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Inverse Response
K(1 + 3 s )
G(s) =
(1 + 1s )(1 + 2 s )
slope (t = 0) 0
If 3 0 .fast response
3 0 ....inverse response
Chapter 6
Chapter 6
K1 2 K 2 1
For inverse response
0
K1 K 2
(6 21)
Chapter 6
K
G( s)
s ( 1s 1)( 2 s 2 2 s 1)
Chapter 6
G s
i
b
s
i
i 0
n
i
a
s
i
i 0
(4-40)
Chapter 6
G s
bm s z1 s z2 K s zm
an s p1 s p2 K s pn
(6-7)
where {zi} are the zeros and {pi} are the poles.
We will assume that there are no pole-zero cancellations. That
is, that no pole has the same numerical value as a zero.
Review: n m in order to have a physically realizable system.
Time Delays
Time delays occur due to:
1. Fluid flow in a pipe
Chapter 6
Mathematical description:
A time delay, , between an input u and an output y results in the
following expression:
0
y t
u t
fort
fort
(6-27)
Chapter 6
G ( s) e
Y ( s)
U (s)
Chapter 6
H1/Qi has numerator dynamics (see 6-72)
Chapter 6
0s
(6-57)
Chapter 6
0 s
1
e
0 s
1 0 s
(6-58)
Chapter 6
Example 6.4
Consider a transfer function:
Chapter 6
G s
K 0.1s 1
5s 1 3s 1 0.5s 1
(6-59)
(6-60)
Solution
(a) The dominant time constant (5) is retained. Applying
the approximations in (6-57) and (6-58) gives:
Chapter 6
0.1s 1 e 0.1s
(6-61)
and
1
e 3 s
3s 1
1
e 0.5 s
0.5s 1
(6-62)
TS s
5s 1
5s 1
(6-63)
Chapter 6
Chapter 6
2.1s
Ke
G%
Sk s
6.5s 1
(6-64)
The normalized step responses for G(s) and the two approximate
models are shown in Fig. 6.10. Skogestads method provides
better agreement with the actual response.
Figure 6.10
Comparison of the
actual and
approximate models
for Example 6.4.
Multivariable Processes
many examples:
distillation columns,
FCC,
boilers,
etc.
Chapter 6
T0 (s)
Ws (s)
Chapter 6
G 21
H(s)
Ws (s)
G12
T0 (s)
W0 (s)
G 22
H(s)
W0 (s)
H(s) G
G
W
(
s
)
21
22
0
From material and energy balances,
K11
G11
1s 1
G22
K 22
2s 1
K12
G12
( 1s 1)( 2 s 1)
Chapter 6
Chapter 6
Chapter 6
Chapter 6
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