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Process Control: Modeling, Design, and Simulation by B. Wayne Bequette

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3.6. Integrating System

We found in the previous chapter that material balances on liquid surge vessels or gas drums often yielded models with the following form:

Equation 3.32

In the Laplace domain, this is

Equation 3.33

Consider an integrating process initially at steady state, with y(0) = 0.

Step Response

If a step input change of Δu is made at t = 0,

and we find the time-domain value

Equation 3.34

That is, the output ramps with a constant ...

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