CLL261-Transfer function models

Hariprasad Kodamana
IIT DELHI

HK (CHE IITD ) CLL261-PDC 10-OCT-2020 1 / 26

Overview of Presentation

1 Revisiting Laplace transform

2 Transfer functions

HK (CHE IITD ) CLL261-PDC 10-OCT-2020 2 / 26

Solving ODE models using Laplace transforms
Models of process-that is, finding the output variables as
functions of time for some change in the input variable(s)-will be
ODEs/PDEs
It requires either analytical or numerical integration of the
differential equations
Sometimes considerable effort is involved in obtaining the
solutions
Let us consider linear ODEs
Laplace transform can significantly reduce the effort required to
solve and analyze linear differential equation models.
A major benefit is that this transformation converts ordinary
differential equations to algebraic equations, which can simplify
the mathematical manipulations required to obtain a solution or
perform an analysis
HK (CHE IITD ) CLL261-PDC 10-OCT-2020 3 / 26
Laplace transform

The Laplace transform of a function f (t)is defined as:

Z ∞
F (s) = L{f (t)} = f (t)e −st dt (1)
0

where F (s) is the symbol for the Laplace transform, s is a

complex independent variable, f (t) is some function of time to
be transformed and L is an operator, defined by the integral

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Laplace transform

When the integration is performed, the transform becomes a

function of the Laplace transform variable s
The inverse Laplace transform L−1 operates on the function
F (s) and converts it to f (t)
Notice that F (s) contains no information about f (t) for t < 0
Hence, f (t) = L−1 {F (s)} is not defined for t < 0
Laplace transform obeys superposition
L(ax (t) + by (t)) = aX (s) + bY (s)

HK (CHE IITD ) CLL261-PDC 10-OCT-2020 5 / 26

Laplace transform of some important functions
Constant
Z ∞
−a −st ∞ a
L(a) = ae −st dt = e |0 = (2)
0 s s
Step function
  
0, t
<0 Z ∞
−a −st ∞ a
L f (t) =  = ae −st dt = e |0 = (3)
a, t ≥ 0 0 s s
Exponential function
−bt
Z ∞
−1 −(s+b)t ∞ 1
L(e )= e −bt e −st dt = e |0 = (4)
0 b+s b+s
Derivative function
Z ∞
L(df /dt) = (f (t)e −st sdt) + f (t)e −st |∞
0
0
= sL(f (t)) − f (0) = sF (s) − f (0) (5)
HK (CHE IITD ) CLL261-PDC 10-OCT-2020 6 / 26
Laplace transform of some important functions
Rectangular pulse function

  
0, t
<0
 Z tw
−h −st tw

he −st dt =
 
L f (t) = h, 0 < t < tw
  = e |0



0 s

0, t ≥ tw
h
(1 − e tw s )
= (6)
s
Impulse function: This function is obtained when tw → 0 while
keeping the area under the pulse equal to unity (i.e h = t1w )
1 se −tw s
L(δ(t)) = lim (1 − e tw s ) = lim =1 (7)
tw →0 tw s tw →0 s
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Laplace transform table

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Other properties
Final value theorem

y (∞) = lim y (t) = lim s[Y (s)] (8)

t→∞ s→0

Initial value theorem

y (0) = lim y (t) = lim s[Y (s)] (9)

t→0 s→∞

Transform of an integral
Z t
1

∗ ∗
L f (t )dt = F (s) (10)
0 s
Real Translation Theorem

L ((t − θ)S(t − θ)) = e −sθ F (s) (11)

HK (CHE IITD ) CLL261-PDC 10-OCT-2020 9 / 26

Overview of Presentation

1 Revisiting Laplace transform

2 Transfer functions

HK (CHE IITD ) CLL261-PDC 10-OCT-2020 10 / 26

Transfer functions
Convenient representation of a linear, dynamic model.
A transfer function (TF) relates one input and one output
u (t ) y (t )
® system ®
U (s) Y (s)

u y
input output
forcing function response
“cause” “effect”

Let G(s) = YU(s)

(s)
denote the transfer function between an input,
x , and an output,y . Then, by definition Y (s) = L(y (t)) and
U(s) = L(U(t)).
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Stirred tank heating process

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Stirred tank heating process

Dynamic model
dT
V ρC = wC (Ti − T ) + Q (12)
dt
Steady state model at T , Q

0 = wC (Ti − T ) + Q (13)

Subtracting (12)-(13)

d(T − T )
V ρC = wC ((Ti − T ) − (T − T )) + (Q − Q) (14)
dt

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Stirred tank heating process- transfer function
Defining deviation variables: T 0 = T − T , Ti0 = Ti − T i ,
Q0 = Q − Q
dT 0
V ρC = wC (Ti0 − T 0 ) + Q 0 (15)
dt
Taking Laplace transform
V ρC [sT 0 (s) − T 0 (0)] = wC (Ti0 (s) − T 0 (s)) + Q 0 (s) (16)
At the initial steady state T 0 (0) = T − T = 0
(V ρCs + 1)T 0 (s) = wCTi0 (s) + Q 0 (s) (17)
1 Vρ
Defining K = wC
and τ = w
1 K
T 0 (s) = Ti0 (s) + Q 0 (s) (18)
τs + 1 τs + 1
=G1 (s)Ti0 (s) + G2 (s)Q 0 (s) (19)
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Stirred tank heating process- transfer function

Transfer function
1 K
T 0 (s) = Ti0 (s) + Q 0 (s) (20)
τs + 1 τs + 1
=G1 (s)Ti0 (s) + G2 (s)Q 0 (s) (21)

G1 and G2 are transfer functions and independent of the inputs,

Q 0 and Ti0
Effects of changes in both Q 0 and Ti0 are additive because the
Principle of Superposition is valid
The TF model enables us to determine the output response to
any change in an input

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Steady state gain of TF

The steady-state of a TF can be used to calculate the

steady-state change in an output due to a steady-state change in
the input.
For example, suppose we know two steady states for an input, u,
i.e, u1 , u2 , and an output, y , i.e i.e, y1 , y2
y2 − y1
K= (22)
u2 − u1
For a linear system, K is a constant. But for a nonlinear system,
K will depend on the operating condition

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TF of nth order ODE
Consider a general nth order ODE
d ny dy d mu du
an n
+ · · · + a 1 + a 0 y = bm m
+ · · · + b1 + b0 u
dt dt dt dt
(23)
Take L, assuming the initial conditions are all zero. Rearranging
gives the TF:
m
bi s i
P
Y (s)
G(s) = = Pi=0
n i
(24)
G(s) i=0 ai s

The order of the TF is defined to be the order of the

denominator polynomial. The order of the TF is equal to the
order of the ODE.
For any physical system, n ≥ m in Eq. (24) to be realizable.
Such systems are causal systems
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Properties of a TF

Multiplicative rule

Additive rule

However, if we were using ODEs these were nontrivial operations

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Linearization of Nonlinear Models
Required to derive transfer function that is good approximation
near a given operating point
Gain, time constants may change with operating point
Use 1st order Taylor series
dy df df
= f (y , u) ≈ f (y , u) + |y ,u (y − y ) + |y ,u (u − u) (25)
dt dy du
At steady state
dy
≈ f (y , u) (26)
dt
Subtracting (26) from (27) and y 0 = (y − y ), u 0 = (u − u)
dy 0 df df
= |y ,u y 0 + |y ,u u 0 (27)
dt dy du
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Linearization of Nonlinear Models: example

q0: control,
qi: disturbance

dh
A = qi - q0 qi = q0 at s.s.
dt
dh¢
Use L.T. A = qi¢ - q0¢
dt
AsH ¢( s ) = qi¢ ( s ) - q0¢ ( s ) (deviation variables)

suppose q0 is constant qi¢ = 0

H¢(s) 1 pure integrator (ramp) for
AsH ¢( s ) = qi¢ ( s ), =
q ¢ ( s ) As step change in qi
i
HK (CHE IITD ) CLL261-PDC 10-OCT-2020 20 / 26
Linearization of Nonlinear Models: example
q0 is manipulated by a flow control valve,

q0 = C v h
nonlinear element

Linear model

R: line and valve resistance

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Linearization of Nonlinear Models: example
if q0 = CV h
dh
A = qi - Cv h
dt
Perform Taylor series of right hand side

dh¢ 1
A = qi¢ - h¢
dt R

R = 2h 0.5
/ Cv
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Linearization of Nonlinear Models: example

qi and h
dh0 1
A = qi0 − h0 (28)
dt R
1
A(sH(s)) = Qi (s) − H(s) (29)
R
H(s) K
H(s)(ARs + 1) = RQi (s) =⇒ = (30)
Qi (s) τs + 1
qo and h
1 0
qo = h (31)
R
1 H(s) 1
Qo (s) = H(s) =⇒ = (32)
R Qo (s) K
HK (CHE IITD ) CLL261-PDC 10-OCT-2020 23 / 26
Non interacting tanks in series

Q20 (s) H10 (s) Q10 (s) H20 (s) Q20 (s)
= (33)
Qi0 (s) Qi0 (s) H10 (s) Q10 (s) H20 (s)

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TF development - a general procedure

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 Thank you!

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