Lecture: 19

RESPONSE OF
FIRST-ORDER SYSTEMS
IN SERIES

INTRODUCTION

A physical system can be represented by

several first-order processes connected in
series. (Example is shown in Fig 1)

Figure-1: Two-tank liquid-level system: (a) Noninteracting; (b) Interacting

NON-INTERACTING

The outlet flow from tank-1 discharges directly into

the atmosphere before spilling into tank-2 and the
flow through R1 depends only on h1.

The variation in h2 in tank-2 does not affect the

transient response occurring in tank-1.

Figure-1: Two-tank liquid-level system

(a) Non-interacting

INTERACTING

In following system, the flow through R1 now

depends on the difference between h1 and h2.

Figure-1: Two-tank liquid-level system

(b) Interacting

TRANSFER FUNCTION OF
NON-INTERACTING
ASSUMPTIONS:

The to be of constant density.

The tanks to have uniform cross-sectional area.
Flow resistance to be linear.

Figure-1: Two-tank liquid-level system

(a) Non-interacting

TRANSFER FUNCTION OF
NON-INTERACTING
AIM:

TO FIND A TRANSFER FUNCTION THAT RELATES

h2 to q, thats,
H(S)/Q(S)
APPROACH:

1.

Obtain the transfer function for each tank, by

writing a transient mass balance around each tank.

Q1 ( s )
Q( s)
2.

H 2 ( s)
Q1 ( s )

These transfer functions will then be combined to

eliminate the intermediate flow Q1(s) and produce
the desired transfer function.

TRANSFER FUNCTION OF
NON-INTERACTING
A balance on tank-1 gives:

dh1
q q1 A1
dt

(1)

A balance on tank-2 gives:

dh2
q1 q2 A2
dt

(2)

The flow-head relationships for the two linear

resistances are given by the expressions

h1
q1
R1

(3)

h2
q2
R2

(4)

TRANSFER FUNCTION OF
NON-INTERACTING

Combining Eq.(1) and (3) in exactly same manner

as was done in previous examples and introducing
deviation variables give the transfer function for
tank-1; thus

Q1 ( s )
1

Q( s ) 1s 1

Where Q1=q1 q1s, Q=q-qs, and 1 = R1A1

In the same manner, we can combine Eq.(2) and
(4) to obtain the transfer function for tank-2; thus

H 2 (s)
R1

Q1 ( s ) 2 s 1

(5)

Where H2=h2 h2s and

(6)

2 = R2A2

TRANSFER FUNCTION OF
NON-INTERACTING

Having the transfer function for each tank, we can

obtain the OVERALL transfer function H2(s)/Q(s)
by multiplying Eq(5) and Eq(6) to eliminate Q1(s):

H 2 (s)
1
R1

Q( s ) 1s 1 2 s 1

Discussion on Eq(6)

(6)