6626-6-14E AID: 1825 | 21/02/2014

Derive an approximate first order plus time delay transfer function model.

The given transfer function is shown below:

0.8 5e s
G s
0.4s 1 2s 2 3s 1
2

(1)

Multiply both functions in Equation (1) and form a single transfer function.

4e s
G s
0.4s 1
2
2s 2
3s 1

4e s
G s
0.4s 1 2s 1 s 1
2

(2)

The response of first-order system with time delay is given below.

%s
Ke
Gp s
s 1
(3)
Where,
K%
Gain is denoted as .
Gp s
Approximate transfer function model is denoted as .

Compare Equations (2) and (3) to have the same steady-state gain.
% s
Ke 4e s

s 1 0.4 s 1 2 2 s 1 s 1

K% 4
The numerators of both equations are the same and it helps to get a gain value .

Using two methods to calculate the neglected time constant:

(a) The Taylor series expansions of reference Equations (6-57) and (6-58).
(b) Skogestads half rule

Skogestads half-rule method is used to calculate the largest time constant.

To use Skogestads method, the largest neglected time constant in reference Equations (6-
59) has a value of three.

According to his half rule, half of this value is added to the next largest time constant to
generate a new time constant.
1
% 2 1
2
2 0.5
2.5

2.5
Hence, the largest time constant in G(s) is .

0.4
Approximating the smallest time constant of in Equation (2),
1
e 0.4 s
0.4 s 1

Thus, the total time delay in reference Equation (6-60),

1
% 2 2 0.4
2
1.8

0 %
Substitute for in the above equation
1

0 2 2 0.4
2
1.8

1.8
Hence, the small time constant is .

Find the first order plus time delay transfer function using Equation (3).

4 K% 1.8 2.5
Substitute for , for , and for in Equation (3).
4e1.8 s
Gp s
2.5s 1

Hence, the approximate first order plus time delay transfer function is calculated.