Suggestions 2017 Process Control

Source: Chapter 2,3

1. a) Define Laplace Transform of a function, and applying the definition, find the
Laplace Transform of the function [tn exp(-at)] u(t)
b) What is the Laplace Transform of the function f(t)=(t-5)2u(t)?

2. Invert the following functions:

4 1 e s e3s 3
i) x( s)  , ii) f ( s)   2  1
, iii) 𝑦(𝑠) = (𝑠2 2 , iv)𝑓(𝑠) = 2
( s  4) 4
s s s +1) 𝑠 (𝑠+1)

dx t
3. Solve the equation: i)   x(t )dt  t , for x(0)=0
dt 0
dy t
ii)  2 y ( )d  3 y  0 for y(0)=1
dt 0

4. Find the initial value of the function x(t) that has the following Laplace transform:

3s 3  2s 2  s  1
i) x(s) 
4s( s  10)(5s 2  10s  3)
2 s 2  5s  2
ii) x( s) 
3s( s  1)( s  2)
s 2  3s  2
5. Obtain the nature of the expression for y(t) , if y( s) 
s( s  3)( s  1)2
6. For a first-order system with time constant  =1 s, find the response function y(t),
if the forcing function is x(t)=5e-t.

4.11 A process of unknown transfer function is subjected to a unit-impulse input. The

output of the process is measured accurately and is found to be represented by the
function y (t) =te-t. Determine the response of this process, if the forcing function is:
i) x(t)= 5u(t), ii) x(t)= 5δ(t)

4.4 A thermometer having first-order dynamics with a time constant of 1.5 min is placed
in a temperature bath at 100 F. After the thermometer reaches steady state, it is suddenly
placed in a bath at 110F at t =0 and left there for 2 min, after which it is immediately
returned to the bath at 100F.
(i) Draw a sketch showing the variation of the thermometer reading with time.
(ii) Calculate the thermometer reading at t = 1 min and at t = 2.5 min.

4.12. The temperature of an oven being heated using a pulsed resistance heater varies as
𝜋
𝑇 = 100 + 10cos⁡(25𝑡 + )
6
Where t is the time in seconds. The temperature of the oven is being measured with a
thermocouple having a time constant of 5 s.

(i) What are the maximum and minimum temperatures indicated by the thermocouple?
(ii) What is the maximum difference between the actual temperature and the indicated
temperature?
(iii) What is the time lag between the actual temperature and the indicated temperature?

5.4. Develop a formula for finding the time constant of the liquid-level system shown in
Fig. P5–4 when the average operating level is h0 . The resistance R is given by, R=ch;
where h is the liquid level at given time, t. The tank has three vertical walls and one that
slopes at an angle, α, from the vertical as shown. The distance separating the parallel
walls is L.

FIGURE P5–4

5.12 Derive the transfer function H(s)/Q(s) for the liquid-level system shown in Fig. P5–
12. The resistances are linear; H and Q are deviation variables. Show clearly how you
derived the transfer function. You are expected to give numerical values in the transfer
function.

FIGURE P5–12
4.18 Jahangir, the maintenance personnel in the CEP Laboratory, dumps the contents of
a 55-gal drum of water into the tank process shown below.

FIGURE: P4–18

(i) Will the tank overflow?

(ii) Plot the height as f (t), starting at t = 0, the time of the dump.
(iii) Plot the output flow as f (t), starting at t =0, the time of the dump.
NOTE: The output flow is proportional to the height of fluid in the tank.

5.1 Derive the transfer function H(s)/Q(s) for the liquid-level system of Fig. P5–1 when
(i) The tank level operates about the steady-state value of hs = 1.5 ft
(ii) The tank level operates about the steady-state value of hs = 4 ft
The pump removes water at a constant rate of 10 cfm (cubic feet per minute); this rate is
independent of head. The cross-sectional area of the tank is 1.0 ft2, and the resistance R is
0.5 ft/cfm.
 Fig. P5–1
5.3 A tank having a cross-sectional area of 2 ft2 is operating at steady state with an inlet
flow rate of 2.0 cfm. The flow-head characteristics are shown in Fig. P5–3.
(a) Find the transfer function H(s)/Q(s).
(b) If the flow to the tank increases from 2.0 to 2.3 cfm according to a step change,
calculate the level h two minutes after the change occurs.

Fig. P5–3

5.15. Dye for our new line of blue jeans is being blended in a mixing tank. The desired
color of blue is produced using a concentration of 1500 ppm blue dye, with a minimum
acceptable concentration of 1400 ppm. At 9 A.M. today the dye injector plugged, and the
dye flow was interrupted for 8 min, until we realized the problem and unclogged the
nozzle. For how many minutes was the flow leaving the mixer off-specification

FIGURE P5–15

5.14 The two-tank mixing process shown in Fig. P5–14 contains a recirculation loop that
transfers solution from tank 2 to tank 1 at a flow rate of α q0.

FIGURE P5–14

Develop a transfer function that relates the concentration c2 in tank 2 to the concentration
x in the feed, that is, C2 (s)/ X (s) where C 2 and X are deviation variables. For
convenience, assume that the initial concentrations are x = c 1 = c 2 =0.

Assume that each tank has a constant holdup volume of 1 ft3. Neglect transportation lag
in the line connecting the tanks and the recirculation line.

5.18. Find the transfer function that relates the height in the vessel (Fig. P5–18) to
changes in the inlet flow rate.
 FIGURE P5–18

6.6. In the two-tank mixing process shown in Fig. P6–6, x varies from 0 lb salt/ft3 to 1.2
lb salt/ft3 according to a step function. At what time does the salt concentration in tank 2
reach 0.6 lb salt/ft3? The holdup volume of each tank is 6 ft3.

FIGURE P6–6

5.16. For the reactor (CSTR) shown in Fig. P5–16, determine the transfer function that
relates the exit concentration from the reactor to changes in the feed concentration. If we
instantaneously double the feed concentration from 1 to 2 mol/L, what is the new exiting
concentration 1 min later? What is the new steady-state reactor concentration?
The rate constant is 𝑘 = 2.5⁡(𝑚𝑜𝑙/𝐿)−1 . 𝑚𝑖𝑛−1
 FIGURE P5–16

7.2. The two-tank system shown in Fig. P7–2 is operating at steady state. At time t = 0,
10 ft 3 of water is quickly added to the first tank. Using appropriate figures and equations
in the text, determine the maximum deviation in level (feet) in both tanks from the
ultimate steady-state values and the time at which each maximum occurs. Data:

FIGURE P7–2

6.7. Starting from first principles, derive the transfer functions H1 (s)/Q (s) and
H2 (s)/Q(s) for the liquid-level system shown in Fig. P6–7. The resistances are linear and
R1= R2= 1. Note that two streams are flowing from tank 1, one of which flows into tank 2.
You are expected to give numerical values of the parameters in the transfer functions and
to show clearly how you derived the transfer functions.
 FIGURE P6–7

7.11. In the liquid-level system shown in Fig. P7–11, the deviation in flow rate to the first
tank is an impulse function of magnitude 5. The following data apply: A1= 1 ft2, A2 =A3
=2 ft 2, R1 =1 ft/cfm, and R2=1.5 ft/cfm.
 FIGURE P7–11

( a ) Determine expressions for H1(s), H2(s), and H3(s) where H1, H2 , and H3 are
deviations in tank level for tanks 1, 2, and 3.
(b) Sketch the responses of H1(t), H2(t), and H3 (t). (You need show only the shape of the
responses; do not plot.)
( c ) Determine H1 (3.46), H2 (3.46), and H3 (3.46). For H2 and H3, use graphs in Chap. 7
of this text after first finding values of t and z for an equivalent second-order system.

7.13. The two tanks shown in Fig. P7–13 are connected in an interacting fashion. The
system is initially at steady state with q =10 cfm. The following data apply to the tanks:
A1 =1 ft 2 , A2 =1.25 ft 2 , R1= 1 ft/cfm, and R2= 0.8 ft/cfm.
(a) If the flow changes from 10 to 11 cfm according to a step change, determine H2(s),
i.e., the Laplace transform of H2 (t), where H2 is the deviation in h 2 .
(b) Determine H2 (1), H2 (4), and H2 (∞).
(c) Determine the initial levels (actual levels) h1 (0) and h2 (0) in the tanks.
(d) Obtain an expression for H1 (s) for the unit-step change described above.

7.15 A step change of magnitude 3 is introduced into the transfer function

Y ( s) 10
 2
X ( s) 2s  0.3s  0.5
Determine the, rise time, overshoot and the frequency of oscillation.

9.1. A pneumatic PI temperature controller has an output pressure of 10 psig when the set
point and process temperature coincide. The set point is suddenly increased by 10 0F (i.e.,
a step change in error is introduced), and the following data are obtained:
Time, s 0- 0+ 20 60 90
psig 10 8 7 5 3.5

Determine the actual gain (psig per degree Fahrenheit) and the integral time.

9.4. A PID temperature controller is at steady state with an output pressure of 9 psig. The
set point and process temperature are initially the same. At time t = 0, the set point is
increased at the rate of 0.5 F/min. The motion of the set point is in the direction of lower
temperatures. If the current settings are: Kc=2 psig/F, I=1.25 min and D=0.4 min, plot
the output pressure versus time.

9.5. The input  to a PI controller is shown in Fig. P9–5. Plot the output of the controller
if Kc= 2 and τI =0.50 min.
 FIGURE P9–5

11.2. Find the transfer function Y(s)/X(s) of the system shown in Fig. P11–2.

FIGURE P11–2

11.3. For the control system shown in Fig. P11–3, determine the transfer function
C(s)/R(s).

FIGURE P11–3

11.4. Derive the transfer function Y/X for the control system shown in Fig. P11–4 .
 FIGURE P11–4

11.5. Derive the transfer function T/TR for the temperature control system shown in
Figure P11–5.
.

FIGURE P11–5

13.1. Write the characteristic equation and construct the Routh array for the control
system shown in Fig. P13–1. Is the system stable for (i) Kc= 9.5, (ii) Kc =11, and (iii) Kc
=12?
 FIGURE P13–1

13.2. By means of the Routh test, determine the stability of the system shown in Fig.
P13–2 when KC =2.

FIGURE P13–2

13.3.
The thermal system shown in Fig. P12–6 is controlled by a PD controller. These data are
given: w =250 lb/min,  =62.5 lb/ft3, V1 = 4 ft3, V2 = 5 ft3, V3 = 6 ft3, C = 1Btu/(lbF)
Determine the value of gain (psi/F) that just causes the system to be unstable if (i) tD =
0.25 min and (ii ) tD = 0.5 min.

13.8. Given the control diagram shown in Fig. P13–8, deduce by means of the Routh
criterion those values of τI for which the output C is stable for all inputs R and U.
 FIGURE P13–8

13.9. In the control system shown in Fig. P13–9, find the value of Kc for which the
system is on the verge of instability. The controller is replaced by a PD controller, for
which the transfer function is Kc (τD s + 1). If Kc = 10, determine the range of τD for which
the system is stable.

FIGURE P13–9
15.1. For each of the following transfer functions, sketch the gain versus frequency,
asymptotic Bode diagram. For each case, find the actual gain and phase angle at  = 10.
100 10𝑠
i) ⁡(10𝑠+1)(𝑠+1),⁡ ii) (𝑠+1)(0.1𝑠+1)2 , iii) (10𝑠 + 1)2

15.3. Plot the asymptotic Bode diagram for the PID controller with
1
𝐺(𝑠) = 𝐾𝑐 (1 + 𝜏𝐷 𝑠 + ); where Kc = 10, I = 1, and D = 100. Label corner frequencies
𝜏𝐼 𝑠
and give slopes of asymptotes.

15.6. (i) Plot the Bode diagram for the process shown in Fig. P15–6
(ii) Find the amplitude ratio and phase angle for Y/X at  = 1 rad/min and  = 4 rad/min.

15.7. For the system  = 0.5. Determine the lag between the input wave and the
output wave.
16.1. Calculate the value of gain Kc needed to produce continuous oscillations in the
control system shown in Fig. P16–1, for i) n= 2 and ii) n=3

Q.?? State BODE stability criterion rule

Example 16.1. Find a relation between relative stability (see below) and the
phase margin for the control system of Fig. 16–7 . A proportional controller is to
be used.

Source: Stephanopoulos, p.342

6. Construct the Bode diagram and Nyquist plot of a first-order system with dead time, d,
𝐾𝑝 𝑒 −𝜏𝑑 𝑠
having a transfer function, 𝐺(𝑠) = ; with Kp = 2, p = 2 and d = 2
𝜏𝑝 𝑠+1