CHE 932 Control Ahmed Mezer

Linearization of Nonlinear Models

Classical process control methodology has been developed based on linear

dynamic models such as linear ODEs and transfer-function models. Thus, for highly
nonlinear processes, the corresponding nonlinear models must be linearized in order
to use classical process control techniques.

If we have

dT
=T∗h
dt
dh
= 2qi
dt

‫المعادلة األولى تحتوي على متغيرين احدهما هو المتغير المعتمد (عدم خطية) ولتحويلها الى معادلة خطية نتبع‬
:‫االتي‬

dT
= f(T, h)
dt
dT 𝜕𝑓 𝜕𝑓
= | 𝑇 ′ + | ℎ′
dt 𝜕𝑇 𝑠 𝜕ℎ 𝑠

dT ′
= h̅. T ′ + T
̅ . h′
dt

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CHE 932 Control Ahmed Mezer

EX 1

Solution 1

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CHE 932 Control Ahmed Mezer

dh
= f(w𝑖 , h)
dt

dh′ 𝜕𝑓 𝜕𝑓
= | w𝑖 ′ + | ℎ ′
dt 𝜕w𝑖 𝑠 𝜕ℎ 𝑠

dh′ 1 ′
1.5𝑅 ℎ̅0.5 ′
= w + (− )ℎ
dt 𝜌𝐴 𝑖 𝜌𝐴

dh′ 1.5𝑅 ℎ̅0.5 ′ 1

+ ℎ = w′
dt 𝜌𝐴 𝜌𝐴 𝑖

Take Laplace

1.5𝑅 ℎ̅0.5 ′ 1
′ ′
[sH (𝑠) + h (0)] + 𝐻 (𝑠) = W′
𝜌𝐴 𝜌𝐴 𝑖 (𝑠)

1.5𝑅 ℎ̅0.5 ′ 1
′
sH (𝑠) + 𝐻 (𝑠) = W𝑖 ′ (𝑠)
𝜌𝐴 𝜌𝐴

𝜌𝐴 1.5𝑅 ℎ̅0.5 ′ 1
[ s + 1] 𝐻 (𝑠) = W𝑖 ′ (𝑠)
1.5𝑅 ℎ̅ 0.5 𝜌𝐴 𝜌𝐴

𝜌𝐴 𝜌𝐴 1
[ s + 1] 𝐻 ′
(𝑠) = W𝑖 ′ (𝑠)
̅
1.5𝑅 ℎ 0.5 ̅
1.5𝑅 ℎ 𝜌𝐴
0.5

[𝜏s + 1]𝐻′ (𝑠) = KW𝑖 ′ (𝑠)

𝐻′ (𝑠) 𝐾
=
W𝑖 ′ (𝑠) 𝜏s + 1

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Ex 2

Solution 2

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RESPONSE OF FIRST-ORDER PROCESSES

The general first-order transfer function is given by

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RESPONSE OF SECOND-ORDER PROCESSES

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Overdamped

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Step Response

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Solution

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(b)

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Solution

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EX

Solution

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