Chap.

Modeling Considerations for Control Purposes

tffiL
I

t
I

lottome

product

I I-o
A
- l-

ftorr: 3.6

Fccdback loopl of a binery distillation column.

91

Cnap.

Modeling Considerations for Control Purposes

Fr

Tt

Sterrn

FLrrt 5.5 Fcedback

loopc

ofr

stirrcd tank heatcr.

89

Chap.

5.1

Modeling Consideratbns for Control

Purposes

81

The lnprt-Output Model

Every chemical process and its associated variables can be describcd

pictorially as shown in Figure 5.1. The:main block represnts the process, while tho arrowg indicate the inputs and outputs of the process.
A mathematical model that is convenient and useful to a control
system'deeigner should conform with the picture above, (i.e., be such
that, given the vahicg of the inputs, it provides dire4ly the values of the
outputs). In particular, thc model should have the following general
form for evcry output;
output =.,(input variables)
Using Figurc 5.1, the relationship above implies that

li=f(tfts

ntzr,..,tn*idr, d2,..,,

dr)

for j = 1,2,..., m

Such a model, describingdircctly the relationship between the input

and output variables of a pioccss, is called an input-output model.!tis
a very convcnient form since it represents directly the cause-and-effect
relationship in processing systems. For this rqlson it is alsoappealing to
procss engineers and control deeigners.
The mathcmatical models we learned to develop in Chapter 4 using

state variables are,not,of the direct inp.irt-output type. Nevertheless,

they constitute the basis for the development ofan input-output model.
This is particularly easy and straightforwatd whm the state variables
coincide complaely with the o*put variables of a process. In such a case
we @n integn*o tbe rtate model to produce the inpui-output model of
tho process.
lXrturboncer

dr

Mmipulrted

dz

dt

ml

l1

m2

Y2

fll2

la

vsri.blcr

Fbrc

outputs

5.1 A chemical proccss and its associarcd inpu6 tnd outputs.

Exttrgl SJ: Inplt-Ourpa, Mod.tfor

thc

Stirrcd

Tanft

C,onsider again the stirred tank heater discussed

Alrume that

in

fleapr

Example 4.4.

fi - F, wbich yields dY/dt - 0, leaving the total cnergy

82

Modeling the funamic and Static Behavior of Chemical

Processes

Fart ll

balance as the only equation of the state model,

v{-Fi(Tt-D+9dt

(4.5b)

Pce

Thc amount of hsat Q supplied by the steam ir grvcn by

Q = UA,(T^_ T)

where U is the overall heat tranrfcr coeflicient, At the area of heat

transfer, and I* the tcmperature of the steam. tn eq. (4.5b) replace Q by

its equal and take

ru
{*(
pcp/ = Firt *uA,
pce
dt Ur, *!11'\7

or
(5.1)

ff+ar-!7,+KTu
where

!*!

K
ttYYpc,

a=!+

K* UA'

Equation (5.1) is the mathematical model of th stirred tank heater with

f the statg variable, whilc Ii and Ta are the input vrriables. I:t us see
how we can develop the eorretponding input-output model.

At steady statc, eq. (5.1) yields

0+aT,-1fr,+r(Irq"

(5'2)

Ii, I1r, and I43 trrs the stcady-state valucs of the corresponding
variableg. Subtract (5.2) from (5.1) and akc

where

dG.$
dt

+ a(T

- r,)=1
' ?'(Ti-

Tt,l+ K(r*

Ta.,l

or

dL'

+ aT' -L r', * KTh

dtt

(5.3)

tions frorn the corresponding steady-state values.

The solution of (5.3) ig

T'(t\ = cPa *

,-* Jo
f' "'l! ri + xrel
-l dt
Lr

Assuming that initially thc heatr is at steady state, [i.e.,

I, - 01, we easily find that cr = 0. Thereforc, eq. (5,4) gives

(5.4)

at I = 0,

Chap. 5

Modeling Considerations for Control Purposes

83

r-| --

--- ----1
t,,

,,,

1.s

lnput-output model

Ffurt 5.2 Input-output

r'(t, -

modcl of a ltirncd tank hcatcr.

n'lt ,, +
"-' Io

xr;fat

Equation (5.5) cxprcsses the relationship between the inputs

the output

(I'),

(5.5)
(

Ii,

TIJ and

and constitutes the input-output model for the"unt

hcater. This relationship is also depicted pictorially in Figure 5.2.

Examph 5,2: Isput-Oatput Modcl lor a Mixing prucss

consider agrin the prooess of mixing of two strcams discussed in
Eramplc^4.11 (Figurc 4.t). Assume that Fr * F2- Fr, which implies that
dv/dt = 0 (i.e., I/ - constanl). The hears of sorutioni are independini or

the concentration, which implies that

ld,rt,,- Afr,,; = J6fr,2-A.F,; - g

Then the stare eguations [eqs. (l.ila) and (4.14a)] are reduced ro the
following

#.(+.+)'^,-|c^,*?,^,
and

#. (+.?)r,-? r, * |

(5.6a)

r,,#

(5.6b)

At steady stare eqs. (5.6a) and (5.6b) yietd

o. (+.

?)"r., - f;

^,."

3,

(5.7a)
^,,,

and

o.

(?

.?),,,*1,,,*?

rr.,

,4

(s.zb)

84

Modeling the Dynamic and Static Behavior of Chemical

r-----

Processes

pan ll

----r

.u llct1.1a

tti o,. ?o,)

*t

F'lgm 5J Input-output modcl of a mixing

tt ,,t 1,1a

proccss.

Subtract (5.2a) froar (5.6a) and (5.?b) fr,om (5.6b) and rake

lc'^,
* *. *^r-?
-, +. F
--, Fr t^,

| cLz

fr.
whcre ci,, c's* cl3,
follows:
Ct,

Cr,

oyi-| ,r *f;

ri.-

Ti Ti, Ti, and Q, are deviation

- Cr1,

CLz-

(i.Sa)

Ke,

(j.sb)

variablcs dcfined as

Ce- C;o." Cl1- C4-

Csa,

and

T1- Tt -

Tt,t

TL=

Also,

"

Tz- Tz,

Ti=Tt-T*

Q-Q-Q,

-?.? and * *+

Tbe solution of (5.8a) and (S.Eb) yields

c\r(tl= cca + r-"

r;,+] rir)a

(5.ea)

ri+| rrl Ke')dt

(5.eb)

[o ""1+

and

TKtr-

cze'c +

,'* Io ,"fr

Chap.

85

Modeling Considerations for Control Purposes

Ifthe system io initially (i.c., at t - 0) at stcady ctate, then

cir(r -0;-g and
Ii(t -0)-0
it
recultc
in c1- cr - 0.
rnd
Equationr (5.9r) and (5.9b) reprcccnt the input-output model for the
mixing proocss, and ir shown schematically in Figure 5.3.
Ramrfrs

l.In

Examplce 5.1 and 5.2 the output variables coincide vith the
statc variabla$ of the two processes. Consquently, in order to
develop the input-output modcl we need only solvo the differential equations of the mast and energy balances. This is not always
true. Thke aB sn example the binary distillation column model
(Examplo 4.13 rnd Figure 4.10). For this system we have:
State varirbles:

Liquid holdups: Mu M2,.,., Mt,.. ., Mi Mao and Mn

Liqutd cencenffationsi x1, x2,.,., x7,.,,, xN, xo and xs
Output variables:

DMillate product flow rate and composition: Fo and xe

Bottoms productflow rate and composition: Fn and xt
We notice that we have many more state variables than outputs.
For such syltams, the development of the input-output modet is

quite involved and diflicult. Figure 5.4 depicts pictorirlly the

inpul-outplt model that wc would like to &velop for the binary
ideal dicti[ation column.
2,In suboequcnt chaptrs we will study the mcthod of Laplace
transforms, which allows a much simpler development of inputoutput models from thc correrponding state models.
Dlrturbrnccg

ryc1
FD

Mrnipulrtcd Fr

vrrirbla

F.
I ilclm

MRD

ta
xD

ortput

X2

ftut t { lnputs rnd outpu$ of r binary distillation oolumn.

Chap.

Modeling Considarations for Control Purposes

tffiL
I

I
I

lottomr

product

I
A

t-o

- I-

Flgull 3.6 Fcedback toopt of

a binery

distilletion column.

9'r

Chap.

Modaling Considerations lor Gontrol Purposes

r-t
I Controller l+---T
Loop 2

FllrrG 5.3 Fccdba* loopc ofa rtircd tank heatcr.

89

Chap.

5.1

Modeling Consideratbns for Control

Purposes

81

The lnprt-Output Modl

Every chemical proccss and its associated variables can be describcd

pictorially ar shown in Figure 5.1. The main block represnts the process, while the arrows indicate the inputs and outputs of the process.
A mathematical model that is convenient and useful to a control
system deeigner should conform with the picture above, (i.e., be such
that, given the valU6s of the inputs, it provides direcdy the values of the
outpuls). In particular, the model should have the following general
form for evcry output;
output =.,flinput variables)
Using Figurc 5.1, the relationehip above implies that

lt=f(mu ntz,,..,tn*idv d2,..,, dr)

for j = 1,2,..,, m

Such a model, dcscribing dircctly the relationship between the input

and output variables of a piocess, is called an input-output model.ltis
a very convcnient form since it represents directly the cause-and+ffect
relationship in proccrsing systems. For this reason it is also appealiag to
pro@ss engineers and control designers.
The mathcmatical models we learned to develop in Chapter 4 using
state varirbles are.not,of the direct inpirt-output type. Nevertheless,
tbey constitute the basis for the development of aa input-output model.
This is rrticularly easy and straightforward whm the state variables
coincide complaely wifh the o*put variables of a process. In such a case
we cnn int,qnrto thc state model to produce the inpui-output model of

the proce$.

lXrturbonccr

dt

Mrnipulatod

dz

dt

ml

l1

m2

12

vsri.blcl

.mt
fbrnr 5.f A chemical

outputs

la

proccrs and its as$ocistcd inpu6 and outputs.

Eratrylc S.I: Iapat-Oatp*, Modc,for thc Stlrrcd Tatk Hcatu

C,onsider again the stirred tank heater discussed in Examplc 4.4.
Alsume that Fi - F, which yielde dY/dt - 0, leaving the total cnergy

82

Modeling th Dynamic and Static Behavior of Chemical

Processes

Part ll

balance as the only equation of the state model,

v{-Fi(Tt-z1+.9dt

(4.5b)

Pce

Thc smount of hsat Q supplied by the steam ir gvcn by

Q=

UA{T^- T}

whcre U is the overall heat trancfcr coeflicient, At the area of heat

transfer, and I* the tsmperature of the steam. tn eq. (4.5b) replace

its equal and take

by

r,*!!L\7
Firt*uA, rn
v{*(
pcp/ =
pce
dt \
or

{*

ar

-!T,+

KTu

(5.1)

wherc

!-1"' K*uAt
a=!+K
ttYYpco
Equation (5.1) is the mathematical model of the stirred tank heater with
f the state variable, whilc I; and Ia are the input variables. kt us sce
how we can develop the corresponding input-output model.
At steady $atc, eq. (5.1) yields

o+aT,-1rr,+r(Id""
t
where ?i,

I;r, and I4s

variableg. Subtract (5.2)

dg ]j'l.
dt

'

(5.2)

tfro the stcady-state valucs of the corresponding

fron (5.1) and takc

+ a(T

- r,)=1
' r'(Ti-

Tt,\+ K(7,1- T*.,1

or

dL'

dtt+ aT' -!-

ri * xrh

(s.3)

tions from the corresponding steady-state values.

The colution of (5.3) is

T'(t\ = cPa + ,-*

f' "'l!Lrri + xrel

-l dt
Jo

Assuming that initially the heater is at steady statc, [i.e.,

I'- 0J, wc easily find that cr = 0. Therefore, eq. (5.4) gives

(5.4)

at I = 0,

Chap. 5

Modeling Consideradons for Control Purposes

83

r--|

-------'l
Ti + KTitt

t" [,",',n

lnput-output model

Ffurr 5.2 Input-output

r'(tt-

model of a crirrcd tank hcrrcr^

+
"-, Io ""'l!rrt

xr;fat

Equation (5.5) exprcsscs the relationship between the inputs

the output

I'),

(5.5)
(

Ii, IiJ and

and constitutes the input-output model for the--unt

hcater. This relationship is also dcpicted pictorially in Figure 5.2.
(

Examph 5,2: Isput-Output Modcllor a Mixing prucss

consider agrin the prooess of mixing of two strcams discussed in
Erample 4.ll (Figurc 4.t). Assumc that Fr i F2 - Fr, which implies rhar
dv/dt = 0 (i.e., z - constanl). The hears of solutioni are independeni or

the concentration, which implies that

lLrt,,- Afr,,; - tafr,2-A.F,; - g

Then the statc equsrions [eqs. (+.ifa) and (4.14a)] are reduced to the
followinE

#.(+.+)'^,-|c^,*?,^,
and

#. (+.?)r,-? r, * !

r,.#

(5.6a)

(5.6b)

At sready state eqs. (5.6a) and (5.6b) yietd

o. (+ *

u&)"r,,

-?,^,."*?,^,.,

(5.7a)

-Lr,."*|rr.,t#

(s.7b)

and

o.

(? * +),,,

84

Modeling the DTnamic and Static Behavior of Chemical

Processes

pan ll

----r

r--*-an

!' rt

*t

tt ,,t 1,1d

1,1a

{ti o,. }o,)

ri(r)

(#,,. I ri, ro)

Input-output model

L-_-

--------J

tlgwo 53 Input-output modcl of a mixing

prooEss.

Subtract (5.7a) frorr (5.6a) and (5.7b) fiom (5.6b) and rcke

* *^r-?
-, . F cLz
--, Fr r^,+|

lc'^, *.

fr. * oyi-? ,r *f; ri.where

ci,,

c's* cL3,

follows:
Ct,

4r,

Ti Ti, Ti, and Q'are dcviation

- Ce1,

CLz-

Ce-

Ctz,"

(i.Sa)

Ke,

(5.sb)

variablce dcfined as

Cls- C4-

Csa,

and
T1

-Tt-Tr;

Ti=Tt-Tu

TL=Tz-Tz,

Also,

"

_?.#

and *

Q-Q-Q,

*+

Thc solution of (5.8a) and (S.tb) yietds

ct,(tt= cGa + ,-"

[o ""1+

ri,+] rr,)a

(5.ea)

and

r!(r)-

cze-c

+ r',

Io

,"frri+| rrr Ke,)dt

(5.eb)

Chap.

85

Modeling Considerations for Control Purposes

Ifthe syEtcm ic initially (i.o., at I - 0) at stcady state, then

cir(,-0)-0
rnd it rcsultr in c1- cz -

and

li(t -0)-0

0.

Equationr (5.9a) and (5.9b) reprcccnt the input-output model for thc

miring

pro@38, and is shown schematically

in Figure

5.3.

&nur*s

l.In

Examplce 5.1 and 5.2 the output variables coincide with the
state varisblcs of the two processes. Consequently, in order to
develop the input-output modcl we need only solvo the differential equationg of the masr and energy balances. This ig not always
true. Tbke aB an example the binary distillation column model
(Examplo 4.13 and Figure 4.10). For this system we have:
State varirbles:

Liquid holdups: Mu M2,..., Mt,.. ., Mi Mno and Ma

Liquid concentrationiJrl, .tr2,. ,., x\,.,,, xN, xo and xt
Output variables:

Di*illete produaflow rate and composition: Foand xe

Bottoms productflow rete and composition: Ft and xa
We noticc that we havc many more state variables than outputs.
For such syotcms, the development of the input-output modet is

quito involved and difficult. Figure S.l Ccpictt pictorirlly the

input-output model that wc would like to develop for the binary
ideal distillation column.
2,In suboequent chapters we will study the mothod of laplace
traneformg which allows a much simpler development of inputoutput models from thc corresponding state modcls.
Dirturbrnccg

\c1
FD

MRD

Mrnipulrtcd Fr

ffa

vrdrbla

fbrlt fi

F.

xD

, ilGrm

X2

ortprt

lnputs rnd outpu$ of r binary distillation oolumn.

Cnap.

Modeling Considerations for Control Purposes

Fr

Tt

Sterrn

FLrrt 5.5 Fcedback

loopc

ofr

stirrcd tank heatcr.

89