CEB2083 PROCESS INSTRUMENTATION & CONTROL

MAY 2020 SEMESTER

Chapter 4:
Transfer Functions

BY
Assoc. Prof. Dr Marappagounder Ramasamy / Dr Serene Lock /
Dr Mohd Hilmi Noh / Dr Nurul Aini Amran

UNIVERSITI TEKNOLOGI PETRONAS (UTP)

Chapter Objectives

End of this chapter, you should be able to:

1. Define what is a transfer function
2. Develop transfer functions from mathematical models
3. Use properties of transfer functions in simplifying and analyzing
models
4. Use linearization to derive transfer functions for nonlinear
processes
Course learning outcomes

CLO1
Develop dynamic models of chemical processes

CLO2
Design feedback control systems using modern IT tools

CLO3
Select appropriate instruments for control systems
Transfer Function (TF)

01 An algebraic expression

Convenient representation of a linear, dynamic

02
models

03
A transfer function (TF) relates one input and one
output:

𝑥 𝑡 𝑦 𝑡
→ system →
𝑋 𝑠 𝑌 𝑠
Transfer Functions

1 Independent of initial conditions

2 Independent of choice of forcing functions

3 The following terminology is used:

x y
Input, forcing function Output, response
“cause” “effect”
Definition of transfer function

Let G(s) denote the transfer function between an input, x,

and an output, y. Then, by definition

Y (s)
G (s) =
X (s)
where:

Y ( s ) = L  y ( t ) 
X ( s ) = L  x ( t ) 
Development of Transfer Functions

Example: Stirred Tank Heating System

Figure 2.3 Stirred-tank heating process with constant holdup, V.

Development of Transfer Functions

Recall the previous dynamic model, assuming constant liquid holdup

and flow rates:

dT
V C = wC (Ti − T ) + Q (2-36)
dt

Suppose the process is at steady state:

0 = wC (Ti − T ) + Q (2)

Subtract (2) from (2-36):

= wC (Ti − Ti ) − (T − T ) + ( Q − Q )
dT
V C (3)
dt
Development of Transfer Functions
dT 
V C = wC (Ti − T  ) + Q (4)
dt

where the “deviation variables” are

T  = T − T , Ti = Ti − Ti , Q = Q − Q

Take L of (4):

𝑉𝜌𝐶 𝑠𝑇 ′ 𝑠 − 𝑇 ′ 0 = 𝑤𝐶 𝑇𝑖′ 𝑠 − 𝑇 ′ 𝑠 + 𝑄′ 𝑠 (5)

At the initial steady state, T′(0) = 0.

Development of Transfer Functions

Rearrange (5) to solve for

 K    1  
T ( s ) =   ( ) 
Q s +  Ti ( s ) (6)
  s +1    s +1

where
1 V
K= and  =
wC w

T ( s)=G1 ( s)Q( s) + G2 ( s)Ti( s)

Development of Transfer Functions

01 G1 and G2 are transfer functions and independent

of the inputs, Q′ and Ti′.
Note G1 (process) has gain K and time constant τ.
02
G2 (disturbance) has gain=1 and time constant τ.
Gain = G(s=0). Both are first order processes.

03 System can be forced by a change in either Ti or Q (see

Example 4.1).

04 If there is no change in inlet temperature (Ti′= 0), then Ti′(s) = 0

Conclusion about TFs

Note that Eqn. (6) shows that the effects of changes in both Q
01
and Ti are additive. This always occurs for linear, dynamic models
(like TFs) because the Principle of Superposition is valid.

The TF model enables us to

02
determine the output response to
any change in an input.

Use deviation variables to eliminate

03
initial conditions for TF models.
Example: Stirred Tank Heater

K = 0.05 0.05
 = 2.0 T = Q
2s + 1
No change in Ti′

Step change in Q(t): 1500 cal/sec to 2000 cal/sec

500
Q =
s
0.05 500 25
T = =
2s + 1 s s(2s + 1)

What is T′(t)? From line 13, Table 3.1

Example: Stirred Tank Heater

−t / 25
T (t ) = 25[1 − e ] ⎯
⎯ T ( s) =
s( s + 1)

T (t ) = 25[1 − e−t / 2 ]

Properties of Transfer Function Models

01 Steady-State Gain
The steady-state of a TF can be used to calculate the steady-
state change in an output due to a steady-state change in the
input.
For example, suppose we know two steady states for an input,
u, and an output, y. Then we can calculate the steady-state
gain, K, from:
y2 − y1
K= (4-38)
u2 − u1
For a linear system, K is a constant. But for a nonlinear system,
K will depend on the operating condition ( u , y ) .
Properties of Transfer Function Models
Calculation of K from the TF Model:
If a TF model has a steady-state gain, then:

K = lim G ( s ) (14)
s→0

• This important result is a consequence of the Final Value Theorem

• Note: Some TF models do not have a steady-state gain (e.g.,
integrating process in Ch. 5)
Properties of Transfer Function Models

02 Order of a TF Model
Consider a general n-th order, linear ODE:

dny dy n−1 dy d mu
an n
+ an−1 n −1
+ a1 + a0 y = bm m +
dt dt dt dt
d m−1u du
bm−1 m−1
+ + b1 + b0u (4-39)
dt dt

Take L, assuming the initial conditions are all zero. Rearranging

gives the TF:
m

Y (s)
i
b s i

G (s) = = i =0
(4-40)
U (s) n
 ai si
i =0
Definition:
The order of the TF is defined to be the order of the denominator
polynomial.
Note: The order of the TF is equal to the order of the ODE.

Physical Realizability:
For any physical system, n  m in (4-38). Otherwise, the system
response to a step input will be an impulse. This can’t happen.

Example:
du
a0 y = b1 + b0u and step change in u (4-41)
dt
2nd order process

General 2nd order ODE: d2y dy

a 2 +b + y=Ku
dt dt

Laplace Transform: as 2


+ bs+1  Y(s) = KU(s)

Y ( s) K
G( s) = = 2
U ( s) as + bs + 1

− b  b 2 − 4a
2 roots s1,2 =
2a

b2 b2
 1 : real roots  1 : imaginary roots
4a 4a
Examples

1. 2 b2 16
= = 1.333  1
3s 2 + 4s + 1 4a 12

3s 2 + 4s + 1 = (3s + 1)(s + 1) = 3(s + 1 )(s + 1)

3
−t
transforms to e 3
, e − t (real roots ) (no oscillation)

2. 2 b2 1
= 1
s2 + s + 1 4a 4

3 3
s 2 + s + 1 = ( s + 0.5 + j )( s + 0.5 − j)
2 2
−0.5t 3 −0.5t 3
transforms to e cos t , e sin t (oscillation)
2 2
From Table 3.1, line 17


sin t ⎯→
L
e- bt
( s + b) 2 +  2
2 2
=
s + s +1
2
2  3
2
(s+ 0.5) +  
 2 
3
2 4 2
𝐿 = 𝐿 2
𝑠2 + 𝑠 + 1 3 3
(𝑠 + 0.5)2 +
2

4 −0.5𝑡 3
= 𝑒 𝑠𝑖𝑛 t
3 2
Two IMPORTANT properties (L.T.)

A. Multiplicative Rule

B. Additive Rule
Example 1:

Place sensor for temperature downstream from heated tank (transport

lag)

Distance L for plug flow,

Delay time: L
θ=
V
V = fluid velocity

T (s) K1
Tank: G1 = =
U ( s )  1s + 1

Ts(s) K 2 e -s
Sensor: G2= =
T(s) 1+τ 2 s
Overall Transfer Function

T (s) K1
Tank: G1 = =
U ( s )  1s + 1

Ts(s) K 2 e -s
Sensor: G2= = K2  1
T(s) 1+τ 2 s

2 is very small – can be neglected

Ts Ts T K1 K 2 e −θs
Overall transfer function: =  = G2  G1 =
U T U 1+ τ1s
Example 2: Consider the system shown below.

The system consists of two liquid surge tanks in series so that the
outflow from the first tank is the inflow to the second tank.
For tank 1, dh1
A1 = qi − q1 (4 - 48)
dt
1
q1 = h1 (4 - 49)
R1

Substituting (4-49) into (4-48) eliminates q1:

dh1 1
A1 = qi − h1 (4 - 50)
dt R1

Putting (4-49) and (4-50) into deviation variable form gives

dh1 1
A1 = qi − h1
 (4 - 51)
dt R1
1
q1 = h1 (4 -52)
R1
The transfer function relating H1(s) to Qi(s) is found
by transforming (4-51) and rearranging to obtain
H1( s ) R1 K1
= = (4-53)
Qi( s) A1 R1s + 1  1s + 1

Similarly, the transfer function relating Q1 (s) to

H1 (s) is obtained by transforming (4-52).

Q1( s) 1 1
= = (4-54)
H1( s) R1 K1
❑ The same procedure leads to the corresponding transfer functions for
Tank 2,

H 2 ( s ) R2 K2
= = (4-55)
Q1( s ) A2 R2 s + 1  2 s + 1

Q2 ( s ) 1 1
= = (4.56)
H 2 ( s ) R2 K2

❑ The desired transfer function relating the outflow from Tank 2 to the
inflow to Tank 1 can be derived by forming the product of (4-53)
through (4-56).
 Q2 ( s) Q2 ( s) H 2 ( s) Q1 ( s) H 1 ( s)
= (4-57)
Qi( s) H 2 ( s) Q1 ( s) H 1 ( s) Qi( s)
or
Q2 ( s) 1 K 2 1 K1
= (4-58)
Qi( s) K 2  2 s + 1 K1  1 s + 1

which can be simplified to give

Q2 ( s) 1
= (4-59)
Qi( s) ( 1 s + 1)( 2 s + 1)
Linearization of Nonlinear Models
✓ Required to derive transfer functions
✓ Good approximation near a given operating point
✓ Gain, time constants may change with operating point
✓ Use 1st order Taylor series.

dy (4-60)
= f ( y, u )
dt
f f
f ( y, u )  f ( y, u ) + ( y − y) + (u − u ) (4-61)
y y ,u
u y ,u

Subtract steady-state equation from dynamic equation

dy f f
= y + u (4-62)
dt y s u s
Example 3:
q0: manipulated variable,
qi : disturbance variable

dh
A = qi − q0 ...(1)
dt

Use L.T. → AsH ( s) = qi (s ) − q0 (s ) (in deviation variables)

Suppose q0 is constant: Δq0 = 0

𝐴𝑠𝐻(𝑠) = 𝑞𝑖 (𝑠) • Pure integrator (ramp) for step change in qi

• Example of non-self regulating system

𝐻(𝑠) 1
= ...(2)
𝑞𝑖 (𝑠) 𝐴𝑠
Nonlinear element

More realistically, if q0 is manipulated by a flow control valve,

q0 = C v h ...(3)

nonlinear element
Nonlinear element

RV: line resistance

1
q= h
RV

dh 1
A = qi − h ...(4) linear ODE : eq. (4-74)
dt RV

if q = CV h ...(5)
Substitute linearized expression of (5)
into (1): q = Cv h
 dq 
Linearised version of (5) is   q + (h − h ) 
 dh h 
dh 1 1 1 
A = qi − C v h − h  (6) = C v h + C v  (h − h )
dt R 2 
 h 
The steady-state version of (3) is: = Cv h + h
1
R
0 = qi − Cv h (7)

Subtract (7) from (6) and let qi = qi − qi , noting that dh dh gives
=
the linearized model: dt dt

dh 1
A = qi − h (8)
dt R
Procedure to develop Transfer Function models
Dynamic process model:
Differential Equations

1. Obtain steady-state model

2. Linearize the dynamic

model, if necessary

3. Derive the dynamic model

in terms of deviation
variables

4. Take Laplace Transform

5. Set all inputs to zero

except the desired input

6. Find the desired transfer

function
Conclusions

You have been introduced to:

1. Definition of transfer functions

2. Development of transfer functions
3. Properties of transfer functions
4. 1st order process
5. 2nd order process
6. Integrating process (Non-self regulating)
7. Examples