VISHWAKARMA GOVERNMENT

ENGINEERING COLLEGE
CHANDKHEDA, AHMEDABAD
2021-2023

Unsolved Example of Coughanowr

3723009 – Advanced Process Control

Chemical Engineering Department

VGEC, Chandkheda

Submitted to: Prof. Yogesh J. Morabiya

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SR No Chapter Unsolved Enrolment Number Page

1 2-3 210170730014 3-5

2 5 210170730013 5-19

3 6 210170730011 19-43

4 8 210170730009 43-51

5 9 210170730007 51-55

6 10 210170730006 55-56

7 11 210170730005 57-66

8 12 210170730003 66-75

9 13 210170730002 75-83

10 15 210170730012 83-84

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 Enrolment No :- 210170730014
Topic:- Chapter 2-3

Q.1 Transform the following

(
a) sin 2t +
ℼ
4 )
ℼ ℼ
Ans: sin 2 t cos + cos 2t
4 4
1 1
=Sin2t + Cos2t
√2 √2
2t 2t
= Sin +¿ Cos
√2 √2
2 s
= +
√ 2(s + 4) √ 2(s 2 +4)
2

1 s
= [ √ 2+¿ ¿
( s +4 )
2
√2
2+s
= 2
√ 2(s + 4)

b) e t cos 2 t
Ans: Based on Laplace transform,
e t =s−1
s
Coskt= 2 2
s +k
Therefore
s−1
L { e t cos 2 t } =
( s−1 )2 +4
s−1
¿ 2
s −2 s+ 5

Q.2.2 Invert the following transforms

−1 3
a) L [ ]
S
=3

b) L
−1
{S 3+2 }
=3 e−2 t

3
 −1 3
c) L { }
( S+ 2 )2

= t e−2 t

−1 3
d) L { 3
}
S

3 2
= t
2

−1 1/2
e) L { 2
}
S +9

1
= sin 3 t
6

f) L
−1
{ 3
2
S +4 s+ 8 }
3
={ 2
}
( S+ 2) +4
3 −2 t
= e sin 2 t
2

−1 s+ 4
g) L { 2
}
S + 4 s+8

s+2 2
={ 2
}+{ }
( S+ 2) +4 ( S+ 2)2 +4

= e−2 t sin 2 t+e−2 t sin 2 t

−1 1
h) L { }
( s+2)2

= te−2 t

Q 2.3) Find F(x) for the following differential equations

2
d x dx
(a) +4 + 3x = u(t) x(0) = x’(0) = 0
dt 2
dt
= S2 Y ( S ) −SY ( 0 ) +Y ' ( 0 ) +4 [ SY ( S )−Y ( 0 ) ]+3 Y ( S )=0
= S2 Y ( S ) + 4 [ SY ( S ) −Y ( 0 ) ] + 3Y ( S ) =0

4
 =Y(S)[ S2 +4 S +3
1
= 2
S + 4 S+3

d2 x dx
(b) +2 + x = u(t) x(0) = x’(0) = 1
dt
2
dt
S2 Y ( S ) −SY ( 0 ) +Y ' ( 0 ) +2 [ SY ( S )−Y ( 0 ) ]+3 Y ( S )−Y ' ( 0 )=1
2
S Y ( S ) −S−1+2 SY ( S ) −1+ Y ( S ) =1
Y ( S ) [ S +2 S+1 ] =1+1+ S
2

S+2
Y ( S )= 2
S +2 S+1

d2 x dx
(c) 2
+2 + x = u(t) x(0) = x’(0) = 0
dt dt

S2 Y ( S ) −SY ( 0 ) +Y ' ( 0 ) +2 [ SY ( S )−Y ( 0 ) ]+3 Y ( S )−Y ' ( 0 ) =1

S2 Y ( S ) +2 SY ( S ) +Y ( S )=1
Y ( S ) [ S 2+2 S+1 ] =1
1
Y ( S )= 2
S +2 S+1

Enrolment No :- 210170730013
Topic:- Chapter 5

RESPONSE OF A FIRST ORDER SYSTEMS

5.1. Derive the transfer function H ( s )/ Q ( s ) for the liquid-level system of Fig. P5–1 when
(a) The tank level operates about the steady-state value of h s _ 1 ft
(b) The tank level operates about the steady-state
value of h s _ 3 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 ft 2 , and the resistance R is 0.5 ft/cfm.

5
We can analyze this system by writing a transient mass balance around the tank:
Rate of mass flow in - Rate of mass flow out = Rate of accumulation of mass in tank

h−2 dAh
q –q0 - = ..(1)
R dt
We will introduce deviation variables into the analysis before proceeding to the transfer
function. Initially, the process is operating at steady state, which means that dh / dt =0
and we can write Eq.(1) as

qs – q0 = 0 ..(2)

where the subscript s has been used to indicate the steady-state value of the variable.
Subtracting Eq. (2) from Eq. (1) gives
dH
q – qs = A +[ (h – hs) / R ]
dt

If we define the deviation variables as

Q =q - qs
H = h - hs

Writing equation and take Laplace

H (s )
Q(s) = A*S*H(s) +
R

Q(s) = H(s)*[(A*S) + (1/R)]

H(s)/Q(s) = [ 1 / ([(A*S) + (1/R)]) ] = R / [(A*R)*S + 1 ]

Compr this with first order form

H(s)/Q(s) = 1/ (τ s + 1)

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We get τ = A*R

5.2 A liquid-level system, such as the one shown in Fig. 5–1 , has a cross-sectional area of
3.0 ft 2 . The valve characteristics are q =8 h^1/2 where q _ flow rate, cfm, and h _ level
above the valve, ft. Calculate the time constant for this systemif the average operating level
above the valve is
(a) 3 ft
(b) 9 ft

h−2 dAh
q –q0 - = ..(1)
R dt
We will introduce deviation variables into the analysis before proceeding to the transfer
function. Initially, the process is operating at steady state, which means that dh / dt =0
and we can write Eq.(1) as

qs – q0 = 0 ..(2)

where the subscript s has been used to indicate the steady-state value of the variable.
Subtracting Eq. (2) from Eq. (1) gives
dH
q – qs = A +[ (h – hs) / R ]
dt

If we define the deviation variables as

Q =q - qs
H = h - hs
dh
q – 8 * (h^1/2) - ((h-2)/R) = A
dt
By means of a Taylor series expansion, the function q o ( h ) may be expanded
around the steady-state value h s ; thus
where qo′,hs is the first derivative of q o evaluated at hs , q″o , hs is the second derivative,
etc. If we keep only the linear term, the result is
q0 = q0(hs) + q’0h(s)*(h – hs)
= q01 + (1/2)*8*((h+s)^(-1/2))

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 =q01. + [(h – hs)/R1]
Where, R1 = 8*hs-1/2

Q(s)-(H(s)/R) = A*S*H(s) +(H(s)/R1)

Q(s) = H(s) [A*S + R-1 + R-11]
H(s)/Q(s) = R*R1 / [(A*R*R1)*S + 1]
Compare with first orde equation
H(s)/Q(S) = K / (τ s + 1)
We get τ = A*R*R1/(R1 + R)
By this value for time constant for 3ft and 9ft are as 1.7 and 7.2 sec.
5.3. A tank having a cross-sectional area of 2 ft 2 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 2.2 cfm according to a step change, calculate
the level h two minutes after the change occurs.

We can analyze this system by writing a transient mass balance around the tank:
Rate of mass flow in - Rate of mass flow out = Rate of accumulation of mass in tank

dAh
q –q0 = ..(1)
dt
by equation of straight line y = mx + c
from graph q0 = 2h + 0.4
We will introduce deviation variables into the analysis before proceeding to the transfer
function. Initially, the process is operating at steady state, which means that dh / dt =0
and we can write Eq.(1) as

qs – q0 = 0 ..(2)

where the subscript s has been used to indicate the steady-state value of the variable.
Subtracting Eq. (2) from Eq. (1) gives

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 dH
q – qs- 2(h – hs) = A
dt
If we define the deviation variables as
Q =q - qs
H = h - hs
we get,

Q(s) – 2*H(s) = A*s*H(s)

Q(s) = H(s)[(A*S)+ 2 ]

H(s)/Q(s) = 1 / [(A*S) + 2 ] = 2 / [(A/2)*s + 1]

Compr this with first order form

H(s)/Q(s) = 1/ (τ s + 1)

We get τ = A/2

5.4 A thermometer having a time constant of 0.2 min is placed in a

temperature bath and after the thermometer comes to equilibrium with
the bath, the temperature of the bath is increased linearly with time at the
rate of I deg C / min what is the difference between the indicated
temperature and bath temperature

(a) 0.1 min

(b) 10. min

after the change in temperature begins.

(c) what is the maximum deviation between the indicated temperaturew and bath
temperature and when does it occurs.
(d) plot the forcing function and the response on the same graph. After the long
enough time buy how many minutes does the response lag the input.

Consider thermometer to be in equilibrium with temperature bath at temperature Xs

X (t) = X + (1° /m)t, t > 0
as it is given that the temperture varies linearly
X(t)-Xs = t

Let X(t) = X(t) - Xs =

(a) the difference between the indicated temperature and bath

temperature at t = 0.1 min = X(0.1)_ Y(0.1)

= 0.1 - (0.2e-0.1/0.2 - 0.2+0.1) since T = 0.2 given

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= 0.0787 deg C

(b) t = 1.0 min

X(1) - Y(1) = 1- (0.2e-1/0.2 - 0.2 +1) = 0.1986

(c) Deviation D = -Y(t) +X(t)

= -τe-t/T+T =τ (-e-t/T+1)

For maximum value dD/dT = τ (-e-t/T+(_-1/T) = 0

-e-t/ = 0
as t tend to infinitive
D = τ (-e-t/T+(_-1/T) = τ =0.2 deg C

5.5 A mercury thermometer bulb in ½ in . long by 1/8 in diameter. The

glass envelope is very thin. Calculate the time constant in water flowing
at 10 ft / sec at a temperature of 100 deg F. In your solution , give a
summary which includes

(a) Assumptions used.

(b) Source of data

(c) Results

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C = 0.26 & m = 0.6
NuD = hD/K = 0.193 (9677.4)*(6.774X10-3) = 130
5.3 Given a system with the transfer function Y(s)/X(s) = (T1s+1)/(T2s+1).
Find Y(t) if X(t) is a unit step function. If T1/T2 = s. Sktech Y(t) Versus
t/T2. Show the numerical values of minimum, maximum and ultimate values
that may occur during the transient. Check these using the initial value
and final value theorems of chapter 4.

Y (s) =1 T s + 1

T2s + 1

X(s) =unit step function = 1 X(s) = 1/s

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12
5.6 A thermometer having first order dynamics with a time constant of 1
min is placed in a temperature bath at 100 deg F. After the thermometer
reaches steady state, it is suddenly placed in bath at 100 deg F at t = 0 and
left there for 1 min after which it is immediately returned to the bath at
100 deg F.
(a) draw a sketch showing the variation of the thermometer reading with
time.
(b) calculate the thermometer reading at t = 0.5 min and at t = 2.0 min

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14
5.5 Repeat problem 5.4 if the thermometer is in 110 deg F for only 10 sec.
If thermometer is in 110 deg F bath for only 10 sec
T= 110 – 10* exp ((-t)/60)

15
5.7 A mercury thermometer which has been on a table for some time,is
registering the room temperature ,758 deg F. Suddenly, it is placed in a 400
deg F oil bath. The following data are obtained for response of the
thermometer
Time (sec) Temperature, Deg F
0 75
1 107
2.5 140
5 205
8 244
10 282
15 328
30 385
Give two independent estimates of the thermometer time constant.

5.8 Rewrite the sinusoidal response of first order system (eq 5.24) in
terms of a cosine wave. Re express the forcing function equation (eq 5.19)
as a cosine wave and compute the phase difference between input and
output cosine waves.

16
5.9 The mercury thermometer of problem 5.6 is allowed to come to
equilibrium in the room temp at 75 deg F.Then it is immersed in a oil
bath for a length of time less than 1 sec and quickly removed from the
bath and re exposed to 75 deg F ambient condition. It may be estimated
that the heat transfer coefficient to the thermometer in air is 1/ 5th
that in oil bath.If 10 sec after the thermometer is removed from the bath it reads
98 Deg F. Estimate the length of time that the thermometer was in the bath.

17
Exp((-t)/10)=0.91356
T1=0.904 sec.
5.10 A thermometer having a time constant of 1 min is initially at 50 deg C. it is
immersed in a bath maintained at 100 deg C at t = 0 . Determine the temperature
reading at 1.2 min.

τ = 1 min for a thermometer initially at 50 deg C.

Next it is immersed in bath maintained at 100 deg C at t = 0 At t =

1.2

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 Y (t) = A(1 − e−t /τ )

Y (1.2) =50(1− e−1.2 /1 )+ 50

Y(1.2) = 84.9 deg C

5.11 In Problem No 5.9 if at, t = 1.5 min thermometer having a time

constant of 1 minute is initially at 50 deg C.It is immersed in a bath
maintained at 100 deg C at t = 0.Determine the temperature reading at t =
1.2 min.

At t = 1.5

Y (1.5) = 88.843°C

Max temperature indicated = 88.843 deg C

AT t = 20 min

T = 88.843 – 13.843 * ( 1 – exp((-18.8)/1))

T = 75 Deg C.
5.12 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) = t e-t. Determine the unit step response in
this process.

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 Enrolment No :- 210170730011
Topic:- Chapter 6

QUE -1) What do you mean by nonlinear control systems? Explain with example.
 A nonlinear system is one for which the principle of superposition does not apply.
 The response of a linear system to the sum of two inputs is the same as the sum of
the responses to the individual inputs.
 This behaviour, which allows us to characterize completely a linear system by a
transfer function, is not true of nonlinear systems.

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  Example: - As an example, consider a liquid-level system. If the outflow is
proportional to the square root of the tank level, superposition does not hold and the
system is nonlinear.
 If the tank will always operate near the steady-state condition, the square root
behaviour may be adequately represented by a straight line and superposition
applied, as we have done before.
 On the other hand, if the tank level were to fall to one-half the steady-state value,
we would no longer expect the transfer function derived on the linearized basis to
apply.

QUE -2) Explain phase – plane analysis with one example.

 The analysis of nonlinear dynamic systems may often be conceptually simplified by

changing to a coordinate system known as phase space.
 The analysis of nonlinear dynamic systems may often be conceptually simplified by
changing to a coordinate system known as phase space. In this coordinate system,
time no longer appears explicitly, it being replaced by some other property of the
system.
 For example, consider the flight of a rocket to the moon. In a grossly oversimplified
manner, we may describe this motion by a plot of the distance of the rocket from
the moon versus time. If all goes well, we would like such a plot to resemble fig.
(c).
 Note the initial acceleration during launch and the final deceleration at landing. We
may, however, also represent this motion by a plot of rocket velocity versus
distance from the moon. This plot is shown in Fig. (D), where velocity is defined as
d (distance from moon)/ dt. Figure (D) is called a phase diagram of the rocket
motion.
 Time now appears merely as a parameter along the curve of the rocket motion. It
has been replaced as a coordinate by the rocket velocity.

 Although in the present example Fig. (D) May not be of significant advantage over
Fig. (C), we shall find phase diagrams very helpful in the analysis of certain
nonlinear control systems.

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 Fig. (C) - Distance-time plot for moon rocket.

Fig. (D) - Velocity-distance plot for moon rocket.

QUE – 3) Explain Example plan analysis.

 Example - On/Off Control of Stirred-tank Heater: -

 The use of on/off control offers significant economic advantages over proportional
control or other more sophisticated modes of control.
 The control mechanism is simply a relay that turns on or off depending on the value
of the measured variable.
 The disadvantage is usually that the quality of control is inferior to that realized
with proportional control.
 Consider the stirred-tank heater of Fig. Water is being heated to a controlled
temperature by mixing with steam. It is assumed for the analysis that the cold water
input rate is constant.

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 Heated water overflows into an outlet pipe at the top of the tank, so that no
accumulation of mass occurs in the tank. Most of the steam is added, at a fixed flow
rate, from the main steam supply.
 However, this amount of steam is set at a value somewhat less than the amount
required to heat the cold water to the desired temperature. An additional amount of
steam may be added whenever the solenoid valve is opened.

Fig. On/off control of a stirred-tank heater.

 When this additional steam is admitted, the sum of the two steam inputs is enough
to heat the water to a temperature somewhat in excess of the desired temperature. A
temperature-measuring device such as a thermocouple or RTD transmits the tank
temperature to the relay.
 When this temperature is below the set point, the relay closes, which opens the
solenoid valve, thus admitting more steam.
 Eventually, the additional steam will result in the temperature exceeding the set
point, the relay will open, the valve will close, cutting off the additional steam, and
the temperature will fall again.
 It is apparent that an oscillating control will be achieved.

QUE – 4) Discuss the phase plane analysis of 2nd order system.

 Phase plane analysis of damped oscillator: - The differential equation describing the
motion of the system response to a unit-step function is,

d2 y dY
τ2 2 + 2
ζt +Y=1 --------------------- (1)
dt dt

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 Eq. – (1) has previously been solved to yield the motion in the form of Y (t) versus
t.
 For phase analysis, however, we want the motion in terms of velocity versus
position, Ẏ versus Y, where the dot notation is used to indicate differentiation with
respect to t.

 Hence, we rewrite Eq. (1) as,

dY
= Ẏ
dt

d Ẏ −Y −2 ζ t Ẏ +1
= 2 ---------------- (2)
dt τ

 It is sometimes convenient in phase-plane analysis to write the variables in terms of

deviation about the final condition. In this case, the system will ultimately come to
rest at Y = 1. Hence we define,

X=Y–1
Ẏ = ẋ

 Then Eq. (2) becomes

dY
= ẋ
dt

d ẋ −Y −2 ζ t ẋ +1
= 2 -------------------- (3)
dt τ

 These are now viewed as two simultaneous, first-order differential equations in the
variables X and ẋ .
 Let X 1 =¿ X and X 2 =¿ ẋ . Equations (3) may be written in the form

--------------------- (4)

 Equation (4) is in the standard form of a matrix differential equation.

24
 Equation (4) may be solved by use of Eq. (a):

X (t) = e At X (0)

At −1 −1
Where, e =L {(sI −A ) }

 Following the usual steps required to solve these equations gives the result,

X 1 =¿ X = C 1 e s 1 t + C 2 e s 2 t

X 2 =¿ ẋ = s1 C1 e s 1t + s2 C2 e s 2t ------------------ (5)

Where,
s 2 X 1 − ẋ1
C 1=
s 2−s1

ẋ 0 −s 2 X 0
C 2=
s 2−s1

 And X 0and ẋ 0are the initial conditions; thus X 0= X (0) and ẋ 0= ẋ (0) . The terms s1
and s2are the roots of the characteristic equation

| Si – A| = 0 ------------ (6)

 Expanding this equation gives

τ 2 s2 +2 ζτs+1=0

 This quadratic equation has two roots:

−ζ −√ ζ +1
2
s1,2=
τ

 If we take s 2 as the root with the positive sign

−ζ −√ ζ 2 +1
s2=
τ

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 The constants take the form

τ
C 1= ¿ s2 X 0− ẋ 0 ¿
2 √ ζ 2 +1

τ
C 1= ¿ X 0−s 1 ẋ 0 ¿ --------------------- (7)
2 √ ζ +1
2

 Equations (5) and (7) together give X ( t ) and ẋ (t ) for all possible initial
conditions and X 0 and ẋ 0 .

 Having only the curve X versus t of Fig. (a) One can construct Fig. (b) .

Fig. (a) Typical motion of second-order system.

26
 Fig. (b) Phase plane corresponding to motion of Fig. (a)

 To explore the phase diagram concept further, note that division of the second of
Eqs. (3) by the first yields

d ẋ −X −2ζτ ẋ
= ---------------------- (8)
dx τ 2 ẋ

 In which the variable t has been eliminated. Equation (8) may be recognized as a
homogeneous first-order differential equation. Hence, the substitution ẋ = VX
yields an equation which is separable in X and V.

2 2
dV −1−2 ζτ V −(1−2ζτ V + τ V )
x = 2 – V =
dX τ V 2
τ V

 This spiral motion in the phase plane corresponds to the oscillatory nature of the X
versus t curve of Fig. (a)

Fig. - Interpolation
on the phase plane.

27
QUE – 5) What is phase-plane analysis? How it is carried out for a pendulum system?

 The analysis of nonlinear dynamic systems may often be conceptually simplified by

changing to a coordinate system known as phase space.
 In this coordinate system, time no longer appears explicitly, it being replaced by
some other property of the system.

MOTION OF PENDULUM: - Consider the pendulum of Fig. (A). as the pendulum is

moving in the direction shown, there are two forces acting to oppose its motion.

Fig. - Forces acting on a pendulum.

 These forces, which act tangentially to the circle of motion, are (1) the gravitational
force mg sin θ and (2) the friction in the pivot, which we supposed to be
proportional to the tangential velocity of the mass BR ( d θ / dt ), where B is the
proportionality constant. We shall assume the air resistance to be negligible and the
rod to be of negligible mass. Application of Newton’s second law gives

d2θ dθ
-mR 2 =mgsinθ+¿BR
dt dt

 Rearrangement leads to

2
d θ dθ 2
2
+D +ωn sin θ=0 ------------- (1)
dt dt

B 2 g
 Where D = and ωn =
m R
 This equation resembles the equation for the motion of the damped oscillator
system. However, the presence of the term involving sin q makes the equation
nonlinear.
28
  Equation (1) has the following form in phase coordinates:

dθ
=θ̇
dt

d θ̇
= -ωn 2 sin θ−D θ̇ --------------- (2)
dt

 And a phase diagram would be a plot of angular velocityθ̇ versus position θ . At this
point, we can gain some insight by simple analysis of Eq. (2) without actually
obtaining a solution.

CH-6 RESPONSE OF FIRST-ORDER SYSTEMS IN SERIES

6.1 Determine the transfer function H (s)/ Q (s) for the liquid-level system shown in Fig.
P6–1.Resistances R 1 and R 2 are linear. The flow rate from tank 3 is maintained constant
at b by means of a pump; i.e., the flow rate from tank 3 is independent of head h. The tanks
are noninteracting.

29
SOLUTION: -

A balance on tank 1 gives,

d h1
q−q 1= A1
dt

h1 =¿Height of the liquid level in tank 1

Similarly, balance on the tank 2 gives,

d h2
q 1−q 2= A2
dt

And balance on tank 3 gives

dh
q 2−q 0= A3
dt
h1 h2
Here, q 1= q 2= q0 = b
R1 R2
So we get,

h1 d h1
q− = A1
R1 dt

30
 h1 h2 dh
− = A2 2
R 1 R2 dt

h2 dh
−b= A 3
R3 dt

Steady state equation

h1 s dh1 s
q s− = A1 =0
R1 dt

h1 s h 2 s dh
− = A2 2 s
R 1 R2 dt

h2 s
−b=0
R2

Subtracting

H dH 1
Q- =A 1
R1 dt

H1 H2 dH 2
− = A1
R1 R 2 dt

H2 dH
= A3
R2 dt
Where, Q = q - q s

H 1=h 1−h1 s

H = h - hS

Taking Laplace transforms

H 1(s)
Q(s) - = A1 S H 1 (S) ---------- (1)
R1

H 1(s) H 2 ( s )
− = A 2 S H 2 ( S ) ---------------- (2)
R1 R2

31
 H 2 ( s)
= A3 S H ( S ) ------------- (3)
R2

We have three equations and 4 unknowns Q(s), H(s), H1(s) and H2(s). So we can express
one in terms of other.

From (3)

H 2 ( S)
H 2 ( S )= -------------------- (4)
R 1 A3 S

R2 H 1 (S)
H 2 ( S )=¿ -------------------------- (5)
R 1 (τ 2 s +1)

Where τ 2= R2 A 2

From (1)

R 1 Q (S)
H 1 ( S )=¿ ------------- (6)
( τ 1 s+1)

Where τ 1 = R1 A 1

Combining equation 4, 5 and 6

Q (S )
H(s) =
( A 3 S )( τ 1 S+ 1 )( τ 2 S+ 1 )

H ( S) 1
=
Q ( S ) ( A 3 S )( τ 1 S+ 1 )( τ 2 S+ 1 )

Above equation can be written as

i.e., if non interacting first order system are there in series then there overall transfer
function is equal to the product of the individual transfer function in series.

6.2. The mercury thermometer in Chap. 4 was considered to have all its resistance in the
convective film surrounding the bulb and all its capacitance in the mercury. A more
detailed analysis would consider both the convective resistance surrounding the bulb and
that between the bulb and the mercury. In addition, the capacitance of the glass bulb would
be included. Let
Ai - inside area of bulb, for heat transfer to mercury
32
Ao - outside area of bulb, for heat transfer from surrounding fluid
m - Mass of mercury in bulb
mb - Mass of glass bulb
C - Heat capacity of mercury
Cb - heat capacity of glass bulb
hi - convective coefficient between bulb and mercury
ho - convective coefficient between bulb and surrounding fluid
T - Temperature of mercury
Tb - Temperature of glass bulb
Tf - Temperature of surrounding fluid
Determine the transfer function between T f and T. What is the effect of the bulb resistance
and capacitance on the thermometer response? Note that the inclusion of the bulb results in
a pair of interacting systems, which give an overall transfer function somewhat different
from that of Eq. (6.24).

SOLUTION: -

Input - output = Accumulation

dTb
h 0 A0 ¿ -T b) - hi Ai (T b−T ¿ = mb Cb
dt

dT
hi Ai (T b−T ¿ – 0 = mC
dt

Steady state equation,

33
 d T bs
h 0 A0 ( T fz −T bz )−hi A i ( T bz−T s ) =mb C b =0
dt

hi Ai ( T bz−T s )=0

Where subscript s denoted values at steady subtracting and writing these equations in terms
of deviation variables.

dTb
h 0 A0 ¿ -T b) - hi Ai (T b−T m ¿ = m b Cb
dt

dT
hi Ai (T b−T m ¿ – 0 = mC
dt

Here T F =T f −T fs

T B=T b −T bs

T m=T −T s

Taking Laplace transforms

h 0 A0 ¿ - T b (s )) - hi Ai (T b−T m ¿ = mb Cb T b ( s ) ----------------- (1)

hi Ai (T b (s )−T m (s )) = mCs T s (s)---------------------- (2)

h 0 A0 ¿ - T b (s )) - hi Ai (T b−T m ¿ = mb Cb s T b ( s )

From (2) we get

mC
T B (s ) = T m( s ) [ s +1 ¿ = T m ( s ) ( τ i s+1 )
A i hi

mC
Where τ i =
hi A i

Putting it into (1)

mC
T F ( s ) - T m ( s )[(τ i s+1 ¿ ( τ 0 s +1 ) + s ¿=0
A 0 h0

mC
T F ( s ) = T m ( s )[(τ i s+1 ¿ ( τ 0 s +1 ) + s¿
A 0 h0

34
 1
T F (s )
= 2
[ mC
]
T m ( s ) τ I τ 0 S + τ i +τ 0 + A h S +1
0 0

Or we can write

1
T ( s)
= 2
[
T f ( s ) τ I τ 0 S + τ i +τ 0 +
mC
]
A0 h0
S +1

mC mb C b
τi= τ 0=
hi Ai h0 A 0

We see that a loading term mC/ hoAo is appearing in the transfer function.
The bulb resistance and capacitance is appear in τ 0and it increases the delay i.e. Transfer
lag and response is slow down.

6.3. There are N storage tanks of volume V arranged so that when water is fed into the first
tank, an equal volume of liquid overflows from the first tank into the second tank, and so
on. Each tank initially contains component A at some concentration C o and is equipped
with a perfect stirrer. At time 0, a stream of zero concentration is fed into the first tank at a
volumetric rate q. Find the resulting concentration in each tank as a function of time.

SOLUTION:-

ith tank balance

35
 dci
qC (i−1)−C i=V
dt

qC (i−1) s−q Cis =0

dci
C (i−1)=C i=V
dt

V
(τ = )
q
Taking Laplace transformation

C (i−1) ( s )−C i( s)=τs C i( s)

C (i−1) ( s )=( 1+τs ) C i ( s )

Ci( s ) 1
=
C(i −1 ) ( s ) ( 1+ τs )

Similarly
C1( s )
∗C2 ( s )
C0 (s )
∗−−−−−−−C( i−1 ) ( s )
C 1 ( s)
∗C i ( s )
Ci ( s ) C (i−2 ) ( s ) 1
= = i
C0 ( s ) C0 ( s ) ( 1+τs )

Or
CN (s ) 1
=
C 0 ( s ) ( 1+ τs )N

−C 0
C N ( s )= N
s ( 1+τs )

C N ( s )=−C 0
[ 1
−
τ
−
τ
s ( 1+ τs )N ( 1+ τs )N −1
−
−−−−τ
( 1+ τs ) ]
−t
C N ( s )=−C0 ¿-----e τ ]

36
6.4. (A) Find the transfer functions H2/Q and H3/Q for the three-tank system shown in Fig.
P6–4 where H2, H3, and Q are deviation variables. Tank 1 and tank 2 are interacting.
(b) For a unit-step change in q (that is, Q =1/ s), determine H 3 (0) and H 3 ( ∞ ), and
sketch H 3(t) versus t.

SOLUTION:-

Writing heat balance equation for tank 1 and tank 2

d h1
q−q 1= A1
dt

d h2
q 1−q 2= A2
dt

h1−h2 h2
q 1= q 2=
R1 R2

Writing the steady state equation

q s−q1 s=0

q 1 s−q 2 s=0

Writing the equations in terms of deviation variables

d h1
Q−Q 1 = A1
dt

d h2
Q1−Q2= A2
dt
37
 H 1−H 2 H2
Q 1= Q 2=
R1 R2
Taking Laplace transforms
Q(s) - Q1(s) = A1 S H 1 ( S)
Q 1(s) - Q 2(s) = A1 S H 2( S)

R1 Q1(s) = H 1 ( S )−H 2 (S)

R2 Q2(s) = H 2 (S)

Solving the above equations we get

H ( S ) R2
=
Q ( S) ¿ ¿
Τ I =A 1 R1 τ 2= A 2 R2

Now writing the balance for third tank

d h3
q 2−q 3= A3
dt

Steady state equation

q 2 s−q 3 s=0

h3
q 3=
R3
H3 d h3
q 2− = A3
R3 dt

Taking Laplace transforms

H 3 (s)
q 2 (s)− = A3 sH(s)
R3

H 3 (s)
q 2 (s)− =(τ 3 s+1 ¿
R3

From equation 1,2,3,4 and 5 we got

Q2 ( S ) 1
=
Q (S ) ¿ ¿

Putting it in equation 6

38
 H 3 ( S ) R3
=
Q (S) ¿¿

Putting the numerical values of R1, R2 and R3 and A1, A2, A3

H 3( S) 4
=
Q ( S ) ( 4 s + 6 s +1 ) (2 s+1 )
2

H 3( S) 2
= 2
Q ( S ) 4 s +6 s+ 1

Solution (b)

1
Q(s) =
s

1 4
H 3 ( S )= −¿
s ( 4 s +6 s+ 1 ) ( 2 s +1 )
2

From initial value theorem

H 3 ( 0 )=slim s H3 (s )
→∞

4
= lim
s→∞ ( 4 s + 6 s+ 1 ) ( 2 s+1 )
2

4
¿ lim
s→∞
( 6 1
)
4 s2 + + 2 ( 2 s+ 1 )
s s

H 3 (0) = 0

From final value theorem

H 3 ( ∞ )=slim s H3 (s )
→∞

4
= lim
s→∞ ( 4 s + 6 s+ 1 ) ( 2 s+1 )
2

H3 (∞ ) = 4

39
6.5. Three identical tanks are operated in series in a non-interacting fashion as shown in
Fig. P6–5. For each tank, R =1 and t = 1. The deviation in flow rate to the first tank is an
impulse function of magnitude 2.
(a) Determine an expression for H (s) where H is the deviation in level in the third tank.
(b) Sketch the response H (t).
(c) Obtain an expression for H (t).

SOLUTION: -

Writing energy balance equation for all tanks

d h1
q−q 1= A1
dt

d h2
q 1−q 2= A2
dt

dh
q 2−q 0= A
dt
40
 h1 h2 h
q 1= q 2= q 3=
R R R

So we get
q s−q1 s=0
q 1 s−q 2 s=0
q 2 s−q 3 s=0

Writing in terms of deviation variables and taking Laplace transforms

H 1 (s )
Q(s)− = A s H 1(s)
R

Q1(s) H 2 (s )
− = A s H 2(s)
R R

H 1(s) H (s)
− = A s H (s)
R R

Solving we get

H ( s) R 1
= =
Q ( s ) ( τS+ 1 ) ( S +1 )3
3

Q ( s) 2
H ( s )= 3
=
( τS+1 ) ( S +1 )3

H (t) = L−1 { H ( s ) }

2
t
= 2 e−t
2

= t 2 e−t

dH ( t )
= 2te−t −t e−t =0
dt

= 2t = t 2

At t=2 maximum will occur.

41
6.6. In the two-tank mixing process shown in Fig. P6–6, x varies from 0 lb salt/ft 3 to 1 lb
salt/ft 3 according to a step function. At what time does the salt concentration in tank 2
reach 0.6 lb salt/ft 3? The holdup volume of each tank is 6 ft 3.

SOLUTION: -

Writing heat balance equation for tank 1 and tank 2

dy
q x −q y = V
dt

dl
q y −q c= V
dt

Steady state equation

q xz −q ys=0
q ys−qcs =0

Writing in terms of deviation variables and taking Laplace transforms

V
X (s)−Y (S )= sY(s)
q

42
Y (S ) 1 1
= =
X (s) V τs+1
( s+ 1)
q
V
τ=
q
Y ( s) X (s )
C(s) = =
( τs+1 ) τs+12

C ( s) 1
=¿
X (s ) τs+12

1
X(s)¿
s

V 6
τ= = =2
q 3

X (s )
C(s) = 2
s ( 2 s+1 )

1
4
C(s) =
( )
2
1
s s+
2

{ }
1 1 1
−
C(s) = 4 s
( )
2
1
s+
2

1
1 2 1
C(s) = s − −
( )1
2
1
1+ s+
2 2

−t −t
1
C(t) = 1- t e 2 −e 2
2

salt
C(t) = 0.61 lb 3
ft

T=4.04 min.

43
6.7. Starting from first principles, derive the transfer functions H 1 (s )/ Q ( s ) and H 2 ( s
)/ Q ( s ) for the liquid-level system shown in Fig. P6–7. The resistances are linear and R 1
_ R 2 _ 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.

SOLUTION: -

Writing heat balance equation for tank 1

d h1
q−q a−q1= A1
dt

h1 h1
q 1= q0 =
R1 Ra

h 1 h1 d h1
q− − = A1
Ra R 1 dt

44
Writing the balance equation for tank 2

d h2
q 1−q 2= A2
dt

h 1 h1 d h2
− = A2
R 1 R2 dt

Writing steady state equations

hs h1 s
q s− − =0
R a R1

h1 s h2 s
− =0
R 1 R2

Writing the equation in terms of deviation variables

1 1 d h1
Q−H 1 ( + )= A1
Ra R 1 dt

H1 H2 d H2
− = A2
R1 R 2 dt

Taking Laplace transforms

Q ( s )−H 1 ( s ) ( R 1+ R 2
R1 R a )= A1 s H 1 ( s )---------------------- (1)

And

H 1 ( s) H 2 ( s)
− = A1 s H 1 ( s )−−−−−−−−−−−−−( 2 )
R1 R2

From (1)

H 1 ( s) 1
=
Q (s)
[ ( )]
A1 s +
R1 + Ra
R1 Ra

45
H 1 ( s)
=
( R 1 Ra
R 1+ R a )
[( ]
Q (s ) R1 A 1 R a
R 1 + Ra
s+ 1
)
.

H 1 ( s)
=
( R1 Ra
R 1 + Ra )
Q (s) [ τs+1 ]

. τ= ( R1 A 1 R a
R 1 + Ra )
From (2)

H 1 ( s)
=
( R1 R a
R1 + R a )[ ]R2
R1
Q ( s ) [ τ 1 s+ 1 ][ τ 2 s+1 ]
τ 2=A 2 R 2

Putting the numerical values of parameters

H 1 ( s) 2
=
Q s( )
[4
3
s +1 ]
H 2 ( s) 2
=
Q (s)
[4
3 ]
s +1 ( s +1 )

Enrolment No :- 210170730009
Topic:- Chapter 8

8.1. The two-tank heating process shown in Fig. P8–1 consists of two identical, well-stirred
tanks in series. A flow of heat can enter tank 2. At time t = 0, the flow rate of heat to tank 2
suddenly increases according to a step function to 1,000 Btu/min, and the temperature of

46
the inlet water Ti drops from 60 to 52℉ according to a step function. These changes in
heat flow and inlet water temperature occur simultaneously.
(a) Develop a block diagram that relates the outlet temperature of tank 2 to the inlet
temperature to tank 1 and the flow of heat to tank 2.
(b) Obtain an expression for T2‘s where T2 is the deviation in the temperature of tank 2.
This expression should contain numerical values of the parameters.
(c) Determine T2 (2) and T 2 ( ∞ ).
(d) Sketch the response T2’ (t) versus t.

Initially, Ti = T1 = T2 = 60 ℉ and q = 0. The following data apply:

w = 250 lb/min
Holdup volume of each tank = 5 ft 3
Density of fluid = 50 lb/ft 3
Heat capacity of fluid _ 1 Btu/ (lb.℉ )

SOLUTION: -

Material balance for tank 1,

Input – output = accumulation

dT 1
WC (Ti – T0) – WC (T1 – T0) = ρ*C*V*( ) ------ (1)
dt

At steady state,

WC (Tis – T0) – WC (T1s – T0) = 0 --------- (2)

Now Equation (1) – (2) gives,

47
 dT 1
WC (Ti – Tis) – WC (T1 – T1s) = ρ*C*V*( )
dt

Now, Taking Laplace transform

WTi(s) – WT1(s) = ρ*Vs*T1(s)

T 1(S) 1 ρ∗V
[ ¿ = ; where τ =
Ti(s) 1+ τs W

For tank 2,
dT2
q + WC (T1 – T0) – WC (T2 – T0) = ρ*C*V*( ) -------- (3)
dt

At steady state,
Qs + WC (T1s – T0) – WC (T2s – T0) = 0 --------- (4)

Now Equation (3) – (4) gives,

dT2
Q’ + WC (T1 – T1s) – WC (T2 – T2s) = ρ*C*V*( )
dt

dT2
Q ‘+ WCT1’ - WCT2’ = ρ*C*V*( )'
dt

Now Taking Laplace transform,

Q (s) + WC (T1(s) – T2(s)) = ρ*C*Vs*T2(s)

1 Q(s )
T2(s) = [ ][ + T1(S)]
1+ τs WC
ρ∗V
Where τ =
W

50∗5
B) τ= = 1 min
250
WC = 250*1 = 250
−8 1000
Ti(s) = and Q(s) =
s s
Now by using above two equations we relate T2 and Ti as below and after taking Laplace
transform we will get T2(t),
−t
T2 (t) = (4 + 8t) e 4

C) T2’ (2) = -1.29

T2 (2) = T2’ (2) + T2S = 60 – 1.29 = 58.71℉
T2’ (∞) = -4
48
 T2 (∞) = T2’ (∞) + T2s = 60 – 4 = 56 ℉

8.2. The two-tank heating process shown in Fig. P8–2 consists of two identical, well-stirred
tanks in series. At steady state, T a =T b = 60℉ . At time t = 0, the temperature of each
stream entering the tanks changes according to a step function, that is, Ta=10u (t) and Tb=
20u (t) where Ta’ and Tb’ are deviation variables.
(a) Develop the block diagram that relates T2_, the deviation in temperature in tank 2, to
Ta’ and Tb’.
(b) Obtain an expression for T2 (s).
(c) Determine T2 (2).
The following data apply:
w1 = w2 = 250 lb/min
Holdup volume of each tank =10 ft 3
Density of fluid _ 50 lb/ft 3
Heat capacity of fluid =1 Btu/ (lb · F)

SOLUTION: -

(a) For tank 1: -

49
T1 (S ) 1
=
(
Ta S ) 1+ τ1 S
ρV
τ1=
W1

For tank 2: -

dT2
W1 C (T1 – To) +W2 C (Tb – To) – (W1+W2) C (T2 – To) = ρ CV -------- (1)
dt

For steady state

W1 C (T1s – To) +W2 C (Tbs – To) – (W1+W2) C (T2s – To) = 0 ------------- (2)

(1) – (2)

dT2
W1 T1 + W2 Tb – W3 T2 = ρ CV
dt

Taking Laplace transforms

W1 T1 (s) + W2 Tb (s) – W3 T2 (s) = ρ VsT2 (s)

1 W1 W
T2 (s) = [ T 1 ( s) + 2 T b ( s ) ¿
1+ τ S W 3 W3

Ρv
Τ 1=
W3

(B)
50∗10
τ1= = 2 min
250

50∗5
τ= = 1 min
250

W1 1 W2
= =
W3 2 W3

50
T a (s ) = 10/s T b (s ) = 0/s

Now by using above two equations we relate T1 and Ta as below and after taking Laplace
transform we will get T2(t)

1 1
T 1 (s ) T ( s)
T2 (s) = 2 2 b
−
(1+ s) (1+ s)

1 1
T1 (s ) T (s )
T2 (s) = 2 2 b
−
(1+ s)(1+2 s) (1+ s)

5 10
T2 (s) = −
s (1+s )(1+ 2 s) s (1+ s)

15+ 20 s
T2 (s) =
s ( 1+ s ) ( 1+2 s )

15 5 20
T2 (s) = [ − − ]
s s+1 s(1+ s)

−t
T2 (t) = 15 – 5e−t – 10e 2

(C) T2 (2) = 10.64℉

T2 (2) = T2 ‘(2) + T2s

= 60+10.64

= 70.64℉

8.3. The heat transfer equipment shown in Fig. P8–3 consists of two tanks, one nested
inside the other. Heat is transferred by convection through the wall of the inner tank. The
contents of each tank are well mixed. The following data and information apply:
1. The holdup volume of the inner tank is 1 Ft. 3. The holdup of the outer tank is 1 ft 3.
2. The cross-sectional area for heat transfer between the tanks is 1 ft 2.

51
3. The overall heat-transfer coefficient for the flow of heat between the tanks is 10 Btu/ (hr
· ft2 ·℉ ).
4. The heat capacity of fluid in each tank is 1 Btu/ (lb ·℉ ). The density of each fluid is 50
lb/ft 3.
Initially the temperatures of the feed stream to the outer tank and the contents of the outer
tank are equal to 100℉ . The contents of the inner tank are initially at 100℉ . At time zero,
the flow of heat to the inner tank Q is changed according to a step change from 0 to 500
Btu/h.
(a) Obtain an expression for the Laplace transform of the temperature of the inner tank T
(s).
(b) Invert T (s) and obtain T for time =0. 5 h, 10 h, and∞ .

SOLUTION: -

(a) For outer tank

52
 d T2
WC (T i –T 0) + hA (T 1 –T 2) – WC (T2 –T0) = ρ C V 2 -------------------- (1)
dt

At steady state,

WC (T is –T 0) + hA (T 1 s –T 2 s) – WC (T2s –T0) =0 ------------------ (2)

(1) And (2) gives

d T 2'
WCT i ' + hA (T 1 ' –T 2 ' ) - WCT2’= ρ C V 2
dt

Putting Value,

d T 2'
10T i ' + 10 (T 1 ' –T 2 ' ) - 10T2’=50
dt

Taking Laplace transforms

T i ( s ) +T 1 ( s ) −2T 2 ( s )=5 s T 2 ( s )

Now Ti (s) = 0, since there is no change in temp of feed stream to outer tank. Which gives,

T2 (s ) 1
=
T 1 ( s ) 2+5 s

For inner tank

d T1
Q - hA (T 1 –T 2) = ρC V 1 ------------------ (3)
dt

Steady state,

Qs- hA (T 1 s –T 2 s) =0 ----------------- (4)

(3) And (4)

d T 1'
Q’ - hA (T 1 ' –T 2 ' ) = ρC V 1
dt

Taking Laplace transforms and putting value,

Q(s)-10T 1(s) + 10T 2 (s) = 50sT 1( s)

53
 500 T 1 ( s)
Q(s) = T 2 ( s) =
s 2+5 s

500 10T 1 ( s )
- 10T 1(s) + = 500sT 1(s)
s 2+ 5 s

50 1
– T 1(s) [5s – +1 ¿
s 2+ 5 s

50 ( 2+5 s )
T 1(s) =
s ( 25 s +15 s+1 )
2

2 ( 2+5 s )

( )( )
T 1(s) = 3.82 26.18
s s+ s+
50 50

94.71 5.29
100 −
T 1(s) =
s
–
s+ (
3.82
50
s+
26.18
50 ) ( )
T 1(t) = 200 – 94.71 ( ) – 5.29 ( −26.18
50 )
−3.82 t t
50
e e
.

For,

T (0) = 100℉

T (0.5) = 134.975℉

T (10) = 155.853℉

T (∞ ¿=200℉

Enrolment No :- 210170730007
Topic:- Chapter 9

54
Q9.1. A pneumatic PI controller has an output pressure of 10 psi, when the set point and pen point are
together. The set point and pen point are suddenly changed by 0.5 in (i.e. a step change in error is
introduced) and the following data are obtained.

Time, s Psig
0- 10
0+ 8
20 7
60 5
90 3.5

Determine the actual gain (psig per inch displacement) and the integral time.
Soln:
e(s) = -0.5/s
for a PI controller
Y(s)/e(s) = Kc (1 + τI-1/s)
Y(s) = -0.5Kc (1/s + τI-1/s2)
Y(t) = -0.5Kc (1 + τI-1 t)

At t = 0+
y(t) = 8 → Y(t) = 8 – 10 = -2
2=0.5Kc
Kc = 4 psig/in

At t=20
y(t) = 7 → Y(t) = 7-10 = -3
3 = 2 ( 1 + τI-1 20 )
τI = 40 sec

Q9.2. A unit-step change in error is introduced into a PID controller. If Kc = 10, τI = 1 and τD = 0.5. plot
the response of the controller P(t).
Soln:
P(s)/e(s) = Kc ( 1 + τD s+ 1/ τIs)
For a step change in error
P(s) = (10/s)(1 + 0.5 s + 1/s )
P(s) = 10/s + 5 + 10/s2
P(t) = 10 + 5 δ(t) + 10 t

55
Q9.3. An ideal PD controller has the transfer function
P/e = Kc ( τD s + 1)
An actual PD controller has the transfer function
P/e = Kc ( τD s + 1) / (( τD /β) s + 1)
Where β is a large constant in an industrial controller
If a unit-step change in error is introduced into a controller having the second transfer function, show
that
P(t) = Kc ( 1 + A exp(-βt/ τD))
Where A is a function of β which you are to determine. For β = 5 and Kc =0.5, plot P(t) Vs t/ τD. As
show that β → ∞, show that the unit step response approaches that for the ideal controller.
Soln:
P/e = Kc ( τD s + 1) / (( τD /β) s + 1)
For a step change,
e(s) = 1/s
P(s) = Kc s( τD s + 1) / (( τD /β) s + 1)

[ ]
1
τD (1− )
1 β
= Kc +
s τ Ds
1+
β

[
P(t) = Kc 1+
( 1β ) e
τ D 1−

τD
β
−βt
τD

]
[ ]
− βt
= Kc 1+(β−1) e τD

So, A = β – 1
P(t) = 0.5 (1 + 4 exp(-5t/ τD))

56
As β → ∞ then τD/β → 0 and
P/e = Kc ( τD s + 1) / (( τD /β) s + 1)
becomes P/e = Kc ( τD s + 1) that of ideal PD controller

Q9.4. A PID controller is at steady state with an output pressure of a psig. The set point and pen point
are initially together. At time t=0, the set point is moved away from the pen point at a rate of 0.5 in/min.
the motion of the set point is in the direction of lower readings. If the knob settings are
Kc = 2 psig/in of pen travel
τI = 1.25 min
τD = 0.4 min
plot output pressure Vs time
Soln:
Given de/dt = -0.5 in/min
s e(s) = -0.5
Y(s)/e(s) = Kc (1 + τD s + 1/ τIs)
Y(s) = -( 1/s + 1/ τIs 2 + τD)
Y(t) = -( 1 + t/1.25 + 0.4 δ(t))
Y(t) = y(t) – 9 = - (1 + t/1.25 + 0.4 δ(t))
Y(t) = 8 – 0.8 t – 0.4 δ(t)

57
Q9.5. The input (e) to a PI controller is shown in the fig. Plot the output of the controller if Kc = 2 and τI
= 0.5 min
Soln.

e(t) = 0.5 ( u(t) - u(t-1) - u(t-2) + u(t-3) )

e(s) = (0.5/s) ( 1 – e-s - e -2s + e-3s )
P(s)/e(s) = Kc ( 1 + (1 / τI s) ) = 2 ( 1+ 2/s )
P(s) = (1/s + 2/s2 ) (1 – e-s - e-2s + e-3s )
P(t) = 1 + 2t 0≤t<1

58
=2 1≤t<2
= 5 – 2t 2≤t<3
=0 3≤t<∞

Enrolment No :- 210170730006
Topic:- Chapter 10

Que: - In the process shown in Fig. the concentration of salt leaving the second tank is
controlled using a proportional controller by adding concentrated solution through a
control valve. The following data apply:
(a)The controlled concentration is to be 0.1 lb salt/ft 3 solution. The inlet concentration ci is
always less than 0.1 lb/ft3
(b) The concentration of concentrated salt solution is 30 lb salt/ft3 solution.
(c) Transducer: The output of the transducer varies linearly from 3 to 15 psig as the
concentration varies from 0.05 to 0.15 lb/ft3.
(d) Controller: The controller is a pneumatic, direct-acting, proportional Controller.
(e) Control valve: As valve-top pressure varies from 3 to 15 psig, the flow through the
control valve varies linearly from 0 to 0.005 cfm.
(f) It takes 30 s for the solution leaving the second tank to reach the transducer at the end of
the pipe.
Draw a block diagram of the control system. Place in each block the appropriate transfer
function.

1
Sol:- Transfer function of Tank-1 is ,Where τ1 = AR
τ 1 s+1

1 v
Transfer function of Tank-2 is ,Where τ2 =
τ 2 s+1 q

Transfer function of Controller = Kc

59
 Process Tank -1 ¿)

Controller +
+ Final control
(Kc) element Process
Tank-2¿) C
- (Valve)

Transducer

Que: -Two isothermal stirred-tank reactors are connected by a long pipe that acts as a pure
time delay between the two tanks (no reaction takes place in the pipe). CSTR 1 is at a
higher temperature than CSTR 2, but both temperatures remain constant. Assume constant
throughputs and holdups (volumes) and a first-order, irreversible reaction taking place in
each CSTR (A → B). The flow rate through the system is 4 ft 3 /min, and the delay time in
the pipe is 30 s. The inlet concentration to CSTR 1 is initially at steady state at 1 lb*mol/ft 3
and is increased at time 0 through a step change to 2 lb*mol/ft 3.

(a) Draw the block diagram for the process, and be sure to include all necessary constants.

Sol: - Here step change is applied to the tank-1.

R(s) + C0(s) Controller C1(s)

CSTR-I CSTR-II C(s)
- (Pipe)

Transducer
60
(step change)
 Enrolment No :- 210170730005
Topic:- Chapter 11

11.1. Determine the transfer function Y (s)/ X (s) for the block diagrams shown in Fig.
P11–1.
Express the results in terms of Ga, Gb, and Gc.

Step 1 
Denote the block diagram of the transfer function with the variables as shown below:

Step 2 

Express the transfer function at each block and obtain as follows:

At block 1:

 …… (1)

At block 2:

61
  …… (2)

At block 3:

 …… (3)

Step 3 

Write the balance at each summing junction as follows:

Summing junction 1:
 …… (4)
Summing junction 2:
 …… (5)

Step 4 

Solve equations (1) to (5) and obtain the overall transfer function   of the block
diagram as follows:
Substitute equation (1) in equation (4).

Substitute the above equation in equation (2).

Substitute the preceding equation in equation (5).

Substitute the above equation in equation (3).

Therefore, the overall transfer function is,  .

62
Step 1

Denote the block diagram of the transfer function with the variables as shown below:

Step 2

Express the transfer function at each block and obtain as follows:

At block 1:

 …… (1)
 …… (2)

At block 2:

63
  …… (3)

At block 3:

 …… (4)

At block 4:

 …… (5)

Step 3

Write the balance at each summing junction as follows:

Summing junction 1:
 …… (6)
Summing junction 2:
 …… (7)

Step 4

Solve equations (1) to (7) and obtain the overall transfer function   of the block
diagram as follows:
Substitute equations (2), (3), and (4) in equation (7).

Substitute the preceding equation in equation (6)

Substitute the preceding equation in equation (5).

64
Substitute the above equation in equation (2).

Substitute the preceding equation in equation (5).

Substitute the above equation in equation (3).

Therefore, the overall transfer function is,  .

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

Step 1
Denote the block diagram of the transfer function with the variables as shown below:

+ 0.5 Y
X
-- G
τ1 s
+1
2

65
 1
τ 1 s +1 1
Where G = =
1 τ1 s
1−
τ 1 s+ 1

Step 2

X Y
GA

G∗0.5 1
∗1
τ1 s G∗1 τ1 s
+1
2 τ 1 s+ 2 τ 1 s +2
Where GA = = =
G∗0.5 G∗1 1
1+ 1+ ∗1
τ1 s τ 1 s+2 τ1 s
+1 1+
2 τ 1 s+2

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

Step 1
Denote the block diagram of the transfer function with the variables as shown below:

+
R 1 2/3 C
- 2 S
1
1+
S
Step 2
R C
G
4
3(s+1) 4
Where G = =
4 3 s+ 7
1+
3( s+ 1)

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

66
Step 1
Denote the block diagram of the transfer function with the variables as shown below:

a b

Step 2

Express the transfer function at each block and obtain as follows:

At block 1:

d 1
=  
b S
b = ds…… (1)

At block 2:

Y 1
=  
d S
d = Ys…… (2)

At block 3:

c
=25 
Y
c = 25Y…… (3)

67
At block 4:

R
 =2
d
R = 2d…… (4)

X + R = a……. (5)

a – c = b…… (6)

From eq. (5) & (6)

X+R-c=b
From eq. (3) & (4)
X + 2d – 25Y = b
From eq. (1) & (2)
X + 2Ys – 25Y = Ys2

X = Ys2 - 2Ys + 25Y

Y 1
 = 2  
X s −2 s +25

11.5. Derive the transfer function T / T R for the temperature control system shown in Fig.
8–16.

68
11.6. Derive the transfer functions C 2 / C 0 and C 2 / C R for the reactor control system
shown in Fig. P10–3.

Step 1
Denote the block diagram of the transfer function with the variables as shown below:

Where

K 1∗1
¿
C2 (τ ¿¿ 1 s +1)(τ ¿¿ 2 s+1)
  = −τ s
¿
C0 K 1 ¿ K∗K c (e d )
1+ ¿
(τ ¿¿ 1 s+1)(τ ¿¿ 2 s +1)¿

69
 ¿ K∗K c∗1
K1 ¿
C2 (τ ¿¿ 1 s+1)(τ ¿¿ 2 s +1)
CR
  = −τ s
K 1 ¿ K∗K c (e d )
¿
1+ ¿
(τ ¿¿ 1 s +1)( τ ¿¿ 2 s+1) ¿

Enrolment No :- 210170730003
Topic:- Chapter 12

12.1) The set point of the control system shown in Fig. P12–1 is given a step change of 0.1
unit. Determine
( a ) The maximum value of C and the time at which it occurs
( b ) The offset
( c ) The period of oscillation
Draw a sketch of C ( t ) as a function of time.

K∗5
C ( S +1 ) (2 S +1)
Sol. =
R K∗5
1+
( S+1 ) (2 S+1)
C 8
= 2
R 2 S +3 S+9
C(t ) = lim S y (S) = 0
s→0
8∗0.1
=lim 2
S →0 2 S +3 S+ 9

= 0.8/9
= 0.0889
Offset: R() - C()
= 0.1 – 0.0889
= 0.0111
From equation:
2 = 2/9  = 0.471
2 = 2/9  = 0.3535
70
 ( √1−❑ ) = 0.3052
−❑
Overshoot = A/B = exp ⁡ 2

A = 0.3052*0.0889 = 0.0271
Max. value of C = A + B = 0.0889 + 0.0271 = 0.116
For a step change

Response = y(t) = Kp 1−
[ 1
√1−❑2
e
−t
❑
sin
t √1−❑2
❑ (
+ tan−1
❑ ))]
( √1−❑
2

Time required to reach max value of C

0.116 =
0.8
9
1−[ 1.069∗e−0.75 t
0.3011
sin ( 1.986 t+1.21 ) ]
- 0.2853 = e−0.75 t∗sin ( 1.986 t+1.21 )
By trial and error method
t = 1.6
2 2.9578
Period of oscillation T = 2 =
=3.162
√1−❑ 0.9354
12.2) The control system shown in Fig. P12–2 contains a PID controller.
(a) For the closed loop, develop formulas for the natural period of oscillation  and the
damping factor  in terms of the parameters K, D , I , and 1 .
For the following parts D = I = 1, and 1=2 .
(b) Calculate  when K is 0.5 and when K is 2.
(c) Do  and  approach limiting values as K increases, and if so, what are these
values?
(d) Determine the offset for a unit-step change in load if K is 2.
(e) Sketch the response curve (C versus t) for a unit-step change in load when K is 0.5
and when K is 2.
(f) In both cases of part (e) determine the maximum value of C and the time at which it
occurs.

(
K∗ 1+❑D S+
1
❑I S )
C 1+¿I S
Sol. = ¿
( )
R 1
K∗ 1+❑D S+ ∗1
❑I S
1+ ¿
1+ ¿I S

71
 C
=
(
K∗ 1+❑ D S +
1
❑I S )
( )
R 1
(1+¿ I S)+ K∗ 1+❑D S+ ¿
❑I S
K∗(❑ D ❑I S2 +❑I S+1 )
C
=
R ( ❑D ❑ I K +❑I ❑1 ) S 2 + ( K +1 )❑ I S +1
K K
(❑D ❑I K +❑I ❑1 ) ( K +1 ) ❑I
2 = 2 =
K K

√
( K +1 ) ❑I K
=
2K ( ❑D ❑I K +❑I ❑1 )

√
( K +1 ) ❑I
=
2 K (❑ D K +❑1 )

Period of oscillation T =
2
=
2∗
√ ❑ I ( ❑D K +❑1 )
K
√1−❑
√
2 2
(k +1) ❑I
1−
4 K (❑ D K +❑1 )
4 ( ❑D K +❑1 )

 D = I = 1, and 1=2
T=
√ 4K {
❑ D K ❑1
+
❑I ❑I
−(k +1)
2
}
K = 0.5 then  = 0.6708
K = 2 then  = 0.5303

==
√❑ (K +1)
I
2

2 √ K (❑ K +❑ )
D 1

When K approaches to 

=
√
❑I
4D
= ½ = 0.5

=
√ ❑I (❑D K +❑1)
K
When K approaches to 
 =√❑D ❑I =1

C
= ¿¿
U
1
C
=
U (1+¿ I S)+ K 1+❑D S+
1
❑I S(¿
)
Unit step U=1/S

72
 C(t ) = lim
s→0
S y (S)
lim ❑I S
s →0
= 2
(❑D K +❑1) ❑I S + ( k +1 ) ❑I S + K
C() = 0
Offset = 0
 K = 0.5,  = 0.6708, D = I = 1, 1=2 then  = 2.2361
2
T= = 18.9311
√1−❑2
 K = 2,  = 0.5303, D = I = 1, 1=2 then  = 1.414
T = 10.4739
 K = 0.5 and unit step change
C S
= 2
U 2.5 S +1.5 S+0.5
2
C= 2
5 S +3 S+1
 K = 2 and unit step change
C S
= 2
U 4 S +3 S+2
0.5
C= 2
2 S +1.5 S+1
12.3) The location of a load change in a control loop may affect the system response. In the
block diagram shown in Fig. P12–3, a unit-step change in load enters at either location 1 or
location 2.
(a) What is the frequency of the transient response when the load enters at location 1
and when the load enters at location 2?
(b) What is the offset when the load enters at location 1 and when it enters at location
2?
(c) Sketch the transient response to a step change in U 1 and to a step change in U 2.

Sol.
C
=
( 2 S +1 2 S+ 1 )
1
)( 2

U
1+ 5 (
2 S+1 2 S +1 )
)(
1 1 2

73
 C
=
( 2
(2 S +1)
=
2 )2
U1 10∗(2 S+1)
2 2
4 S + 4 S +11
2
(2 S +1)
1
C (2 S+1) 2 S+ 1
U2 = 2
4 S +4 S+ 11
= 2
4 S + 4 S +11
2
(2 S +1)
C C
 For and
U1 U2
2 = 4/11
2 = 4/11
1
=
√11
Ultimate value C() = 2/11 = 0.1818
At unit step change at U1, R=0
Offset = 0.1818
2
 T1 = T2 = T = = 3.9718
√1−❑2
f1 = f2 = f = 1/T = 0.2518
C
 For
U2
R=0
At step change C() = 1/11 = 0.091
Offset = 0.091
 U1= 1/S, U2=0 U1=0, U2=1/S
Offset=0.1818 offset=0.091
Frequency=0.2518 frequency=0.2518
12.5 ) A PD controller is used in a control system having a first-order process
and a measurement lag as shown in Fig. P12–5 .
(a) Find expressions for  and  for the closed-loop response.
(b) If 1=1 min and m=10 s, find Kc so that =0.7 for the two cases (1) D=0 s
and (2) D=3 s.
(c) Compare the offset and period realized for both cases, and comment on the
advantage of adding the derivative mode.

74
 Sol.
C
=
K c (❑D S+1 )
( 1
❑1 S +1 )
( ❑ 1S+ 1 )( ❑ 1S+1 )
R
1+ K c ( ❑D S +1 )
1 m

K c (❑D S+1 ) ( ❑m S+1 )

=
(❑1 S+1 ) ( ❑m S+1 ) + K c ( ❑D S +1 )
K c ( ❑D S +1 ) (❑m S +1 )
= 2
❑1 ❑m S + ( ❑1 +❑m + K c ❑D ) S+ ( K c +1 )

√
 = 1+ m1Kc
❑

1 ( ❑1+❑m + K c ❑D )
 =2
√( K c + 1 ) ( ❑1 ❑m )
 1 = 1 min = 60 sec, m = 10 sec and  = 0.7
(i) D=0
( K c +1 ) =4.167
K c =3.167
(ii) D=3 sec
70+ 3 K c
1.4=
√( K c +1 ) √ 600
K c =5.255
 R=1/S
Kc
C() = lim S y ( S) =
s→0 ( K c+ 1 )
For D=0 sec For D=3 sec
K c =3.167 K c =5.255
C()=0.76 C()=0.84
Offset=0.24 Offset=0.16
=11.999 =9.794
=0.7 =0.7
=105.516 =86.126
Adding derivative causes lesser offset and lesser period.
12.6) The thermal system shown in Fig. P12–6 is controlled by a PD controller. These data
are given:
w = 250 lb/min
 = 62.5 ft/lb3
V1 = 4 ft3
V2 = 5 ft3
V3 = 6 ft3
C = 1 btu/lb. 0F

75
A change of 1 psi from the controller changes the flow rate of heat q by 500 Btu/min. The
temperature of the inlet stream may vary. There is no lag in the measuring element.
(a) Draw a block diagram of the control system with the appropriate transfer function in
each block. Each transfer function should contain numerical values of the parameters.
(b) From the block diagram, determine the overall transfer function relating the
temperature in tank 3 to a change in set point.
(c) Find the offset for a unit-step change in inlet temperature if the controller gain Kc is 3
psi/ 0F of temperature error and the derivative time is 0.5 min.
Sol. wT0C + q = CV1(T1 – T0) + wT1C
wT1C = CV2(T2 – T1) + wT2C
wT2C = CV3(T3 – T2) + wT3C
T0(wC + CV1) + q = T1(wC + CV1)
q
T 1=T 0+
wC +C V 1

T1 = T2 = T3
q q (s)
T 3=T 0+ T 3 (s)=
wC +C V 1 (wC+C V 1)s

(b)
T (s)
3
=
( ( s+1 )( 1.25 s +1 ) (1.5 s+ 1) )
K c (❑D S+1 )
2

1+ K ( ❑ S +1 ) (
( s +1 ) (1.25 s+1 ) (1.5 s+1) )
R( s) 2
c D

76
 T 3 (s) 2 K c (❑ D S+ 1 )
= 2
R( s) ( s+ 1 ) (1.875 s +2.75 s+1)+2 K c (❑ D S +1 )
T 3 (s) 2 K c (❑ D S+ 1 )
= 2
R( s) ( s+ 1 ) (1.875 s +2.75 s+1)+2 K c (❑ D S +1 )
T 3 (s) 2 K c (❑D S+1 )
=
R( s) 1.875 s + 4.625 s 2+ ( 3.75+2 K c ❑ D ) s +2 K c +1
3

(c) Kc=3, D = 0.5, 0(s)=1/s

T 3 (s) 1
lim
T 1 (s) s → 0 1.875 s +4.625 s + ( 3.75+2 K c ❑D ) s+2 K c +1
3 2

1
¿ = 1/7 = 0.143 = offset
2 K c +1
12.7) (a) For the control system shown in Fig. P12–7, obtain the closed-loop transfer
function C/U.
(b) Find the value of K c for which the closed-loop response has a  of 2.3.
(c) Find the offset for a unit-step change in U if Kc 4.

Sol.
C
=
( S)
1

1+ K ( )(
S 0.25 S+1 )
U 1 S+1
c

C ( 0.25 S+1)
=
U 0.25 S 2+ ( K c +1 ) S+ K c
C ( S+ 4)
= 2
U S + 4 ( K c +1 ) S+ 4 K c
 =2.3
1
=
2√ K c
K c+ 1
2=
Kc
K c+ 1
= = 2.3
√ Kc
K c =2.9
 U=1/S and K c =4
77
 C() =lim
s→0
S y (S)
lim ( S+ 4)
= 2
s→0

S + 4 ( K c +1 ) S+ 4 K c
=4/4 K c
=0.25
Offset=0.25
12.8) For the control system shown in Fig. P12–8 , determine
(a) C(s)/ R(s)
(b) C()
(c) Offset
(d) C (0.5)
(e) Whether the closed-loop response is oscillatory

Sol.
C
=
( S (S+1) )
4

=
4
2
R 4 S + S+ 4
1+
S( S+1)
 C() =lim
s→0
S y ( S)
lim 4
s→0
= S2 + S+ 4 ∗2
∗S
S
=8/4
=2
 R() = 2
Offset=0
  = 1/4 =0.5
2

2 =1/4 =0.25 (<1: response is oscillatory)

 For a step change

Response = y(t) = Kp 1−
[ 1
√1−❑2
−t
e sin
❑
❑(
t √1−❑2
+ tan
−1
( )
√
❑ )]
1−❑2

t = 0.5
C(0.5)=2¿ [ 1−1.0328 e−0.25 sin 2.285 ]
= 0.7856

78
12.9) For the control system shown in Fig. P12–9 , determine an expression for C ( t ) if a
unit-step change occurs in R. Sketch the response C ( t ) and compute C (2).

Sol.
C
=
( S )
( S+1)

R (S +1)
1+
S
S+1
=
2 S+1
 When R=1/S
S+ 1 S+1
C= 2 =
2 S + S S (2 S+ 1)
1 1
C= −
S (2 S+ 1)
1 1/2
C(S)= −
S (S +1/2)
Taking inverse laplace
−t
1
C(t)=1− e 2
2
C(2)=0.816
12.10) Compare the responses to a unit-step change in set point for the system shown in
Fig. P12–10 for both negative feedback and positive feedback. Do this for Kc of 0.5 and
1.0 Compare these responses by sketching C (t).

Sol.
C
=
( S+1
K c
) =
Kc
R
( S+11 )
S +1+ K c
1+ K c

 Negative feedback
C Kc
=
R S +1+ K c
Kc
C= 2
S + S (1+ K c )
 Kc=0.5
79
 0.5 1 1 1 2 1 2
C= = 2 = = − = −
S + S (1.5) 2 S +3 S S (2 S+ 3) 3 S 3(2 S+3) 3 S 3( S+ 3/2)
2

Taking inverse laplace

( )
−3 t −3t
1 1
C(t)= − e 2 = 1 1−e 2
3 3 3
 Kc=1
1 1
C= 2 =
S + 2 S S (S +2)
Taking inverse laplace
1 1 −2t
C(t)= − e
2 2
 Positive feedback
C Kc
=
R S +1−K c
Kc
C= 2
S + S (1−K c )
 Kc=0.5
0.5 1 1 2
C= 2 = = −
S + S (0.5) S (2 S+ 1) S 2( 2 S+1)
Taking inverse laplace
−t
C(t)= 1−e 2
 Kc=1
1
C=
S2
Taking inverse laplace
C(t)=t

Enrolment No :- 210170730002
Topic:- Chapter 13

Q.1 Write the characteristics equation and construct Routh array for the control system
shown . it is stable for (1) Kc = 9.5 (2) Kc = 11 (3) Kc = 12

80
 R
C
2
+ Kc
( s+ 1 )( s+2 )
-

3
s +3

Characteristics equation
6 Kc
1+ =0
( s+ 1 )( s+2 ) ( s +3 )
Or ( s+1 ) ( s +2 )( s+3 )+ 6 Kc=0
( s2 +6 s+11 s + ( 6+6 Kc ) )=0
s3 +6 s2 +11 s+ ( 6+6 Kc )=0
Routh array
3
s 111
s2 6 ( 6+6 Kc )
s 6(1+ Kc)

For Kc=9.5
¿ 10−( Kc)
¿ 10−9.5=0.5> 0 therefore stable .
For Kc = 11
= 10−11=−1<0 therefore unstable .
For Kc =12
¿ 10 – 12=−2< 0 therefore unstable .

Q.2 By means of the routh test , determine the stability of the system shown when Kc=2.

81
 R
C
+

-
Kc 1+( 3s ) Kv=1 2

1
2
0.2 s +0.4 +1

Characteristic equation

(( )( ))
2
3 10
1+ 2 1+ 2 2
+ 4 s+10 =0
s 2s
( 2 s 2 +4 s+10 ) s+ 2 ( s+3 ) .2 .10=0
2 s 3+ 4 s2 +10 s+ 40 s+120=0
3 2
2 s + 4 s +50 s+120=0
s3 +2 s 2+ 25+60=0
Routh array
3
s 125
2
s 260
10
s−
2

For Kc = 2
10
¿− −2=−7< 0the systemisunstable at Kc=2.
2
Q.4 Prove that if one or more of the co – efficient (a0,a1,……an) of the characteristics
equation are negative or zero , then there is necessarily an unstable root

Characteristics equation :
n n
a 0 x + a 1 x -1+ ………. a n=0

(
a0 x +
n a1
a x0 n−1
+………….
an
a0
=0
)
a 0 ( x−α 1 ) ( x−α 2 ) … … … … … . ( x−α n )=0
We have α 1 , α 2 … … …… …… … …… …… . α n< 0
a1
As we know the second co –efficient is sum of all the root
a0

82
 [∑ ∑ ]
n n
αi α j
a1 2 i=1 j =1
=(−1 )
a0 2
Therefore sum of all possible products of two roots will happen twice as α 1 α 2dividing the
total by 2 .
α i α j> 0 ( α i <0 α j < 0 )
And
a2
∴ >0=¿ a 2> 0
a0
Similarly
aj
=(−1 ) ( ∑ of all possible products of j roots )
j

a0
if j=even (−1 ) is 1∧the ∑ is>0
j

a
so j > 0if j=odd ¿
a0
aj aj
so is again> 0∈both case >0 so a j >0( for j=1 ,… .. n)
a0 a0
Q.5 Prove that the converse statement of the problem 4 that an unstable root implies that
one or more co- efficient will be negative or zero is untrue for all co – efficient n>2.

Let the converse be true , always . never if we give a counter example we can contradict .
Routh array
s3 + s2 +2 s +3
s3 12
2
s 13
s−10
0
s
System is unstable even when all the co – efficient are greater than 0 ; hence a
contradiction .
Q.6 Deduce an expression for Routh criterion that will detect the presence of roots with
real parts grater than σ > 0

Characteristic equation
n n−1
a 0 x +a1 x + … … … … …..+ an=0
Routh criteria determines if for any root , real part >0
Now if we replace x by X such that
x +σ =X
Characteristics equation becomes
a 0 ( X −σ )n+ a1 ( X−σ )n−1+ … … …..+ an=0
Hence if we apply routh criteria ,
We will actually be looking for roots with real part ¿ σ rather than>0
n n−1 n−2
a 0 x +a1 x + a2 x +… … … … … ..+a n=0
83
Routh criterion detects if any root α j is greater then zero .
Is there any x  1 , 2 ,..............., j ,.......... n  0      (1)
Now we want to detect any root  j    j  0 From(1)
x  1 , 2 ,............................ j ,. ........................ n , 0
implies is there any x  1  0 x   2  0
.
.
.
x   j 0
x   n  0 add 0 on both sides is there any
x    1    0 x    2   0
.
.
.
x    α j   0
.
.
.
x   α n    0
so, Let X  x   and apply Routh criteria to detect any  j    0 or  j  

1+ s
Q.7 Show that any complex no s1 satisfy |S|< 1. Yields a value of Z= that satisfies
1−s
Re(Z)>0.
Let ¿ x+ iy , √ x 2+ y 2 <1
1+ s
Z=
1−s
( ( 1+ x ) +iy ( 1−x ) +iy )
¿
( 1−x ) −iy ( 1−x )+ iy
1 – ( x2 + y 2 ) +2 iy
¿ 2
1−2 x + x

2 2
1−x + y
ℜ ( Z )=
1−2 x +( x2 + y 2 )
If Re(Z)>0 then 1−x 2 + y 2 >0 and 1−2 x + ( x 2+ y 2) > 0
We have √ x 2+ y 2 <1
2 2
x + y <1
Ranges are – 1< x < 1
-1< y <1 points in the unit circle.
Now
1+ ( x 2+ y 2 )−2 x
If x = -1 & y=0 then it is 4.
84
If x =1 & y = 0 then it is 0
0 <1+ ( x 2+ y 2 )−2 x< 4 Re (Z)>0.
Example :
If s= ( 0.5+i0.5 ) then system is unstable due to the real part
L−1
[ 1
s−( 0.5+i 0.5 ) ]
L−1
[ 1
s−( 0.5+i 0.5 ) ]
=e 0.5 t (cos 0.5 t+ sin 0.5t )

Q.8 For the output C to be stable , we analyze the characteristics equation of the system
1 U
τ 4 s+1
R + +
1 1
C
τ1 s ( τ¿ ¿1 s+1)(τ ¿¿ 2 s +1) ¿ ¿
- +

τ 3 s+1

Characteristic equation
1
1+ × ( τ 3 s+1 ) =0
τ 1 s ( τ 1 s+1 ) ( τ 2 s+1 )
τ 1 s ( τ 1 s τ 2 +τ 1 s +τ 2 s +1 ) +τ 3 s+1=0
2

τ 1 τ 1 τ 2 s 3 +τ ( τ 1 + τ 2 ) s2 + ( τ 1+ τ 3 ) s +1=0

Routh array
3
s τ 1 τ 1 τ 2 τ 1+ τ 3
2
s τ 1 ( τ 1 +τ 2 ) 1
sα 0
0
s 1

τ 1 ( τ 1 +τ 2) ( τ 1+ τ 3 )−τ 1 τ 2
α=
τ1τ 2
Now
1) τ 1 τ 1 τ 2 >0
Since τ 1∧τ 2 are process time constant they are definitely +ve τ 1 >0 ; τ 2 >0
2) τ 1 ( τ 1+ τ 2 ) >0
3) α >0=¿ τ 1 ( τ 1 +τ 2 ) ( τ 1 + τ 3 ) >τ 1 ( τ 1 + τ 2)
τ 1 τ 1 + τ 1 τ 3 + τ 1 τ 2+ τ 2 τ 3−τ 1 τ 2> 0
85
 τ 1 ( τ 1+ τ 2 ) >τ 1 τ 2−τ 3 ( τ 1 +τ 2 )
τ1 τ2
τ1> −τ aslo τ 1 >0
( τ 1+ τ 2 ) 3

9. In the control system shown in the fig find the value of Kc for which the system is on the
verge of the in stability . the controller is replaced by a PD controller , for which the
transfer function is Kc( 1+ s) . if Kc= 10 . determine the range for which the system is
stable.

R + 1
C Kc ( s+ 1 )3

Characteristics equation :
6 Kc
1+ =0
( s+ 1 )( s+2 ) ( s +3 )
¿ ( s +1 ) ( s+ 2 )( s+3 )+ 6 Kc=0
( s2 +3 s+2 ) ( s +3 ) +6 Kc=0
s3 +6 s2 +11 s+ ( 6+6 Kc )=0

Routh array
3
s 13
s2 31+ Kc
1+ Kc
s 3−( )
3
1+ Kc
For verge of instability 3−( )
3
Kc=8
Characteristics equation

86
 1+
( 10 ( 1+ Kcs )
( s +1 )3 ) =0
3 2
s +3 s +s ( 3+10 Kcs )+ 11=0
Routh Array
3
s 13+10 τ D
2
s 311
s 3 ( 3+10 τ s) > 11 for vege
30 τ s> 2
τ D >2 /30

Q.10 Write the characteristics equation for the central system shown (b) Use the routh
criteria to determine if the system is stable for Kc=4 (c) Determine the ultimate value of
Kc for which the system is unstable.
U
R +
C
+ +

Kc
1+2
s ( ) 1
2 s+1
-

1
s +1

Characteristics equation :-
1+ Kc ( )(
s+2
3
1
)( )
2 s +1 s+1
1
=0

(s¿¿ 2+ s) ( 2 s+1 ) + Kc ( s +2 )=0¿

2 s 3+ 3 s 2+3 s+ ( 1+ Kc )=0
Kc=4 Routh array
3
s 25
s2 3 8
1
s−
3
Not stable
3 (1+ Kc )−4 Kc
=0
3
3−Kc=0 Kc=3
For verge of instability

87
 Q.11 for the control shown, the characteristics equation s4 + 4 s3 +6 s2 + ( 1+ K ) =0
(a) determine value of k above which the system is unstable. (b) Determine the
value of k for which the two of the roots are on the imaginary axis, and determine
the values of these imaginary roots and remaining roots are real.

4 3 2
s + 4 s +6 s + ( 1+ K ) =0

Routh test
4
s 1 6 ( 1+ k )
s3 4 4
s2 51+ k
4
s 4− (1+ K )
5
1 1+ K
For the system to be unstable

(
4 1−
1+ K
5 ) <0

1+ K
1<
5
K >0
1+ K <0
K ←1
K >−1
For the system is stable at −1< K <4
b) For two imaginary roots
4
4= ( 1+ K ) ; K=4
5
valu of complex roots
2
5 s +5=0
s=±i
s2 +1 s 4 + 4 s 3 +6 s 2 +4 s+5 s2 + 4 s +5
4 2
s + 0+s
4 s 3 +5 s 2
3
4 s +0+ 4 s
5 s 2 +5
2
5 s +5
0
Solution
−4 ± √ 16−20 −4 ±2 i
s= = =−2 ±i
2 2

88
 Enrolment No :- 210170730012
Topic:- Chapter 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 ω=10.
Note: It is not necessary to use log-log paper; simply rule off decades on rectangular
paper.

100
a)
( s+1)(10 s +1)

The time constants are ζ1 = 1 and ζ2 = 10. The factor 10 in the numerator corresponds to
the steady-state gain.

For the First-Order Systems in Series

100
AR=
√(ω ζ 1+1) √( ω2 ζ 2+1)
2

100
ARoverall =
√(ω +1) √¿ ¿ ¿
2

Hence,

1 1
log ARoverall = log100 - log(ω 2+ 1) - log¿
2 2

ARoverall
1

0.1
89

0.01 Series2
Logarithmic (Series2)
Logarithmic (Series2)
0.0001
0.1 1 10

ϕ = tan-1(-ωζ 1) + tan-1(−ωζ 2)
= tan-1(-10*1) + tan-1(-10*10)
= -173.7

90