Transfer Functions

Consider the tank heating system shown in Figure 1. A liquid enters

the tank with a flowrate Fi (ft3/min), and a temperature Ti, where it is
heated with steam (having a flowrate Q, lb/min). Let F and T be the
flowrate and temperature of the stream leaving the tank. The tank is
considered to be well stirred, which implies that the temperature of the
effluent is equal to the temperature of the liquid in the tank.
The control objective of this heater is to keep the effluent temperature
T at a desired value. Draw a P& ID and block diagram for this control
system.

Unit 1: Process Control Loop

Process control loop
Pressure
Flow
Level
Temperature
pH

Process

dP cell
Capacitance
Radar, Sonic
Magnetic
Resistance
IR/Laser

Sensor
Transmitter
Controller
Transducer
Control valve

4-20 mA
1-5 Vdc

PID
Fuzzy logic

4-20 mA
3-15 psig

Linear
Equal percentage

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

I/P

Unit 1: Process Control Loop

Process control loop

Process

Sensor
Transmitter
Controller

Pressure
Flow
Level
Temperature
pH

SP

dP cell
Capacitance
Radar, Sonic
Magnetic
Resistance
IR/Laser
4-20 mA
1-5 Vdc
Field/profibus

CONTROLLER

TRANSMITTER

CONTROL
VALVE

PID
Fuzzy logic

PROCESS

Transducer
Control valve

4-20 mA
3-15 psig

Linear
Equal percentage

PV
*SP = set point
*PV = process value

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

Unit 1: Process Control Loop

Process control loop: The Block Diagram

PROCESS

CONTROL
VALVE

SP

CONTROLLER

Simulation mode

TRANSMITTER

Abdul Aziz Ishak, Universiti Teknologi MARA Malaysia (2009)

PV

Transfer Functions
Convenient representation of a linear, dynamic model.

Chapter 4

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

x t
y t
system
X s
Y s
The following terminology is used:
x
y
input

output

forcing function

response

cause

effect

The TF model enables us to determine the output response to

any change in an input.

Definition of the transfer function:

Chapter 4

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

Transfer Functions for a Process

Chapter 4

Example: Stirred Tank Heating

System

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

Equation (1) is the energy balance of the stirred-tank heating

system, assuming constant liquid holdup and flow rates:

dT
V C
wC Ti T Q
dt

(1)

(2-36)

Chapter 4

Suppose the process is at steady state:

0 wC Ti T Q

(2)

Subtract (2) from (1):

dT
V C
wC Ti Ti T T Q Q
dt

(3)

But,

Chapter 4

dT
V C
wC Ti T Q
dt

(4)

where the deviation variables are

T T T , Ti Ti Ti , Q Q Q
Take L of (4):

V C sT s T 0 wC Ti s T s Q s (5)
At the initial steady state, T(0) = 0.

V C sT s T 0 wC Ti s T s Q s (5)

Chapter 4

Rearrange (5) to solve for

K
1

T s
Q s
Ti s
s 1
s 1
where

1
V
K
and
wC
w

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

(6)

 K
1
T s
Q
s

Ti s
s 1
s 1

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

(6)

K
1

T s
Q s
Ti s
s 1
s 1

(6)

K (gain) it describes how far the output will travel

with the change of the input.
*If a process has a large K, then a small change in the
input will cause the output to move a large amount. If a
process has a small K, the same input change will move
the output a small amount

(time constant) describes how fast the output moves

in response to a change in the input.

*The time constant must be positive and it must have units of

time

Order of transfer function

General first order transfer function

Chapter 4

K
Y (s )
X (s )

s 1

General second order transfer function

K
Y (s ) 2 2
X (s )
s 2s 1

First-order-plus-dead-time (FOPDT)

Kest0
Y (s )
X (s )
s 1

Response with time delay

X(t)

Y(t)

t=0 t=t0

to=Time delay/dead time

All first order systems forced by a step function will have

a response of this same shape.

Step response for first order system

To calculate the gain and time constant from

the graph
y
Gain, K
x
Time constant, value of t which the response is
63.2% complete

Transfer Functions for a Transmitter

PV(s)
H(s)

Process variable

H (s )

C(s)
Transmitter output

KT
C (s )

PV (s ) T s 1

KT = transmitter gain

T = transmitter time constant

Transfer Functions for a Controller

Proportional Control
For proportional control, the controller output is proportional to
the error signal,
p t p Kc e t
(8-2)
where:

p t controller output
p bias (steady-state) value
Kc controller gain (usually dimensionless)
p is controller output when the error is zero

-The proportionality is given by the controller gain, Kc

-The controller gain determines how much the output
from the controller changes for a given change in error
Transfer function

Integral Control
For integral control action, the controller output depends on the
integral of the error signal over time,

1
p t p
I

0 e t *dt *
t

(8-7)

where I , an adjustable parameter referred to as the integral time

or reset time, has units of time.
Integral control action is normally used in conjunction with
proportional control as the proportional-integral (PI) controller :

1
p t p Kc e t
I

0 e t * dt *
t

(8-8)

20

The corresponding transfer function for the PI controller in is

given by

Transfer function
The PI controller has two parameters, Kc and I

Derivative Control
The function of derivative control gives the controller the
capability to anticipate where the process is heading by
calculating the derivative error
Thus, for ideal derivative action,

de t
p t p D
dt
where D , the derivative time, has units of time.

(8-10)

Proportional-Integral-Derivative (PID) Control

Now we consider the combination of the proportional, integral,
and derivative control modes as a PID controller.
Form of PID Control

The form of the PID control algorithm is given by

de t
1 t
p t p Kc e t e t * dt * D

dt
I

The corresponding transfer function is:

Transfer function

(8-13)

Transfer function for Valve