LAPLACE DOMAIN

1. Comparison Time and Laplace domain

1.1 Time-Domain Representation using Integrator Block

1.2 Laplace-Domain Representation using Transfer Function Block

Laplace of the differential equation:

{x(t )} {3x (t ) u (t )

sX ( s ) 3 X ( s ) U ( s )
X ( s)( s 3) U ( s)
X (s) 1

U ( s) s 3
1.3 Compare those types of models
2. Comparison of Second order of time and Laplace domain

Consider a mass-spring damper with the following dynamic equation:

Mx bx kx F

where

x, Output variable (displacement)

M,, Mass

c, Damping coefficient

k, Spring stiffness

F, Control force

It can be represented in Laplace domain (as a transfer function) as follows:

The transfer function between the displacement and the input then becomes

Simulate the time and Laplace domain, if

M = 1 kg

b = 1 N s/m

k = 5 N/m
 F=1N

x x 1 x 5 x
Time domain of can also be written as: ,

X ( s) 1
2
F ( s) s s 5
Laplace domain is:

where the input is F value in Step (step time = 1 , Init. = 0, Final = 1, sample time = 0)

0 t 10
 2. Simulate type of response
The input is in Step (step time = 1, Init. = 0, Final = 4, sample time = 0), simulation time:
0 t 10

Exercise 1: Second order model.

where the input is in Step (step time = 1 , Init. = 0, Final = 4, sample time = 0) simulation time:
0 t 10

4. Non interacting Level Process considering 3 tanks

H 3 (s) K 3 K 2 K1

F i ( s ) ( 1s 1)( 2 s 1)( 3 s 1)

4.1 Simulate model the transfer function of

where the input is in Step (step time = 1 , Init. = 0, Final = 4, sample time = 0)

0 t 10
4.2 Model the transfer function Gp(s) can be expressed as zero-poles model

6 1/ 8
G p ( s)
2( s 1/ 2)4( s 1/ 4)6( s 1/ 6) ( s 1/ 2)( s 1/ 4)( s 1/ 6)

The model is simulated with the same step input.

5. Model for 4 tanks: Exercise 2

Mass balances and Bernoullis law yield

 H ( s) K1 K2 K3 K 4
G (s)
V ( s) ( 1s 1) ( 1s 1)( 2 s 1) ( 3 s 1)( 4 s 1) ( 4 s 1)
The Laplace model is

K1 2.6, 1 62
K 2 1.5, 2 23
K3 1.4, 3 30
K 4 2.8, 4 90
where

Simulate the transfer function G(s) for 100s with the step input (step time = 1 , Init. = 0, Final =
0 t 10
100, sample time = 0). The simulation time:

6. Interacting Process Model: Distillation Column

The most common control for column distillation is called the LV

configuration, where the reflux flow rate L is used to control the composition
of the top product, and the boilup temperature V is used to control the
composition of the bottom product. In this case, the distillate flow rate D and
bottom product flow rate B are used to control the levels of the condenser
and reboiler respectively. The variables L and V are the ones most likely to be
used by a manual operator to control the product compositions.

An approximate transfer function model of the system for the LV control

configuration is

0.66e2.6 s 0.0049e s
y1 ( s) u1 ( s) u2 ( s )
6.7 s 1 9.06 s 1
34.7e 9.2 s 0.87(11.6 s 1)e s
y2 ( s ) u1 ( s ) u2 ( s )
8.15s 1 (3.89s 1)(18.8s 1)

Where y1(s) is the mole fraction of ethanol in the overhead vapour, y2(s) is the
temperature (in degrees celcius) of the bottom plate, u1(s) is the reflux flowrate (in
L/min), and u2(s) is the reboiler steam pressure (in kg/min). Design the process
model y1 and y2 using SIMULINK for 10s with step input.
7. Exercise 3: Rolling Mill Shape Control
Typically, the stand consists of a small diameter work roll and a larger backup roll on
each side of the steel strip. Significant amounts of energy are required to achieve
the desired thickness reduction. Much of this energy appears as heat on the work
roll, which is removed with cooling sprays.

The cooling sprays are located across the roll, and the flow through each spray is
controlled by a valve. The cool water sprayed on the roll reduces the thermal
expansion. The interesting thing is that each spray affects a large section of the roll,
not just the section directly beneath it. This leads to an interactive MIMO system.

The transfer function model can be approximated with following equation:

2 1
y1 ( s) u1 ( s ) u2 ( s )
s 3s 1
2
s 1
0.5 6
y2 ( s ) 2 u1 ( s ) 2 u2 ( s )
s 2s 1 s 5s 6

Where U [u1, u2] is vector of spray valve positions and Y [y1, y2] is the roll
thickness vector.

Design the process model y1 and y2 using SIMULINK for 10s with step input [U1,
U2].