UN I V

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TY OF

UNIVERSITY OF LAGOS
Chemical Engineering Department
2019/2020 SESSION, 1st SEMESTER

CHG 501 – Process Dynamics and Control

Tutorial II:
Process Dynamics
[The use of MATLAB/SIMULINK is highly recommended for this tutorial]

Possible responses of a linear system to a step input

Date given: March 9, 2020 (Monday))

Date due: March 20, 2020, (Friday, latest 12:00 noon)
Test date: March 23, 2020, (Monday) 05:00 – 06:00 pm
Hard work is rewarding beyond gold. Sweating is living.
Terri Guillemets

It is better to wear out than to rust out.

Richard Cumberland

Genius is 1% talent and 99% percent hard work...

Albert Einstein

Work hard to become good;

then work harder to become the Best!

Page 2 of 26
Question 1.1
The caustic concentration of the mixing tank shown in figure 1.1a is measured using a
conductivity cell. The total volume of solution in the tank is constant at 7 cm3 and the density (ρ =
70 g/cm3) can be considered to be independent of concentration. Let cm denote the caustic
concentration measured by the conductivity cell. The dynamic response of the conductivity cell
to a step change (at t = 0) of 3 g/cm3 in the actual concentration (passing through the cell) is
also shown in figure 1.1b.

Figure 1.1a Figure 1.1b

(a) Determine the transfer function cm(s)lc1(s) assuming the flow rates are equal and
constant:(w1 = w2 =5 g/min):
(b) Plot the response for a step change in c1from 14 to 17 g/cm3
(c) If the transfer function cm(s)lc(s) were approximated by 1 (unity),plot the step response
of the system for the same input change on the same graph used in (b)?
(d) Compare the plots of (b) and (c), and comment on the dynamics of the conductivity cell?

Question 1.2
You have just returned to your room in the hostel after a very tiring day in the department and are
looking forward to a cool refreshing drink of Coca-Cola. Unfortunately, the only bottle available has
been left sitting on the reading table in your room. Since sunlight from the room window has been
warming the drink all afternoon, it is hardly fit to drink. You are interested in cooling the drink to a
desired temperature of 16°C as quickly as possible.

You immediately spring into action by placing the bottle in the freezer section of the refrigerator,
which has a temperature of-21°C. If the initial temperature of the drink is 30°C, estimate how long
it will take to cool it to 16°C. (You may assume that a bottle of Coca-Cola weighs 0.4kg and that the heat
capacity is ~4.2kJ/kg °C)

Question 1.3
Consider a water storage tank with inlet and outlet streams that can be independently
adjusted. The storage tank has a cross-sectional area of 100 m2 . Initially, the flow in is equal
to the flow out, which is 5 m 3 /hr. The initial height of water in the tank is 4 m and the height
of the tank is 10 m. At t = 0 a ramp increase in the inlet flowrate is made, so that
Fi (t ) = 5 + 0.25t , where the flowrate units are m3/hr.
How long does it take the tank to overflow? Solve using Laplace transforms. .

Page 3 of 26
Question 1.4
As the process engineer for an operating unit in a process plant, you are trying to get a "feel" for
the dynamic characteristics of a particular process. You have a discussion with the operator about
a process (which you feel is first-order) that uses steam flowrate as an input variable, and process
temperature as a measured variable. After the steam flowrate is increased from 1000 Kg/hr to
1100 Kg/hr (quickly), the process fluid temperature changes from 100°C (the initial steady-state)
to 110°C in 30 minutes. The temperature eventually reaches a new steady-state value of 120°C.
(a) Find the process gain (show units).
(b) Find the process time constant (show units).

Question 1.5
The control engineer supervising the exothermic reaction taking place in a continuous stirred tank
reactor (CSTR) uses a thermocouple mounted in a thermowell to measure t h e reactor
temperature. The temperature sensor/transmitter combination operates approximately as a
first-order system with time constant equal to 3 sec. The thermowell behaves like a first-
order system with time constant of 10 sec. The engineer notes that the measured reactor
temperature has been cycling approximately sinusoidally between 180 and 183 °C with a
period of 30 sec for at least several minutes.
What is the range of the actual reactor temperature?

Question 1.6
The temperature Ton a critical tray in a pyrolysis fractionator is to be controlled as indicated in Figure
1.6, employing a feed forward controller that manipulates the underflow reflux flowrate R on the basis
of feed flowrate measurements F. By experimental testing, the following approximate transfer
function models were obtained for the response of the critical tray temperature (1) to the feed rate
changes, and (2) to reflux flowrate changes:
20
(1) (T − T * ) = (F − F * )
30 s + 1
and
−5
(2) (T − T * ) = ( R − R* )
6s + 1
the timescale is in minutes, the flowrates are in kilogram/hour (kg/hr), the temperature is in °C, and the
(*) denotes steady-state conditions

Figure 1.6

Page 4 of 26
(a) Rewrite the model in the form:
y(s) = g(s)u(s) + gd(s)d(s)
Stating explicitly what the variables y, u, and d represent in terms of the original process
variables, and clearly identifying g(s) and gd(s).
(b) Obtain an expression for the dynamic response of the tray temperature to a unit step change in
the underflow reflux flowrate, given that the initial temperature on the tray is 120°C and that the
feedrate remained constant. To what ultimate value will the tray temperature settle after this unit
change in R?
(c) Obtain an expression for the dynamic response of the tray temperature, this time to a unit step
change in the feed flowrate, still given that the initial temperature on the tray is 120°C, and that
this time the reflux rate remained constant. Deduce the final steady-state tray temperature in
response to this change in feedrate.
(d) Plot the dynamic response obtained in (b) and (c.) above on the same graph, and on the
same scale. Which input variable affects the tray temperature the most (in terms of absolute
change in the tray temperature), and which affects it the quickest (i.e., which response gets
to steady state the quickest)? [Keep in mind that these are both unit step responses.]
(e) By summing up the individual expressions for the two responses (or otherwise) obtain
an expression for the tray temperature response to a simultaneous implementation of
unit step changes in both the feedrate and the reflux rate, and given the same initial
temperature of 120°C.
Plot this combined response and comment on its shape. What kind of system is the
pyrolysis fractionator.

Question2.1
A system comprising of two fixed-volume stirred tank vessel connected in series (see figure 2.1a) has
been proposed for the mixing of paint pigments. In order to ensure adequacy of mixing in the two
tanks, a tracer test is to be run on the system to determine if dead zones and/or channeling exists in
the vessel. The experimental steps involved are:
i. Apply a rectangular pulse in the tracer concentration to the 1st tank
ii. Use available instrumentation on the 2nd tank outflow line to measure the tracer
concentration.

Figure 2.1a

Before performing the test, it is necessary to have a good idea of the result that should be
expected (that is the theory behind the experiment) if perfect mixing actually is accomplished in
the system. Using the process data and operating conditions given below obtain a model for the
system.
Volume of Stage 1 = 4m3
Volume of Stage 2 = 3m3
Total flow rate = 2m 3 /min
Nominal reactant concentration in input = 1 kg mol / m3

Page 5 of 26
Figure 2.1b shows the proposed pulse change of 0.25 min duration that can be made while
maintaining the total reactor input flow rate constant. As part of the theoretical solution, it is desired to
know how closely the rectangular pulse response might be approximated by the system response to
an impulse of equivalent magnitude. Based on the information above, obtain the following
information:

Figure 2.1b. Proposed input pulse in tracer concentration.

(a) The magnitude of an impulse input equivalent to the rectangular pulse of Figure 1.4b.
(b) The impulse and pulse responses of the reactant concentration leaving the 1st stage.
(c) The impulse and pulse responses of the reactant concentration leaving the 2nd stage.
(d) Using Simulink, or otherwise, Plot the responses of (b) and (c.) above on the same graph
and comment

Question 2.2
Pharmacokinetics is the study of how drugs infused to the body are distributed to other parts of
the body. The concept of a compartmental model is often used, where it is assumed that the drug
is injected into compartment 1. Some of the drug is eliminated (reacted) in compartment 1, and
some of it diffuses into compartment 2 (the rest accumulates in compartment 1). Similarly, some
of the drug that diffuses into compartment 2 diffuses back into compartment 1, while some is
eliminated by reaction and the rest accumulates in compartment 2. Assuming that the rates of
diffusion and reaction are directly proportional to the concentration of drug in the compartment of
interest, the following balance equations arise:

dx1
= −(k10 + k12 )x1 + k21 x2 + u
dt
dx2
= k12 x1 − (k20 + k21 )x2
dt
where x1 and x2, = drug concentrations in compartments 1 and 2 (µg/kg patient weight), and U
= rate of drug input to compartment 1 (scaled by the patient weight, (µg/kg min).

Experimental studies (of the response of the compartment 1 concentration to various drug
infusions) have led to the following parameter values for the drug atracurium, which is a muscle
relaxant:
(k10 + k12 ) = 0.26 min-1
(k20 + k21 ) = 0.094 min-1
k12 k21 = 0.015 min-1
(a) Find the poles and zeros of the transfer function that relate the input, u, to the output, x1
(b) Find the response of the concentration in compartment 1, x1 to a step input of 1
µg/kgmin. What is the value at 10 minutes? What is the value after a long period of time?
(c) Find the response of the concentration in compartment 1, x1 to an impulse input of 10
µg/kg. What is the value at t = 0? What is the value at 10 minutes?

Page 6 of 26
Question 2.3
Consider a critically damped second-order system:
1
g(s) =
(τ s + 1)(τ s + 1)

(a) For a unit step input change (∆u = 1), find the time at which the rate of change of the
output is greatest (i.e. find the inflection point).
(b) Compare this rate of change with a unit step response of a first-order system with the
following transfer function:
1
g(s) =
(2τ s + 1)

(c) Plot the step responses for (a) and (b) for τ = 1 . Compare and contrast the responses.

Question 2.4
The dynamic behaviour of the liquid level in each leg of a U-tube manometer, figure 2.4, in response
to pressure change can be reasonably modelled by

Figure 2.4 A U-tube liquid manometer

 L  d 2 h 4 µ L dh gc
 2 g  dt 2 + ρ gR 2 dt + h = 2 ρ g ∆P
 
where;
L = length of liquid in the manometer tubes,
g = acceleration due to gravity,
h= deviation of liquid level from initial plane of rest,
µ = viscosity of liquid in manometer
p= density of liquid in manometer,
R= radius of manometer tube
gc= conversion constant,
∆P = pressure difference. P1 − P2 , imposed on the two legs

(a) Rearrange this equation into the standard gain-time constant form and find expressions for
K, τ, ζ in terms of the physical constants.
(b) For what values of the physical constants does the manometer response oscillate?
(c) Design the system so that it exhibits underdamped behaviour with a quarter decay ratio.
(d) Would changing the manometer fluid so that ρ (density) is larger make its response more
oscillatory, or less? Repeat the analysis for an increase in µ (viscosity).

Page 7 of 26
Question 2.5
The pneumatic valve, shown in figure 2.5 is the most commonly used final control element. The
position of the plug end of the stem determines the size of the opening for the flow and consequently
the flowrate. Applying Newton's second law (Force = Mass * Acceleration), the model for the stem
position, x as a function of the forces acting on it is given by:
dx  M  d 2 x
pA − Kx − C =
dt  g c  dt 2
where
pA = force exerted by the compressed air at the top of the diaphragm, pressure p is the
signal that opens or closes the valve and A is the area of the diaphragm, this force
acts downward.
Kx = force exerted by the spring attached to the stem and the diaphragm; K is the
Hooke's constant for the spring and x is the displacement, it acts upward.
dx
C = frictional force exerted upward and resulting from the close contact of the stem with
dt
valve packing; C is the friction coefficient between stem and packing.

Figure 2.5 A pneumatic Control Valve

Question2.6
K
(a) Show that the response of a second order system, g ( s) = , with ζ < 1 , to a
τ s + 2τζ s + 1
2 2

step input of magnitude A is given by

   1− ς 2  ς  2  
sin  1 − ς t   
−ς t
y (t ) = AK 1 − e τ
cos  t+
   τ  1− ς 2  τ   
(b) Using the above expression for y (t ) above, derive the following expressions for some of the
characteristics of this step response.
τ
i Rise time, tr = (π − cos-1ζ ) ,
1−ζ 2

πτ
ii Peak time, tp = ,
1− ζ 2

iii Overshoot, OS = exp[ −

πζ ],
1− ζ 2

iv Decay Ratio, DR = OS2 ],

Page 8 of 26
 2πζ
v Period of oscillation, P = , and
1- ζ 2

3τ
vi Settling time, ts ≥
ζ
(c) A step change of magnitude 4 is introduced into a system having the transfer function

10
g (s) =
s 2 + 1.6s + 4
Using the correlations derived in (b) above, determine
i. Rise time
ii. Maximum value of y(t)
iii. Percent overshoot
iv. Decay Ratio
v. Period of oscillation
vi. Ultimate value of y(t)
vii. Settling time

(d) Plot the response and indicate the features listed in (c) above on the plot, confirm the
values you obtained in (c) from the plot.

Question 2.7
Derive the impulse responses for the following second-order systems.
(a) Overdamped
(b) Critically damped
(c) Underdamped
Of what significance is the impulse response, seeing that it is not a practicable response?

Question 2.8
A second-order system has the following Laplace transfer function form:
2.5
g(s) =
2
25s + 5s + 1

where the time unit is hours. The initial steady-state value for the output is 20 psig and the input
is 4 gpm.
At t = 0, a step input decrease is made, from 4 gpm to 3 gpm.
(a) What is the final value of the output?
(b) When does the output first reach this final value?
(c) What is the minimum value of the output?
(d) When does the output hit this minimum value?
(e) Plot the response.

Question 2.9
A step change in the steam pressure to a heat exchanger is made from 20 to 24 psig. The system
outlet temperature response (see figure 2.9 on the next page) appears to be approximately second
order. Someone forgot, however, to note the recorder speed. A second test of the system using a
sinusoidal variation of steam pressure to the exchanger with amplitude of 2 psig and a frequency of
2 cycles / min yields an output temperature variation with amplitude of 4°C. Determine an
approximate transfer function for this system. Is the transfer function unique?

Page 9 of 26
Figure 2.9

Question 2.10
A process engineer responsible for the operation of a complex chemical reactor has
the process operator make a step change in the coolant flow-rate from 10 gpm to 15
gpm to the reactor at 2:00 pm. The reactor temperature is initially 150°F at 2:00 pm
and drops to a low of 115°F at 2:10 pm. Eventually the reactor temperature comes
to a final steady-state temperature of 125°F. Assuming that the response is second-
 k 
order,  τ 2 s2 + 2ζτ s + 1  , find k , ζ , τ (show units).
 

Question 2.11
The output of a second-order, underdamped system has a rise time of 1 hour, and a
maximum value of 15°F (in deviation variables), after a step change at time t = 0.
After a long period of time, the output is 12°F (again in deviation variables).
(a) What is the value of τ ?
(b) What is the value of ζ ?
(c) What are the poles? (also, show their location on the complex plane)

Question 2.12
A unit step change in input is applied to a process. The resulting output response, in deviation
variables, is shown in the figure 2.12 on the next page.
(a) Find the period of oscillation, rise time, and time to first peak, for this system.
(b) Obtain the transfer function describing the process.

Page 10 of 26
 time
Figure 2.12

Question 2.13
Consider the second-order system given by

1
g (s) =
s + 0.2 s + 1
2

Using MATLAB, SIMULINK, or otherwise, show the response of the system to the following inputs
A sinusoidal input, A sin ω t , where A = 2 and
i ω = 0.1 min-1
ii ω = 5 min-1
iii ω = 1 min-1
Show the input wave along with the output waves and comment on the amplitude and phase
angle of the output waves for the three different frequencies.

[Note that in Frequency Response Analysis, we shall be examining the variations in Amplitude Ratio
and phase angle with frequency, and of special interest is what happens to AR and φ at low,
intermediate and high frequencies, corresponding roughly to τω = 0.1, 1.0 and 10, respectively]

Question 3.1
τ s +1 A
For the lead/lag system, whose transfer function is given by y(s) = k n
τd s + 1 s
 τ  −t
τd

Show that time domain response is y (t ) = AK 1 −  1 − n  e 
  τd  
Given that k= 1, A = 1, τ d = 2, on the same plot, show the responses for τn = 0.5, 4 and -0.5

Page 11 of 26
Question 3.2
A process has two poles and one zero. The poles are located at -1 ± 0.5i and the zero is
located at 0.5. Sketch the type of response that you expect to a step change in input. Explain.
Find the transfer function and verify these results assuming a gain of one.

Figure 3.2

Question 3.3
Consider the following transfer function:
s2 + s − 2
g(s) =
s 2 + 4s + 3
(a) Find the poles and zeros for this transfer function.
(b) A unit step change is made at t = 0. Find the value of the output, using the final
and initial value theorems:
i After a long time.
ii Immediately after the step change.
(c) Verify your results in (b) by finding (analytically) the time domain solution.
(d) Verify the results in (b) using the MATLAB function step.
(e) Repeat (d) using Simulink.

Question 3.4
Consider the process that has the following transfer function relationship between the inlet
flowrate (input) and the process temperature (output).

2(−2.5s + 1)
g(s) =
9s2 + 3s + 1

The units of the input are litre/min and the output is in deg C.
(a) Find the values of the zeros and poles. Is this system underdamped or over-
damped?
(b) For a step input change of +3 litre/min, find how the output changes with time. How much
does the temperature decrease before increasing? Compare plots of your analytical
solution with those obtained using the MATLAB function step .
(c) What is the ultimate change in temperature after a long period of time?
(d) If the steady-state input and output values (in physical terms) are 10 litre/min
and 75°C respectively, what are the physical values of the results in (ii) and (iii)?

Page 12 of 26
Question 3-5
Consider the following third-order transfer function, where β is a parameter. Find the conditions
on the parameter β that will give an inverse response.

2s 2 + s + β
g(s) =
(5s + 1)(3s + 1)(2s + 1)
Show your work and explain your answer.

Question 4.1
Consider a chemical reactor where a step change in coolant flowrate from 10 gal/min to 12
gal/min (at t = 0) causes the change in reactor temperature shown in the figure 4.1.
Find the gain, time constant, and time-delay for this system.

Figure 4.1

Question 4.2
A process operator makes a step change on an input variable at 2:00 pm and discovers no output
response is observed until after 2:10 pm. She finds that the output is 90% of the way to its final
steady-state at 2:45 pm. You believe that this is a first order + time delay process. Below is the
reading made by the process operator.

time input output

1:00 pm 200 kg/hr 100°C

1:30 pm 200 kg/hr 100°C
1 :59 pm 200 kg/hr 100°C
2:00 pm 225 kg/hr 100°C
2:10pm 225 kg/hr 100°C
2:45 pm 225 kg/hr 91°C
after 5:00 pm 225 kg/hr 90°C

(a) What is the time delay for this process (show units)?
(b) What is the time constant for this process (show units)?
(c) What is the process gain (show units)?

Page 13 of 26
Question 4.3
For the third order process described by the exact transfer function
0.4
g (s) =
s 3 + 12 s 2 + 6 s + 1
(a) Find an approximate transfer function of first-order-plus-time-delay form that describes this
process.
(b) Repeat (a) this time approximating with a second-order-plus-time-delay transfer function.
(c) Plot the responses y(t) of the approximate models and the exact model on the same
graph for a unit step change in input u(t).
(d) Find the maximum error and where it occurs between the response of (a) and the exact
transfer function. Repeat for (b).

Question 4.4
After linearizing the original set of six coupled nonlinear, ordinary differential equations that
describe the dynamics of an industrial separations process, further simplification and Laplace
transformation gave rise to the following transfer function relating the input to the output:

y( s) 10.3
=
u ( s ) (1.5s + 1)5 (15.2 s + 1)

(a) Plot the unit step response of this process.

(b) Obtain a FOPDT approximation of the process and using this approximate model to plot the
unit step response of the process.
(c) Using the following approximations of the time delay, plot the same unit step response.
i. Taylor series expansion
st
ii. 1 order Padé approximation
nd
iii. 2 order Padé approximation.
(d) Compare the responses above and comment.

Question 4.5
A composition analyzer is used to measure the concentration of a pollutant in a wastewvater
stream. The relationship between the measured composition Cm and the actual composition C is
given by the following transfer function (in deviation variable form):
e−td s
g (s) =
τ s +1
where td = 2 min and τ = 4 min. The nominal value of the pollutant is C = 5ppm. A warning
light on the analyzer turns on whenever the measured concentration exceeds 25 ppm.
Suppose that at time t = 0, the actual concentration begins to drift higher, C (t ) = 5 + 2t , where C
has units of ppm and t has units of minutes. At what time will the warning light turn on?

Question 4.6
Show that the first- and second-order Padé approximations relate to a Taylor series expansion.
The Taylor series approximation to a time-delay in the Laplace domain is
− td s td2 s2 td3 s3 td4 s 4 td5 s5 td6 s6
e ≈ 1 − td s + − + − + −⋯
2! 3! 4! 5! 6!
Use long division of the first- and second-order Padé approximations and comment on the number
of terms that are consistent with the Taylor series expression

Page 14 of 26
Question 4.7
A process has the block diagram
0.8 0.8
u(s) (0.4 s + 1) 2 (0.4 s + 1) 2 y(s)

(a) Derive an approximate first-order-plus-time-delay transfer function model.

(b) Obtain Taylor series, 1st and 2nd order Padé approximations for the time delay term. Using
Simulink plot the responses of y(t) for the three approximate models and the original model
on the same graph for a unit step change in input u(t)

Question 4.8
Edison & Edgar (2002)1 in their work analyzed the sodium nitroprusside (a drug used to lower
blood pressure) infusion rate control problem that occurred in patients after surgery. They used
2
the model of Slate et al. (1980) , that relates the change in blood pressure to the infusion rate of
sodium nitroprusside, given by
− θ1 s
y(s) Ke (1 + α e − θ 2 s )
g (s) = =
u (s) τs +1
where y(s) represents to the change in mean arterial blood pressure in units of mmHg and u(s)
-1
is the infusion rate of the drug in ml h . K is the sensitivity of the patient to the drug and it is
measured in (mmHg (ml h ) ), α is the dimensionless recirculation coefficient, θ1 is
-1 -1
the initial
transport delay, θ2 is the recirculation transport delay both of which are measured in seconds,
and τ is a lag time constant in seconds. For a nominal patient, the parameters were given as
mmHg
K = −1.0 , α = 0.4, θ1 = 30 s, θ 2 = 45 s, τ = 40 s,
ml/h
Simulate the blood pressure response to a unit step change in sodium nitroprusside infusion rate.
Comment on the response obtained.

Question 5.1
12s + 2
Consider the transfer function g(s) =
3s2 + 4s + 1
Rewrite the transfer function in the following forms:
k(τ n s + 1)
(a) gain-polynomial form g(s) =
τ s2 + 2ζτ s + 1
2

k(τ n s + 1)
(b) gain-time constant g(s) =
(τ 1 s + 1)(τ 2 s + 1)
k(s + z )
(c) Write the gain-pole-zero form g(s) =
(s + p1 )(s + p2 )

1
Hahn, J., T. Edison, & T. F. Edgar (2002), Adaptive IMC control for drug infusion for biological
systems, Control Engineering Practice, 10, (pp. 45 – 56)
2
Slate, J. B., Sheppard, L. C., Rideout, V. C., & Blackstone, E.H. (1980). Closed-loop
nitroprusside infusion: Modeling and control theory for clinical application. Proceedings of IEEE
International Symposium on Circuits Systems 1980 (pp. 482–488)

Page 15 of 26
Question 5.2
Obtain the unit step response for the transfer functions, g1 to g12 given below. In addition, locate
the poles and zeros of the transfer function on the complex plane (s-plane). Comment on your
responses, especially with regard to the nature of the transfer function’s poles and zeros.

0.3 0.3e−5s 0.3

g1 = g2 = g3 =
3s + 1 3s + 1 3s + s + 1
2

0.3e−9 s 18s + 1 4s + 1
g4 = g5 = g6 =
3s 2 + 8 s + 1 (3s + 1)(5s + 1) (3s + 1)(5s + 1)
0.1s + 1 0.03 −3s + 1
g7 = g8 = g9 =
(3s + 1)(5s + 1) s 12s 2 + 2 s + 1
−3s + 1 3s − 1 (−3s + 1)(2 s − 1)
g10 = 2 g11 = g12 =
s + 2s + 1 12 s + 2 s + 1
2
12 s 2 + 2 s + 1

Question 5.3a
A unit step change in input is made on a number of processes (I-IV). The resulting outputs are
shown in figure 5.3a. Associate each process with a response curve.
Process Transfer Function Curve (letter) from Plot
2e −2 s
(a) g(s) =
2s + 1
1
(b) g(s) = 2
s + s +1
2s + 1
(c) g(s) =
s +1
4(s2 − 2s + 2)
(d) g(s) =
(s + 2)3

Figure 5.3a

Page 16 of 26
Question 5.3b
A unit step change in input is made on a number of processes (1 - 4). The resulting outputs are
shown in the plot below. Give estimates of the transfer function, g1 to g4, describing the process.

Figure 5.3b

Page 17 of 26
Appendix

(see figure below)

Page 18 of 26
 (Figure 1)
(Figure 2)
(Fig. 3)

(Figure 1)

(Figure 2)

(Figure 3)

Page 19 of 26
 (Figure 4)
(Figure 5)

(Figure 4)

(Figure 5)

Page 20 of 26
 (Figure 6)

(Figure 6)

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Figure 7 – Simulink simulation of one tank and two tanks in series

Figure 8 – Simulink diagram for noninteracting first-order systems in series

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 Grouping for Tutorial II
S/N Matric. No. NAMES (SURNAME FIRST) Tutorial Group
1 130401065 Sorunke Kehinde
2 150401011 Rasheed B. Izziyyah
3 150401031 Ofili Patrick Onyebuchi
4 150401053 Balogun Taiwo Semiat
5 150401093 Kolawole David
6 150409007 Etuk Uduak Friday
1
7 150409031 Edafe Esiri Wilson
8 160401523 Shobowale Damilola Tosin
9 160409508 Onikoyi Toluwalashe
10
1 130401049 Oyebanji Lekan seun
2 150401013 Adeniji Nazeer Ajibola
3 150401035 Adegbesan O. Jeremiah
4 150401056 George-Adeniyi Adedolapo
5 150401062 Afolabi Bamidele E.
6 150401099 Olumuyiwa Aanuoluwapo
2
7 150409009 Onyeali David Chinwueba
8 150409041 Oladipupo Awwal Damilare
9 160401510 Bajomo Bioluwaosi O.
10 160401526 Jayeola A. Ridwan
1 150401014 Okpallannuozo Nnaemeka
2 150401039 Akinnurun Kayode James
3 150401057 Olisa-Akaeze Jemima U.
4 150401101 Olajide Gbolagade Izie
5 150409010 Ogbe-Nwori Ntito-Obari
6 150409047 Jimoh Musa Adinoyi
3
7 160401507 Oluyemo Kehinde Desola
8 160401511 Okere Amarachi Stephanie
9 160401527 Banjo Temidayo Amudalat
10 160409511 Shokoya Ridwan Olakunle
1 150401010 Quadri Hikmat A.
2 150401030 Odinikaeze Chukwuemeka Henry
3 150401052 Regwa Fedora O’Whome
4 150401092 Oyetunji Rebecca
5 150409006 Aliyu Abdulqoyum Olamide
6 160401506 Adimora Chukwuka Daniel
4
7 160401522 Olawuyi Kehinde Adisat
8 160401530 Owoade Tobiloba
9 160409507 Oyetade Pelumi Adebola
10 160409525 Nureni-Balogun Hikmat Afolake
1 140811022 Okoh Kachukwu Emma
2 150401016 Anjorin Medesse
3 150401041 Logunleko Ishaq Damola
4 150401060 Michael Victor A.
5 150401103 Ikiliagwu Chukwudi
6 150409014 Stephen Samuel Ochogbe 5
7 150409028 Sampson Esther Ekerete
8 150409049 Oluwayomi Isaac Ayodeji
9 160401513 Samuel Ilesanmi Olamide
10 160409513 Nwagu Ikechukwu Justin
1 150401001 Busari Taofeek Ayinla
2 150401017 Williams Gloria Jumai
3 150401042 Alade Faruk Timilehin
4 150401044 Adelaja Taofeek Muhammad
5 150401105 Kolade Olufemi Johnson
6 150409015 Olabulo Peter Olamide
6
7 160401514 Adewumi Adedeji Joseph
8 160401533 Cabel Egbuchulem O.
9 160409501 Anaka Ngozi Maryjane
10 160409514 Olakunori Olabanjo Damilola
1 150401002 Okoroafor Chiemena D.
2 150401018 Musa Muhammed Olasubomi
3 150401043 Oladejo Ayomide Rabiu
4 150401063 Olorunfemi Joshua Bamidele
5 150401106 Okunola Anjolaoluwa S.
6 150401110 Adenuga Adetola David
7
7 150409016 Yekini Yusuf Olaitan
8 150409050 Aluejime Joseph Brown
9 160401535 Obinna Michael Olugbenga
10 160409515 Okafor Chukwuebuka Charles
1 150401003 Afolayan Philip Taiye
2 150401020 Okemuyiwa Olawale Oluwaseun
3 150401069 Alipoe A. Isaac
4 150409017 Aniegboka Chima Jayjay
5 150409051 Odukoya Oluwamayomikun N.
6 150409052 Adebayo Opeyemi Oluwadunsin 8
7 160401515 Ndudi Emmanuel Ikechukwu
8 160401516 Adesanwo Adewale A.
9 160409516 Odum Godwin Chukwuemeka
10

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1 150401009 Jegede Samuel Babatunde
2 150401029 Essien Samuel Etesin
3 150401051 Omolasho Oluwasoji E.
4 150401090 Teslim Monsurat Abosede
5 150409005 Jimoh Azeez Eniola
6 150409027 Oyelakin Emmanuel Ayodeji
9
7 160401504 Amoo Moyinoluwa A.
8 160401521 Ezeamalu Micheal Chukwudi
9 160409506 Okeke Jennifer Oluchi
10 160409524 Ikirigbe Ogheneovo Victor
1 150401005 Adakole Dorothy A.
2 150401025 Ngwu Ikechukwu Emmanuel
3 150401046 Idowu Aminat
4 150401072 Faminigba Oluwaseyi
5 150409001 Onyemachi Precious
6 150409020 Olaosilo Samuel Opeyemi
10
7 160401501 Adim Ezinne Joanne
8 160401518 Osibote Oluwatomisin D.
9 160409503 Adetunji Oluwaseun Yommy
10 160409519 Uwak Ruth Eno
1 150401006 Roy-Layinde Ayoola
2 150401026 Adeyoyin Damilare Hannah
3 150401048 Chiorlu Chimzibudu Edwin
4 150401087 Amzat Rukayat Ayomide
5 150409003 Akinde-Peters Tosin Michael
6 150409022 Adesanya Iteoluwakiishi Bolu
11
7 160401502 Ubah Chinelo Ijeoma
8 160401519 Owoyele Aduragbemi O.
9 160409504 Akinyele Paul Ayomikun
10 160409521 Fadipe Abdul-Wadud Ibukunoluwa
1 150401027 Aina Sodiq Babatunde
2 150401050 Lambert Somto Desmond
3 150401088 Kadiri Adeyinka M.
4 150409004 Awotunde Oluwasola Abigail
5 150409025 Atundaolu Oluwapelumi Enoch
6 150409038 Davidson Becky Omotola
12
7 160401503 Ambali Mariam Aramide
8 160401520 Sofidiya Oluwafunto T.
9 160409505 Echetabu Ikechukwu Michael
10 160409523 Tijani Olawale Emmanuel

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1 150401004 Maku Uwasan
2 150401021 Joseph Samuel Chidiebere
3 150401045 Egbinola Mayowa Samuel
4 150401071 Iwuanyanwu Michael
5 150401522 Ebuehi Osaretin
6 150409018 Olayemi Toheeb Bolaji
13
7 150409053 Olopade Tofunmi Joseph
8 160401517 Obi Chukwuwetalu W.
9 160409502 Echedom Chisom Bethany
10 160409518 Bakare Abdulafeez Omotola
1 140401512 Shofoluwe Ismail S.
2 150401015 Anibaba Ayoola Hakeem
3 150401040 Aliu Aderinsola Paul
4 150401054 Ololade Kolade D.
5 150401102 Obi Onyema Steven
6 150409011 Emijere Sunday Richard
14
7 150409048 Olawuyi Ayodele Damilola
8 160401512 Oyelade Oluwademilade E.
9 160401528 Bobmanuel David Reginald
10 160409512 Sanusi Adeola Omotayo
1 130401022 Ojo Samuel 'Similoluwa
2 150401007 Ogunleye Tobiloba E,
3 150401012 Achor Akeleojo Isaac
4 150401033 Fabusuyi Titilayo Valerie
5 150401058 Olowookere Feranmi V.
6 150401094 Joseph Mayowa Olumuyiwa
15
7 150409008 Joseph Timothy O.
8 160401509 Okwuba Mmesoma Jane
9 160401525 Alabi Ayotomiwa E.
10 160409509 Talabi Oluwasanmi Olaife

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