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Class Test Model Questions

1. Identify the controlled variable, the manipulated variable and the disturbances in a
home heating system where a furnace is being run with fuel to provide heating.

Solution:

The controlled variable is the actual home temperature.

The manipulated variable is the fuel flow rate to the heating element.
The disturbances may include ambient temperature (which could be changing every
time the heating system is used), outside temperature, the aging of the heating
element which may not give out consistent heat within a given period of time, or
even temperature sensor which may drift away from its normal performance.
Anything which is not same as the nominal operating conditions of the home
heating system it was designed for, may be treated as a disturbance.
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2. A Stirred tank has a volume of 24 m3, calculate the time constant of the tank if the
flow rate is set to 6 m3/min.

Solution:

The time constant is 24 m3 / 6 m3/min = 4 min.

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3. Describe briefly with the help of a diagram, the ‘Minimum integral of absolute
error’ criterion of good control.

Solution:

This criterion specifies that the total area under the error curve should be a minimum.
Figure below illustrates the minimum integral of absolute error criterion. The error is
the distance between desired output line and the controlled variable curve. The
integral of absolute error is the total shaded area on the curve. This criterion is easy to
use when a mathematical model is used to evaluate a control system.

controlled
variable

Desired output for the set value

time
(Nominal) 0
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4. Define transportation lag and give two examples.

Solution:

Transportation lag, also called dead time, is the time period during which a system does
not respond to a change to the input of the system.

One example would be pure delay by a conveyor belt where feed needs time to be sent
over to the weighing scale.

Another example would be a line blending Stream A and Stream B in a mixing T and
the composition is analysed at a further location in the line, which takes time.
 Official (Closed), Non-Sensitive

5. What are the three most common criteria of good control? Sketch by three graphs,
the response to a step change in the set point to illustrate them.

Solution:

Quarter amplitude decay, critical damping, and minimum integral of absolute error.

controlled
variable

A Desired output for the set value

A/4

time
(Nominal) 0
Figure 5-1: Quarter amplitude decay response to a step change in the set-point

Controlled variable Desired output for the set value

time
(Nominal) 0

Figure 5-2: Critical damping response to a step change in the set-point

controlled
variable

Desired output for the set value

time
(Nominal) 0

Figure 5-3: Minimum integral of absolute error response to a step change in set-point
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6. Name three properties that cause time lags in a process and explain how they occur
in the process system.

Solution:

Any three properties that cause time lags in a process:

Resistance (due to pipe wall), Capacity (capacity of tank), inertance (the effect of
inertia in an acoustic system, an impeding of the transmission of sound through the
system, www.dictionary.com) or inertia (liquid lines), Dead time (transportation lag),
in the process which cause time lags.
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7. What can you suggest about the dynamics of a first-order-lag type component that
has a time constant of zero? Or infinity?

Solution:

The dynamics of a first-order lag type component that has a time constant of zero
becomes a zeroth order system without any dynamics.

The dynamics of a first-order lag type component that has a time constant of infinity
becomes an open-loop system as the output can never catch up within finite time.
 Official (Closed), Non-Sensitive

8. A thermocouple sensor is installed 25 m down the exit pipe and the flow velocity
in the pipe were 40 m/min, how much dead time would there be in the feedback
loop.

Solution:

The time constant is 25 m / 40 m/min = 0.625 min.

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9. Identify the following symbols and connecting line based on the P&I diagram
notations:
TC TT
(i) (ii) (iii)

Solution:

TC means temperature controller.

TT means temperature transmitter.
The dashed line means electrical signal (continuous).
 Official (Closed), Non-Sensitive

10. Identify the following symbol and connecting line based on the P&I diagram
notations:
FIC
(i) (ii)

Solution:

FIC means flow indicator and controller.

The dashed line means electrical signal (continuous).
 Official (Closed), Non-Sensitive

11. A system transfer function is

C (s) K
= 2
R ( s ) s + 8s + K

Determine the damping ratio of the system when K=0.49 and K=16. Comment on
the damping.

Solution:

This is a second-order system. In comparison with standard denominator of a second

order system s 2 + 2ζω n s + ωn2 where coefficient for s2 should be 1,
we have
ωn 2 =k ⇒ ωn = k
8 4
2ζωn =8 ⇒ ζ = =
2ωn k
4 4
When k = 0.49,=
ζ = = 5.7 >1. This is an over-damped system.
0.49 0.7
4 4
When k = 16, ζ= = = 1 . This is a critically-damped system.
16 4
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12. A system transfer function is

C (s) K
= 2
R ( s ) s + 16 s + K
Determine the damping ratio of the system when K=0.49 and K=32. Comment on
the damping.

Solution:

This is a second-order system. In comparison with standard denominator of a second

order system s 2 + 2ζω n s + ωn2 where coefficient for s2 should be 1,
we have

ωn 2 =k ⇒ ωn = k
16 8
2ζωn = 16 ⇒ ζ = =
2ωn k
8 8
When k = 0.49,=
ζ = = 11.28 >1. This is an over-damped system.
0.49 0.7
8 8 2
When k = 32, >1=
ζ = = = 2 1.414 >1. This is an over-damped
=
32 4 2 2
system.
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13. A second order system is given below.

d 2i di 1
L 2 + R + i = v(t )
dt dt C

Obtain the transfer function and identify the undamped natural frequency and
the damping ratio.

Solution:

By taking Laplace transform of the given Ordinary Differential Equation (ODE),

under zero initial conditions, we have
d 2i di 1 di
L 2 +R + = i v(t ), i= 0 0, t=
=0 0
dt dt C dt
Ls 2 I ( s ) + RsI ( s ) + C1 I ( s ) = V (s)
( Ls 2
+ Rs + C1 ) I ( s ) =
V (s)
I (s) 1 1
= = L
V ( s ) Ls 2 + Rs + C1 s 2 + RL s + LC1
This is a second-order system. In comparison with standard denominator of a second
order system s 2 + 2ζω n s + ωn2 where coefficient for s2 should be 1, we have

ωn 2 = LC1 ⇒ ωn = 1
LC = 1
LC

R R
R R
ζωn
2= R
L ⇒ζ =
= L
=L
= = R
2
C
L
2ωn 2 / LC 2 L / LC 2 L / C
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14. A second order system is given below.

d2y dy
M 2 +f + Ky = F (t )
dt dt

Identify the undamped natural frequency and the damping ratio.

Solution:

By taking Laplace transform of the given Ordinary Differential Equation (ODE),

under zero initial conditions, we have
d2y dy dy
M 2 +f Ky F (t ),=
+= y0 0, = t =0 0
dt dt dt
d2y dy
L( 2 = ) s 2Y ( s ) − sy0 − t ==
0 s 2Y ( s ),
dt dt
dy
L( = ) sY ( s ) − y= 0 sY ,
dt
L[ F (t )] = F ( s )
Ms 2Y ( s ) + fsY ( s ) + KY ( s ) =
F (s)
( Ms 2
+ fs + K ) Y ( s ) =
F (s)
Y (s) 1 1/ M 1
= = 2 2
= 2 fM
F ( s ) Ms + fs + K ( Ms + fs + K ) / M s + M s + MK
This is a second-order system. In comparison with standard denominator of a second
order system s 2 + 2ζω n s + ωn2 where coefficient for s2 should be 1, we have

ωn 2 =MK ⇒ ωn = K
M

f f
f f
2ζωn = f
M ⇒ζ = M
= M
= =
2ωn 2 K
M 2M K
M 2 KM
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15. Calculate the time-constant for the following first order system:

𝐶𝐶(𝑠𝑠) 5
=
𝑅𝑅(𝑠𝑠) 5𝑠𝑠+1

𝐶𝐶(𝑠𝑠) 0.5
=
𝑅𝑅(𝑠𝑠) 𝑠𝑠+2

Solution:

C (s) 5
For the first transfer function = , in comparison with standard denominator
R ( s ) 5s + 1
of a first order system, which is Tc s + 1 where the constant term should be 1,
we have
Time constant = 5 units of time.

C ( s ) 0.5 0.5 / 2 0.25

For the second transfer function = = = in comparison
R( s) s + 2 ( s + 2 ) / 2 0.5s + 1
with standard denominator of a first order system, which is Tc s + 1 where the
constant term should be 1,
we have
Time constant = 0.5 units of time.
 Official (Closed), Non-Sensitive

16. Calculate the damping ratio for the following system and comment on the type of
damping:
𝐶𝐶(𝑠𝑠) 100
= 2
𝑅𝑅(𝑠𝑠) 𝑠𝑠 +2𝑠𝑠+100

𝐶𝐶(𝑠𝑠) 1
=
𝑅𝑅(𝑠𝑠) 𝑠𝑠2 +3𝑠𝑠+1

Solution:

In comparison with standard denominator of a second order system s 2 + 2ζω n s + ωn2

where coefficient for s2 should be 1,
for first transfer function, we have
ωn 2 = 100 ⇒ ωn = 100 = 10 rad/sec
2 1
2ζωn = 2 ⇒ ζ = = =0.1
2ωn 10
This is an under-damped second order system.

For the second transfer function, we have

ωn 2 =⇒
1 ωn = 1 =1rad/sec

3 3
2ζωn =3 ⇒ ζ = = =1.5
2ωn 2
This is an over-damped second order system.
 Official (Closed), Non-Sensitive

17. Derive the Laplace transform expression for h1/F1 for the following first order
system (given that F1 is the flow in, A1 is the cross-section area, R1 is the
resistance and h1 is the liquid level, F2 is the flow out):
F1

A1
h1

F2
R1

Solution:

h driving force for flow

The key concept is tank outflow F=
o = .
R resistance to flow
h1
So for the concerned tank, F2 = .
R1
dh h
The other key concept is water level balance equation A = Fi − Fo = Fi − and by
dt R
dh
simplifying AR +h= RFi .
dt
Then for the concerned tank, water level balance equation is
dh h
A1 1 = F1 − F2 = F1 − 1
dt R1
dh
A1 R1 1 + h1 = R1 F1
dt
Taking Laplace transform we get A1 R1sH1 ( s ) + H1 ( s ) =
R1 F1 ( s ) where H1(s) and F1(s)
are Laplace transform of h1 and F1 respectively.
Therefore,
( A1R1s + 1) H1 ( s) = R1 F1 ( s )
H1 ( s ) R1
=
F1 ( s ) A1 R1s + 1
which is a first order system with time constant of A1R1.
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18. Figure below shows the arrangement of a control system for controlling the
concentration in a continuous stirred tank reactor (CSTR). Draw the closed loop
block diagram. Which block constitutes the plant? The feedback element?

FEED PRODUCT

AC
CSTR

Solution:

Input Output
Motorised CSTR
Controller (AC)
valve Actual
Signal
expected concentration
To produce of product
Required product Concentration
concentration Measured value of measuring device
controlled variable
The CSTR with its content constitutes the plant. The concentration measurement device
is the feedback element.
 Official (Closed), Non-Sensitive

19. Derive the overall transfer function of two non-interacting tanks shown in Figure
below using the mass balance equations. Identify the damping ratio and sketch a
graph showing the effects of interaction on response to input step changes.

Fi

h1
R1

Tank 1 F1

h2
R2
F2

Tank 2

Solution:

h driving force for flow

The key concept is tank outflow F=
o = .
R resistance to flow
h h
So for the first tank, F1 = 1 and for the second tank, F2 = 2 .
R1 R2
dh h
The other key concept is water level balance equation A = Fi − Fo = Fi − and by
dt R
dh
simplifying AR + h = RFi .
dt
Then for the first tank, water level balance equation is
dh h
A1 1 = Fi − F1 = Fi − 1
dt R1
dh
A1 R1 1 + h1 = R1 Fi
dt
Taking Laplace transform we get A1 R1sH1 ( s ) + H1 ( s ) = R1 Fi ( s ) or
For the second tank, water level balance equation is
dh h h
A2 2 = F1 − F2 = 1 − 2
dt R1 R2
H1 ( s ) H 2 ( s )
Taking Laplace transform we get A2 sH= 2 ( s) − .
R1 R2
We need to remove H1(s).
 Official (Closed), Non-Sensitive

R1 Fi ( s ) we find ( A1 R1s + 1) H1 ( s ) =
From A1 R1sH1 ( s ) + H1 ( s ) = R1 Fi ( s ) so
R1 Fi ( s )
H1 ( s ) =
A1 R1s + 1
H1 ( s ) H 2 ( s )
2 ( s)
Submitting into A2 sH= − , we have
R1 R2
R1 Fi ( s )
A1 R1s + 1 H 2 ( s )
A=2 sH 2 ( s ) −
R1 R2
Fi ( s ) H (s)
A=2 sH 2 ( s ) − 2
A1 R1s + 1 R2
R2 Fi ( s )
A2 R= 2 sH 2 ( s ) − H 2 ( s)
A1 R1s + 1
R2 Fi ( s )
A2 R2 sH 2 ( s ) + H 2 ( s ) =
A1 R1s + 1
R2 Fi ( s )
( A2 R2 s + 1) H 2 ( s) =
A1 R1s + 1
R2 Fi ( s )
H 2 (s) =
( A1R1s + 1)( A2 R2 s + 1)
Therefore the transfer function is
H 2 (s) R2
=
Fi ( s ) ( A1 R1s + 1)( A2 R2 s + 1)
H 2 (s) R2 R2
= =
Fi ( s ) ( A1 R1s + 1)( A2 R2 s + 1) A1 A2 R1 R2 s + ( A1 R1 + A2 R2 ) s + 1
2

To find the damping ratio, we need to get coefficient of s2 to 1. To that end,

H 2 (s) R2 / ( A1 A2 R1 R2 )
=
Fi ( s )  A1 A2 R1 R2 s + ( A1 R1 + A2 R2 ) s + 1 / ( A1 A2 R1 R2 )
2

H 2 (s) 1/ ( A1 A2 R1 )
= 2
Fi ( s ) s + ( A1 R1 + A2 R2 ) / ( A1 A2 R1 R2 ) s + 1/ ( A1 A2 R1 R2 )
1 1
=ωn2 = , ωn
A1 A2 R1 R2 A1 A2 R1 R2
1 1
2ζω
= n +
A1 R1 A2 R2
1 1 A1 R1 + A2 R2
+
A1 R1 A2 R2 A1 R1 A2 R2
=ζ =
2ωn 1
2
A1 A2 R1 R2
A1 R1 + A2 R2 A1 R1 + A2 R2
=
1 1
( )
2
2 A1 R1 A2 R2 2 A1 A2 R1 R2
A1 A2 R1 R2 A1 A2 R1 R2
 Official (Closed), Non-Sensitive

A1 R1 + A2 R2
= ≥1
2 A1 A2 R1 R2

The response to step change in the input would be a critically or over-damped second
order system dynamics, shown as follows.

Controlled variable h2 curve after a step change in Fi

time
(Nominal) 0
 Official (Closed), Non-Sensitive

20. The four first-order-with-dead time systems, with parameters in the following table,
are placed in a non-interacting series. Describe the output response of this system
to a step change in the input to the series at time = 4.

System 1 2 3 4
_______________________________________________
Dead time, 0.60 0.90 1.1 1.80
Time constant, 1.20 2.30 6.2 0.85
Gain, K 2.00 0.50 2.5 1.20

Solution:

The gain of the resultant system response is given by

K =∏ i =1 K i =2 × 0.5 × 2.5 ×1.2 =3
n

For the time to reach 63% of total change in the output from previous steady-state
output to new steady-state output,
θ = ∑ i =1θi = 0.6 + 0.9 + 1.1 + 1.8 = 4.4
n

t63% − 4 ≈ ∑ i =1 (θi + τ i )= 4.4 + 1.2 + 2.3 + 6.2 + 0.85= 14.95

n

The time to reach 63% of total change in the output from previous steady-state output
to new steady-state output, t63% ≈ 14.95 + 4 =
18.95sec.