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    CHE3007s - Process Control - Lecture 6 - Linearization

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    CHE3007s - Process Control - Lecture 6 - Linearization

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    CHE3007s - Process Control - Lecture 6 - Linearization (1)

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    7 views9 pages

    CHE3007s - Process Control - Lecture 6 - Linearization

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    CHE3007S Block3

    Lecture 6
    Linearization of Non-linear Systems
    Overview
    • What is a non-linear system?
    • How can we linearize a non-linear system?
    Additional Reading / Learning
    Sections of textbook by Seborg et al. to study:
    • Chapter 3 – 3rd Edition
    • Chapter 4 – 4th Edition

    Glossary:
    • Linearization, Taylor Series, Non-linear systems
    What is a non-linear system?
    A differential equation is considered linear if:

    𝑑𝑛 𝑦 𝑑2𝑦 𝑑𝑦
    𝑎𝑛 𝑡 + ⋯ + 𝑎2 𝑡 + 𝑎1 𝑡 + 𝑎0 (𝑡)𝑦 = 𝑓(𝑥)
    𝑑𝑡 𝑛 𝑑𝑥 2 𝑑𝑡

    • 𝑎𝑛 𝑡 is a pure function of t
    • not dependent on y

    𝑑𝑛 𝑦
    • is only of power 1
    𝑑𝑡 𝑛
    • Remember 𝑦 is the 0th derivative of 𝑦
    What is a non-linear system?
    Is it linear?
    𝑑2 𝑦 𝑑𝑦
    • +5 + 4𝑦 = 0
    𝑑𝑡 2 𝑑𝑡

    𝑑2 𝑦 𝑑𝑦
    • + 5 𝑑𝑡 + 4𝑦 2 = 0 (𝑦 2 is not of power 1)
    𝑑𝑡 2

    𝑑2 𝑦 𝑑𝑦
    • sin(𝑡) 𝑑𝑡 2 + 𝑒 −5𝑡 𝑑𝑡 + 𝑦 = 0

    𝑑2 𝑦 𝑑𝑦
    • sin(𝑡) 𝑑𝑡 2 + 𝑒 −5𝑦𝑡 𝑑𝑡 + 𝑦 = 0 (𝑒 −5𝑦𝑡 is not a pure function of t)

    𝑑2 𝑦 𝑑𝑦 𝑑2 𝑦
    • + 5 𝑑𝑡 + 4𝑦 = 0 ( is not of power 1)
    𝑑𝑡 2 𝑑𝑡 2
    What is a non-linear system?
    This also extends to multiple variables. Is it linear?
    𝑑2 𝑦 𝑑𝑥
    • +5 + 4𝑦 = 0
    𝑑𝑡 2 𝑑𝑡

    𝑑2 𝑦 𝑑𝑥
    • + 5 𝑑𝑡 + 4𝑥𝑦 = 0 (𝑥𝑦 is not linear)
    𝑑𝑡 2

    𝑑2 𝑦 𝑑𝑥
    • sin(𝑡) 𝑑𝑡 2 + 𝑒 −5𝑡 𝑑𝑡 + 𝑥 = 0

    𝑑2 𝑦 𝑑𝑦
    • sin(𝑡) 𝑑𝑡 2 + 𝑒 −5𝑥𝑡 𝑑𝑡 + 𝑦 = 0 (𝑒 −5𝑥𝑡 is not a pure function of t)

    𝑑𝑥 𝑑𝑦 𝑑𝑥
    • + 5 𝑑𝑡 + 4𝑦 = 0 ( is not of power 1)
    𝑑𝑡 𝑑𝑡
    How can we linearize?
    • Linearization of non-linear process models provides a linear approximation of the
    process model at points closest to the point of linearization (steady state
    conditions).

    • Taylor series expansion of the first order is used for this purpose:
    𝑑𝑦 𝜕𝑓 𝜕𝑓
    = 𝑓 𝑥, 𝑦 ≈ 𝑓 𝑥1 , 𝑦1 + ቤ 𝑥 − 𝑥1 + ቤ 𝑦 − 𝑦1 Near 𝑥1 , 𝑦1
    𝑑𝑡 𝜕𝑥 𝑥 𝜕𝑦 𝑥
    1 ,𝑦1 1 ,𝑦1

    In terms of deviation variables from steady state


    𝑑𝑦 ′ 𝜕𝑓 𝜕𝑓
    = 𝑓 𝑥′, 𝑦′ ≈ ′ ቤ 𝑥′ + ቤ 𝑦′
    𝑑𝑡 𝜕𝑥 𝑥ҧ ,𝑦ത 𝜕𝑦′ 𝑥ҧ ,𝑦ത
    Buffer tank with valve
    Total Mass balance: w in

    𝑑ℎ 𝑤𝑖𝑛 − 𝑤𝑜𝑢𝑡
    =
    𝑑𝑡 𝜌𝐴

    𝑑ℎ 𝑞𝑖𝑛 𝐶𝑣 ℎ
    = − wout
    𝑑𝑡 𝐴 𝐴
    V
    In terms of deviation variables:
    Assumptions:
    • Constant Density
    𝑑ℎ′ 𝑞′𝑖𝑛 𝐶𝑣 ℎ′
    = − • The valve regulates the flow such
    𝑑𝑡 𝐴 𝐴
    that the outlet volumetric flowrate
    is:
    ℎ′ = ℎ − ℎത 𝑞′𝑖𝑛 = 𝑞𝑖𝑛 − 𝑞ത𝑖𝑛 𝑞𝑜𝑢𝑡 = 𝐶𝑣 ℎ
    Buffer tank with valve
    𝑑ℎ′ 𝑞′𝑖𝑛 𝐶𝑣 ℎ′ w in
    = − = 𝑓(𝑞 ′ 𝑖𝑛 , ℎ′ )
    𝑑𝑡 𝐴 𝐴

    With partial derivatives:

    𝜕𝑓 1 𝜕𝑓 𝐶𝑣
    อ = ቤ = wout
    𝜕𝑞 ′ 𝑖𝑛 𝐴 𝜕ℎ′ 𝑞 2𝐴 ℎത
    𝑞𝑖𝑛 ,ℎത 𝑖𝑛 ,ℎത
    V
    The linearized approximation is then: Assumptions:
    ′
    • Constant Density
    𝑑ℎ′ 𝑞 𝑖𝑛 𝐶𝑣 ℎ′
    ≈ − = 𝛼𝑞′ 𝑖𝑛 + 𝛽ℎ′ • The valve regulates the flow such
    𝑑𝑡 𝐴 2𝐴 ℎത that the outlet volumetric flowrate
    is:
    1 𝐶𝑣 𝑞𝑜𝑢𝑡 = 𝐶𝑣 ℎ
    𝛼= 𝛽=
    𝐴 2𝐴 ℎത

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