Transfer Functions:

Gp, Gm, Gc, Gv

Unit 1: Process Control Loop
Process control loop

Pressure
Flow
Level
Process Temperature
pH

dP cell
I/P
Capacitance
Sensor Radar, Sonic
Magnetic
Resistance
IR/Laser

4-20 mA
Transmitter 1-5 Vdc

PID
Controller Fuzzy logic

4-20 mA
Transducer 3-15 psig

Linear
Control valve Equal percentage

© Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

Unit 1: Process Control Loop
Process control loop

Pressure
Flow
SP
Level
Process Temperature
pH

dP cell
Capacitance CONTROLLER
Sensor Radar, Sonic
Magnetic
Resistance
IR/Laser

4-20 mA
Transmitter 1-5 Vdc TRANSMITTER
CONTROL
Field/profibus VALVE

PID
Controller Fuzzy logic

PROCESS
4-20 mA
Transducer 3-15 psig

Linear
*SP = set point PV
Control valve Equal percentage

*PV = process value

© Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)
Unit 1: Process Control Loop
Process control loop: The Block Diagram

Simulation mode

CONTROLLER

PROCESS
CONTROL
VALVE
SP PV

TRANSMITTER

© Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

 Transfer Functions
• Convenient representation of a linear, dynamic model.
• A transfer function (TF) relates one input and one output:

x (t ) y (t )
Chapter 4

→ system →
X (s) Y (s)

The following terminology is used:

x y
input output
forcing function response
“cause” “effect”
The TF model enables us to determine the output response to
any change in an input.
 Definition of the transfer function:
Let G(s) denote the transfer function between an input, x, and an
output, y. Then, by definition
Y (s)
G (s) =
X (s)
Chapter 4

where:
Y ( s ) = L  y ( t ) 
X ( s ) = L  x ( t ) 
 1. Gp - Transfer Functions for a Process
Example: Stirred Tank Heating
System
Chapter 4

Figure 2.3 Stirred-tank heating process with constant holdup, V.

 Equation (1) is the energy balance of the stirred-tank heating
system, assuming constant liquid holdup and flow rates:
dT
V C = wC (Ti − T ) + Q (1) (2-36)
dt
Suppose the process is at steady state:
Chapter 4

0 = wC (Ti − T ) + Q (2)

Subtract (2) from (1):

= wC (Ti − Ti ) − (T − T )  + ( Q − Q )
dT
V C (3)
dt
 But,

dT 
V C = wC (Ti − T  ) + Q (4)
dt

where the “deviation variables” are

Chapter 4

T  = T − T , Ti = Ti − Ti , Q = Q − Q

Take L of (4):
V  C  sT  ( s ) − T  ( 0 ) = wC Ti( s ) − T  ( s ) − Q ( s ) (5)

At the initial steady state, T′(0) = 0.

 V  C  sT  ( s ) − T  ( 0 ) = wC Ti( s ) − T  ( s ) − Q ( s ) (5)

Rearrange (5) to solve for

 K    1  
T (s) = 
 Q (s) +   Ti ( s ) (6)
Chapter 4

  s +1    s +1
where

1 V
K= and  =
wC w

T (s)=G1(s)Q(s) + G2(s)Ti(s)

  K    1  
T ( s ) =   ( ) 
Q s +  Ti ( s ) (6)
  s +1    s +1

T (s)=G1(s)Q(s) + G2(s)Ti(s)

  K   1 
T ( s ) =   Q ( s ) +   Ti( s ) (6)
  s +1    s +1
K (gain) – it describes how far the output will travel
with the change of the input.
*If a process has a large K, then a small change in the
input will cause the output to move a large amount. If a
process has a small K, the same input change will move
the output a small amount

(time constant) – describes how fast the output moves

in response to a change in the input.
*The time constant must be positive and it must have units of
time
 Order of transfer function

• General first order transfer function

 K 
Y (s ) =   X (s )
s + 1
Chapter 4

• General second order transfer function

 K 
Y (s ) =  2 2  X (s )
 s + 2s + 1

• First-order-plus-dead-time (FOPDT)

 Ke−st0 
Y (s ) =   X (s )
 s + 1 
Response with time delay

X(t)

Y(t)

t=0 t=t0

to=Time delay/dead time

•All first order systems forced by a step function will have
a response of this same shape.

Step response for first order system

To calculate the gain and time constant from
the graph
y
Gain, K =
x
Time constant, – value of t which the response is
63.2% complete
2. Gm - Transfer Functions for a Transmitter

PV(s) C(s)
H(s)
Process variable Transmitter output

C (s ) KT
H (s ) = =
PV (s )  T s + 1

KT = transmitter gain
 T = transmitter time constant
3. Gc - Transfer Functions for a Controller
Proportional Control
For proportional control, the controller output is proportional to
the error signal,
p (t ) = p + Kce (t ) (8-2)
where:
p ( t ) = controller output
p = bias (steady-state) value
K c = controller gain (usually dimensionless)
p is controller output when the error is zero

-The proportionality is given by the controller gain, Kc

-The controller gain determines how much the output
from the controller changes for a given change in error

Transfer function
Integral Control
For integral control action, the controller output depends on the
integral of the error signal over time,
1
p (t ) = p + 0 e (t *)dt *
t
(8-7)
τI
where τ I , an adjustable parameter referred to as the integral time
or reset time, has units of time.
•Integral control action is normally used in conjunction with
proportional control as the proportional-integral (PI) controller :
 1 
p (t ) = p + Kc  e (t ) + 0 e ( t *) dt * 
t
(8-8)
 τI

19
•The corresponding transfer function for the PI controller in is
given by

Transfer function

•The PI controller has two parameters, Kc and τ I

Derivative Control
•The function of derivative control gives the controller the
capability to anticipate where the process is heading by
calculating the derivative error
• Thus, for ideal derivative action,
de ( t )
p (t ) = p + τD (8-10)
dt
where τ D , the derivative time, has units of time.
Proportional-Integral-Derivative (PID) Control
Now we consider the combination of the proportional, integral,
and derivative control modes as a PID controller.

Form of PID Control

The form of the PID control algorithm is given by

 1 t de ( t ) 
p ( t ) = p + K c e ( t ) +  e ( t *) dt * + τ D  (8-13)
 τ I
0 dt 
The corresponding transfer function is:

Transfer function
4. Gv - Control valve gain and transfer function

Gain
• Gain of the valve – change in output divided by the change
in the input
• Output of valve – flow
• Input of the valve is the controller output signal (in percent
controller output) (Ib/hr or scfh)
df gpm
Kv =
dm %CO
• The valve gain obtained from three term
– Dependence of the valve position on the controller output
– Dependence of the Flow coefficient, Cv on the valve position
– Dependence of the Flow on the flow coefficient , Cv
dvp dCv df
Kv =
dm dvp dCv
• Transfer function