Continuous Dynamic First

Principles Models

J. D. Hedengren
T. F. Edgar
The University of Texas at Austin
 Introduction
Objectives:
Test ISAT with a variety of nonlinear models.
Create a forum to share chemical and
mechanical first principles models.
Please contribute your well documented
model by e-mailing: john@che.utexas.edu
 Summary
ID Description Type Inputs:
States
1 CSTR with Jacket Dynamics (A->B) ODE 1:2
3 CSTR with Jacket Dynamics (A->B->C) ODE 1:3
4 2 CSTRs in Series (A->B) ODE 2:6
5 2 CSTRs in Series with Jacket Dyn (A->B) ODE 1:4
6 Inverted Pendulum ODE 1:2
8 Distillation Column (Constant Relative Volatility) ODE 1:32
11 Cruise Control ODE 1:1
12 Cruise Control (with Disturbance) ODE 1:1
13 Distillation Column with Wilson Eq and Psat/P constant ODE 1:32
14 Distillation Column with Wilson Equation DAE 1:64
18 Distillation Column with Enthalpy Equation DAE 2:125
 Model 1: CSTR

Feed Inputs
States

Cooling Jacket
Tc
CA Reaction
T A B

Product

Henson, M.A. and Seborg, D.E., Feedback Linearizing Control, Chap. 4 of

Nonlinear Process Control, Edited by Hensen, M.A. and Seborg, D.E.,
Prentice Hall (1997)
 Model 3: CSTR

Feed Inputs
States

T Reaction
CA CB CC A B C

Product

M. J. Tenny and J. B. Rawlings. Closed-loop behavior of nonlinear model

predictive control. Texas-Wisconsin Modeling and Control Consortium
Report TWMCC-2002-03.
 Model 4: Dual CSTR
Feed Inputs
States

V1 V2 Reaction
Q T1 T2 A B
CA1 CA2
q Product

Hahn, J. and T.F. Edgar, An improved method for nonlinear model reduction
using balancing of empirical gramians, Computers and Chemical Engineering, 26,
pp. 1379-1397, (2002)
 Model 5: Dual CSTR
Feed Inputs
States

Reaction
qc T1 T2 A B
CA1 CA2

Product

Henson, M.A. and Seborg, D.E., Feedback Linearizing Control, Chap. 4 of

Nonlinear Process Control, Edited by Hensen, M.A. and Seborg, D.E.,
Prentice Hall (1997)
 Model 6: Inverted Pendulum

Inputs
States



F

John Hauser and Hinke Osinga. On the geometry of optimal control: the
inverted pendulum example. In Proceedings of the American Control
Conference, pages 1721-1726, Washington, DC, 2001.
 Model 8: Binary Distillation
x1
Inputs
States x2 Distillate
RR

Feed
x17

x31
Bottoms
x32

Hahn, J. and T.F. Edgar, An improved method for nonlinear model reduction
using balancing of empirical gramians, Computers and Chemical Engineering, 26,
pp. 1379-1397, (2002)
 Model 11: Cruise Control

Inputs
States

v
F

Source: http://www.engin.umich.edu/group/ctm/examples/cruise/cc.html
Date: July 2003
 Model 12: Cruise Control

Inputs
States
F v Disturbances

Created by: John D. Hedengren

Date: July 2003
 Model 13: Binary Distillation
x1
Inputs
States x2 Distillate
RR

Feed
x17

x31
Bottoms
x32

Created by: John D. Hedengren

Date: July 2003
 Model 14: Binary Distillation
Inputs x1 T1
States
Distillate
x2 T2
RR

Feed
x17 T17

x31 T31
Bottoms
x32 T32

Created by: John D. Hedengren

Date: July 2003
 Model 18: Binary Distillation
Inputs Condenser
States
L1 Distillate
Tray 1

States are xA, V,

Feed and T at each
Tray 21
stage

Tray 40 Q

Reboiler
Bottoms

Diehl, M., "Real-Time Optimization for Large Scale Nonlinear Processes", PhD thesis, University of Heidelberg, 2001.

M. Diehl, I. Uslu, S. Schwarzkopf, F. Allgwer, H.G. Bock, R. Findeisen, E.D. Gilles, A. Kienle, J.P. Schlder, and E. Stein:
Real-Time Optimization for Large Scale Processes: Nonlinear Model Predictive Control of a High Purity Distillation Column In
Groetschel, Krumke, Rambau (eds.): Online Optimization of Large Scale Systems: State of the Art, Springer, 2001.