Department of Chemical Engineering I.I.T.

Bombay, India

Lecture 9: Inverse Response and Time

Delay Systems
Department of Chemical Engineering I.I.T. Bombay, India

Fed-batch Chemical Reactor

FA -H
A -- > B

FA T
Chemical Reactor

Suppose the objective is to regulate heat generation and temperature

by manipulating FA addition.
With an increase in addition of FA, the concentration would obviously
increase with an increase in the rate and hence temperature.
Department of Chemical Engineering I.I.T. Bombay, India

Influence mechanisms

FA affects the temperature T through two different mechanisms :

- Differing enthalpies of mixing causes the reactor to temperature

to initially drop. Mixing dynamics is quick.

- Increase in concentration of reactants results in an increase in

the reaction rate and hence causes the temperature to rise. The
reaction dynamics is relatively slower.

- A balance between the two competing mechanisms causes the

temperature to exhibit inverse response dynamics.
Department of Chemical Engineering I.I.T. Bombay, India

Inverse Response

Note: Slope @
Department of Chemical Engineering I.I.T. Bombay, India

Inverse Response Mechanisms

Reaction dynamics
K1
1 s 1
+
u(s) y(s)

+
K2
2 s 1
Mixing dynamics
Department of Chemical Engineering I.I.T. Bombay, India

Inverse Response Mechanisms

( K1 K 2 )
The zero is located at s
( K1 2 K 2 1 )

Note: We consider open loop stable systems. So

t1 and t2 are considered to be greater than zero.

1 K2
(1 )
Equivalently, 1 K1
s
2 K2
( )
1 K1
Department of Chemical Engineering I.I.T. Bombay, India

Inverse Response Mechanisms

The zero will be a RHP zero if

K2 2 K2
(1 ) < 0 and ( ) >0
K1 1 K1

K2 2 K2
or (1 ) > 0 and ( ) <0
K1 1 K1
This implies that the zero will be in the RHP if
2 K2 2 K2
1 or 1
1 K1 1 K1
Department of Chemical Engineering I.I.T. Bombay, India

The zero will be a RHP zero I.e. the system will exhibit
inverse response if:

2 K2 2 K2
1 or 1
1 K1 1 K1

The gains must have opposite sign

The faster system must have the smaller gain