Confirming Pages

CHAPTER

5
CAPSULE SUMMARY
Here are some physical examples of first-order systems:

System Transfer function

q (t)
A = area
Figure 51 Liquid H (s ) R
level system

h (t) Q (s ) ARs  1

R
q0(t)

x(t)
q

y(t) Y (s ) 1
q Figure 54 Mixing

process X (s ) (V / q)s  1
V
y (t)

Steam or
electricity

Figure 55 Heating T (s ) 1/ ( wC )


w, Ti q
process Q (s ) ( rV /w ) s  1

w, T

(continued)

121

cou9789x_ch05_099-122.indd 121 8/14/08 3:20:07 PM

 Confirming Pages

122 PART 2 LINEAR OPEN-LOOP SYSTEMS

System Transfer function

Fluid
y = thermometer
reading
x = fluid temperature Figure 41a Y (s ) 1


Thermometer X (s ) ( mc /hA) s  1
Mercury Glass wall

TAYLOR SERIES EXPANSIONS FOR LINEARIZING

NONLINEAR TERMS
df
Functions of a single variable: f ( x )
f ( xs )  ( x  xs )
dx xs

Functions of two variables:

f f
f ( x , y)
f ( xs , ys )  ( x  xs )  ( y  ys )
x ( xs , ys ) y ( xs , ys )

cou9789x_ch05_099-122.indd 122 8/14/08 3:20:08 PM