Tutorial 6

𝑑2 𝑦 𝑑𝑦
1. For the equation +𝐾 + 4𝑦 = 𝑥
𝑑𝑡 2 𝑑𝑡

Find the transfer function and put it in a standard gain/time constant

form.

2. A second order critically damped process has the transfer function

𝑌(𝑠) 𝐾
=
𝑈(𝑠) (𝜏𝑠 + 1)2

(a) For a step change in input of magnitude M, what is the time (t s) required
for such a process to settle to within 5% of the total change in the output?

(b) For K =1 and a ramp change in input, u(t) = at, by what time period does
y(t) lag behind u(t) once the output is changing linearly with time?

3. A surge tank system is to be installed as a part of a pilot plant facility. The

initial proposal calls for the configuration shown in Figure 3. Each tank is
5 ft high and 3 ft in diameter. The design flow rate is qi = 100 gal/min. It
has been suggested that an improved design will result if the two-tank
system is replaced by a single tank that is 4 ft in diameter and has the
same total volume (i.e. V = V1 + V2).

Figure 3
For the analysis part, you may assumes that:
(a) The valves on the exit lines act as linear resistances.
(b) The valves are adjusted so that each tank is half full at the nominal design
condition of qi = 100 gal/min.
(c) Conversion factor, 1 gal/ min = 0.1337 ft3/min

(i) Assess each surge system (original or modified) and choose the system
which can handle large step disturbance in qi. Justify your answer.

(ii) Forecast the system that provides the best damping of step
disturbances in qi. Justify your answer.

4. A step change from 15 to 31 psi in actual pressure results in the measured

response from a pressure-indicating element shown in Fig. 4.

Figure 4

(a) Assuming 2nd Order dynamics, Calculate all important parameters and
write an approximate transfer Function in the form of:
𝑅 ′ (𝑠) 𝐾
=
𝑃′ (𝑠) 𝜏 2 𝑠 2 + 2𝜉𝜏𝑠 + 1

Where R’ is the instrument output deviation (mm), P’ is the actual

pressure deviation (psi).
 (b) Write an equivalent differential equation model in terms of actual (not
deviation) variables.

5. Two constant-volume stirred tanks, connected in series (Figure 5a), are

fed by a single stream with constant volume flow rate, q. The feed
composition, Ci (mass/volume of a catalyst species), can vary with time.
Density is constant.

Figure 5a

Figure 5b

(a) Develop a dynamic model for this process that can be used to calculate
the concentrations of catalyst existing Tank 1 (C 1) and Tank 2 (C2)

(b) Make a degrees of freedom analysis for your model, indicating input(s),
output(s), parameters, and so on.
(c) Suppose a recycle stream is used to return some multiple of the inlet flow
rate (rq) from the exit stream of the 2nd tank bank to the first stirred tank
(Figure 5b)? Repeat part (a) and (b).