Tutorial

Control and Mathematical Modelling

1. Define the following terms:

a) Load or disturbance
b) Manipulated variable
c) Controlled variable
d) Set point
e) Feedback control
f) Feedforward control
g) Cascade control
h) Ratio control

2. Consider the distillation column reboiler shown.
Design a cascade control system to control the
column temperature using the reboiler steam flow
rate. The system must compensate for steam supply
pressure changes before it affects the temperature.

3. Sketch a control concept diagram for a chemical
reactor that is cooled by generating steam
- Steam drum pressure is
controlled by the valve in
the steam exit line
- Condensate flow is
ratioed to steam dlow
- Steam drum liquid level is
controlled by adjusting
the condensate to steam
ratio
- Feed is flow controlled
- Reactor liquid level is
controlled by product
withdrawal
- Reactor temperature is controlled by resetting the setpoint of the steam
pressure controller

4. One of the distillation column control strategies is termed the LB
configuration.
This control scheme incorporates the following control loops

a) level control of reflux drum by distillate flowrate
b) level control of column base by energy input to reboiler (vapour flow - boilup)
c) top product composition by reflux flowrate
d) bottom product composition by bottoms flowrate
e) pressure by flooded condenser method
Draw the control system based on the above.

5. Develop a separate model in each case for a
CSTR in which the following elementary
reactions occur

a)
b)

Assumptions:
- The following variables have constant values in this problem: F, V, and
reactor temperature (heat transfer, work, and heat of reaction are all
negligible).
- The reactor is well mixed.
- The density is constant.
- Only reactant A (no product) exists in the feed to the reactor.

6. Consider the continuous stirred tank reactor shown below. An endothermic
reaction, A+BC, takes place in the reactor (in the liquid phase). The
reaction is first order with respect to A and second order with respect to
B. The heat required for the reaction comes from steam that flows through
a jacket around the reactor. Constant densities may be assumed. Model the
system in order to find the state equations that define the dynamics of the
system assuming that only components A and B enter with the feed.


steam
T
S
T
S
(A) The factor that is changed to keep a measured variable at set point.
(B) An undesired change in a factor that can affect the process variable.
(C) A value or range of values for a process variable that must be maintained to keep
the process running properly.
(D) A control operation that directly involves human action.
(E) A mathematical expression of a control function


















( )
F F
F F
dt
dV
F F
dt
V d
i
i
i i
=
= =
=
0
volume and density constant at
: balance Mass

Similarly









( )
F F
F F
dt
dV
F F
dt
V d
i
i
i i
=
= =
=
0
volume and density constant at
: balance Mass

Similarly







( )
F F
F F
dt
dV
F F
dt
V d
i
i
i i
=
= =
=
0
volume and density constant at
: balance Mass

( )
( )
( )
A A Ai
A
A A Ai
A
A A i Ai
A
A
Ai
A A i Ai
Ai A
r c c
V
F
dt
dc
V r F c F c
dt
dc
V
V r F c F c
dt
dc
V
dy
dV
c
dt
V c d
V r F c F c
dt
V c d
dt
dn
=
=
= + =
= =
: balance A Component
( )
( )
( )
A A Ai
A
A A Ai
A
A A i Ai
A
A
Ai
A A i Ai
Ai A
c k c c
V
F
dt
dc
V c k F c F c
dt
dc
V
V c k F c F c
dt
dc
V
dy
dV
c
dt
V c d
V r F c F c
dt
V c d
dt
dn
1
1
1
: balance A Component
=
=
= + =
= =
( )
B C
C
B A B
B
c k c
V
F
dt
dc
c k c k c
V
F
dt
dc
2
2 1
: balance C Component
: balance B Component
+ =
+ =
( )
( )
( )
B A A Ai
A
B A A Ai
A
B A A i Ai
A
A
Ai
A A i Ai
Ai A
c k c k c c
V
F
dt
dc
V c k V c k F c F c
dt
dc
V
V c k V c k F c F c
dt
dc
V
dy
dV
c
dt
V c d
V r F c F c
dt
V c d
dt
dn
2 1
2 1
2 1
: balance A Component
+ =
+ =
+ = + =
= =
( )
B A B
B
c k c k c
V
F
dt
dc
2 1
: balance B Component
+ =






















( )
( ) ( )
( ) ( ) | | ( ) ( ) ( ) | |
( ) ( ) ( ) | | ( ) ( ) ( ) | | Q T H c T H c T H c F T T c T H c T H c F
dt
dH
Q T H c T H c T H c F T T c T h F
dt
dH
Q T Fh T h F
dt
dH
dt
dH
dt
dU
dt
dE
U P K U E
n n n T H H
C C B B A A i p i B Bi i A Ai
C C B B A A i p i
i i i
C B A
+ + + + =
+ + + =
=
~ =
= + + =
=


, , ,
: balance Energy

( ) ( ) ( )
( )| | ( )| | ( )| | V r F c T H V r F c F c T H V r F c F c T H
dt
dT
Vc
dt
dH
T H
n
H
T H
n
H
T H
n
H
Vc
T
H
dt
dn
n
H
dt
dn
n
H
dt
dn
n
H
dt
dT
T
H
dt
dH
C C C B B i Bi B A A i Ai A p
C
C
B
B
A
A
p
C
C
B
B
A
A
+ + + + =
=
c
c
=
c
c
=
c
c
=
c
c
c
c
+
c
c
+
c
c
+
c
c
=

( ) ( ) ( ) | | ( ) ( ) ( ) | |
( )| | ( )| | ( )| |
( ) ( ) ( ) ( )
( ) ( ) ( ) | | ( ) Q T T c F T H T H T H rV
dt
dT
Vc
Q T T c F V r T H V r T H V r T H
dt
dT
Vc
V r F c T H V r F c F c T H V r F c F c T H
dt
dT
Vc
Q T H c T H c T H c F T T c T H c T H c F
i p C B A p
i p C C B B A A p
C C C B B Bi B A A Ai A p
C C B B A A i p i B Bi i A Ai
+ + =
= +
+ + + +
= + + + +

r r r c c Ve k r
C B A
RT
E
o A
B
= = = =

2
| | ( )
| | ( )
p
i R
p
i p R p
c
Q
T T F H
c
rV
dt
dT
V
Q T T c F H rV
dt
dT
Vc


+ A =
+ A =
( )
B B Bi
B
r c c
V
F
dt
dc
=
: B for Similarly
C C
C
r c
V
F
dt
dc
+ =
: C for Similarly