DEPARTMENT OF CHEMICAL

ENGINEERING

PROCESS CONTROL 3B(PRCCHB3)

DYNAMIC BEHAVIOUR OF HIGHER ORDER PROCESSES

14 September 2023
Outcomes
• Define Poles and Zeros and understand their influence on process
dynamic response.
• Analyse Poles and Zeros using a complex s plane.
• Derive models of higher order systems
• Recognize the difference between interacting and non-interacting
systems
• Predict the response of some simpler higher order systems to step and
impulse inputs
• Approximate higher order system behaviour with a model consisting of
a first order term with added dead time.

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 Introduction
In Unit 5 we dealt with the dynamics of relatively simple processes, which can be
modelled as either 1st or 2nd order transfer functions.

In this Unit, we consider more complex transfer function models that include
additional time constants in the denominator and/or functions of s in the
numerator.

If a transfer function has a function of s in the numerator, the numerator will also
have a significant influence on process response.

To understand how the numerator and denominator of a transfer function

influence process dynamics, we first need to understand Poles and Zeros.

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POLES AND ZEROS AND THEIR EFFECT ON PROCESS RESPONSE

As seen in Unit 5, process response characteristics are determined by the

roots of the denominator , for simple 1st and 2nd order processes.

Consider a transfer function;

where 0 ≤ ζ < 1

Note that, the denominator is 2nd order with an additional 1st order and another s
term. It is therefore more complicated than the simple 1st or 2nd order
denominators dealt with so far.
We can however, have a general idea of the process response by analysing
the denominator as follows(next slide);

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 POLES AND ZEROS AND THEIR EFFECT ON PROCESS RESPONSE

Each term of the response is determined from the factors of the denominator polynomial,
which is also called the characteristic polynomial.

The roots of the factors in the characteristic polynomial, are known as Poles of the
Transfer Function in Process Control terms. In the case of the above transfer
function, the Poles/roots are;

These Poles can be better shown and analysed by plotting them on a complex s-
plane, with the y-axis being the Imaginary axis, and the x-axis the Real axis
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POLES AND ZEROS AND THEIR EFFECT ON PROCESS RESPONSE
Notes We have 4 poles:
1. An integrating element (pole at the origin),-due to s 1 = 0

2. one real pole (at ) – due to s 2

3. And a pair of complex conjugate poles – due to s3 and

s4.
4. The real pole is closer to the imaginary
axis than the complex pair, indicating a slower
response mode.
5. In general, the speed of response for a given mode
increases as the pole location moves farther away from
the imaginary axis.
6. A pole to the right of the imaginary axis
(called a right-half plane pole) indicates an unstable
7. Complex conjugate poles indicate that the
system because the response will continue to grow as t
response will contain sine and cosine terms; that is,
increases.
it will exhibit oscillatory modes.

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POLES AND ZEROS AND THEIR EFFECT ON PROCESS RESPONSE

We have discussed how Poles affect process response.

Zeros also influence process responses.

Zeros are simply defined as the roots of the numerator.

We only have Zeros when the numerator has ‘s’ term(s). Eg in the first order
transfer function below.

Transfer functions with numerator terms such as above are said to exhibit numerator
dynamics.

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Higher order processes
• What are higher order process?

In general, three or more first order processes in series, or a combination of any first
order and second order processes gives higher order processes. Systems with
higher than second order dynamics are not unusual in chemical processes. Four
classes of higher order systems which are most often encountered are:
(a) N first order processes in series
(b) Processes with dead time
(c) Processes with inverse response
(d) Multiple input, multiple output processes

We will look at some of the systems and some responses to input and impulse
changes.

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Dynamic systems with deadtime
Dead time or transport delay or time delay occurs results when fluid has to flow
through a pipe.

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Dynamic systems with deadtime
Virtually all physical processes will involve some time delay between the input and the
output. Whenever material or energy is physically moved in a process or plant, there is
a time delay associated with the movement.

Process with deadtime

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Dynamic systems with deadtime
For the first order process, we have the following transfer function:

While for the dead time, we have the following transfer function:

Therefore, the transfer function between the input f(t) and the delayed output y(t–td)
is given by:

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Dynamic systems with deadtime
Similarly, the transfer function for a second order system with delay is given by:

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Dynamic systems with inverse response
The inverse response typically results when two separate effects are occurring at
the same time, but with different directions and dynamics. The system will have two
transfer functions.

Drum boiler

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 Dynamic systems with inverse response
The inverse response typically results when two separate effects are occurring at the
same time, but with different directions and dynamics. The system will have two
transfer functions.

The cold feed water causes a temperature drop, which decreases the volume of the
entrained vapour bubbles. This leads to a decrease in the liquid level of the boiling
water, following first order behaviour, that is:

With constant heat supply, the steam production remains constant and
consequently the liquid level of the boiling water will start increasing in an integral
form, leading to a pure capacitive response, that is

The result of the two opposing effects is given by

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 Parallel Structures of Simple Systems

Inverse responses can occur for two first-order transfer functions in a parallel
arrangement.
The block diagram for this parallel arrangement can be represented as;

With the transfer function;

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After rearranging the numerator into standard gain/time constant form, we have

The condition for an inverse response to exist is , or

For K > 0, we can rearrange to have;

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RESPONSE OF HIGHER ORDER PROCESSES

Example
Consider the following higher order system: 𝑦⃛ + 8𝑦̈+ 17𝑦̇ + 10𝑦 = 𝑢( 𝑡) The system
is initially at steady state, i.e.: 𝑦(0) = 𝑦̇(0) = 𝑦̈(0) = 0
(a) Determine the transfer function of the system.
(b) (b) Determine the response to a unit-impulse change.

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RESPONSE OF HIGHER ORDER PROCESSES

Example
Consider the following higher order system: 𝑦⃛ + 8𝑦̈+ 17𝑦̇ + 10𝑦 = 𝑢( 𝑡) The system
is initially at steady state, i.e.: 𝑦(0) = 𝑦̇(0) = 𝑦̈(0) = 0
(b) Determine the response to a unit-impulse change, and

(c) Plot the response on a graph.

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RESPONSE OF HIGHER ORDER PROCESSES

Example
Continue….

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RESPONSE OF HIGHER ORDER PROCESSES

Example
Consider two different first order systems with the following transfer functions: 𝐺1 ( 𝑠)
= 𝐾1/ 𝜏1𝑠+1 and 𝐺2 (𝑠) = 𝐾2 /𝜏2𝑠+1 The two transfer functions are combined so as
to oppose each other and result in the combined transfer function below: 𝐺(𝑠) =
𝑌(𝑠) 𝑈(𝑠) = 𝐾1 /𝜏1𝑠+1 − 𝐾2 /𝜏2𝑠+1 This forms an inverse response. The steady-state
gain and time constants are given as: K1 = 10; K2 = 5; 1 = 4 mins; and = 1 min

(a) Determine the response for a unit step change on each transfer function and the
combined transfer function.

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RESPONSE OF HIGHER ORDER PROCESSES

Example
answer
(a) Determine the response for a unit step change on each transfer function and the
combined transfer function.

b) Comment on your plots.

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RESPONSE OF HIGHER ORDER PROCESSES

Example
answer

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RESPONSE OF HIGHER ORDER PROCESSES

Example
answer

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RESPONSE OF HIGHER ORDER PROCESSES

Example
answer

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RESPONSE OF HIGHER ORDER PROCESSES

Example
answer

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RESPONSE OF HIGHER ORDER PROCESSES

Example
answer

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 INTERACTING AND NONINTERACTING PROCESSES

Noninteracting process - changes in a downstream unit have no effect on

upstream units.
- Eg if reactor output stream serves as feed to a
distillation column, changes in the reactor will affect
the column but changes in the column will not affect
the reactor

Interacting process - downstream units affect upstream units, and vice versa.
- eg if there is a reycle stream from the distillation outlet to the
reactor inlet. In this case, changes in the column will also affect
the reactor and vice versa.

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 Noninteracting Tanks in Series
• Liquid level in the second tank does not
influence the level in the first tank.

If an exit flow rate is proportional to liquid

level(or head) in that tank, we can derive the
transfer function that relates changes in the exit
flow rate q2 of the lower tank to changes in the

inlet flow rate to the top tank q1 .

We can assume that, the two tanks have cross-
sectional areas, A1 and A2, and valve
resistances, R1 and R2, respectively.
For Tank 1;
𝑑 h1
𝐴1 =𝑞𝑖 − 𝑞1 (1)
𝑑𝑡
1
𝑞1 = h (2)
𝑅1 1
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Substituting (2) into (1) eliminates q1:

𝑑 h1 1
𝐴1 =𝑞𝑖 − h (3)
𝑑𝑡 𝑅1 1

Putting (3) and (2) into deviation variable form gives;

𝑑 h ′1 1
𝐴1 =𝑞 ′ 𝑖 − h′ (4)
𝑑𝑡 𝑅1 1

1
and 𝑞 ′ 1= h′
𝑅1 1 (5)

Transfer function H’1(s)/Q’1(s) is obtained by Laplace transforming (4) and

rearranging to obtain;
𝐻 ′1 (𝑠 ) 𝑅1 𝐾1
= = (6)
𝑄′𝑖 (𝑠) 𝐴 1 𝑅1 𝑠+ 1 𝜏 1 𝑠 +1

Where 𝐾 1=𝑅 1 and 𝜏 1= 𝐴1 𝑅1

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Similarly, the transfer function relating Q1(s) to H1(s) is obtained by Laplace
transforming (5).
′
𝑄1 ( 𝑠) 1 1
= = (7)
𝐻 (𝑠 )
′
1
𝑅1 𝐾 1

We can do the same procedure on Tank 2 to obtain;

′
𝐻 2 ( 𝑠) 𝑅2 𝐾2
= = (8)
𝑄′1 ( 𝑠) 𝐴2 𝑅2 𝑠 +1 𝜏 2 𝑠+ 1

′
where
𝑄 2( 𝑠) 1 1
= = (9)
′
𝐻 2 ( 𝑠) 𝑅2 𝐾 2
where 𝐾 2=𝑅 2 and 𝜏 2= 𝐴2 𝑅2
The overall transfer function relating the outflow from Tank 2 to the inflow to Tank
1 can be derived by forming the product of (6) through (9).
′ ′ ′ ′ ′
𝑄2 (𝑠) 𝑄 2 (𝑠 ) 𝐻 2 (𝑠) 𝑄1 (𝑠) 𝐻 1 (𝑠)
′
= ′
× ′
× ′
× ′
𝑄 (𝑠)
𝑖 𝐻 (𝑠)
2 𝑄 (𝑠 )
1 𝐻 (𝑠)
1 𝑄 𝑖 (𝑠)

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 ′
𝑄2 ( 𝑠) 1 𝐾2 1 𝐾1
Or = × × ×
′
𝑄 𝑖 ( 𝑠) 𝐾 2 𝜏 2 𝑠+1 𝐾 1 𝜏 1 𝑠+ 1

′
𝑄2 (𝑠) 1
Simplifying =
′
𝑄 𝑖 (𝑠) (𝜏 ¿ ¿ 2 𝑠+ 1)(𝜏1 𝑠 +1)¿

Notes
• Each tank level has first-order dynamics with respect to its inlet flow rate.

• Tank 2 level h2 is related to qi by a second-order transfer function that can be

obtained by simple multiplication.
′ ′ ′ ′
𝐻 2 (𝑠) 𝐻 2 (𝑠 ) 𝑄1 (𝑠) 𝐻 1 (𝑠)
′
= ′
× ′
× ′
𝑄 (𝑠) 𝑖 𝑄 (𝑠)
1 𝐻 (𝑠)
1 𝑄𝑖 (𝑠 )
𝐾2
¿
(𝜏 ¿ ¿ 2 𝑠+1)(𝜏1 𝑠 +1)¿

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32
Interacting Tanks in Series

• h1 depends on h2 (and vice

versa) as a result of the
interconnecting stream with
flow rate q1
The equation for flow from Tank 1 to Tank 2 can be written as;

For the Tank 1 level transfer function;

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We notice that the Transfer Function is of the form;

You can analyze the denominator to show that ζ > 1.

So the transfer function is overdamped and second-order, and has a
negative zero at where

The transfer function relating h1 and h2

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We notice that the Transfer Function is of the form;

Consequently, the overall transfer function between H’2(s) and Q’i(s) is;

Notes

• The denominator polynomial can no longer be factored into two first-order

terms, each associated with a single tank.
• The numerator of the first tank transfer function contains a zero that
modifies the dynamic behaviour as discussed earlier.

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MULTIPLE-INPUT, MULTIPLEOUTPUT(MIMO)
PROCESSES
Most industrial process control applications involve a number of input (manipulated) variables
and output (controlled) variables.

These applications are referred to as multiple-input/multiple-output (MIMO) systems

to distinguish them from the single-input/single-output (SISO) systems that have been
emphasized so far.

Modelling MIMO processes is no different conceptually than modeling SISO

processes.

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Consider the thermal mixing process shown below;

The level h in the stirred tank and the

temperature T are to be controlled by adjusting
the flow rates of the hot and cold streams, wh
and wc, respectively.

The temperatures of the inlet streams Th and Tc are considered to be disturbance

variables.

The outlet flow rate w is maintained constant by the pump, and the liquid properties
are assumed to be constant (not affected by temperature).

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Noting that the liquid volume can vary with time, the energy and mass balances for this
process are;

(1)

(2)

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Expanding the derivative in the Energy balance and noting that Tref is a constant
gives;

(3)

Equation (3) can be substituted for the left side of Eq. (1) to give;

(4)

With V=Ah, Eq (2) also becomes;

(5)

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After linearizing Eqs. (4) and (5), putting them in deviation form, and taking Laplace
transforms, we obtain a set of eight transfer functions that describe the effect of each
input variable (w’h,w’c,T’h,T’c) on each output variable (T′ and h′):

where is the average residence time in the

tank and an overbar denotes a nominal steady-state
value.

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 Notes
From the 8 transfer functions, we can see that:
• All four inputs affect the tank temperature through first-order transfer functions
and a single time constant τ.
• The inlet flow rates affect level through integrating transfer functions that
result from the pump on the exit line.
• Inlet temperature changes have no effect on liquid level.

The 8 Transfer functions can be written in a more compact form known as the
Transfer Function Matrix

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Equivalently, two transfer function matrices can be used to separate the manipulated
variables, wh and wc, from the disturbance variables, Th and Tc

A block diagram can be used to represent this MIMO process as shown in

the next slide.

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43
The end

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