EL6605 PROCESS DYNAMICS AND CONTROL
UNIT I OPEN LOOP SYSTEMS
Introduction to chemical process control, Mathematical description of chemical processes,
Formulating process models, Laplace Transforms, Properties of Laplace Transforms , Solution of
Ordinary differential equations by Laplace transforms , Standard input forcing functions, State
space representation, Transform domain models, Impulse response models, Inter relationship
between process model forms
TEXT BOOKS:
1. Stephanopoulos, G., “Chemical Process Control“, Prentice Hall of India, 2003.
2. Ogunnaike, B.A., & Ray, W.H. (1997). Process dynamics , modeling and control (Vol.1)
3. Coughnowr, D., “ Process Systems Analysis and Control “, 3rd Edn., McGraw Hill, NewYork,
2008.
References:
1. Seborg,D.E.,Mellichamp, D. A.,Edgar, T. F.,& Doyle IV, F. J. (2016).Process dynamics and
control. John Wiley & Sons.
2. Bequette, B.W.(2003). Process control: modeling, design, and simulation. PrenticeHall
Professional.
3. Riggs, J. B.,&Karim, M. N. (2007).Chemical and Bio-process Control: James B.Riggs, M. Nazmul
Karim. Prentice Hall.
4. Luyben,W.L., Tyréus,B.D.,& Luyben, M.L. (1998).Plant wide process control(Vol.43). New
York: McGraw-Hill.
1.1. Why Process control
• Product Specifications: The purpose of process control is to reduce the variability in
final products.
• Safety: To ensure safe operation.
• Production Efficiency: It also aims to reduce wastage and production costs by
improving the efficiency of processing.
• Environment: legislative requirements and safety are met.
• Operational constraint: Plant operation parameters have to be within certain limits for
safety of equipment and also for process.
• Cost and market variability: Processing cost should result in profit and product quantity
and quality must be matching with market demand.
1.1.1. Introduction to process control
1.1.2. Process Knowledge
1.1.3. Mathematical representation or Model
1.1.4. Variables
1.1.5. System information gathering
1.1.6. Control strategies possible
1.2. Laplace Transform
Laplace Transform enables one to get a very simple and elegant method of solving linear
differential equation by transforming them into algebraic equations. It is well known that chemical
processes are mathematically represented through a set of differential equations involving
derivatives of process states. Analytical solution of such mathematical models in time domain is
not only difficult but sometimes impossible without taking the help of numerical techniques.
Laplace Transform comes as a good aid in this situation. For this reason, Laplace Transform has
been included in the text of this “Process Control” course material though it is purely a
mathematical subject.
1.3. Definition of Laplace Transform
Consider a function f(t). The Laplace transform of the function is represented by f(s) and defined
by the following expression:
Hence, the Laplace Transform is a transformation of a function from the t -domain (time domain)
to s -domain (Laplace domain) where both t and s are independent variables.
1.4. Final Value Theorem:
Initial Value Theorem:
1.5. Laplace transform of a few basic functions
The Fig. III.1 shows a few basic functions which are frequently used in process control applications
(a) Step function (b) Ramp function
(c) Pulse function (d) Impulse function
Fig. 1: Few basic functions which are frequently used in process control applications
Step function : See 1(a) for the schematic of a step function
hence,
Ramp function : See Fig. 1(b) for the schematic of a ramp function f(t)=at for t>0 where a is a
constant
Hence,
Exponential function : for t>0 where a is a constant
Hence,
Sinusoidal function :
Hence,
Delayed function : , i.e .f(t) is delayed by seconds
Now, let us take , hence . At and at
. Thus,
Hence,
Pulse function : See Fig. 1(c) for the schematic of an unit pulse function. The area under the
pulse is 1. The duration of pulse is T and hence it achieves maximum intensity of . Thus the
function is defined by
It can also be defined as the “addition” of two step functions which are equal but with opposite
intensity, however, the second function is delayed by T .
Hence, it is evident that is equal to in intensity however it is delayed by time
Thus, . Since is a step function of intensity , the following
expression will hold.
Hence,
Impulse function : See Fig. 1(d) for the schematic of an unit impulse function. This is analogous
to a pulse function whose duration is shrinked to zero without losing the strength. Hence the area
under the impulse remains 1. The function can be expressed as the following:
As the duration of the impulse tends to zero, its maximum intensity ideally tends to .
Mathematically it is termed as Dirac Delta function and is represented as . The following
relation holds for unit impulse:
Thus the Laplace transform of the impulse function can be derived as the following:
L'Hospital's rule has been applied in the above derivation. Hence,
The following table presents the Laplace transforms of various functions.
Table 1: Laplace transforms of various functions
1.6. Laplace Transform of derivatives
The Laplace transform of derivative of a function f(t) is derived in the following manner:
(III.19
)
Where f(0) is the value of the function at t=0. Similarly it can be proved that
(III.20)
Where f'(0) is the value of the derivative of the function at t=0. In general, it can be proved that
(III.21
)
Where are the initial conditions of the respective-
order derivatives of the function.
1.7. Solution of linear ODE using Laplace transform
1.8. Derivation of Transfer function
1.9. State Space representation
1.10. Transfer Function Matrix
