Response of first order systems in series

Many physical systems can be represented by several first-order processes connected

in series as shown in figure:-

Figure 5.1 Two-tank liquid-level system: (a) Non-interacting; (b) interacting.

h1
In fig (5.1 a) variation of h2 does not effect on q1 then q1 
R1
h1  h2
In fig (5.1 b) variation of h2 does effect on q1 then q1 
R1

1-Non Interacting System

Material balance on tank 1 gives

h dh
qi  1  A1 1
R1 dt
h1s dh
At s.s. qis   A1 1s  0
R1 dt
By substracting both equations
h h d ( h1  h1s )
( qi  qis )  1 1s  A1
R1 dt
H1 dH1
[ Qi   A1 ]  R1
R1 dt

Process Dynamics 26 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 dH1
R1Qi  H1  R1 A1
dt
H1( s ) R1
 where 1  A1 R1
Qi ( s ) 1s  1

Material balance on tank 2 gives

h1 h2 dh
  A2 2
R1 R2 dt
h1s h2 s dh
At s.s.   A2 2 s  0
R1 R2 dt
By substracting both equations
h1  h1s h2  h2 s d ( h2  h2 s )
  A2
R1 R2 dt
H1 H 2 dH 2
  A2  R2
R1 R2 dt
dH 2 R
A2 R2  H 2  2 H1
dt R1
R2
 2 sH 2 ( s )  H 2 ( s )  H1( s )  2  R2 H 2
R1
R2
(  2 s  1 )H 2 ( s )  H1( s )
R1
R2 R1
H 2( s )  H1( s ) By substituting the lapace transform of H1(s)
( 2 s  1 )
R2 R1 R
H 2( s )   Qi ( s ) 1
( 2 s  1 ) 1s  1
R2
H 2( s )  Qi ( s )
( 1s  1 )(  2 s  1 )

H 2( s ) R2

Qi ( s ) ( 1s  1 )(  2 s  1 ) Non-interacting system
In the case of three non-interacting tanks in sereies the transfer function of the system
will be as below:-
H 3( s ) R3

Qi ( s ) ( 1s  1 )(  2 s  1 )( 3 s  1 )
Process Dynamics 27 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Example:
Two non-interacting tanks are connected in series as shown in Fig. 5.1 a. The time
constants are τ2 =1 and τ1 =0.5; R 2=1. Sketch the response of the level in tank 2 if a
unit-step change is made in the inlet flow rate to tank 1.
Solution:
The transfer function for this system is found directly from Equation above thus

R2
H 2( s )  Qi ( s )
( 1s  1 )(  2 s  1 )
1
Substituting Qi ( s )  Unit step change in Qi
s
R2 1
H 2( s ) 
( 1s  1 )(  2 s  1 ) s
o 1 2
  
s ( 1s  1 ) (  2 s  1 )
R2   o ( 1s  1 )(  2 s  1 )  1s(  2 s  1 )   2 s( 1s  1 )
let s  0   o  R2
1 1 1  1  
let s    1(  )(  2 (  )  1 )  R2  1( 22  )  R2  1( 2 2 1 )  R2
1 1 1 1 1 1
12
 1  R2 ( )
 2  1
1 1 1  1  
let s     2 (  )( 1(  )  1 )  R2   2 ( 12  )  R2   2 ( 1 2 2 )  R2
2 2 2 2 2 2
 22
  2  R2 ( )
1   2
R2 12 1  22 1
H 2( s )   R2 ( )  R2 ( )
s  2  1 ( 1s  1 ) 1   2 (  2 s  1 )
1   1   1
H 2 ( s )  R2 [  ( 1 2 ) 1 ( 1 2 ) 2 ]
s  2  1  2 ( 1s  1 ) 1   2 1 (  2 s  1 )
1  1 1  1 1
H 2 ( s )  R2 [  ( 1 2 ) ( 1 2 ) ]
s 1   2  2 ( s  1 / 1 ) 1   2 1 ( s  1 /  2 )
 1 2 1 1
H 2 (t )  R2 (1  ( )( e t /   e t /  ))
1 2

1  2  2 1
1  0.5 1 t / 0.5 1 t / 1
H 2( t )  1  ( )( e  e )
0.5  1 1 0.5

Process Dynamics 28 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 0.5
H 2( t )  1  ( )( e 2t  2e t )
 0.5
H 2 ( t )  1  e 2t  2e t )
R1
H1( s )  .Qi ( s ) H2 (t)
1s  1
H1(t)
R1 1
H1( s )  .
1s  1 s
H 1( t )  R1( 1  e t / 1 )
Substitute R1=1
H 1( t )  1( 1  e t / 0.5 )

H 1( t )  1  e 2t

Example:
Obtain the transfer function of the following system (no reaction):
Where:
F = volumetric flow rate, Fi = F1 Fi , Ci
C = conc. of solute in stream
FiiCii
V = liquid volume in tank
F1, C1
V1 c1
Solution:
Mass balance on concentration; i.e.
In – out = accumulation V2, C2 F2, C2
dC (non-interacting system)
Tank 1: Fi Ci - F1 C1 = V1 1
dt
dC1
1  C1  Ci where τ1 = V1/F1
dt
Laplace transform →  1 s C1 (s) + C1 (s) = Ci (s)
C1 ( s) 1
 1
Ci ( s )  1s  1 …. (1) Ci (s)
 1s  1
C1 (s)

dC2
Tank 2: F1 C1 + Fii C ii - F2 C2 = V2
dt
V2 dC 2 F F
 C2  1 C1 + ii C ii
F2 dt F2 F2
dC 2
2  C 2  K1C1  K 2 Cii
dt
Process Dynamics 29 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 V2 F1 Fii
2  , K1  , K2 
F2 F2 F2

Laplace transform →  2s C2 (s) + C2 (s) = K1 C1 (s) + K 2 Cii (s)

K1 K2
C 2 ( s)  C1 ( s)  Cii ( s)
 2s 1  2s 1

Substitute C1(s) from Eq. (1)

K1 K2
C 2 ( s)  Ci ( s)  Cii ( s)
( 1 s  1)( 2 s  1)  2s 1

2.Interacting System

Material balance on 1sttank

dh
qi  q1  A1 1
dt
h h dh
qi  1 2  A1 1
R1 dt
Steady state
h  h2 s dh
qis  1s  A1 1s  0
R1 dt
By substracting both equations
h h h  h2 s d ( h1  h1s )
( qi  qis )  1 1s  2  A1
R1 R1 dt
H 2 H1 dH
[ Qi    A1 1 ]  R1
R1 R1 dt
dH1
Qi R1  H 2  H1  A1 R1
dt
dH1
1  H1  Qi R1  H 2
dt
( 1s  1 )H 1( s )  R1Qi ( s )  H 2 ( s )
R1 1
H1( s )  Qi ( s )  H 2( s ) …………..(1)
( 1s  1 ) ( 1s  1 )

Process Dynamics 30 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Material balance on second tank
h1  h2 h2 dh
  A2 2
R1 R2 dt
h1s  h2 s h2 s dh
  A2 2 s  0
R1 R2 dt
H1 H 2 H 2 dH 2
[    A2 ]  R2
R1 R1 R2 dt
dH 2 R
A2 R2  H 2  2 ( H1  H 2 )
dt R1
R2
(  2 s  1 )H 2 ( s )  ( H1( s )  H 2 ( s )) …………..(2)
R1
Substituting for H1(s)from eq(1) in eq(2)
R R1 1
(  2 s  1 )H 2 ( s )  2 [ Qi ( s )  H 2 ( s )  H 2 ( s )]
R1 ( 1s  1 ) ( 1s  1 )
R2 Qi ( s) R2 H 2 ( s) R2
[( 2 s  1) H 2 ( s)    H 2 ( s)]  ( 1 s  1)
( 1 s  1) R1 ( 1 s  1) R1
R2 (  s  1 )R2
(  2 s  1 )( 1s  1 )H 2 ( s )  R2Qi ( s )  H2( s )  1 H 2 ( s )]
R1 R1
1 R2 s
( 1 2 s 2  1s   2 s  1 )H 2 ( s )  H 2 ( s )  R2Qi ( s )
R1
1 R2 A1 R1 R2
Let   A1 R2  12
R1 R1
( 1 2 s 2  ( 1   2  12 )s  1 )H 2 ( s )  R2Qi ( s )
R2
H2( s )  .Qi ( s ) Interacting system
1 2 s  ( 1   2  12 )s  1
2

R2
H 2( s )  .Qi ( s ) Non- Interacting system
1 2 s 2  ( 1   2 )s  1

The difference between the transfer function for the non-interacting system, and that
for the interacting system, is the presence of the cross-product term A1R2 in the
coefficient of s. 12  A1 R2

Process Dynamics 31 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Example:
To understand the effect of interaction on the transient response of a system, consider
a two-tank system for which the time constants are equal (τ1=τ2=τ).
τ1 = τ2 = τ12=τ
Q2(t)=? Output flow rate
1
Qi ( s ) 
s
Solution:
Non-interacting system
H 2( s ) R2
 1 =  2
Qi ( s ) 1 2 s 2  ( 1   2 )s  1
H 2( s ) R H (s)
 2 2 2 but Q2 ( s )  2
Qi ( s )  s  2s  1 R2
Q2 ( s ) 1 1 1 2
 2 2  ( )
Qi ( s )  s  2s  1 ( s  1 )( s  1 ) s  1
1
If Qi ( s ) 
s
1 1 o 1 2
Q2 ( s )  .   
( s  1 )2 s s ( s  1 )2 s  1
By multiplying both sides by s( s  1)2 and expanding, we get
 o ( s  1 )2  1s   2 s( s  1 )  1
 o (  2 s 2  2s  1 )  1s   2 ( s 2  s )  1
s 2 (  o  2   2  )  s( 2 o  1   2 )   o  1
s0  o  1
s2   o  2   2   0   2   2   0   2  
s1  2 o   1   2  0  2  1    0  1  
1  
Q2 ( s )   
s ( s  1 )2 s  1
1  
Q2 ( s )   
s ( s  1 ) 2
s  1
1 1 1 1
Q2 ( s )   
s  ( s  1 /  )2 s  1 / 
t
Q2 ( t )  1  e t /   e t /  for non-interacting


Process Dynamics 32 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Interacting system
If the tanks are interacting, the overall transfer function, according to Equation of
interacting system (assuming further that A1=A2)
1 1
Q2 ( s )  2 2 .
 s  3s  1 s
By application of the quadratic formula, the denominator of this transfer function can
be written as
1 1
Q2 ( s ) 
s ( 0.38s  1 )( 2.62s  1 )
 1 2
Q2 ( s )  o  
s 0.38s  1 2.62s  1
let s  0   o  1
1 1
let s    1  0.38  0.0664
0.38 2.62( 
1
) 1
0.38
1 1
let s    1  2.62  3.664
2.62 0.38( 
1
) 1
2.62
1 0.0664 3.0664
Q2 ( s )   
s 0.38s  1 2.62s  1
1 0.0664 / 0.38 3.0664 / 2.62
Q2 ( s )   
s s  1 / 0.38 s  1 / 2.62
1 0.17 1.17
Q2 ( s )   
s s  1 / 0.38 s  1 / 2.62

Q2 ( t )  1  0.17e t / 0.38  1.17e t / 2.26 

Figure: Effect of interaction on step response of two tank system.

Process Dynamics 33 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali