4-1

1234567898




4.1


a) iii
b) iii
c) v
d) v


4.2


a) 5

b) 10
c)
) 1 10 (
10
) (
+

s s
s Y
From the Final Value Theorem, y(t) = 10 when t

d) y(t) = 10(1e
t/10
) , then y(10) = 6.32 = 63.2% of the final value.

e)
s
e
s
s Y
s
) 1 (
) 1 10 (
5
) (

+

From the Final Value Theorem, y(t) = 0 when t

f) 1
) 1 10 (
5
) (
+

s
s Y
From the Final Value Theorem, y(t)= 0 when t

g)
) 9 (
6
) 1 10 (
5
) (
2
+ +

s s
s Y then

y(t) = 0.33e
-0.1t
0.33cos(3t) + 0.011sin(3t)

The sinusoidal input produces a sinusoidal output and y(t) does not have a
limit when t.

Solution Manual for Process Dynamics and Control, 2
nd
edition,
Copyright 2004 by Dale E. Seborg, Thomas F. Edgar and Duncan A. Mellichamp.
4-2
By using Simulink-MATLAB, above solutions can be verified:


0 5 10 15 20 25 30 35 40 45 50
0
1
2
3
4
5
6
7
8
9
10
time
y
(t)

0 5 10 15 20 25 30 35 40 45 50
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
0.5
time
y
(t)

Fig S4.2a. Output for part c) and d) Fig S4.2b. Output for part e)


0 5 10 15 20 25 30 35 40 45 50
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
time
y
(t)

0 2 4 6 8 10 12 14 16 18 20
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
time
y
(t)


Fig S4.2c. Output for part f) Fig S4.2d. Output for part g)




4.3


a) The dynamic model of the system is given by

) (
1
w w
dt
dV
i

(2-45)
C V
Q
T T
V
w
dt
dT
i
i

) ( (2-46)

Let the right-hand side of Eq. 2-46 be f(w
i
,V,T),

( ) T
T
f
V
V
f
w
w
f
T V w f
dt
dT
s s
i
s
i
i

,
_

,
_

,
_

, , (1)
4-3
) (
1
T T
V w
f
i
s
i

,
_

0
1
) (
2 2

,
_

,
_

s
i
i
s
dt
dT
V C V
Q
T T
V
w
V
f

,
_

V
w
T
f
i
s

dt
dT
i i
w T T
V

) (
1
T
V
w
i

,
dt
T d
dt
dT


Taking Laplace transform and rearranging


1
/ ) (
) (
) (
+

,
_

s
w
V
w T T
s W
s T
i
i i
i
(2)

Laplace transform of Eq. 2-45 gives
s
s W
s V
i

) (
) ( (3)

If
s
V
f

,
_

were not zero, then using (3)

1
1 ) (
) (
) (
+

,
_

1
]
1

,
_

s
w
V
s V
f
w
V
w
T T
s W
s T
i
s i i
i
i
(4)

Appelpolscher guessed the incorrect form (4) instead of the correct form
(2) because he forgot that
s
V
f

,
_

would vanish.

b) From Eq. 3,


s s W
s V
i

1
) (
) (




4-4
4.4


1
K
Y( s ) G( s )X( s )
s( s )

+



G(s) Interpretation U(s) Interpretation
of G(s) of u(t)


) 1 ( + s s
K
2
nd
order process
*
1 (0) [ Delta function]


1 + s
K
1
st
order process
s
1
S(0) [Unit step function]



s
K
Integrator
1 + s
K

/
1
t
e [Exponential input]


K Simple gain
) 1 (
1
+ s s

/
1
t
e
(i.e no dynamics) [Step + exponential input]


*
2
nd
order or combination of integrator and 1
st
order process




4.5

a) 2
dt
d
1
y

= -2y
1
3y
2
+ 2u
1
(1)

dt
d
2
y
= 4y
1
6y
2
+ 2u
1
+ 4u
2
(2)

Taking Laplace transform of the above equations and rearranging,

(2s+2)Y
1
(s) + 3Y
2
(s) = 2U
1
(s) (3)

-4 Y
1
(s) + (s+6)Y
2
(s)=2U
1
(s) + 4U
2
(s) (4)

Solving Eqs. 3 and 4 simultaneously for Y
1
(s) and Y
2
(s),
4-5
Y
1
(s) =
) 4 )( 3 ( 2
) ( U 12 ) ( U ) 3 ( 2
24 14 2
) ( U 12 ) ( U ) 6 2 (
2 1
2
2 1
+ +
+

+ +
+
s s
s s s
s s
s s s


Y
2
(s) =
) 4 )( 3 ( 2
) ( U ) 1 ( 8 ) ( U ) 3 ( 4
24 14 2
) ( U ) 8 8 ( ) ( U ) 12 4 (
2 1
2
2 1
+ +
+ + +

+ +
+ +
s s
s s s s
s s
s s s s


Therefore,


4
1
) ( U
) ( Y
1
1
+

s s
s
,
) 4 )( 3 (
6
) ( U
) ( Y
2
1
+ +

s s s
s



4
2
) ( U
) ( Y
1
2
+

s s
s
,
) 4 )( 3 (
) 1 ( 4
) ( U
) ( Y
2
2
+ +
+

s s
s
s
s




4.6


The physical model of the CSTR is (Section 2.4.6)


A A Ai
A
Vkc c c q
dt
dc
V ) ( (2-66)

) ( ) ( ) ( T T UA Vkc H T T wC
dt
dT
C V
c A i
+ + (2-68)

where: k = k
o
e
-E/RT
(2-63)

These equations can be written as,

) , (
1
T c f
dt
dc
A
A
(1)

) , , (
2 c A
T T c f
dt
dT
(2)

Because both equations are nonlinear, linearization is required. After
linearization and introduction of deviation variables, we could get an
expression for ) (s c
A
/ ) (s T .

4-6
But it is not possible to get an expression for ) (s T / ) (s T
c
from (2) due to
the presence of c
A
in (2). Thus the proposed approach is not feasible
because the CSTR is an interacting system.

Better approach:

After linearization etc., solve for ) (s T from (1) and substitute into the
linearized version of (2). Then rearrange to obtain the desired,
A
C ( s ) /
) (s T
c
(See Section 4.3)


4.7


a) The assumption that H is constant is redundant. For equimolal overflow,

L L L
1 0
, V V V
2 1


0
1 1 2 0
+ V L V L
dt
dH
, i.e., H is constant.

The simplified stage concentration model becomes

) ( ) (
1 2 1 0
1
y y V x x L
dt
dx
H + (1)
y
1
= a
0
+ a
1
x
1
+ a
2
x
1
2
+a
3
x
1
3
(2)


b) Let the right-hand side of Eq. 1 be f(L, x
0
, x
1
, V, y
1
, y
2
)


) , , , , , (
2 1 1 0
1
y y V x x L f
dt
dx
H
1
1
0
0
x
x
f
x
x
f
L
L
f
s s
s

,
_

,
_

,
_

2
2
1
1
y
y
f
y
y
f
V
V
f
s s
s

,
_

,
_

,
_

+

Substituting for the partial derivatives and noting that
dt
x d
dt
dx
1 1

dt
x d
H
1
1 2 1 2 1 0 1 0
) ( ) ( y V y V V y y x L x L L x x + + + (3)

4-7
Similarly,


1
2
1 3 1 2 1 1
1
1 1
) 3 2 ( ) ( x x a x a a x
x
g
x g y
s
+ +

,
_

(4)

c) For constant liquid and vapor flow rates, 0 V L

Taking Laplace transform of Eqs. 3 and 4,

) ( ) ( ) ( ) ( ) (
1 2 1 0 1
s Y V s Y V s X L s X L s X Hs + (5)

) ( ) 3 2 ( ) (
1
2
1 3 1 2 1 1
s X x a x a a s Y + + (6)


From Eqs. 5 and 6, the desired transfer functions are


1 ) (
) (
0
1
+

s
H
L
s X
s X
,
1 ) (
) (
2
1
+

s
H
V
s Y
s X


1
) 3 2 (
) (
) (
2
1 3 1 2 1
0
1
+
+ +

s
H
L
x a x a a
s X
s Y


1
) 3 2 (
) (
) (
2
1 3 1 2 1
2
1
+
+ +

s
H
V
x a x a a
s Y
s Y


where

) 3 2 (
2
1 3 1 2 1
x a x a a V L
H
+ + +




4.8


From material balance,


5 . 1
) (
Rh w
dt
Ah d
i

5 . 1
1
h
A
R
w
A dt
dh
i

4-8
We need to use a Taylor series expansion to linearize

) (
5 . 1
) (
1 1
5 . 0
5 . 1
h h
A
h R
w w
A
h
A
R
w
A dt
dh
i i i

+
1
]
1

Since the bracketed term is identically zero at steady state,

h
A
h R
w
A dt
h d
i

5 . 0
5 . 1 1


Rearranging


i
w
h R
h
dt
h d
h R
A
+

5 . 0 5 . 0
5 . 1
1
5 . 1



Hence
1 ) (
) (
+

s
K
s W
s H
i


where

w
h
h R
h
h R
K
5 . 1 5 . 1 5 . 1
1
5 . 1 5 . 0
[ ]
[ ] flowrate
height

w
V
h R
h A
h R
A
5 . 1 5 . 1 5 . 1
5 . 1 5 . 0
[ ]
[ ]
[ ] time
time mass
mass

/




4.9


a) The model for the system is given by

) ( ) ( T T A h T T wC
dt
dT
mC
w p p i
+ (2-51)

) ( ) ( T T A h T T A h
dt
dT
C m
w p p w s s s
w
w w
(2-52)


Assume that m, m
w
, C, C
w
, h
p
, h
s
, A
p
, A
s
, and w are constant. Rewriting the
above equations in terms of deviation variables, and noting that

4-9
dt
T d
dt
dT

dt
T d
dt
dT
w w



) ( ) ( T T A h T T wC
dt
T d
mC
w p p i
+

) ( ) 0 ( T T A h T A h
dt
T d
C m
w p p w s s
w
w w

Taking Laplace transforms and rearranging,

) ( ) ( ) ( ) ( s T A h s T wC s T A h wC mCs
w p p i p p
+ + + (1)

) ( ) ( ) ( s T A h s T A h A h s C m
p p w p p s s w w
+ + (2)

Substituting in Eq. 1 for ) (s T
w
from Eq. 2,


p p i p p
A h s T wC s T A h wC mCs + + + ) ( ) ( ) ( ) (
) (
s T
A h A h s C m
A h
p p s s w w
p p

+ +


Therefore,

) (
) (
s T
s T
i
2
) ( ) )( (
) (
p p p p s s w w p p
p p s s w w
A h A h A h s C m A h wC mCs
A h A h s C m wC
+ + + +
+ +



b) The gain is
1
]
1

0
) (
) (
s
i
s T
s T
p p s s p p s s
p p s s
A h A h A h A h wC
A h A h wC
+ +
+
) (
) (


c) No, the gain would be expected to be 1 only if the tank were insulated so
that h
p
A
p
= 0. For heated tank the gain is not 1 because heat input changes
as T changes.



4.10


Additional assumptions

1) perfect mixing in the tank
2) constant density, , and specific heat, C.
3) T
i
is constant.
4-10

Energy balance for the tank,

) ( ) ( ) (
a i
T T A bv U Q T T wC
dt
dT
VC + +

Let the right-hand side be f(T,v),

) , ( v T f
dt
dT
VC v
v
f
T
T
f
s s

,
_

,
_

(1)

wC
T
f
s

,
_

A v b U ) ( +


,
_

s
v
f
) (
a
T T bA

Substituting for the partial derivatives in Eq. 1 and noting that
dt
dT
=
dt
T d

dt
T d
VC [ ] v T T bA T A v b U wC
a
+ + ) ( ) (

Taking the Laplace transform and rearranging

[ ] ) ( ) ( s T A v b U wC VCs + + + = v T T bA
a
) ( (s)


1
) (
) (
) (
) (
) (
+
1
]
1

+ +

1
]
1

+ +

s
A v b U wC
VC
A v b U wC
T T bA
s v
s T
a



4.11


a) Mass balances on surge tanks

2 1
1
w w
dt
dm
(1)

3 2
2
w w
dt
dm
(2)
4-11
Ideal gas law
RT
M
m
V P
1
1 1
(3)
RT
M
m
V P
2
2 2
(4)

Flows (Ohm's law is
Resistance
Force Driving

R
E
I )
) (
1
1
1
1
P P
R
w
c
(5)
) (
1
2 1
2
2
P P
R
w (6)
) (
1
2
3
3 h
P P
R
w (7)

Degrees of freedom:

number of parameters : 8 (V
1
, V
2
, M, R, T, R
1
, R
2
, R
3
)

number of variables : 9 (m
1
, m
2
, w
1
, w
2
, w
3
, P
1
, P
2
, P
c
, P
h
)

number of equations : 7

number of degrees of freedom that must be eliminated = 9 7 = 2

Since P
c
and P
h
are known functions of time (i.e., inputs), N
F
= 0.


b) Development of model

Substitute (3) into (1) :
2 1
1 1
w w
dt
dP
RT
MV
(8)

Substitute (4) into (2) :
3 2
2 2
w w
dt
dP
RT
MV
(9)

Substitute (5) and (6) into (8) :

) (
1
) (
1
2 1
2
1
1
1 1
P P
R
P P
R dt
dP
RT
MV
c


2
2
1
2 1 1
1 1
1
)
1 1
( ) (
1
P
R
P
R R
t P
R dt
dP
RT
MV
c
+ + (10)
4-12
Substitute (6) and (7) into (9):

) (
1
) (
1
2
3
2 1
2
2 2
h
P P
R
P P
R dt
dP
RT
MV


) (
1
)
1 1
(
1
3
2
3 2
1
2
2 2
t P
R
P
R R
P
R dt
dP
RT
MV
h
+ + (11)

Note that ) , (
2 1 1
1
P P f
dt
dP
from Eq. 10

) , (
2 1 2
2
P P f
dt
dP
from Eq. 11

This is exactly the same situation depicted in Figure 6.13, therefore the
two tanks interact. This system has the following characteristics:

i) Interacting (Eqs. 10 and 11 interact with each other )
ii) 2
nd
-order denominator (2 differential equations)
iii) Zero-order numerator (See example 4.4 in text)
iv) No integrating elements
v) Gain of
) (
) (
3
s P
s W
c

is not equal to unity. (Cannot be because

the units on the two variables are different).




4.12



a)
2 / 1
h C q
dt
dh
A
v i


Let f =
2 / 1
h C q
v i


Then f ) (
2
1
2 / 1 2 / 1
h h h C q q h C q
v i i v i
+



so h
h
C
q
dt
h d
A
v
i

2 / 1
2
because 0
2 / 1
h C q
v i


4-13
) ( ) (
2
2 / 1
s Q s H
h
C
sA
i
v

1
]
1

+

2 / 1
2
1
) (
) ( '
h
C
sA
s Q
s H
v
i
+

Note: Not a standard form

1
2
/ 2
) (
) ( '
2 / 1
2 / 1
+

s
C
h A
C h
s Q
s H
v
v
i


where
v
C
h
K
2 / 1
2
and
v
C
h A
2 / 1
2


b) Because
2 / 1
h C q
v

h
K
h
h
C
h h C q
v
v


1
2 2
1
2 / 1
2 / 1



K s H
s Q 1
) (
) (

,
1
1
) (
) (
) (
) (
+

s
K
K s Q
s H
s H
s Q
i


and
1
1
) (
) (
+

s s Q
s Q
i


c) For a linear outlflow relation

h C q
dt
dh
A
v i
*
Note that
v v
C C
*


h C q
dt
h d
A
v i

*


i v
q h C
dt
h d
A +

*
or
i
v v
q
C
h
dt
h d
C
A
+

* *
1


Multiplying numerator and denominator by h on each side yields

i
v v
q
h C
h
h
dt
h d
h C
h A
+

* *


4-14
or
i
i i
q
q
h
h
dt
h d
q
V
+

i q
V

i
q
h
K

q.e.d

To put and K in comparable terms for the square root outflow form of
the transfer function, multiply numerator and denominator of each by
2 / 1
h .

*
2 / 1 2 / 1
2 / 1 2 / 1
2
2 2 2
K
q
h
h C
h
h
h
C
h
K
i v v


*
2 / 1 2 / 1
2 / 1 2 / 1
2
2 2 2

i v v
q
V
h C
h A
h
h
C
h A


Thus level in the square root outflow TF is twice as sensitive to changes in
q
i
and reacts only as fast (two times more slowly) since = 2

.




4.13


a) The nonlinear dynamic model for the tank is:


( )
1
( )
i v
dh
q C h
dt D h h


(1)

(corrected nonlinear ODE; model in first printing of book is incorrect)

To linearize Eq. 1 about the operating point ( , )
i i
h h q q , let


( )
i v
q C h
f
D h h

Then,
( , )
i
f h q
i
s i
s
f f
h q
h q
_ _
+


,
,

where

4-15

1
( )
i
s
f
q D h h
_

,


( )
( )
2
1 1 2
2 ( )
( )
v
i v
s
C f D h
q C h
h D h h
h D h h
1
+ _
1
+

1
,

]


Notice that the second term of last partial derivative is zero from the
steady-state relation, and the term ( ) D h h is finite for all 0 h D < < .
Consequently, the linearized model of the process, after substitution of
deviation variables is,


1 1 1
2 ( ) ( )
v
i
C dh
h q
dt D h h D h h
h
1 1
+
1 1

] ]


Since
i v
q C h


1 1 1
2 ( ) ( )
i
i
q dh
h q
dt h D h h D h h
1 1
+
1 1

] ]


or
i
dh
ah bq
dt

+

where

1 1
2 ( )
i i
o
q q
a
h D h h V
1

1

]
,
1
=
( )
b
D h h
1
1

]


= volume at the initial steady state
o
V


b) Taking Laplace transform and rearranging

( ) ( ) ( )
i
s h s ah s bq s +

Therefore

( ) ( ) ( / )
or
( ) ( ) ( ) ( 1/ ) 1
i i
h s b h s b a
q s s a q s a s


+


Notice that the time constant is equal to the residence time at the initial
steady state.

4-16
4.14


Assumptions

1) Perfectly mixed reactor
2) Constant fluid properties and heat of reaction.

a) Component balance for A,

A A A
A
c T Vk c c q
dt
dc
V
i
) ( ) ( (1)
Energy balance for the tank,

( ) ( ) ( )
i A
dT
VC qC T T H Vk T c
dt
+ (2)

Since a transfer function with respect to c
Ai
is desired, assume the other
inputs, namely q and T
i
, to be constant.

Linearize (1) and (2) and not that
dt
c d
dt
dc
A A

,
dt
T d
dt
dT
,

T
T
T k c V c T Vk q c q
dt
c d
V
A A Ai
A
+

2
20000
) ( )) ( ( (3)

T
T
T k c HV qC
dt
T d
VC
A

,
_

2
20000
) ( +( ) ( )
A
H Vk T c (4)


Taking the Laplace transforms and rearranging

[ ] ) (
20000
) ( ) ( ) ( ) (
2
s T
T
T k c V s C q s C T Vk q Vs
A Ai A
+ + (5)


2
20000
( ) ( ) ( ) ( ) ( ) ( )
A A
VCs qC H Vc k T T s H Vk T C s
T
1
+
1
]
(6)


Substituting for ) (s C
A
from Eq. 5 into Eq. 6 and rearranging,


4-17
2 2
2 2
( ) ( )
20000 20000 ( )
( ) ( ) ( ) ( ) ( )
Ai
A A
T s HVk T q
C s
Vs q Vk T VCs qC H Vc k T H c V k T
T T

1
1 + + + +
] 1
]

(7)
A
c is obtained from Eq. 1 at steady state,

0011546 . 0
) (

+

T Vk q
c q
c
Ai
A
mol/cu.ft.

Substituting the numerical values of T , , C, ( H), q, V,
A
c into Eq. 7
and simplifying,

) 1 50 )( 1 0722 . 0 (
38 . 11
) (
) (
+ +

s s s C
s T
Ai

b) The gain K of the above transfer function is
0
) (
) (

1
]
1

s
Ai
s C
s T
,

6 7
2 2
0.15766
3.153 10 13.84 4.364.10
1000 1000
A A
q
K
c c q q
T T

_ _
+ +

, ,
(8)

obtained by putting s=0 in Eq. 7 and substituting numerical values for ,
C, ( H), V. Evaluating sensitivities,

4
2 6
2
10 50 . 6 3153 01384 . 0
10
2
15766 . 0

1
]
1

+
T
c q
q
K
q
K
q d
dK
A


1
1
]
1

,
_

,
_

+
3
7
3
6 2
10 364 . 4 2 2 10 153 . 3
84 . 13
1000 153 . 3 T
c
T
c q K
T d
dK
A A



5
10 57 . 2




Ai
A
A Ai
c d
c d
c d
dK
c d
dK

,
_

+
1
]
1

,
_

,
_

13840
10 364 . 4 10 153 . 3
84 . 13
1000 15766 . 0
2
7
2
6 2
q
q
T T
q
q
K


3
10 87 . 8


4-18
4.15


From Example 4.4, system equations are:


1
1
1
1
1
h
R
q
dt
h d
A
i

,
1
1
1
1
h
R
q

2
2
1
1
2
2
1 1
h
R
h
R dt
h d
A

,
2
2
2
1
h
R
q
Using state space representation,

Bu Ax x + 1
Du Cx y +
where
1
]
1

2
1
h
h
x ,
i
q u and
2
q y
then,


i
q
A
h
h
A R A R
A R
dt
h d
dt
h d

1
1
1
1
1
]
1

+
1
1
1
]
1

1
1
1
1
]
1

1
1
1
1
1
]
1

0
1
1 1
0
1
1
2
1
2 2 1 1
1 1
2
1


1
1
1
]
1

1
]
1

2
1
2
2
1
0
h
h
R
q

Therefore,

0 ,
1
0 ,
0
1
,
1 1
0
1
2
1
2 2 1 1
1 1

1
]
1

1
1
1
1
1
]
1

1
1
1
1
]
1

E
R
C
A
B
A R A R
A R
A









4-19
4.16


Applying numerical values, equations for the three-stage absorber are:



2 1
1
539 . 0 173 . 1 881 . 0 x x y
dt
dx
f
+


3 2 1
2
539 . 0 173 . 1 634 . 0 x x x
dt
dx
+


f
x x x
dt
dx
539 . 0 173 . 1 634 . 0
3 2
3
+


i i
x y 72 . 0

Transforming into a state-space representation form:



f
y
x
x
x
dt
dx
dt
dx
dt
dx
1
1
1
]
1

+
1
1
1
]
1

1
1
1
]
1

1
1
1
1
1
1
1
1
]
1

0
0
881 . 0
173 . 1 634 . 0 0
539 . 0 173 . 1 634 . 0
0 539 . 0 173 . 1
3
2
1
3
2
1




f
y
x
x
x
y
y
y
1
1
1
]
1

+
1
1
1
]
1

1
1
1
]
1

1
1
1
]
1

0
0
0
72 . 0 0 0
0 72 . 0 0
0 0 72 . 0
3
2
1
3
2
1



Therefore, because x
f
can be neglected in obtaining the desired transfer
functions,




1
1
1
]
1

1
1
1
]
1

0
0
881 . 0
173 . 1 634 . 0 0
539 . 0 173 . 1 634 . 0
0 539 . 0 173 . 1
B A

4-20

1
1
1
]
1

1
1
1
]
1

0
0
0
72 . 0 0 0
0 72 . 0 0
0 0 72 . 0
D C


Applying the MATLAB function ss2tf , the transfer functions are:



8123 . 0 443 . 3 5190 . 3
6560 . 0 4881 . 1 6343 . 0
) (
) (
2 3
2
1
+ + +
+ +

s s s
s s
s Y
s Y
f



8123 . 0 443 . 3 5190 . 3
4717 . 0 4022 . 0
) (
) (
2 3
2
+ + +
+

s s s
s
s Y
s Y
f



8123 . 0 443 . 3 5190 . 3
2550 . 0
) (
) (
2 3
2
+ + +

s s s s Y
s Y
f



4.17


Dynamic model:

DX X S
dt
dX
) (

) ( / ) (
/
S S D Y X S
dt
dS
f S X


Linearization of non-linear terms: (reference point = steady state point)

1. X
S K
S
X S X S f
s
m
+

) ( ) , (
1

) ( ) ( ) , ( ) , (
,
1
,
1
1 1
X X
X
f
S S
S
f
X S f X S f
X S X S

+

Putting into deviation form,

' '
) (
) (
) , (
2
,
1
,
1
1
X
S K
S
S X
S K
S S K
X
X
f
S
S
f
X S f
s
m
s
m s m
X S X S

,
_

,
_

+
+

4-21
Substituting the numerical values for S K
s m
, , and X then:

' 1 . 0 ' 113 . 0 ) , (
1
X S X S f +


2. ) ( ) , , (
2
S S D S S D f
f f


f
S S D
f S S D S S D
f
S
S
f
S
S
f
D
D
f
S S D f
f
f f

, ,
2
, ,
2
, ,
2
2
' ' ) , , ' (

f f f
S D S D D S S S S D f + ' ' ) ( ) , , ' (
2


' 1 . 0 ' 1 . 0 ' 9 ) , , ' (
2 f f
S S D S S D f +


3. DX X D f ) , (
3

' 1 . 0 ' 25 . 2 ' ' ) ' , ' (
3
X D D X X D X D f + +


Returning to the dynamic equation: putting them into deviation form by
including the linearized terms:

' 1 . 0 ' 113 . 0
'
X S
dt
dX
+ ' 1 . 0 ' 25 . 2 X D


' 0.113 0.1
' ' 9 ' 0.1 ' 0.1
0.5 0.5
f
dS
S X D S S
dt

+


Rearranging:

' 25 . 2 ' 113 . 0
'
D S
dt
dX


'
0.126 ' 0.2 ' 9 ' 0.1
f
dS
S X D S
dt



Laplace Transforming:

) ( ' 113 . 0 ) ( ' s S s sX ) ( ' 25 . 2 s D

'( ) 0.126 '( ) 0.2 '( ) 9 '( ) 0.1 ( )
f
sS s S s X s D s S s


4-22
Then,

) ( '
113 . 0
) ( ' s S
s
s X ) ( '
25 . 2
s D
s

0.2 9 0.1
'( ) '( ) '( ) ( )
0.126 0.126 0.126
f
S s X s D s S s
s s s

+ + +


or


1
]
1

+
+
) 126 . 0 (
0226 . 0
1 ) ( '
s s
s X

1.017 0.0113 2.25
'( ) ( ) ( )
0.126 0.126
f
D s S s D s
s s s

+ +

Therefore,



0226 . 0 126 . 0
25 . 2 3005 . 1
) ( '
) ( '
2
+ +

s s
s
s D
s X