Colorado School of Mines CHEN403

Linear Open Loop Systems

Linear Open Loop Systems................................................................................................................................ 1
Transfer Function for a Simple Process ....................................................................................................... 1
Example Transfer Function Mercury Thermometer ......................................................................... 2
Desirability of Deviation Variables............................................................................................................ 3
Transfer Function for Process with Multiple Inputs and/or Multiple Outputs ............................ 3
Example Transfer Function Stirred Tank Heater ............................................................................... 5
Transfer Function of Process in Series ......................................................................................................... 8
Poles & Zeros of a Transfer Function ............................................................................................................ 9
Example Poles & Zeros of a Transfer Function............................................................................ 12

Transfer Function for a Simple Process

f (t )

Dynamic
Process

Input

y (t )

f (s)

Output

G(s)

y(s)

Consider the simple process with one input & one output. The describing n-th order ODE
is:
an

dn y
d n1 y
d2 y
dy
+
a
+

+
a
+ a1
+ a0 y = bf ( t )
n 1
2
n
n 1
2
dt
dt
dt
dt

Let us assume we are using deviation variables, so y ( 0) = 0 , and we are starting at

steady state, so:

d n1 y
d2 y
dy
=

=
=
= 0.
n 1
2
dt t =0
dt t =0 dt t =0
Taking the Laplace transform of this gives:

an s n y ( s ) + an1 s n1 y ( s ) + + a2 s 2 y ( s ) + a1 sy ( s ) + a0 y ( s ) = bf ( s )
y(s)

f (s)

an s + an1 s
n

Transfer Functions

n 1

b
G(s)
+ + a2 s 2 + a1 s + a0
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where G ( s ) is defined as the transfer function and the simple diagram is called the block
diagram for the process.

Example Transfer Function Mercury Thermometer

Make the following assumptions about the reading from a mercury thermometer:

All resistance to heat transfer is in a thin film around the bulb i.e., neglect thermal
resistance of glass & mercury.
All thermal capacity is in the mercury.
Mercury always has uniform temperature.
The glass wall does not expand or contract.

The energy balance on thermometer will be:

dE d ( E + K + P ) dU dH
=

= hA (Ta T )
dt
dt
dt dt
dT
mC p
= hA (Ta T ) for constant C p
dt

mC p dT
= Ta T
hA dt
dT

T = Ta
dt
where the time constant is:

mC p
hA

At steady state:
T * = Ta*

so in terms of deviation variables:

dT
T = Ta where T ( 0) = 0
dt

Taking the Laplace transform of this ODE gives:

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( s + 1)T = Ta
so the transfer function is:

G(s) =

T
1
=
Ta s + 1

So, we would expect the heat transfer resistance around a thermometer to be a 1st order
system.

Desirability of Deviation Variables

If we didnt use deviation variables the Laplace transform of the ODE would be:

dT
+ T = Ta ( sT T ( 0 ) ) + T = Ta
dt

( s + 1)T = Ta + T (0)
1

Ta +
T ( 0)
s + 1
s + 1
1

=
Ta +
Ta*
s + 1
s + 1

T=

Now there are two inputs & two transfer functions: one for the driving function ( Ta ( t ) or
Ta ( s ) ) and one for the initial condition ( Ta* ).

Transfer Function for Process with Multiple Inputs and/or Multiple Outputs
What if there are multiple inputs and/or multiple outputs? We would associate a transfer
function with each pairing of an input & output. The block diagram for 2 inputs & 1 output
is:

f1 ( s )
G(s)

f1 ( s )

G1 ( s )

f2 ( s )

G2 ( s )

y(s)

f2 ( s )

+
+

y(s)

The overall relationship for y ( s ) would be:

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y ( s ) = G1 ( s ) f1 ( s ) + G2 ( s ) f2 ( s )
For n inputs and one output, then:

y ( s ) = G1 ( s ) f1 ( s ) + G2 ( s ) f2 ( s ) + G3 ( s ) f3 ( s ) + + Gn ( s ) fn ( s )
n

y ( s ) = Gi ( s ) fi ( s )
i =1

The block diagram for 2 inputs & 2 outputs is:

f1 ( s )

G1,1 ( s )

+
+

y1 ( s )

G2,1 ( s )

f2 ( s )

G2,1 ( s )

G2,2 ( s )

+
+

y2 ( s )

The overall relationship for the y ( s ) functions would be:

y1 ( s ) = G1,1 ( s ) f1 ( s ) + G1,2 ( s ) f2 ( s )
y2 ( s ) = G2,1 ( s ) f1 ( s ) + G2,2 ( s ) f2 ( s )
For n inputs and m outputs, then:

yi ( s ) = Gi ,1 ( s ) f1 ( s ) + Gi ,2 ( s ) f2 ( s ) + Gi ,3 ( s ) f3 ( s ) + + Gi ,n ( s ) fn ( s )
n

yi ( s ) = Gi , j ( s ) f j ( s ) for i = 1,2,3, , m .
j =1

or in matrix notation as:

y ( s) = G(s ) f ( s )

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where y ( s ) is a column vector of length m , f ( s ) is a column vector of length n , and G ( s )
is a m n rectangular matrix. G ( s ) is called the transfer function matrix.

Example Transfer Function Stirred Tank Heater

F0, T0, 0

h, A, T,

Fs, Ts
F1, T1, 1

The material balance on this system will be:

d ( h )
dm
= F00 F11 A
= F00 F1
dt
dt

assuming constant cross-sectional area, A . The energy balance is:

dE
= F00 H 0 F11 H 1 + Q = F00 H 0 F1H + Q
dt

Remember, within the tank:

dE d (U + K + P ) dU dH
=

dt
dt
dt dt

So:

dH d VH
=
= F00 H 0 F1H + Q
dt
dt
If we assume that the enthalpy can be expressed as:

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H = C p (T Tref ) + H ref
then with H ref = 0 & Tref = 0 :

d
VC pT = F00C pT0 F1C pT + Q
dt
d
C p ( VT ) = F00C pT0 F1C pT + Q
dt
d
Q
( VT ) = F00T0 F1T +
dt
Cp

If we assume constant , then:

A

dh
= F0 F1
dt

and:
A

d
Q
( hT ) = F0T0 F1T +
dt
Cp

F
F
d
Q
( hT ) = 0 T0 1 T +
dt
A
A
AC p
TA

dh
dT
Q
+ hA
= F0T0 F1T +
dt
dt
C p

Inserting the material balance:

T ( F0 F1 ) + hA
hA

dT
Q
= F0T0 F1T +
dt
C p

dT
Q
= F0 (T0 T ) +
where h = h( t ) .
dt
C p

If we make the assumption that dh / dt = 0 then V = hA = constant & F0 = F1 , so:

V

dT
Q
= F0 (T0 T ) +
dt
C p

If we are using steam for the heating medium, then we could relate the rate of heat added,
Q , to the steam temperature, Ts , as:

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Q = UA (Ts T ) .
So:

UA (Ts T )
dT
= F0 (T0 T ) +
dt
C p

dT
UA
UA
+ F0 + T = F0T0 +
Ts
dt
C p
C p
F
dT F0
UA
UA
Ts
+ +
T = 0 T0 +
dt V VC p
V
VC p

dT 1
1
+ + K T = T0 + KTs
F
dt F

dT
1
+ aT = T0 + KTs
dt
F

where:

1 F0
UA
1
,K
, and a + K .
F V
F
VC p
At steady state:

aT * =

1 *
T0 + KTs*
F

so:

dT
1
+ aT = T0 + KTs
dt
F
where the deviation variables are defined as:

T T T * , T0 T0 T0* , and Ts Ts Ts* .

Note that this equation shows how the stirred tank fluid temperature is affected by changes
in the other temperatures.

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In this Chapter we will convert this equation into one involving transfer functions. Taking
the Laplace transform of the equation gives:

sT T ( 0) + aT =

1
T0 + KTs
F

1
T0 + KTs
F
1
( s + a )T = T0 + KTs
F
1 F
K
T =
T0 +
Ts
s +a
s +a

sT + aT =

This shows that we have two transfer functions:

T = G0 ( s )T0 + Gs ( s )Ts
where:

G0 ( s )

1/ F
K
and Gs ( s )
s +a
s +a

A block diagram for the stirred tank heater can be drawn as follows.

1/ F
s+a

T0 ( s )

+
+

T ( s )

K
s+a

Ts ( s )

Transfer Function of Process in Series

y1(s)
f(s)

G1(s)

y2(s)
G2(s)

Gn(s)

yn(s)

If there are a series of transfer functions, then:

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yn ( s ) = Gn ( s ) yn1 ( s )
= Gn ( s ) Gn1 ( s ) yn2 ( s )
= Gn ( s ) Gn1 ( s ) G1 ( s ) f ( s )

yn ( s )
f (s)

= Gi ( s )
i =1

Poles & Zeros of a Transfer Function

According to definition of the transfer function:

y(s)

f (s)

= G(s)

where:

G(s) =

Q(s)

P (s)

and where Q ( s ) and P ( s ) are usually polynomials in s (time delays will introduce
exponential terms, however). In general, the order of Q ( s ) will be less than that of P ( s ) .
The roots of the numerator Q ( s ) are referred to as the zeros of the transfer function. At
the zeros, G ( s ) becomes zero. The roots of the denominator P ( s ) are referred to as the
poles of the transfer function. At the poles, G ( s ) becomes infinite.
We can get a qualitative sense of the response of a system by knowing the poles. Let:

f (s) =

r (s)

q(s)

Since:

G(s) =

Q(s)
P( s )

then:

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y(s) = G(s) f (s) =

Q(s) r (s)

P (s) q(s)

Lets let the roots of P ( s ) be denoted as pi . Then, if P ( s ) is a polynomial of order n and

there are N non-repeating roots and M repeating roots (each one repeating mi times),
then:
N

i =1

i =1

P ( s ) = ( s pi ) ( s pi )

mi

and:

y(s) =

Q(s)
N

r (s)

(s p ) (s p )
i

i =1

q(s)

mi

i =1

When split into partial fractions, each of the factors in the denominator will lead to a
separate term. Splitting up the factors of the transfer function (while leaving the
denominator from the input function aside for now) gives:
mi 1
N

C
y(s) = i +
i =1 s pi
i =1

D (s p )
j ,i

j =0

( s pi )

mi

M mi 1
D j ,i
Ci
y(s) =
+
mi j
i =1 s pi
i =1 j =0 ( s pi )

r* (s)
q( s)

r* (s)
+
.
q(s)

Note that for the repeated root, the numerator can be a polynomial of order up to one less
the order of denominator. Also, each repeated root can have a different order. The only
requirement on the number of roots is that they have to add up to n , i.e.:
M

n = N + mi .
i =1

When we invert the Laplace transforms, then:

N C N
L1 i = C i exp ( pi t ) .
i =1 s pi i =1

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M mi 1
D j ,i
L1
mi j

i =1 j =0 ( s pi )

M mi 1

D j ,i

= L1

mi j
i =1 j =0

s
p

(
)
i

M
mi 1
D
= exp ( pi t ) L1 mij,i j
i =1
s

j =0
mi 1
= exp ( pi t )
j =0 ( mi
i =1

M
mi 1
= exp ( pi t )
j =0 ( m
i =1
i

( m j 1)!
L1 i mi j

j 1 )!
s

D j ,i

t mi j 1

j 1 )!

D j ,i

Note that the roots pi are important for the long-time characteristics of the solution. For
the real non-repeating roots:

If pi < 0 , then exp ( pi t ) 0 as t . This exponential decay leads to a zero

contribution from this pole.
If pi > 0 , then exp ( pi t ) as t . This exponential growth leads to a explosive
contribution from this pole.
If pi = 0 , then exp ( pi t ) = 1 for all t . This constant term should not lead to any
instability.

For the complex non-repeating roots (which will occur as a complex conjugate pair), then
pi can be expressed as i i i . These roots will give rise to terms of the form
exp ( i t ) sin ( i t + i ) . Now, the important term with regards to stability is the real portion
of the root, i :

If i < 0 , then exp ( i t ) sin ( i t + i ) 0 as t . This exponential decay leads to a

zero contribution from this pole.
If i > 0 , then exp ( i t ) sin ( i t + i ) as t . This exponential growth leads to
a explosive contribution from this pole.
If i = 0 , then exp ( i t ) sin ( i t + i ) = sin ( i t + i ) for all t . This term will lead to a
stable oscillation.

For the repeating roots, the situation is similar. The polynomial term will always grow
towards infinity as t , so the behavior of the exponential term will dictate the overall
behavior.

If pi < 0 or i < 0 , then the exponential term will go to zero as t and the entire
term will also go to zero. This exponential decay leads to a zero contribution from
this pole.

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If pi > 0 or i > 0 , then the exponential term will grow to infinity as t and the
entire term will also grow to infinity. This exponential growth leads to an explosive
contribution from this pole.
If pi = 0 or i = 0 , then the polynomial term will dictate the behavior for t .
This polynomial term will lead to an explosive contribution from this pole..

So, in general:

If i < 0 , stable contribution from this pole.

If i > 0 , unstable contribution from this pole.
If i = 0 , stable contribution only if non-repeated root unstable contribution if
repeated root.

Example Poles & Zeros of a Transfer Function

Given the transfer function:

G(s) =

Q(s)

P (s)

Q(s)
s + 3s + 5s 2 + 4s + 2
4

find the zeros & determine if stable.

The following chart shows the characteristics of P ( s ) vs. s . Note that there are no real
roots.

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10
9
8
7
6

P (s ) 5
4
3
2
1
0
-2.5

-2

-1.5

-1

-0.5

0.5

1.5

2.5

Can factor P ( s ) to get:

P ( s ) = s 4 + 3s3 + 5s 2 + 4s + 2 = ( s 2 + s + 1 )( s2 + 2s + 2)
From this, we find that the roots are:

r=

1 1 4 1 1
1
3
i
=
2
2 2

r=

2 22 4 1 2
= 1 i
2

Since the real portion of the roots are all negative, the system is stable.

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