15-1

Chapter 15




15.1


For R
a
=d/u

2
u
d
u
R
K
a
p
=

=

which can vary more than K
p
in Eq. 15-2, because the new K
p
depends on
both d and u.



15.2


By definition, the ratio station sets

(u
m
u
m0
) = K
R
(d
m

d
m0
)

Thus
2
1
2
2
1
2
2
0
0
|
.
|

\
|
= =

=
d
u
K
K
d K
u K
d d
u u
K
m m
m m
R
(1)

For constant gain K
R
, the values of u and d in Eq. 1 are taken to be at the
desired steady state so that u/d=R
d
, the desired ratio. Moreover, the
transmitter gains are

2
1
mA ) 4 20 (
d
S
K

= ,
2
2
mA ) 4 20 (
u
S
K

=

Substituting for K
1
, K
2
and u/d into (1) gives:

2
2
2
2
|
|
.
|

\
|
= =
u
d
d d
d
u
R
S
S
R R
S
S
K


Solution Manual for Process Dynamics and Control, 2
nd
edition,
Copyright 2004 by Dale E. Seborg, Thomas F. Edgar and Duncan A. Mellichamp

Revised: 1-3-04

15-2
15.3


(a) The block diagram is the same as in Fig. 15.11 where Y H
2
, Y
m
H
2m
,
Y
sp
H
2sp
, D Q
1
, D
m
Q
1m
, and U Q
3
.


b) (A steady-state mass balance on both tanks gives

0 = q
1
q
3
or Q
1
= Q
3
(in deviation variables) (1)

From the block diagram, at steady state:

Q
3
= K
v
K
f
K
t
Q
1


From (1) and (2), K
f
=
1
v t
K K
(2)

c) (No, because Eq. 1 above does not involve q
2
.


15.4







(b) From the block diagram, exact feedforward compensation for Q
1
would
result when

Q
1
+ Q
2
= 0


Substituting Q
2
= K
V
G
f
K
t
Q
1
,

G
f
=
1
v t
K K


15-3

(c) Same as part (b), because the feedforward loop does not have any dynamic
elements.


(d)



For exact feedforward compensation

Q
4
+ Q
3
= 0 (1)

From the block diagram, Q
2
= K
V
G
f
K
t
Q
4
(2)

Using steady-state analysis, a mass balance on tank 1 for no variation in q
1

gives

Q
2
Q
3
= 0 (3)

Substituting for Q
3
from (3) and (2) into (1) gives

Q
4
+ K
V
G
f
K
t
Q
4
= 0

or G
f
=
1
v t
K K


For dynamic analysis, find G
p1
from a mass balance on tank 1,



1
1 1 2 1 1
dh
A q q C h
dt
= +





15-4
Linearizing (4), noting that
1
q = 0, and taking Laplace transforms:


1
1 2 1
1
2
C dh
A q h
dt
h

=
or
1 1 1
2
1 1 1
(2 / ) ( )
( )
(2 / ) 1
h C H s
Q s
A h C s

+
(5)

Since
3 1 1
1
3 1
1
2
q C h
C
q h
h
=
=
or
3 1
1
1
( )
( )
2
Q s C
H s
h

(6)

From (5) and (6),


1
3
2
1 1 1
( ) 1
( )
(2 / ) 1
P
Q s
G
Q s
A h C s

= =

+
(7)


Substituting for Q
3
from (7) and (2) into (1) gives


4 4
1 1 1
1
( ) 0
(2 / ) 1
v f t
Q K G K Q
A h C s
+ =
+


or
1 1 1
1
[(2 / ) 1]
f
v t
G A h C s
K K
= +




15.5


(a) For a steady-state analysis:

G
p
=1, G
d
=2, G
v
= G
m
= G
t
=1

From Eq.15-21,

G
f
= 2
) 1 )( 1 )( 1 (
2
=

p t v
d
G G G
G


(b) Using Eq. 15-21,

15-5
G
f
=
1 5
2
1
1
) 1 )( 1 (
) 1 5 )( 1 (
2
+

=
|
.
|

\
|
+
+ +

=

s
s
s s
G G G
G
p t v
d


(c) Using Eq. 12-19,


+
=
+
= = G G
s
G G G G
m p v
~ ~
1
1 ~

where
1
1,
1
G G
s
+
= =
+



For
c
=2, and r=1, Eq. 12-21 gives

f =
1 2
1
+ s


From Eq. 12-20

* 1
1 1
( 1)
2 1 2 1

+ | |
= = + =
|
+ +
\ .

c
s
G G f s
s s


From Eq. 12-16

s
s
s
s
s
G G
G
G
c
c
c
2
1
1 2
1
1
1 2
1
~
1
+
=
+

+
+
=

(d) For feedforward control only, G
c
=0. For a unit step change in disturbance,
D(s) = 1/s.

Substituting into Eq. 15-20 gives

Y(s) = (G
d
+G
t
G
f
G
v
G
p
)
s
1


For the controller of part (a)

Y(s) =
s s s s
1
1
1
) 1 )( 2 )( 1 (
) 1 5 )( 1 (
2
(

|
.
|

\
|
+
+
+ +



15-6
Y(s) =
5 / 1
5 . 2
1
5 . 2
1 5
2 / 25
1
2 / 5
) 1 5 )( 1 (
10
+

+
=
+

+
+
=
+ +

s s s s s s


or y(t) = 2.5 (e
-t
e
- t/5
)


For the controller of part (b)

Y(s) = 0
1
1
1
) 1 (
1 5
2
) 1 (
) 1 5 )( 1 (
2
=
(

|
.
|

\
|
+
|
.
|

\
|
+

+
+ + s s s s s


or y(t) = 0

The plots are shown in Fig. S15.5a below.



Figure S15.5a. Closed-loop response using feedforward control only.


(e) Using Eq. 15-20:

For the controller of parts (a) and (c),

Y(s) =
2 1
(1)( 2)(1)
1 ( 1)(5 1) 1
1 1
1 (1) (1)
2 1
s s s
s s
s s
( | |
+
|
(
+ + +
\ .
(
+ | | | |
(
+
| |
(
+
\ . \ .



15-7
or Y(s) = =
+ + +

) 1 2 )( 1 5 )( 1 (
20
s s s
s
1 2
3 / 40
1 5
3 / 25
1
5
+

+
+
+
+ s s s

=
5 / 1
3 / 5
2 / 1
3 / 20
1
5
+
+
+

+ s s s


or y(t) = 5e
-t

3
20
e
-t/2
+
3
5
e
- t/5

and for controllers of parts (b) and (c)

Y(s) =
s
s s
s
s s s s 1
) 1 (
1
1
) 1 (
2
1
1
1
1
) 1 (
1 5
2
) 1 (
) 1 5 )( 1 (
2
(
(
(
(

|
.
|

\
|
+
|
.
|

\
| +
+
|
.
|

\
|
+
|
.
|

\
|
+

+
+ +
= 0

or y(t) = 0

The plots of the closed-loop responses are shown in Fig. S15.5b.


Figure S15.5b. Closed-loop response for feedforward-feedback control.




15.6


(a) The steady-state energy balance for both tanks takes the form

0 = w
1
C T
1
+ w
2
C T
2
w C T
4
+ Q

15-8

where Q is the power input of the heater
C is the specific heat of the fluid.

Solving for Q and replacing unmeasured temperatures and flow rates by
their nominal values,

Q = C ( ) 4 2 2
1
1 T w T w T w + (1)

Neglecting heater and transmitter dynamics,

Q = K
h
p (2)

T
1m
= T
1m
0
+ K
T
(T
1
-T
1
0
) (3)

w
m
= w
m
0
+ K
w
(w-w
0
) (4)


Substituting into (1) for Q, T
1
, and w from (2), (3), and (4), gives

0 0 0 0
1 1 1 1 2 2 4
1 1
[ ( ( )) ( ( ))]
m m m m
h T w
C
p w T T T w T T w w w
K K K
= + + +


(b) Dynamic compensation is desirable because the process transfer function
G
p
= T
4
(s)/P(s) is different from each of the disturbance transfer functions,
G
d1
= T
4
(s)/T
1
(s), and G
d2
= T
4
(s)/w(s); this is more so for G
d1
which has a
higher order.


15.7


(a)



(b) A steady-state material balance for both tanks gives,

15-9

0 = q
1
+ q
2
+ q
4
q
5


Because
2
q =
4
q = 0, the above equation gives

0 =
1
q
5
q or 0 = Q
1
Q
5
(1)

From the block diagram,

Q
5
= K
v
G
f
K
t
Q
1


Substituting for Q
5
into (1) gives

0 = Q
1
K
v
G
f
K
t
Q
1
or G
f
=
t v
K K
1


(c) To find G
d
and G
p
, the mass balance on tank 1 is


1 1 2 1
1
1
h C q q
dt
dh
A + =

where A
1
is the cross-sectional area of tank 1.

Linearizing and setting
2
q = 0 leads to


1 1
1 1 1
1
2
dh C
A q h
dt
h

=

Taking the Laplace transform,


1 1
1 1 1
( )
( ) 1
H s R
Q s A R s

=
+
where
1
1
1
2
C
h
R (2)

Linearizing q
3
= C
1
1
h gives


3 1
1
1
q h
R
= or
3
1 1
( ) 1
( )
Q s
H s R

(3)

Mass balance on tank 2 is


5 4 3
2
2
q q q
dt
dh
A + =

15-10

Using deviation variables, setting
4
q = 0, and taking Laplace transform

( ) ( ) ( )
2 2 3 5
A sH s Q s Q s =


2
3 2
( ) 1
( )
H s
Q s A s

(4)
and


2
5 2
( ) 1
( )
( )
p
H s
G s
Q s A s

= =

3 2 2 1
1 3 1 1 2 1 1
( ) ( ) ( ) ( ) 1
( )
( ) ( ) ( ) ( ) ( 1)
d
Q s H s H s H s
G s
Q s Q s H s Q s A s A R s

= = =
+


upon substitution from (2), (3), and (4).

Using Eq. 15-21,

) / 1 (
) 1 (
1
2
1 1 2
s A K K
s R A s A
G G G
G
G
v t p v t
d
f

=

1
1 1
1 1
+
+ =
s R A K K
t v


15.8


For the process model in Eq. 15-22 and the feedforward controller in Eq.
15-29, the correct values of
1
and
2
are given by Eq. 15-42 and (15-43).

Therefore,


1

2
=
p

L
(1)

for a unit step change in d, and no feedback controller, set D(s)=1/s, and
G
c
= 0 in Eq. 15-20 to obtain

Y(s) = | |
s
G G G G G
p v f t d
1
+
Setting G
t
= G
v
= 1, and using Eqs. 15-22 and 15-29,


15-11

1
2
/ ( 1) 1
( ) (1) (1)
1 1 1
p
d d P
d p
K
K K K s
Y s
s s s s
( | |
| | +
= + ( |
|
|
+ + +
( \ .
\ .



1
2 1 2
2 2 2
( )
( ) 1 1 1 1
1 ( ) 1 1
p p
d
d
d p p p
K
s s s s s
(

=
(
+ + +
(



or y(t)
2
1 /
/ / 1 2
2 2

( )



(

=
(

(

p
p t
t t
d
p p
K e e e


0 0
( ) ( ) e t dt y t dt

=

1
2 1 2
2 2
( )
( )

p p
d d
p p
K
(

= + +
(

(




2 2
2 2 1 2 1 2 2
2
( )

d
d d p p p p p
p
K
(
= + + +

1 2
( ) ( )
d p d
K
(
=



0 = when (1) holds.






15.9


(a) For steady-state conditions

G
p
=1, G
d
=2, G
v
= G
m
= G
t
=1

Using Eq. 15-21,

G
f
= 2
) 1 )( 1 )( 1 (
2
=

p t v
d
G G G
G


(b) Using Eq. 15-21,


15-12
G
f
=
1 5
2
1
1
) 1 )( 1 (
) 1 5 )( 1 (
2
+

=
|
.
|

\
|
+
+ +

s
e
s
s s
e
G G G
G
s
s
p t v
d


(c) Using Eq. 12-19,

+

=
+
= = G G
s
e
G G G G
s
m p v
~ ~
1
~

where
1
1 ~
,
~
+
= =

+
s
G e G
s


For
c
=2, and r = 1, Eq. 12-21gives

f =
1 2
1
+ s


From Eq. 12-20

1 2
1
1 2
1
) 1 (
~
1
*
+
+
=
+
+ = =

s
s
s
s f
G
G
c


From Eq. 12-16


s
s
s
s
s
G G
G
G
c
c
c
2
1
1 2
1
1
1 2
1
~
* 1
* +
=
+

+
+
=

=

(d) For feedforward control only, G
c
=0. For a unit step disturbance,
D(s) = 1/s.

Substituting into Eq. 15-20 gives

Y(s) = (G
d
+G
t
G
f
G
v
G
p
)
s
1


For the controller of part (a)

Y(s) =
s s
e
s s
e
s s
1
1
) 1 )( 2 )( 1 (
) 1 5 )( 1 (
2
(

|
|
.
|

\
|
+
+
+ +



15-13
=
) 1 5 )( 1 (
10
+ +

s s
e
s


or y(t) = 2.5 (e
-(t-1)
e
-( t-1)/5
)S(t-1)


For the controller of part (b)

Y(s) = 0
1
1
) 1 (
1 5
2
) 1 (
) 1 5 )( 1 (
2
=
(

|
|
.
|

\
|
+
|
.
|

\
|
+

+
+ +

s s
e
s s s
e
s s


or y(t) = 0

The plots are shown in Fig. S15.9a below.


Figure S15.9a. Closed-loop response using feedforward control only.


(e) Using Eq. 15-20:

For the controllers of parts (a) and (c),

Y(s) =
s
s
e
s
s
s
e
s s
e
s
s s
1
) 1 (
1
) 1 (
2
1
1
1
) 1 )( 2 )( 1 (
) 1 5 )( 1 (
2
(
(
(
(
(

|
|
.
|

\
|
+
|
.
|

\
| +
+
|
|
.
|

\
|
+
+
+ +

15-14

and for the controllers of parts (b) and (c),

Y(s) =
s
s s
s
s s s s 1
) 1 (
1
1
) 1 (
2
1
1
1
1
) 1 (
1 5
2
) 1 (
) 1 5 )( 1 (
2
(
(
(
(

|
.
|

\
|
+
|
.
|

\
| +
+
|
.
|

\
|
+
|
.
|

\
|
+

+
+ +
= 0

or y(t) = 0

The plots of the closed-loop responses are shown in Fig. S15.9b.


Figure S15.9b. Closed-loop response for the feedforward-feedback control.



15.10


(a) For steady-state conditions

G
p
=K
p
, G
d
=K
d
, G
v
= G
m
= G
t
=1

Using Eq. 15-21,


15-15
G
f
= 25 . 0
) 2 )( 1 )( 1 (
5 . 0
=

p t v
d
G G G
G


(b) Using Eq. 15-21,

G
f
=
s
s
s
p t v
d
e
s
s
s
e
s
e
G G G
G
10
20
30
) 1 60 (
) 1 95 (
25 . 0
1 95
2
) 1 )( 1 (
1 60
5 . 0

+
+
=
|
|
.
|

\
|
+
+

(c) Using Table 12.1, a PI controller is obtained from equation G,

95 . 0
) 20 30 (
95
2
1 1
=
+
=
+

=
c p
c
K
K
95
I
= =

(d) As shown in Fig.S15.10a, the dynamic controller provides significant
improvement.
(e)
0 100 200 300 400 500
-0.04
-0.02
0
0.02
0.04
0.06
0.08
time
y(t)
Controller of part (a)
Controller of part (b)


Figure S15.10a. Closed-loop response using feedforward control only.


15-16

0 100 200 300 400 500
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
time
y(t)
Controllers of part (a) and (c)
Controllers of part (b) and (c)

Figure S15.10b. Closed-loop response for feedforward-feedback control.


f) As shown in Fig. S15.10b, the feedforward configuration with the
dynamic controller provides the best control.



15.11


Energy Balance:

) ( ) ( ) 1 ( ) (
a L L c c i
T T A U T T A q U T T wC
dt
dT
VC + = (1)

Expanding the right hand side,

) ( ) (
c i
T T UA T T wC
dt
dT
VC =
) (
a L L c c c
T T A U T UAq T UAq + (2)

Linearizing,


c c c c
q T T q T q T q + + (3)

Substituting (3) into (2), subtracting the steady-state equation, and
introducing deviation variables,


15-17
T q UA q T UA T UA T T wC
dt
T d
VC
c c i
=

) (
T A U q UAT
L L c c
+ (4)

Taking the Laplace transform and assuming steady-state at t = 0 gives,

( ) ( ) ( ) ( )
i c c
VCsT s wCT s UA T T Q s

= +

) ( ) ( s T A U q UA UA wC
L L c
+ + + (5)

Rearranging,

( ) ( ) ( ) ( ) ( )
L i p c
T s G s T s G s Q s = + (6)

where:

( )
1
L
d
K
G s
s
=
+


1
) (
+
=
s
K
s G
p
p


d
wC
K
K
= (7)

K
T T UA
K
c
p
) (
=

K
VC
=

L L c
A U q UA UA wC K + + + =

The ideal FF controller design equation is given by,


d
F
t v p
G
G
G G G

= (17-27)

But,
s
t t
e K G

= and G
v
=K
v
(8)

Substituting (7) and (8) gives,


) ( T T UA K K
wCe
G
c v t
s
F

=
+
(9)

In order to have a physically realizable controller, ignore the e
+s
term,

15-18


) ( T T UA K K
wC
G
c v t
F

= (10)


15.12


a) A component balance in A gives:

A
Ai A A
dc
V qc qc Vkc
dt
= (1)

At steady state,


0
Ai A A
q c q c Vkc = (2)

Solve for , q


A Ai
A
C C
C kV
q

= (3)

For an ideal FF controller, replace
Ai
C by
Ai
C , q by q
1
and
A
C by
Asp
C :


Asp
Ai Asp
kVC
q
C C
=

b) Linearize (1):

A
iA Ai Ai A A A A
dc
V q c qc c q q c qc c q Vkc
dt
= + +

Subtract (2),

A
iA Ai A A A
dc
V qc c q qc c q Vkc
dt

= +

Take the Laplace transform,

( ) ( ) ( ) ( ) ( ) ( )
A iA Ai A A A
sVc s qc s c Q s qc s c Q s Vkc s = +

Rearrange,

15-19

( ) ( ) ( )
Ai A
A Ai
c c q
C s C s Q s
sV q Vk sV q Vk

= +
+ + + +
(6)
or

( ) ( ) ( ) ( ) ( )
A d i A p
C s G s C s G s Q s = + (7)

The ideal FF controller design equation is,


( )
( )
( ) ( ) ( )
d
F
v p t
G s
G s
G s G s G s
= (8)

Substitute from (6) and (7) with G
v
(s)=K
v
and G
t
(s)=K
t
:

( )
( )
F
v Ai A t
q
G s
K c c K
=

(9)

.
Note: ) ( / ) ( ) ( s C s P s G
m Ai F
= where P is the controller output and c
Aim

is the measured value of c
Ai
.


15.13


(a) Steady-state balances:


3 1 5
0 q q q + = (1)


4 2 3
0 q q q + = (2)

0

3 3 1 1 5 5
0 q x q x q x + = (3)


4 4 2 2 3 3
0 q x q x q x + = (4)

Solve (4) for
3 3
q x and substitute into (3),



4 4 2 2 5 5
0 q x q x q x + = (5)

Rearrange,


15-20

2
5 5 4 4
2
x
q x q x
q

= (6)

In order to derive the feedforward control law, let

4 4
,
sp
x x
2 2
( ), x x t
5 5
( ), x x t and ) (
2 2
t q q

Thus,


2
5 5 4 4
2
) ( ) (
) (
x
t q t x q x
t q
sp

= (7)

Substitute numerical values:


990 . 0
) ( ) ( ) 3400 (
) (
5 5 4
2
t q t x x
t q
sp

= (8)
or

) ( ) ( 01 . 1 3434 ) (
5 5 4 2
t q t x x t q
sp
= (9)

Note: If transmitter and control valve gains are available, then an
expression relating the feedforward controller output signal, p(t), to the
measurements , x
5m
(t) and q
5m
(t), can be developed.

(b) Dynamic compensation: It will be required because of the extra
dynamic lag preceding the tank on the left hand side. The stream 5
disturbance affects x
3
while q
3
does not.