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Worksheet 2
1. Given a system with the transfer function Y(s)/X(s) = (T1s+1)/(T2s+1). Find Y(t) if X(t) is a unit step
function. If T1/T2= 5. Sketch Y(t) Versus t/T2. Show the numerical values of minimum, maximum
and ultimate values that may occur during the transient. Check these using the initial value and final
value theorem.
2. Determine the transfer function H(s)/Q(s) for the liquid-level system shown in Fig. Resistances R1
and R2 are linear. The flow rate from tank 3 is maintained constant at b by means of a pump; i.e.,
the flow rate from tank 3 is independent of head h. The tanks are noninteracting.
3. In the two-tank mixing process shown in Fig. below, x varies from 0 lb salt/ft3 to 1 lb salt/ft3
according to a step function. At what time does the salt concentration in tank 2 reach 0.6 lb salt/ft3?
The holdup volume of each tank is 6 ft3.
4. Starting from first principles, derive the transfer functions H1(s)/Q(s) and H2(s)/Q(s) for the liquid
level system shown in Fig. below. The resistances are linear and R1 = R2 = 1. Note that two
streams are flowing from tank 1, one of which flows into tank 2. You are expected to give numerical
values of the parameters in the transfer functions and to show clearly how you derived the transfer
functions. Is it critically, under or over-damped system?
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5. Linearize the following multiple input multiple output nonlinear dynamic model
8. Sketch, qualitatively, the response of systems with the following transfer functions. Assume unit step
changes
9. Consider a first order system with time constant = 0.5 min and Kp = 1. Initially, the system is at steady
state. Then the input changes linearly with time:
( )=
a. Develop an expression that shows how the output changes with time in response to the input
above
b. What is the minimum and what is the maximum difference between the out put y(t) and input
m(t)? When do these extreme points occur?
c. Plot the input m(t) and output y(t) in the same graph as functions of time.
10. Consider the three storage tanks in figure below . For each of these systems (a) develop the transfer
functions between the liquid levels and the inlet streams , (b)determine the time constant and process
static gains, and (c) determine which of the three systems have constant and which variable time
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constants and process gains. Assume that the flow rates of all free effluent streams are linear functions
of the corresponding liquid levels. (flowrates in the figure are steady state values
= 0.5√ℎ
11. Consider the storage tank fig 13 a. suppose that we want to control the liquid level in the tank at the
height of 5ft, by manipulating the effluent flow rate F2, according to the following proportional control
law:
2 = 10(5 − ℎ) + 1
a. Develop the transfer function between h and F1.
b. Determine the time constant and static gain of the tank, under control
c. Compute the dynamic response of the liquid level to a step change in f1 by ft3/min [i.e. find
how h(t) changes with time].
d. Compute the new steady-state value for the liquid level
12. Consider a second order system wit the following transfer function:
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Introduce a step change of magnitude 5 into the system and find (a) percent overshoot, (b) decay ratio, (c)
maximum value of y(t), (d) ultimate value of y(t), € rise time, and (f) period of oscillation
13. The following system is composed of two non-interacting capacities; it is described by a set of
differential equations of the general form:
Fig .
Suppose the following parameters are given, Kp1 = 2, Kp2 = 5, حp1 =4, and حp2 = 1/ حp1 and then,
I. Develop the overall transfer function between the external input (f1 (t)) and external
output (y2 (t)).
II. Determine :
a. % overshoot
b. Rise time
c. Maximum value of Y2(t)
d. Ultimate value of Y2(t)
e. Period of oscillation
14. The two tank heating process shown in the Fig. below consists of two identical, well stirred tanks in
series. At steady state, Ta = Tb = 60oF. At time t =0, the temperature of each stream, entering the tanks
changes according to a step function. i.e. T’ a =10u (t), T’ b = 20 u(t) where T’ a and T’ b are deviation
variables. If the state equations are:
Fig.
a. Develop the block diagram that relates T’2, the deviation in temperature in tank-2 to
T’ a and T’ b.
b. Obtain an expression for T’2(s).
c. Determine T2 (t=2) and T2 at time tends to infinity.
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The following data are given:
W1 =w2 =250 lb/min.
Hold up volume of each tank = 10 ft3
Density of fluid = 50 lb/ft3
Heat capacity of fluid = 1 Btu/(lb)(oF)
15. A step change of magnitude 4 is introduced in to a system having the transfer function
Determine
a. % overshoot
b. Rise time
c. Maximum value of Y2(t)
d. Ultimate value of Y2(t)
e. Period of oscillation
16. Heat transfer equipment shown in fig. consist of two tanks, one nested inside the other. Heat is
transferred by convection through the wall of inner tank.
a. Hold up volume of each tank is 1ft3
b. The cross sectional area for heat transfer is 1 ft2
c. The overall heat transfer coefficient for the flow of heat between the tanks is 10 Btu/(hr)(ft2)(oF)
d. Heat capacity of fluid in each tank is 2 Btu/(lb)(oF)
e. Density of each fluid is 50 lb/ft3
Initially the temp of feed stream to the outer tank and the contents of the outer tank are equal to 100 oF.
Contents of inner tank are initially at 100 oF. the flow of heat to the inner tank (Q) changed according to a
step change from 0 to 500 Btu/hr.
a. Obtain an expression for the Laplace transform of the temperature of inner tank T(s)
b. Invert T(s) and obtain T for t =0, 5, 10, infinity
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