ADDIS ABABA SCIENCE AND TECHNOLOGY UNIVERSITY

COLLEGE OF BIOLOGICAL AND CHEMICAL ENGINEERING

DEPARTMENT OF CHEMICAL ENGINEERING

Course Name: Process Dynamics and Control (ChEg4183)

Lecture 4: 1. Linearization (Single and Multivariable)

2. Laplace Transform (LT) and Solutions of Differential Equation Using LT

By: Baru D.
Academic Year: 2020/2021
Linearization of Non-linear System (NLS)

Linearization: a process by which approximate the NLS with

linear once.
Why Linearization is important?
1. No general theory for analytical solutions of NLS
2. NLS can be effectively approximated by LS near some operating
conditions
3. Advantage for linear control theory (design effective controller)
 Consider the following NLS (single variable)
where (f(x) is non linear function)

Expand f(x) using Taylor series expression around the point xo:
+ …+

Ignore all terms of order 2 and higher, and got the approximation for value of f(x)

( )
𝒇 ( 𝒙 ) ≈ 𝒇 ( 𝒙𝒐 ) +
𝒅𝒇
𝒅𝒙 𝒙𝒐
𝒙 − 𝒙𝒐
𝟏!

The approximation is exact only

at the point of Linearization

Linear approximation of non linear system

Consider the following NLS (multiple variables)
and

Expand the NL function f1(x1,x2) and f2(x1,x2) using Taylor series

expansion around the point (x1,o, x2,o):
Ignore terms of order 2 and higher
Substitute the approximations

Express the last two equations in

deviation form with respect to
steady state values ( assume x1,o
and x2,o are steady state values
x1,s and x2,s respectively),
therefore the equations become
the following in terms of
deviation variables
 Example
Consider the tank system shown in the fig below, total mass balance if:
(a). The outlet flowrate is the linear function of the liquid’s level or (b).
Linearize if the system is NL and Express the linearized
form in to deviation variable

therefore it need linearize, use Taylor series expression

 Laplace Transforms (LT)
Definition: The Laplace transform of a function f ( t ) or time domain is defined to
be F ( s ) or s-domain according to the equation:

Example f(t)=2, convert into Laplace Transform

F(s)
Solution F(s)=
Common functions
[ =-)=
1. Unit step/step functions f(t)= 1, find F(s)
2. Ramp function f(t)= t, find F(s)
3. Exponential function f(t) =e-2t, find F(s)
4. Unit pulse and Impulse/Dirac function
5. Trigonometric function (sinusoidal
function)
Laplace Transform of Derivatives and Integrals
 Final and Initial Value Theorems
𝑠+ 4
Example 1: 𝑓 ( 𝑠 )=
1. Final Value Theorems: 𝑠 ( 𝑠+1 )( 𝑠+2 ) ( 𝑠 +3 )

(𝑠 − 1)( 𝑠+1)
Example 2: 𝑓 ( 𝑠 )=
2. Initial Value Theorems: 𝑠 ( 𝑠+ 3 ) ( 𝑠 − 4 )

1. Solution:

2. Solution:
Example: STH: Fi = F, (previous example), initially at steady state, and the inlet
temperature increased by 10C from the steady state value and remains at the new
level. Aim: want to know how it changes with time?

where

where k= and 1/ = , a= 1/ +k
Use Laplace Transform

this is called S-domain

 Inverse of LT
Used to convert s-domain into time domain: Simple method: Partial
fraction expansion

Q and P are polynomials in S-domain

Exponential Function of Temperature
60
Invese Laplace Transform into Time domain
this is called S-domain 50

is called time domain

If a=0.75 and =0.25 40

peratureafunction
30

20

Tem
10

0
0 5 10 15 20 25
Time in minutes
Example: Distinct real roots of polynomial P(s), convert P(t) use partial
fraction.

Exercise