Harmattan 2021/2022 PROCESS DYNAMICS CHE 509

PROBLEM SET 5
Goals: The main goals of this problem set are to test students’ ability to:

i. analyze the response of dynamic systems to various input functions,

ii. simulate system dynamic response using MATLAB/SIMULIK,
iii. reduce higher order systems to low order systems
iv. design of a simple level dynamic system

[5.1] Transfer function model is considered a dynamic model of choice.

As an intern at Duplant chemical processing company, you have been
posted to the reactor section where there are continuous stirred reactors in
series. As part of the preliminary dynamic analysis, you are to join the team
of the engineers in analyzing the dynamic behaviour of the reactors.
Assuming that the transfer function model of the reactor is given as:
0.7(𝑠 2 + 2𝑠 + 2)
𝐺 (𝑠) = 5
𝑠 + 5𝑠 4 + 2𝑠 3 + 4𝑠 2 + 6
(a) Determine the poles and zeros of the system and plot it in the
complex plane. A program that calculates the roots of the
polynomial (such as command “roots” in MATLAB can help you
factor the denominator polynomial.
(b) Judging from the pole locations in the complex plane, what can be
concluded about the output modes for any input change?
(c) Plot the response of the output to a unit step input. Does the form
of your response agree with your analysis for (b)? Explain.

[5.2] Consider that a chemical processing plant is modelled by the

following the transfer function

320(1 − 4𝑠)𝑒 −3𝑠

𝐺 (𝑠) =
24𝑠 2 + 28𝑠 + 4
 (a) Put the transfer function in the standard gain/time constant form
(b) What are the gain, time delay, time constants, poles, and
zeros of 𝐺 (𝑠)?
(c) If the time-delay term is replaced by a 1/1 Pade approximation,
repeat part (b)
(d) Will you expect the step response of this transfer function to
exhibit (i) inverse response or (ii) oscillations?
(e) Justify your answer by using MATLAB/SIMULINK to plot the step
response in (d) above

[5.3] A composition analyzer is used to measure the concentration of a

pollutant in a wastewater stream. The relationship between the measured
composition 𝐶𝑚 and the actual composition 𝐶 is given by the following
transfer function (in deviation variable form):

𝛿𝐶𝑚 (𝑠) 𝑒 −𝜃𝑠

=
𝛿𝐶 (𝑠) 𝜏𝑠 + 1

where 𝜃 = 2 min and 𝜏 = 4 min. The nominal value of the pollutant is 𝐶 = 5

ppm. 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?

[5.4] Higher order transfer function models are often reduced to lower
order for ease of control system design. By inspection, determine which of
the following process models can be approximated reasonably accurately by
a first-order-plus-time-delay model. For each acceptable case, give your
best estimate of 𝜃 and 𝜏.
𝐾
(a) (10𝑠+1)(10𝑠+1)
 𝐾
(b) (10𝑠+1)(8𝑠+1)(𝑠+1)

𝐾
(c) (10𝑠+1)(𝑠+1)2

𝐾(20𝑠+1)
(d) (10𝑠+1)

𝐾(0.5𝑠+1)
(e) (10𝑠+1)(𝑠+1)

𝐾
(f)
10𝑠2 +11𝑠+1
𝐾
(g)
100𝑠2 +10+1

𝐾(−𝑠+1)
(h)
𝑠+1

For each case that cannot be approximated by simple inspection, find a

first-order-plus-time-delay model that still might provide a reasonably close
approximation.

[5.5] As a process engineer with Complex Pole Corporation, you are

assigned a unit with an exothermic chemical reactor. In order to learn more
about the dynamics of the process, you decide to make a step change in
the input variable, which is coolant temperature, from 10oC to 15oC.
Assume that the reactor was initially at a steady state. You obtain the
following plot (Fig.1) for the output variable, which is reactor temperature
(notice that the reactor temperature is in oF.
 Fig.1. Reactor temperature response to a step change in input

(a) Determine the value of the process gain (show units)

(b) Determine the value of 𝜏 (show units)

(c) Determine the value of 𝜉 (show units)

(d) Determine the decay ratio

(e) Calculate the period of oscillation (show units)

(f) Find an expression for the second-order transfer function of the

process

[5.6] Consider that the doublet pulse depicted in Fig.2 is to be

used for a process identification exercise.

(a) Write an equation to represent u(t)

(b) Find the Laplace Transform u(s) of the input function

(c) Find the transient response of second order process with

numerator dynamics (𝑔) to this input function.
 2(−4𝑠 + 1)
𝑔(𝑠) =
(4𝑠 + 1)(1𝑠 + 1)

(d) Sketch this transient response.

(e) Use SIMULINK to check the sketched response in (d) above.

u(t)

2.5

0
40 100 t

-2.5

Fig.2 Doublet pulse input function

[5.7] Buffer tanks are common in the process industry, under many
different names, such as intermediate storage vessels, holdup tanks, surge
drums, accumulators, inventories, mixing tanks, continuous stirred tank
reactors (CSTRs), and neutralization vessels. Buffer tanks are usually
installed between units to avoid propagation of disturbances for continuous
processes.

A proposal to install a buffer before the feed into a distillation column has
just been accepted by your team leader. The buffer tank is to accommodate
an inlet flow of 6 𝑐𝑚3 /𝑠 and is to be maintained at a constant level of 9 cm.
Assuming the outflow varies directly as the height of the tank and follows a
power law with the exponent of 0.4 and a flow coefficient of 2.
(a) Design a buffer tank to accommodate the inflow and outflow given
above.
(b) Derive a dynamic model describing the time variation of the level of
fluid inside the tank
(c) Determine the size of the tank
(d) Obtain the response equation for change in the level of the tank
when the inflow is suddenly reduced to 4.5 𝑐𝑚3 /𝑠. Hence, find the
nonlinear and linearized system solutions via
(i) the analytical solution
(ii) computer simulation using MATLAB/SIMULINK.
(e) Plot the response obtained in (d)