TRANSFER FUNCTION

AND DYNAMIC
BEHAVIOUR
KODE PRESENSI:497851
 Transfer Functions
• Convenient representation of a linear, dynamic model.
• A transfer function (TF) relates one input and one output:

u (t ) y (t )
Chapter 4

 system 
U (s) Y (s)
The following terminology is used:

u y
input output
forcing function response
“cause” “effect”
 Definition of the transfer function:
Let G(s) denote the transfer function between an input, x, and an output,
y. Then, by definition

Y (s)
G (s) 
U (s)
Chapter 4

where:

Y ( s ) L y (t ) 
U ( s ) L u (t ) 

Development of Transfer Functions

Example: Stirred Tank Heating System
Chapter 4

Figure 2.3 Stirred-tank heating process with constant

holdup, V.
 Recall the previous dynamic model, assuming constant liquid holdup and
flow rates:

dT
V C wC Ti  T   Q (2-36)
dt
Suppose the process is at steady state:
Chapter 4

0 wC Ti  T   Q (2)

Subtract (2) from (2-36):

dT
V C wC  Ti  Ti   T  T   Q  Q  (3)
dt
 But,

dT 
V C wC Ti T   Q (4)
dt

where the “deviation variables” are

Chapter 4

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.

 Rearrange (5) to solve for

 K   1 
T s    Qs     Tis  (6)
  s 1    s 1 
where
Chapter 4

1 V
K and  
wC w
 T (s)=G1(s)Q(s)  G2(s)Ti(s)


G1 and G2 are transfer functions and independent of the

inputs, Q′ and Ti′.
Note G1 (process) has gain K and time constant 
Chapter 4

G2 (disturbance) has gain=1 and time constant 

gain = G(s=0). Both are first order processes.

If there is no change in inlet temperature (Ti′= 0),

then Ti′(s) = 0.
System can be forced by a change in either Ti or Q
(see Example 4.3).
 Conclusions about TFs
1. Note that (6) shows that the effects of changes in both Q
and Ti are additive. This always occurs for linear,
dynamic models (like TFs) because the Principle of
Chapter 4

Superposition is valid.
2. The TF model enables us to determine the output response
to any change in an input.
3. Use deviation variables to eliminate initial conditions for
TF models.
 Example: Stirred Tank Heater
K 0.05  2.0
0.05 No change in Ti′
T Q
2s  1
Step change in Q(t): 1500 cal/sec to 2000 cal/sec
Chapter 4

500
Q 
s
0.05 500 25
T 
2s  1 s s (2 s  1)
What is T′(t)? From line 13, Table 3.1
 t / 25
T (t ) 25[1  e ]  T ( s ) 
s ( s  1)
 t/2

T (t ) 25[1  e ]
 Properties of Transfer Function Models

1. Steady-State Gain
The steady-state of a TF can be used to calculate the
steady-state change in an output due to a steady-state
Chapter 4

change in the input. For example, suppose we know two

steady states for an input, u, and an output, y. Then we
can calculate the steady-state gain, K, from:

y2  y1
K (4-38)
u2  u1

For a linear system, K is a constant. But for a nonlinear system, K

will depend on the operating condition u , y .
 Calculation of K from the TF Model:
If a TF model has a steady-state gain, then:

K  lim G s  (14)
s 0
Chapter 4

• This important result is a consequence of the Final Value

Theorem

• Note: Some TF models do not have a steady-state gain

(e.g., integrating process in Ch. 5)
 2. Order of a TF Model
Consider a general n-th order, linear ODE:
dny dy n 1 dy d mu
an  an 1   a1  a0 y bm m 
dt n
dt n 1 dt dt
d m 1u du
Chapter 4

bm 1 m 1
   b1  b0u (4-39)
dt dt

Take L, assuming the initial conditions are all zero. Rearranging gives the
TF:

Y s 
i
b s i

G s    i0
(4-40)
U s  n
 i
a s i

i 0
 Definition:
The order of the TF is defined to be the order of the denominator
polynomial.
Note: The order of the TF is equal to the order of the ODE.
Chapter 4

Physical Realizability:
du
a0 y b1  b0u and step change in u (4-41)
dt
For any physical system,n m in (4-38). Otherwise, the system response to
a step input will be an impulse. This can’t happen.
Example:
 2nd order process
General 2nd order ODE:

d2y dy
a 2 + b  y = Ku
dt dt

as 
Chapter 4

2
Laplace Transform:  bs + 1 Y ( s ) KU ( s )

Y (s) K
G (s)   2
U ( s ) as  bs  1
 b  b 2  4a
2 roots s1, 2 
2a
2
b
1 : real roots
4a
b2
1 : imaginary roots
4a
 Examples

1. 2 b 2 16
 1.333  1
3s 2  4s  1 4a 12

3s 2  4s  1 (3s  1)( s  1) 3( s  1 )( s  1)

3
t
transforms to e 3
, e  t (real roots )
Chapter 4

(no oscillation)

2. 2 b2 1
 1
s2  s 1 4a 4

3 3
s 2  s  1 ( s  0.5  j )( s  0.5  j)
2 2
 0.5t 3  0.5t 3
transforms to e cos t, e sin t
2 2
(oscillation)
 From Table 3.1, line 17

- bt L 
e sin t  
( s  b) 2   2
2 2
2
= 2
s  s 1  3
Chapter 4

2
(s+0.5)   
 2 
 Two IMPORTANT properties (L.T.)

A. Multiplicative Rule
Chapter 4

B. Additive Rule
 Example 1:
Place sensor for temperature downstream from heated
tank (transport lag)

Distance L for plug flow,

L
Chapter 4

Dead time 
V
V = fluid velocity

Tank:
T(s) K1
G1 = =
U(s) 1+ 1s
Ts (s) K 2 e - s
Sensor: G2 = = K 2 1,  2 is very small
T(s) 1 +  2s (neglect)
Overall transfer function:
Ts Ts T K1K 2 e  s
  G 2 G1 
U T U 1  1s
 Linearization of Nonlinear Models
• Required to derive transfer function.
• Good approximation near a given operating point.
• Gain, time constants may change with
• operating point.
• Use 1st order Taylor series.
Chapter 4

dy
 f ( y, u ) (4-60)
dt
f f (4-61)
f ( y, u )  f ( y, u )  ( y  y)  (u  u )
y y ,u
u y ,u

Subtract steady-state equation from dynamic equation

dy f f (4-62)
 y  u
dt y s u s
 Example 3:
q0: control,
qi: disturbance

dh
A qi  q0 qi q0 at s.s.
dt
Chapter 4

dh
Use L.T. A qi  q0
dt
AsH ( s ) qi( s )  q0( s ) (deviation variables)

suppose q0 is constant qi 0

 H(s) 1 pure integrator (ramp) for


AsH ( s ) qi ( s ),  step change in qi
q ( s ) As
i
 q0 is manipulated by a flow control valve,

q0 Cv h
nonlinear element
Chapter 4

Figure 2.5

Linear model

R: line and valve resistance

linear ODE : eq. (4-74)

 if q0 CV h
dh
A qi  Cv h
dt
Perform Taylor series of right hand side
Chapter 4

dh 1
A qi  h

dt R

0.5
R 2h / Cv
Chapter 4
Chapter 4
Chapter 4
 Dynamic Behavior

In analyzing process dynamic and process control systems, it is

important to know how the process responds to changes in the
process inputs.
Chapter 5

A number of standard types of input changes are widely used for

two reasons:

1. They are representative of the types of changes that occur

in plants.

2. They are easy to analyze mathematically.

 1. Step Input

A sudden change in a process variable can be approximated

by a step change of magnitude, M:
Chapter 5

The step change occurs at an arbitrary time denoted as t = 0.

• Special Case: If M = 1, we have a “unit step change”. We

give it the symbol, S(t).

• Example of a step change: A reactor feedstock is suddenly

switched from one supply to another, causing sudden
changes in feed concentration, flow, etc.
 Example:
The heat input to the stirred-tank heating system in Chapter 2 is
suddenly changed from 8000 to 10,000 kcal/hr by changing the
electrical signal to the heater. Thus,
Q t  8000  2000 S t , S t  unit step
and
Chapter 5

Qt  Q  Q 2000S t , Q 8000 kcal/hr

2. Ramp Input
• Industrial processes often experience “drifting
disturbances”, that is, relatively slow changes up or down
for some period of time.
• The rate of change is approximately constant.
Chapter 5 We can approximate a drifting disturbance by a ramp input:

Examples of ramp changes:

1. Ramp a setpoint to a new value. (Why not make a step

change?)
2. Feed composition, heat exchanger fouling, catalyst
activity, ambient temperature.
 3. Rectangular Pulse
It represents a brief, sudden change in a process variable:
Chapter 5

URP
tw Time, t
h

Examples:

1. Reactor feed is shut off for one hour.

2. The fuel gas supply to a furnace is briefly interrupted.
Chapter 5
 Other Inputs
4. Sinusoidal Input
Chapter 5

T = perioda osilasi, second/perioda

f = frequensi osilasi, perioda/second
ω = kecepatan sudut, rad/second
 Processes are also subject to periodic, or cyclic, disturbances.
They can be approximated by a sinusoidal disturbance:

0 for t  0
U sin t   (5-14)
 A sin t  for t 0
Chapter 5

where: A = amplitude, ω = angular frequency

A
U sin ( s )  2
s 2
Examples:

1. 24 hour variations in cooling water temperature.

2. 60-Hz electrical noise (in USA!)
 For a sine input (1st order process)

U (s)  2
s 2

output is...
Kp  0 1s 2
Chapter 5

Y(s)  2 2
  2  2
s  1 s   s  1 s   s  2
2

By partial fraction decomposition,

K p  2
0 
2  2  1
 K p 
1 
2  2  1
K p
2  2 2
  1
 Inverting,
this term dies out for large t

K p  t 
Kp
y( t )  2 2
e  sin(t  )
  1 2  2  1
Chapter 5

  arctan()

note:  is not a function of t but of  and .

For large t, y(t) is also sinusoidal,

output sine is attenuated by…
1
2 2
(fast vs. slow )
  1
 5. Impulse Input

• Here, U I t   t  and U I ( s ) 1
• It represents a short, transient disturbance.
• It is the limit of a rectangular pulse for tw→0 and h = 1/tw
Examples:
Chapter 5

1. Electrical noise spike in a thermo-couple reading.

2. Injection of a tracer dye.

Here,
Y s  G s  (1)
 Second order process example, Example 4.2

y T  T u=Q-Q Ti fixed
Chapter 5

mm e Ce d 2 y  m e Ce m e Ce m  dy 1
2
    y u
wh e A e dt  h eAe wC w  dt wC

note when Ce  0, obtain 1st order equation

(simpler model)
 Block Notation:

Composed of two first order subsystems (G1 and G2)

Chapter 5

K 2nd order ODE model

G(s) = 2 2
 s  2s  1 (overdamped)
K
   1 2 G(s) =
1 2s 2 + (1   2 )s + 1
1   2
=  1 overdamped
2 1 2
 1 underdamped
  21
roots:  1 critically damped

 Step Response of Second Order System

Under damped
Chapter 5

Critical damped

Over damped
Chapter 5
Chapter 5
Chapter 5
 Second Order Step Change
a. Overshoot
a    
exp  
b  1  2 
 

b. time of first maximum

Chapter 5


tp 
1  2

c. decay ratio (successive maxima – not min.)

c   2  a2
exp    2
a  1  2  b
 

d. period of oscillation
2
p 
1  2
Chapter 5
 Impulse Response of Second Order System

Under damped
Chapter 5

Critical damped

Over damped
 Sinusoidal Response of Second Order System
Chapter 5