CHE334 Instrumentation and

Process Control
Lecture 11
Chapter 5, 7 and 9 . Mathematical
Modeling of behavior of Chemical
Process
By Dr. Maria Mustafa
Department of Chemical Engineering

Example
Q1: Consider the tank heater system. A liquid enters the
tank with flow rate Fi and temperature Ti and leaves the
tank with flowrate F and T. The liquid in tank is well
mixed. The tank is heated with steam ( having flow rate
of Fs). Assume tank do not move and momentum of
heater is negligible.
Part 1
1. Construct the process diagram for the above system.
2. What are the relevant balances of fundamental
quantities for the system?
3. Identify the appropriate state variables to describe
the system.
4. Develop Mathematical model for above system.

1. Process Diagram
Fi, Ti

Tst

Assumptions
The momentum of
the heater remain
constant.
Tank does not move
so kinetic and
potential energy is
F, T
zero.
For liquid systen
dU/dt =dH/dt

2. What are the relevant balances of

fundamental quantities for the
system?

Total Mass Balance

Total energy balance

2. Identify the appropriate state variables

to describe the system.?
Height of the liquid in the tank
Temperature of the liquid in the tank

2. Develop Mathematical model for

above system

Applying mass and energy balance around the heater tank

system

For total mass balance

()
=

()
=

Total energy balance

() ( + + )
=

= +

()
= +

Rate of change of Enthalpy = = =

Putting the H value in above equation we have
[ ]
=

=
+
()

= ( ) +

Summarize
State Equation

()
=

()

= ( ) +

State Variables : h,T

Output Variables : h,T
Input Variables
Disturbances : Ti, Fi
Manipulated Variables = Q,F, Fi

Part 2
1. Consider the flow rate at inlet of the heated
tank is equal to the flow rate at the outlet.
a) What are the relevant balances of fundamental
quantities for the system?
b) How many state model equations would be in
this case?
c) Develop Input-out model for the above system
Answer

a) Energy Balances
()

As
= and Fin =F therefore mass energy
balance equation becomes zero
b) Only one and one state variables

c) Develop input Out put model

= ( ) +

Amount of heat supplied by the tank is given by

= ( )
Replacing in first equation by its formula

( )

= ( ) +

= +

()

= ( +
) +

()

+ ( +
) = +

Dividing by V and putting F=Fi

()

+ ( +
) = +

()

+ = +

= , =
, = +
= +

 At steady state dT/dt = 0

0 = , + ,
+

Subtract steady state equation with un-steady

equation ,
( )
+

= , + ( , )
()

+ = +

= , = , = ,
are

 The solution of the above equation is

() = 1
+

0
Initially the heater is at steady state that T(t) =0
Therefore c1 = 0 and above equation gives

() =

0
The above relationship b/w input and output
variables constitutes the input-output model for
the tank heater

Pictorial Diagram

. dt

Output

Inputs

( + )

Transfer Functions and Input Output

Models ( Chapter 9)
Transfer Function (G(s)) is given by :
Laplace transform of the output in deviation form
Laplace Transform of the input, in deviation form

Block Diagram

Let
y(t) = output
f1(2) and f2(t)= input
G1(s) = y(s)/f1(s)
G2(s) = y(s)/f2(s)
And
y(s)= G1(s)f1(s)+G2(s)f2(s)

f1(2)
f2(t)

Process

f1(s)

G1(s)

f2(s)

G2(s)

y(t)

y(s)

Benefits of Transfer function

It allows the development of a much simpler
input out model.
It describes the dynamic behavior of the output
with respect to change in input.
Taking inverse of Laplace transform of output,
we can have response of output in original
domain ( time domain)
For non linear systems, first linearization of the
system around steady state of the system is
performed and expressed in deviation. After
that the transfer function of the non linear
system can be performed.

Laplace Transform
The Laplace transform

[ ] =

= 0 ()

()

0
0

+ () = ] + [()
Independent Time domain (t) is changed to
independent s domain (s) where s is a
complex number given by a+ib

Role of Laplace transformation

In the modeling of dynamic systems
differential equations are solved by using
Laplace transform.
Inverse of Laplace of function f(s), will give the
original function f(t)
1

f (s) f (t )

Laplace of few common functions

Solved Examples

Problem 1
For a mixing tank, evaluate the change of composition
w.r.t. time due to a step change in composition ( x =
mass concentration and w = mass flow rate )
wx1 wx

w1
x1

w
x

(Overflow system with

constant volume, having
a component balance)

d
(Vx )
dt

dx
wx1 wx
dt
V dx
dx
x1 x,
x x1
w dt
dt

sx( s ) x (0) x ( s )
x ( s )s 1 x (0)

x1
s

x1
s

x1
1
x (0)
s (s 1)
s 1
1 t
t
x (t ) x1 (1 e ) x (0)
e
x( s )

Problem 2:
Considering Ex.2.1 for a sudden change in
one of the input flow rates, evaluate
concentration change w.r.t. time.
Total mass balance;
w1, x1

w2, x2
w, x

d (V )
w1 w2 w
dt
Component balance

d (Vx)
w1 x1 w2 x2 wx
dt

For constant V and ;

dx
V
w1 x1 w2 x2 wx
dt
V dx w1 x1 w2 x2

x
w dt
w

c*

dx

x c*, x (0) 0.5

dt
c*
sx( s ) x(0) x( s )
s
c*
x( s )(s 1)
x(0)
s
1
1
x( s ) c *
0.5
s (s 1)
s 1
1 t
t

x(t ) c * (1 e ) 0.5 e

Problem 4: Consider a CSTR and

evaluate concentration change with
respect to time
Mass component balance

dC A
V
q (C Ai C A ) VkC A
dt
Evaluate CA(t) using Laplace transformation
operator

Example: Consider a CSTR and evaluate

concentration change with respect to time.
dC A
q (C Ai C A ) VkC A
dt
dC A
V
qC A VkC A qC Ai
dt
dC A
V
(q A Vk )C A qC Ai
dt
V dC A
q C Ai
CA
q Vk dt
q Vk

q C Ai
sC A ( s ) C A (0) C A ( s )
q Vk s
q C Ai
C A ( s )(s 1) C A (0)
q Vk s
C Ai
q
1
C A (s)
C A (0)
q Vk s (s 1)
s 1
q
1 t
t

C A (t )
C A (1 e ) C A (0) e
q Vk i

Transfer Functions and Input Output

Models ( Chapter 9)
Transfer Function (G(s)) is given by :
Laplace transform of the output in deviation form
Laplace Transform of the input, in deviation form

Block Diagram

Let
y(t) = output
f1(2) and f2(t)= input
G1(s) = y(s)/f1(s)
G2(s) = y(s)/f2(s)
And
y(s)= G1(s)f1(s)+G2(s)f2(s)

f1(2)
f2(t)

Process

f1(s)

G1(s)

f2(s)

G2(s)

y(t)

y(s)

Problem 5
Derive the transfer function of a processing
system whose dynamic behavior is decribed
by nth order linear ( linearized nonlinear)
differential equation
Consider a simple processing system with a simple
input and single output (SISO).
f1(2)

f1(s)

Process

y(t)

G1(s)

y(s)

 Th differential equation is given by:

n

n 1

d y
d y
d y
an dt n an1 dt n1 ....... a1 dt a0 y bf (t )
Where f(t) and y(t) are the input and out put of
the process, respectively. Both are in deviation
form
Assume that the system is initially at steady
state. Then

d y
d y
dy
y (0) 2 ....... n 1 0
dt t 0 dt t 0
dt t 0
2

n 1

 Taking
Laplace
on
both
sides
n
n 1

d y

d y
d y
L a n n a n 1 n 1 ....... a1
a0 y L[bf (t )]
dt
dt
dt

We have
1 0 + +
1 0 + 0 =
()
=
+ + 0
()

=
() + + 0
()
= ()
()

Problem 6

Consider the continuous process shown in figure

where a liquid stream of 1 kg/s flows through a
mixing tank with constant volume 1.2 m3. The
density of liquid is 1000 kg/m3 * constant) and the
heat capacity is 4kJ/kgK. Perfect mixing is assumed.
Temperature of the tank and the inlet is a function
of time. Derive transfer function for this system
W (kg/sec)
Tin [K]

m (kg) W (kg/sec)
T [K]
T [K]

Problem 7

Thermocouple

Initially Thermocouple is at temperature T. It is

dipped into hot coffee having a temperature To. The
heat transferred from hot coffee to thermocouple is
given by
Q= UA(To-T)
Where U = over all heat transfer coefficient from coffee to
thermocouple [W/m2K]
And A = heat transfer area [m2]
T
Let m = mass of the thermocouple [kg]
and cp is the heat capacity in [J/kgK]
To
Derive the transfer function for this system.
Coffee Cup

Problem 8
Consider a beaker of constant volume V
where component A reacts according to the
first order irreversible reaction A B.
The rate of reaction ris given by
r =kCA
Where k is a constant [1/s] and CA is the molar
concentration [mol A]
Derive the equation that describes the
concentration dynamics when temperature is
constant. Evaluate the CA (t). An initial
condition is given by CA(0)

A B

Consider a cooking plate of mass

m and heat capacity cp. The
cooking plate is heated by electric
power and the supplied heat Q1.
The heat loss from the cooling
plate is UA(T-T0)
Where T is the cooking plate
temperature and T0 is surrounding
temperate , U is the over all heat
transfer coefficient. A = Area of
heat transfer
Over all the heat added to the
cooking plate (system)
Q= Q1- UA(T-T0)
Derive the equation that describes
the temperature dynamics when
mass is constant.

Problem 9

Hot Plate
Electric heater

T0

Problem 10
Q1: Consider the tank heater system. A liquid
of constant density and specific heat capacity
enters the tank with flow rate Fi (m3/sec) and
temperature Ti (K) and leaves the tank with
flow rate F (m3/sec) and T (K) . The volume of
the liquid in the tank remain constant. The
liquid in tank is well mixed. The tank is heated
with steam ( having Temperature Tst).
Assume tank do not move and momentum of
heater is negligible. Derive transfer function
for the system.

Problem 10
Fi, Ti

Tst

Assumptions
Fi=F= constant
The momentum of
the heater remain
constant.
Tank does not move
so kinetic and
F, T
potential energy is
zero.
For liquid systen
dU/dt =dH/dt

Problem 11

a) Draw block diagram of input output model for

the following system whose concentration
dynamics is given as follows

q
t
C A (t )
C Ai (1 e )
q Vk
b) Draw block diagram of input output model for
the following system whose concentration
dynamics is given as follows

() =

1
+

Next Lecture
Linearization of the system ( systems of
equations / model)