gains have the proper sign.
In practice there will be lags on the transmitter and final control elements and there will be an
ultimate gain and period.
is unlawful.
Problem 6-22. Control of reactors in series.
Problem Data:
1
c A2set(t)
V := 500gal k 1 := 0.25min
AC
A := 2
lbmole
k 2 := 0.50min
1 c A1(t)
gal
lb
MWA := 25
lbmole
V
AT
Control valve, linear, sized for fA(t)
100% overcapacity.
DA LC
p v := 10psi fi(t) V LT
Analyzer transmitter: c Ai(t)
lbmole
c A2(t)
cAL := 0.05
gal
lbmole
cAH := 0.5 T := 0.5min
gal
lbmole gal gal
Design conditions: cAi := 0.8 fi := 50 fA := 50
gal min min
(a) Size the control valve for 100% overcapacity.

A MWA gal G gal
G := Cvmax := 200% fA Cvmax = 77.475
8.33lb p v min psi
gal
From Fig. C-10.1, page 532, a 3-in valve is required. Cvmax := 110
min psi
Cvmax p v gal
Valve gain: Kv := Kv = 1.42
100%CO G min %CO
The valve fails closed (air-to-open) to prevent overflowing the reactors on loss of instrument power.
(b) Model of the reactors.

Assumptions:
Perfectly mixed reactors
Constant volume, temperatures, and physical properties. A = i =
Negligible transportation lags.
Total mass balance: f ( t ) = A fA( t ) + i fi ( t ) 1 eqn. 1 unk. (f)

Reactant balances:
d cA1( t )
Reactor 1: V = A fA( t ) + fi ( t ) cAi( t ) V k 1 cA1( t ) f ( t ) cA1( t )
dt
2 eqns. 2
Reactor 2: d cA2( t ) unks. (c A1)
V = f ( t ) cA1( t ) f ( t ) cA2( t ) V k 2 cA2( t )
dt
3 eqns. 3 unks. (cA2)
A fA + fi cAi
At the initial steady state: f := fA + fi cA1 :=
f + V k 1 gal
f = 100
min
f cA1 lbmole lbmole
cA2 := cA1 = 0.622 cA2 = 0.178
f + V k 2 gal gal
(c) Linearize the model equations and obtain the block diagram.
d CA1( t )
V
dt
( ) (
= A FA( t ) + cAi Fi ( t ) + fi CAi( t ) V k 1 + f C A1( t ) cA1 FA( t ) + Fi ( t ) )
d CA2( t )
V
dt
( )( ) (
= cA1 cA2 FA( t ) + Fi ( t ) + f CA1( t ) f + V k 2 CA2( t ) )
Rearrange in the standard first-order form:
d C A1( t )
1 + CA1( t ) = K1 FA( t ) + K2 Fi ( t ) + K3 CAi( t ) CA1( 0 ) = 0
dt
d C A2( t )
2 + CA2( t ) = K4 FA( t ) + K4 Fi ( t ) + K5 CA1( t ) CA2( 0 ) = 0
dt
V A cA1 cAi cA1 fi

where 1 := K1 := K2 := K3 :=
f + V k 1 f + V k 1 f + V k 1 f + V k 1
V cA1 cA2 f
2 := K4 := K5 :=
f + V k 2 f + V k 2 f + V k 2
lbmole min lbmole min

1 = 2.222 min K1 = 0.006123 K2 = 0.00079 K3 = 0.222
2 2
gal gal
lbmole min
2 = 1.429 min K4 = 0.00127 K5 = 0.286
2
gal
Laplace transform:
K1 FA( s) + K2 Fi ( s) + K3 C Ai( s)
CA1( s) =
1 s + 1
K4 FA( s) + K4 Fi ( s) + K5 C A1( s)
CA2( s) =
2 s + 1
Combine to obtain over-all transfer function:
K4 K5
(FA( s) + Fi( s) ) +
( 1 s + 1) ( 2 s + 1) (
CA2( s) =
2 s + 1
K1 FA( s) + K2 Fi ( s) + K3 C Ai( s) )
CA2( s) = G1 ( s) FA( s) + G2 ( s) Fi ( s) + G3 ( s) CAi( s)
where
G1 ( s) =
( )
K4 1 s + 1 + K5 K1
G2 ( s) =
( )
K4 1 s + 1 + K5 K2
G3 ( s) =
K5 K3
( 1 s + 1) ( 2 s + 1) ( 1 s + 1) ( 2 s + 1) ( 1 s + 1) ( 2 s + 1)
Block diagram:
CAi(s)
G3(s)
Fi(s)
G2(s)
CA2set(s)
+
E(s) M(s) CA2(s)
Ksp
+ FA(s) +
Gc(s) Gv(s) G1(s)
- +
H(s)
KT 100%TO %TO gal

Control valve: Gv ( s) = Kv Transmitter: H( s) = KT := KT = 222
T s + 1 cAH cAL lbmole
(d) Closed-loop transfer functions. Ksp := KT
CA2( s) Ksp Gc( s) Gv ( s) G1 ( s) CA2( s) G2 ( s)

= =
set 1 + H( s) Gc( s) Gv ( s) G1 ( s) Fi ( s) 1 + H( s) Gc( s) Gv ( s) G1 ( s)
CA2 ( s)
CA2( s) G3 ( s)
=
C Ai( s) 1 + H( s) Gc( s) Gv ( s) G1 ( s)
(e) Ultimate gain and period of the loop. Proportional controller: Gc( s) = Kc
Characteristic equation: 1+
KT
Kc Kv
( )
K4 1 s + 1 + K5 K1
=0
T s + 1 ( 1 s + 1) ( 2 s + 1)
Let 3
A := T 1 2 B := T 1 + T 2 + 1 2 C := 1 + 2 + T A = 1.587 min
D := KT Kv K4 1 (
Kp := KT Kv K4 + K5 K1 ) B = 5 min
2
C = 4.151 min
D = 0.89 min Kp = 0.953
Substitute s = u i at Kc = K cu
( )
3 2
A u i B u + C + D Kcu u i + 1 + Kp Kcu = 0 + 0 i
2
2 B u 1
Real part: B u + 1 + Kp Kcu = 0 Kcu =
Kp
B u 1
2
D Kp C
Imaginary part:
3
A u + C + D u = 0 u :=
Kp
D B A Kp
1
u = 1.021i min
The imaginary value of the ultimate frequency means that there is no ultimate gain, that is, the loop
is stable for all positive values of the gain. This is because the net order of the process is one--two
poles and one zero--and, with the lag in the transmitter, the order is two. An order of at least three
is needed to have an ultimate gain.
The controller is reverse acting: increasing reactants composition decreases the controller output,
closing the reactant feed valve; this decreases the reactants flow and the composition of reactants.
is unlawful.
Problem 6-23. Temperature control of two heaters in series.
T4set(t)
TC
f1
Tc1(t)
T1(t)
Steam
f2 T3(t)
T2(t) f TT
Cond.
f T4(t)
Model the process.

Assumptions:
Constant volumes in the tanks
Each tank is perfectly mixed
Negligible heat losses
Heating coil temperature T c1 is uniform (high flow of heating fluid)
Constant and uniform densities and specific heats
Negligible transportation lag.
Energy balances, Tank 1:
d T3 ( t )
V1 cv
dt
( ) ( ) (
= f1 cp T1 ( t ) Tref + f2 cp T2 ( t ) Tref + U A Tc1( t ) T3 ( t ) )
Tank 2: (
f cp T3 ( t ) Tref ) 1 eqn. 2 unks. (f, T 3 )
d T4 ( t )
V2 cp
dt
( ) (
= f cp T3 ( t ) Tref + ws( t ) f cp T4 ( t ) Tref )
2 eqns. 3 unks. (T 4 )
Total mass balance on tank 1: f1 + f2 = f f = f1 + f2
3 eqns. 3 unks.
Substitute and simplify:

d T3 ( t )
V1 cv
dt
( ) ( ) (
= f1 cp T1 ( t ) T3 ( t ) + f2 cp T2 ( t ) T3 ( t ) + U A Tc1( t ) T3 ( t ) )
d T4 ( t )
V2 cv
dt
( )
= f cp T3 ( t ) T4 ( t ) + ws( t )
Linearize and express in terms of the deviation variables:

d 3 ( t)
V1 cv
dt
(
= f1 cp 1 ( t ) + f2 cp 2 ( t ) + U A c1( t ) f cp + U A 3 ( t ))
d 4 ( t)
V2 cv = f cp 3 ( t ) + W( s) f cp 4 ( s)
dt
Rearrange into first-order standard form:
d 3( t)
1 + 3 ( t ) = K1 1 ( t ) + K2 2 ( t ) + K3 c1( t ) 3(0) = 0
dt
d 4( t)
2 + 4 ( t ) = 3 ( t ) + K4 W( s) 4(0) = 0
dt
V1 cv f1 cp f2 cp U A
K3 :=
where 1 = K1 := K2 = f cp + U A
f cp + U A f cp + U A f cp + U A
V2 cv
2 = K4 =
f cp f cp
Laplace transform and solve for the outputs:
K1 1 ( S) + K2 2 ( s) + K3 c1( s) 3 ( s) + K4 W( s)
3 ( s) = 4 ( s) =
1 s + 1 2 s + 1
4 ( s) = G1 ( s) 1 ( s) + G2 ( s) 2 ( s) + G3 ( s) c1( s) + G4 ( s) W( s)
K1 K2 K3
G1 ( s) = G2 ( s) = G3 ( s) =
( 1 s + 1) ( 2 s + 1) ( 1 s + 1) ( 2 s + 1) ( 1 s + 1) ( 2 s + 1)
K4
G4 ( s) =
2 s + 1
Kv
Control valve: Gv ( s) =
v s + 1
KT 100%TO
Temperature transmitter TT: H( s) = KT = Ksp = KT
T s + 1 TH TL
Block Diagram:
'c1(s) G (s)
3
'2(s) G2(s)
'1(s)
G1(s)
'4set(s) ++
Ksp
+ E(s) M(s) W(s) + '4(s)
Gc(s) Gv(s) G4(s)
- +
H(s)
Characteristic equation of the loop.

KT Kv K4
1 + H( s) Gc( s) Gv ( s) G4 ( s) = 1 + Gc( s) =0
T s + 1 v s + 1 2 s + 1
3
( ) 2
( )
T v 2 s + T v + T 2 + v 2 s + T + v + 2 s + 1 + KT Kv K4 Gc( s) = 0
is unlawful.
Problem 6-24. Temperature and level control of oil heater.
T3set(t)
TC
N2
TT hset(t)
p2 = 40 psia
LC
Steam 3 ft LT
fs(t) AO h(t) AO T1(t)
5 ft p1(t)
T vp2(t) T3(t)
Condensate p3(t)
lb BTU
Problem Data: := 53 cp := 0.45 T1 := 70degF T3 := 200degF D := 3ft
3 lb degF
ft
BTU
Steam, saturated at 115 psig (130 psia). from steam tables: Ts1 := 347degF s := 873
lb
BTU
p 2 := 40psia p 1 := 45psig p 3 := 15psig U := 136 gal
2 f1 := 100
hr ft degF min
lb BTU
Heating coil: Do := 0.5in (20 BWG) L := 974ft wm := 0.178 cpm := 0.12
ft lb degF
2 BTU
Ao := Do L Ao = 127.5 ft CM := wm L cpm CM = 20.805
degF
Level transmitter: h L := 7ft h H := 10ft LT := 0.01min
Temperature transmitter: TL := 100degF TH := 300degF TT := 0.5min
(a) Size control valves for 50% overcapacity.

Assume
Perfectly mixed tank
Constant and uniform densities, specific heats, and steam latent heat
The metal is at the same temperature as the condensing steam
Negligible heat losses and transpotation lags
Constant pressure drop across the steam valve.
At the initial steady state: f3 := f1 ( )
f1 cp T3 T1 + ws s = 0
(
f1 cp T3 T1 ) lb
ws := ws = 47.5
s min
ws s
(
ws s U Ao Ts T3 = 0 ) Ts := T3 +
U Ao
Ts = 343.4 degF p s := 123psia
(steam tables)
Size inlet oil valve:
hH + hL
Assume initially the level is at 50% of the level transmitter range: h :=
2 2
p v1 := p 1 + 14.7psia p 2 g ( h 5ft)
ft
12in h = 8.5 ft p v1 = 18.41 psi
3
ft Gf
Gf := gal
62.4lb Cv1max := 150% f1 Cv1max = 32.2
p v1 min psi
gal
From Fig. C-10.1, page 532, a 3-in valve is required. Cv1max := 46
min psi
2
p v2 := p 2 + g h
ft
Size exit oil valve:
12in
p 3 + 14.7psia

( ) p v2 = 13.43 psi
Gf gal
Cv2max := 150% f3 Cv2max = 37.7
p v2 min psi
gal
From Fig. C-10.1, page 532, a 2-in valve is required. Cv2max := 46
min psi
18
Size steam valve: p s1 := 130psia G := G = 0.621 Assume Cf := 0.9
29
1.63 p s1 p s ws 60min scf

y := y = 0.42 fs := 380scf fs = 60138
Cf p s1 18lb hr hr
(
150 % fs G Ts1 + 460 R ) gal hr psia gal
Cvsmax := Cvsmax = 50.4
(
C f p s1 y 0.148 y
3) 836 min scf R min psi
gal
From Fig. C-10.1, page 532, a 3-in valve is required. Cvsmax := 110
min psi
(b) Block diagram of the level control loop.

2
D 7.48gal d h ( t)
Mass balance: = f1 ( t ) f3 ( t ) 1 eqn. 3 unks. (h, f1 , f3 )
4 3 dt
ft
1
2
p 1 ( t ) p 2 g ( h ( t ) 5 ft)
ft
Valves: f1 ( t ) = C v1max vp1 ( t )
Gf 12 in
2 eqns. 3 unks.
1
2
p p 3 ( t ) + g h ( t )
ft
f3 ( t ) = C v2max vp2 ( t )
Gf 2 in
12
3 eqns. 3 unks.
p v1 p v2 gal gal
f1max := Cv1max f3max := Cv2max f1max = 214.2 f3max = 182.9
Gf Gf min min
Linearize the model equations and express in terms of deviation variables:

2
D 7.48gal d H( t )
= f1max VP 1 ( t ) f3max VP 2 ( t ) + a1 P1 ( t ) a3 H( t ) + a2 P3 ( t ) a4 H( t )
4 3 dt
ft
f1 ( t ) f3 ( t ) f1 ( t ) f3 ( t )
where a1 = a2 = a3 = a4 =
p 1 p 3 h h
f1 f3
vp1 := vp2 := vp1 = 0.467 vp2 = 0.547
f1max f3max
1 1 1 1
a1 := Cv1max vp1 a2 := C v2max vp2 ( 1 )
2 Gf p v1 2 Gf p v2
2 2
g g
1 1 ft 1 1 ft
a3 := C v1max vp1 a4 := Cv2max vp2
2 Gf p v1 2 2 Gf p v2 2
144 in 144 in
gal gal gal gal

a1 = 2.716 a2 = 3.723 a3 = 1 a4 = 1.37
min psi min psi min ft min ft
Rearrange model equation in standrd first-oder form:
d H( t )
+ H( t ) = K1 VP 1 ( t ) K2 VP 2 ( t ) + K3 P1 ( t ) + K4 P3 ( t ) H( 0 ) = 0
dt
where
2 f1max f3max a1 a2
D 7.48gal 1
:= K1 := K2 := K3 := K4 :=
4 3 a3 + a4 a3 + a4 a3 + a4 a3 + a4 a3 + a4
ft
ft ft
= 22.31 min K1 = 90.4 ft K2 = 77.2 ft K3 = 1.146 K4 = 1.571
psi psi
Laplace transform:
1
H( s) =
s + 1
(K1 VP1(s) K2 VP2( s) + K3 P1(s) + K4 P3( s) )
1
Level control valve: VP 1 ( s) = M 1 ( s)
100%CO
KLT 100%TO %TO

Level transmitter LT: HLT( s) = KLT := KLT = 33.33
LT s + 1 hH hL ft
The controller is reverse acting: increasing level

Proportional controller, LC: GLc( s) = KLc
decreases the controller output closing the valve
and decreasing the inlet flow.
Block diagram of the level control loop:
P3(s)
K4
P1(s)
K3
VP2(s)
K2
R(s) E(s) M1(s)
++ H(s)
+ K1 - 1
KLc
100 + Js + 1
-
HLT(s)
(c) Block diagram and characteristic equation of the temperature control loop.
Energy balance on tank:
2
D 7.48gal d
4

3
cv
dt
(h( t) T3(t) ) = f1(t) cp (T1( t) Tref ) + U Ao (Ts( t) T3(t) )
ft
(
f3 ( t ) cp T3 ( t ) Tref ) 1 eqn. 2 unks. (T 3 , Ts)
d Ts( t )
Energy balance on steam chest: CM
dt
(
= s ws( t ) U Ao Ts( t ) T3 ( t ) )
2 eqns. 3 unks. (w s)
2 eqns. 3 nks. (ws)
Steam valve:
836 scf min R hr 18 lb
(
C vsmax vps( t ) Cf p s1 y 0.148 y
3)
ws( t ) =
hr gal psia 60 min 380 scf (
G Ts1 + 460R )
3 eqns. 3 unks.
836 scf min R hr 18 lb

(
Cvsmax C f p s1 y 0.148 y )
3
Let wsmax :=
hr gal psia 60 min 380 scf (
G Ts1 + 460R )
lb
wsmax = 155.3
min
Substitute mass balance into energy balance and simplify:

2 d T3 ( t )
D 7.48 gal
4

3
cv h ( t )
dt
(
= f1 ( t ) cp T1 ( t ) T3 ( t ) + U Ao Ts( t ) T3 ( t ) ) ( )
ft
ws( t ) = wsmax vps( t )

2
D 7.48gal
Linearize the equations: Let V := h V = 449.4 gal Assume cv := cp
4 3
ft
d 3( t)
V cv
dt
( ) (
= cp T1 T3 F1 ( t ) + f1 cp 1 ( t ) 3 ( t ) + U Ao s( t ) 3 ( t ) ) ( )
d s( t )
CM
dt
(
= s Ws( t ) U Ao s( t ) 3 ( t ) 3(0) = 0 s( 0 ) = 0
Rearrange into standard first-order form:
d 3( t)
1 + 3 ( t ) = K1 F1 ( t ) + K2 1 ( t ) + K3 s( t )
dt
d s( t )
2 + s( t ) = K4 Ws( t ) + 3 ( t )
dt
where 1 :=
V cv (
cp T1 T3 ) f cp U Ao
K1 := K2 := K3 :=
f1 cp + U Ao f1 cp + U Ao f cp + U Ao f cp + U Ao
CM s
2 := K4 := degF min
U Ao U Ao 1 = 2.357 min 2 = 0.072 min K1 = 0.682
gal
degF min
K2 = 0.525 K3 = 0.475 K4 = 3.021
lb
K1 F1 ( s) + K2 1 ( s) + K3 s( s) K4 Ws( s) + 3 ( s)
Laplace transform: 3 ( s) = s( s) =
1 s + 1 2 s + 1
Combine:
3 ( s) = G1 ( s) F1 ( s) + G2 ( s) 1 ( s) + G3 ( s) Ws( s)
where G1 ( s) =
(
K1 2 s + 1) G2 ( s) =
(
K2 2 s + 1 )
( 1 s + 1) ( 2 s + 1) K3 ( 1 s + 1) ( 2 s + 1) K3
K3 K4
G3 ( s) =
( 1 s + 1) ( 2 s + 1) K3
wsmax wsmax lb
Steam control valve: Ws( s) = M ( s) = 1.553
100%CO s 100%CO min %CO
Temperature transmitter TT: KTT 100%TO %TO

HTT( s) = KTT := KTT = 0.5
TT s + 1 TH TL degF
DT + 1
s
GTc( s) = KTc 1 +
1
PID controller:
IT s D DT s + 1

f1max f1max gal
Inlet flow: F1 ( s) = M ( s) + a1 P1 ( s) a3 H( s) = 2.142
100%CO 1 100%CO min %CO
gal gal
a1 = 2.716 a3 = 1
min psi min ft
Block diagram of the temperature control loop:
M1(s)
f1max
100
P1(s) + F1(s)
a1
+ G1(s)
H(s) - '1(s)
a3 G2(s)
'3set(s)
-
+ E(s) Ms(s) w Ws(s) + '3(s)
Ksp GTc(s)
smax
G3(s)
100 +
-
HTT(s)
Characteristic equation:
wsmax KTT wsmax K3 K4
1 + HTT( s) GTc( s) G ( s) = 1 + GTc( s) =0
100%CO 3 TT s + 1 100%CO ( 1 s + 1) ( 2 s + 1) K3
(d) Ultimate gain nad period of the temperature control loop.
Proportional controller: GTc( s) = KTc
3 2
Substitute s = u i at KTc = K cu : A u i B u + C u i + 1 K3 + Kp Kcu = 0 + 0 i
where A := TT 1 2 B := TT 1 + TT 2 + 1 2 ( )
C := TT 1 K3 + 1 + 2
wsmax 3 2
Kp := KTT K K A = 0.085 min B = 1.384 min C = 2.692 min
100%CO 3 4
%TO
Kp = 1.116
%CO
3 C 2
Imaginary part: A u + C u = 0 u := Tu := Tu = 1.069 min
A u
2
2 K3 1 + B u
Real part: B u + 1 K3 + Kp Kcu = 0 %CO
Kcu := Kcu = 38.9
Kp %TO
Compare these results with the simulation of this process in Problem 13-24.
is unlawful.
Problem 6-25. Level control of two tanks in series.
LC
.fi(t) .f3(t)
h1(t)
f1(t)
fo(t)
h2(t) LT
f2(t)
.m 1(t)
fmax 1
Linear pump with a time constant: Fo ( s) = M ( s)
100%CO p s + 1 1
Linear control valve with constant pressure drop Kv p v3

Gv ( s) = Kv = Cv3
and time constant: v s + 1 Gf
100%TO
Level transmitter LT has negligible time constant: HLT( s) = KT =
h max
(a) Block diagram and transfer functions of level control loop.

Assume
constant and uniform densities
constant valve positions and inlet valve pressures
2
D1 d h 1( t)
Mass balance, tank 1: = fi ( t ) + f3 ( t ) fo ( t ) f1 ( t )
4 dt
2 1 eqn. 2 unks. (h1 , f1 )
D2 d h 2( t)
tank 2: = f1 ( t ) f2 ( t )
4 dt 2 eqns. 4 unks. (h 2 , f2 )
2
f1 ( t ) = C v1 w g h 1 ( t )
ft
Valves: = k v1 h 1 ( t ) 3 eqns. 4 unks.

12in
2
f2 ( t ) = C v2 w g h 2 ( t )
ft
= k v2 h 2 ( t ) 4 eqns. 4 unks.
12in
Linearize the equations and express in terms of deviation variables::
2
D1 d H1 ( t ) k v1
= Fi ( t ) + F3 ( t ) Fo ( t ) H1 ( t ) H1 ( 0 ) = 0
4 dt 2 h1
2
D2 d H2 ( t ) k v1 k v2
= H1 ( t ) H2 ( t ) H2 ( 0 ) = 0
4 dt 2 h1 2 h2
Rearrangle into the standard first-order form:
d H1 ( t )
1 + H1 ( t ) = K1 Fi ( t ) + K1 F3 ( t ) K1 Fo ( t )
dt
d H2 ( t )
2 + H2 ( t ) = K2 H1 ( t )
dt
2 2
D1 h 1 2 h1 D2 h 2 k v1 h 2
where 1 = K1 = 2 = K2 =
2 k v1 k v1 2 k v2 k v2 h 1
K1
Laplace transform: H1 ( s) =
1 s + 1
(Fi( s) + F3(s) Fo( s) )
K2 K1 K2
( 1 s + 1) ( 2 s + 1) (
H2 ( s) =
2 s + 1
H1 ( s) = Fi ( s) + F3 ( s) Fo ( s) )
Block diagram of the level control loop:
M1(s) .fmax Fo(s)

100(Jps+1)
Fi(s)
R(s)
+ E(s) M1(s) + - K1K2
H2(s)
KLc Gv(s)
+ (J1s+1)(J2s+1)
- F3(s)
KT
(b) Characteristic equation and ultimate gain and period.
Kv K1 K2
1 + KT KLC =0
( )(
v s + 1 1 s + 1 2 s + 1 )
100 %TO f3max 2 h 2
Substitute s = u i at KLC = K.cu : Let Kp = KT Kv K1 K2 =
h max 100 CO k v2
( ) ( )
3 2
v 1 2 u i v 1 + v 2 + 1 2 u + v + 1 + 2 u i + 1 + Kp Kcu = 0 + 0 i
v + 1 + 2 2
( )
3
Imaginary part: v 1 2 u + v + 1 + 2 u = 0 u = Tu =
v 1 2 u
( ) 2
( )
2 v 1 + v 2 + 1 2 u 1
Real part: v 1 + v 2 + 1 2 u + 1 + Kp Kcu = 0
Kcu =
Kp
is unlawful.
Problem 6-26. Control of heating value of fuel stream.
Problem Data:
hv( t ) = c + g x 3 ( t )
hvset(t)
AC
G( t ) = a + b x 3 ( t )
hv
Fan driver, linear, lag F, AT
range 0 to f2max. p2
Natural gas
p(t)
Sensor transmitter, lag T,
range hvL to hvH.
f2(t) x 2(t) f3(t) x 3(t)
Controller is PI:
Waste gas
Gc( s) = Kc 1 +
1
I s f1(t) x 1(t)

(a) Block diagram and transfer functions.

Assume
Gas obeys ideal gas law
Temperature is constant
Perfectly mixed tank
d ( t)
Total mole balance: V = s f1 ( t ) + s f2 ( t ) s f3 ( t ) 1 eqn. 2 unks. (, f3 )
dt
( (t) x3(t) ) = s f1( t) x1( t) + s f2( t) x2( t) s f3( t) x3( t)

Methane mole balance: d
V
dt
2 eqns. 3 unks. (x3 )
Exit valve: f3 ( t ) =
836scf min
R hr

C C
p ( t)
(
y ( t ) 0.148 y ( t )
3 )
psia 60min v3 f G( t ) T
hr gal
3 eqns. 5 unks. (y, p)
1.63 p ( t ) p 2
y( t) =
Cf p( t) 4 eqns. 5 unks.
p ( t ) lbmole
Ideal gas law: ( t) = 5 eqns. 5 unks.
Rg T 3
ft 14.7psia 3 lbmole
s := s = 2.635 10
Rg 520 R scf
Substitute, linearize the equations, and express in terms of linearized variables:

V d P( t )
= s F1 ( t ) + s F2 ( t ) s F3 ( t )
Rg T dt
V x 3 d P( t ) V P d x 3 ( t )
Rg T dt
+
Rg T

dt
(
= s f1 X1 ( t ) + f2 X2 ( t ) f3 X3 ( t ) + x 1 F1 ( t ) + x 2 F2 ( t ) x 3 F3 ( t ) )
F3 ( t ) = a1 P( t ) a2 X3 ( t ) where f3 ( t ) f3 ( t )
a1 = a2 =
p x 3
Combine total and methane balances, and substitute valve equation:
V d x 3 ( t )
s

dt
( )
= f1 X1 ( t ) + f2 X2 ( t ) f3 X3 ( t ) + x 1 x 3 F1 ( t ) + x 2 x 3 F2 ( t ) ( ) x3( 0) = 0
V d P( t )
= F1 ( t ) + F2 ( t ) a1 P( t ) + a2 X3 ( t ) P( 0 ) = 0
R g T s dt
C v3 C f p 2
0.5
a1 =
836scf min

R hr 3
y 0.148 y + p 1 3 0.148 y ( p p2
)
2 1.63
hr gal psia 60min G T Cf 2 p 2
p
a2 =
836 scf min
hr gal

R
psia 60min
hr
Cv3 Cf
p
(y 0.148 y3) b
( )
T 1.5
2 a + b x3
Rearrange into standrad first-order form:
d X3 ( t )
1 + X3 ( t ) = K1 X1 ( t ) + K2 X2 ( t ) K3 F1 ( t ) + K4 F2 ( t )
dt
d P( t ) 1 1 a2
2 + P( t ) = F1 ( t ) + F2 ( t ) + X3 ( t )
dt a1 a1 a1
V f1 f2 x3 x1 x2 x3 V
1 = K1 = K2 = K3 = K4 = 2 =
f3 s f3 f3 f3 f3 Rg T s a1
1
Laplace transform: X3 ( s) =
1 s + 1
(K1 X1(s) + K2 X2( s) K3 F1(s) + K4 F2( s) )
1 1 1 a2
P( s) = F1 ( s) + a F2 ( s) + X ( s)
2 s + 1 a1 a3 3
1
Linearize the eating value equation: HV( t ) = g X3 ( t ) HV( s) = g X3 ( s)
KF f2max
Variable speed fan: F2 ( s) = M ( s) KF =
F s + 1 100%CO
KT 100%TO
Heating value transmitter: H( s) = KT = Ksp = KT
T s + 1 hvH hvL
Block diagram of the heating value control
X1(s)
K1
X2(s)
K2
F1(s)
K3
HVset(s) + +
+ E(s) M(s) K K - g
HV(s)
Ksp Gc(s) F 4
JFs + 1 + J1s + 1
-
H(s)
The controller must be reverse acting (negative gain): increasing heating value decreases the
controller output; this decreases the fan speed and the flow of natural gas, decreasing the heating
value.
(b) Characteristic equation of the loop.

KT KF K4
1+ Gc( s) =0
T s + 1 F s + 1 1 s + 1
( T s + 1) ( F s + 1) ( 1 s + 1) + KT Kc 1 + s KF K4 = 0
1
is unlawful.

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%TO := % %CO := %

Smith & Corripio, 3rd edition

Roots of the characteristic equation:

The loop cannot be unstable for positive gain because,

(c) Equivalent time constants for different values of the gain:

offset := ( 1 0.0099)%TO offset = 0.99 %TO

offset := ( 1 0.01235 )%TO offset = 0.988 %TO

offset := ( 1 0.01961 )%TO offset = 0.98 %TO

(a) Closed-loop transfer function and characteristic equation of the loop.

( ) (1.5 6Kc) ( ) = 1.5 + 6K

0.5 2 1.5 6Kc 2 2

To work in dimensionless units, t/, set: := 1

Closed-loop transfer functon:

Offset: the steady state gain is: lim

(b) Is there an ultimate gain for this loop?

(a) Ultimate gain and period as a function of integral time I.

Characteristic equation of the loop:

Roots: 1 + 1 4 0.8 KKc 1 1 4 0.8 KKc

Block diagram of the control loop:

Fsset(s) E(s) M(s) Fs(s)

Transfer function of the valve: Kv

Closed-loop transfer function and time constant of the loop:

With I = v Ksp = KT Fs( s) Ksp Kc Kv 1

Block diagram of the control loop:

Wset(s) E(s) M(s) W(s)

Size the flow transmitter for :

0.836kscf min R p 1 + 14.7psia M lbmole

Valve gain, linear, constant pressures, Eq. 5-2.23:

Transfer function of the valve: Kv

Closed-loop transfer function and time constant of the loop:

With I = v Ksp = KT Fs( s) Ksp Kc Kv 1

Proportional controller: Gc( s) = Kc Characteristic equation: 1 + Kc G1 ( s) = 0

Imaginary part: 2 u = 0 u := 0 (There is no ultimate gain)

Charatcteristic equation of the loop: ( s 1 ) ( v s + 1 ) ( T s + 1) + KKc = 0

(b) Negligible valve time constant, T := 1min

( + T) ( + T)2 = 1.8 %CO

The dominant root is negative when: ( + T)2 4 T KKc < T

(c) v := 0.1min T := 1.0min

Cset(s) + E(s) M(s) F2(s) + C(s)

Valve fails closed (air-to-open), to prevent overflowing the tank.

Substitute s = u i at KKc = KKcu :

By the final-value theorem:

Response is stable and the

Compare the results with the simulation of Problem 13-11.

(use subscript "p" to denote fc(t)

Block diagram, from Section 4-2.3, ignoring disturbances for simplicity:

Tset(s) + E(s) M(s) Fc(s) + T(s)

31.79 ( 0.976 s + 1 ) ( 1 2.77 s)

Control Valve: linear, sized for

(use subscript "p" to denote fc(t)

Block diagram, from Section 4-2.3, ignoring disturbances for simplicity:

Tset(s) + E(s) M(s) F(s)

31.79 ( 0.976 s + 1 ) ( 1 2.77 s)

31.79 ( 0.976 s + 1 ) ( 1 2.77s)

f5(t) f2(t) f7(t)

x5(t) x2(t) x7(t)

Block diagram, considering only f 1 (t) anf f2 (t) as input variables:

X6set(s) + E(s) M(s) F1(s) + X6(s)

Proportional controller: Gc( s) = Kc

Process Transfer Functions:

3 % min 3 % min 3 % min

Offset for an increase of 10 gal/min in flow f2:

For Kc = -1 %CO/%TO: Offset( 1 ) = 0.102 %TO