CBE 162 - Dynamics and Control of Chemical Processes - Fall 2018

Homework 2
Due: Friday, September 14th at 9:10 am

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clearly ​on homework; it is possible to get the right answer but not get full credit if your thought process is
not clear. State all assumptions. Box your final answer. No late homework will be accepted.

Question 1 ​[20 points]

Linearize the following equations:

a) f (x, y , z ) = 3xyz + 2xz 2 − xy 3 around (xs , y s , z s ) = (1, 2, 3) .

b) f (x, y , z ) = x2 − 3y + x5 y 2 around (xs , y s , z s ) = (0, 0, 0) .

Question 2 ​[20 points]

Consider the stirred-tank heater (Example 2.3) discussed in lecture with an additional work term from the
mixing element. We want to control the temperature of the fluid in our tank using the heating element and
mixing element.

a) What are the output, manipulated input, and disturbance input variable(s)?
b) Now assume that the volume, flow rates, and inlet temperature are constant at their steady-state
values. Give the governing differential equation for the energy balance.
c) Derive the linearized expression for the equation from part (b) by defining the deviation variables
→ →
x′ , y→′ , and u′ .
d) Give the linear state-space form for your answer in part (c), as described in class and in Section
→ → → →
2.7-2.8 from the textbook (e.g. x⠁′ = [A]x′ + [B]u′ and y→′ = [C]x→′ + [D]u′ ).
 CBE 162 - Dynamics and Control of Chemical Processes - Fall 2018

Question 3 ​[60 points]

Consider a nonisothermal liquid-phase CSTR with a single, second order reaction given as follows:

A→B ΔH rxn = − 30 kJ/mol A rA = − kC A 2

Pure A is fed into the reactor at a concentration of 25 mol/L at an inlet temperature of 300 K. Assume the
heat capacity by mass of all reactor fluid is constant at 5 kJ/(kg K) and the density is constant at 1 kg/L.
There is an excellent control system in place for the liquid height in the tank already, so the volume of
fluid can be considered constant.

The reaction takes place in a viscous liquid, but the reactor must remain well mixed for quality purposes.
An impeller is used for this, and its power is maintained by a control system. However, the viscosity of
the fluid is not constant; the product B is more viscous than the reactant A. If the amount of B in the
system increases, the impeller power must increase to compensate. This relationship is described by the
following equation: W s = βC B 1/3 , where β is an arbitrary constant and C B is the concentration of B.
When writing a balance on this system, remember that the impeller is performing on the system (i.e. a
viscous fluid tends to heat up when stirred).

The reaction vessel is rated up to 500 K. Since the reaction is exothermic and the impeller performs work
on the system, there are concerns whether the process may exceed this temperature.

a) Draw out a process diagram that describes the output, input, and state variable(s). Formulate the
state, input, and output variables in the form of deviation variables.
b) Write down the unsteady state balances that govern the system.
c) Given the following system values, determine the steady state values of each state variable:
F i = F = 1 L/min ; V = 500 L ; k = 0.01 L mol−1 min−1 ; β = 0.1 kJ L1/3 min−1 mol−1/3

d) Will this process be safe in the reactor vessel? What would be a control scheme that can ensure
the process will not damage the vessel?
e) Derive and linearize the unsteady state mass and energy balances that govern this system. Write
your solution in the form of the linear state-space model described in class and in Section 2.7-2.8
→ → → → →
in the textbook (e.g. x⠁′ = [A]x′ + [B]u′ and y→′ = [C]x′ + [D]u′ ).
f) Solve the nonlinear system of equations. Use values from part (c). Plot C A (t) and C B (t) on the
same graph for t = [0, 120] min. Plot T(t) on a separate graph for t = [0, 120] min. MATLAB will
be helpful.