Response of First and Second Order Systems to Unit Step Input

Pre-laboratory Experiment 3
Dean Joyce B. Alboroto | Ma. Kathleen Pearl F. Grande | John Salvador Y. Ricacho

I. INTRODUCTION
Product quality specifications, profitability, environmental constraints, process safety,
and efficient use of materials and energy, are some of the objectives that are needed to be met
in chemical process industries. With processes becoming more complicated to operate and the
chemical marketplace becoming more competitive, control systems are necessary in meeting
these objectives. Control systems maintain process conditions at their desired values by
monitoring changes in the system variables and external influences that affect these process
objectives, and by manipulating certain process variables of interest (Leblanc & Coughanor,
2009).
The most common change in a system or process is described by a unit step input. A
unit step input is used to characterize a system’s changes in the input (Massachusetts Institute
of Technology, 2018). The unit step input is commonly used as plant test model to describe
process output responses in a processing plant (Bequette, 2002). A unit step input function can
be easily described in practice. For instance, a step change in flow rate can be obtained by the
sudden opening of a valve (Leblanc & Coughanor, 2009). The unit step input function is
described by the Laplace equation:
1
𝑋(𝑠) = (Eq. 1)
𝑠

Transfer functions are used to describe the dynamic characteristics of the system based
on the input and the output. The cause, which is the input function, and the effect, which is the
output response, can be modeled and related with the use of transfer functions (Seborg, Edgar,
& Mellichamp, 2003). Transfer functions can be classified as first-order or second-order.
Common example of a first order system described by a first-order transfer function, is the
changing liquid level of a tank due to changing flowrate. Meanwhile second-order transfer
functions are common for first-order systems arranged in series, such as 2 tanks arranged in
series, with the output of the first tank taken as the input of the second tank. (Leblanc &
Coughanor, 2009).
First order transfer functions describe a system modeled by a first-order differential
equation. A second order system on the other hand, is modeled by a second-order differential
equation (Stephanpolous, 1984). The standard transfer function for a first- order system is
described by the Laplace domain equation:
𝑌(𝑠) 𝑜𝑢𝑡𝑝𝑢𝑡 1
= = (Eq. 2)
𝑋(𝑠) 𝑖𝑛𝑝𝑢𝑡 𝜏𝑠+1

where Y(s) is the output function, X(s) is the input function, and 𝜏 is the time constant
(Haidekker, 2013; Leblanc & Coughanor, 2009). The transfer function for the second order-
system is described by the equation:
𝑌(𝑠) 𝑜𝑢𝑡𝑝𝑢𝑡 1
= = (Eq. 3)
𝑋(𝑠) 𝑖𝑛𝑝𝑢𝑡 𝜏2 𝑠2 +2𝜗𝜏𝑠+1
where Y(s) is the output function, X(s) is the input function, 𝜏 is the time constant, and 𝜗 is
the damping coefficient (Haidekker, 2013; Leblanc & Coughanor, 2009).
Therefore, the unit step response for the first-order system and second-order system are
obtained by combining Eq. 1 and Eq.2, and Eq. 1 and Eq. 3, respectively. The first-order
response (Eq. 4) and the second order-response (Eq. 5) yield:
1 1
𝑌(𝑠) = 𝑠 (Eq. 4)
𝜏𝑠+1
1 1
𝑌(s) = 𝑠 (Eq. 5)
𝜏2 𝑠2 +2𝜗𝜏𝑠+1

Figures 1 and 2 shows graph of the typical unit step response of first-order and second order
systems respectively.

Figure 1. First-order response from Swarthmore.edu

Figure 2. Second-order response from Swarthmore.edu

In this experiment, the first-order and second-order systems will be modeled as water tanks and
the response from a unit step input function will be determined.
II. OBJECTIVES

The main objective of the experiment is study the dynamic response of first and second
order systems to a unit step change. Specifically, it aims to:
1. to generate a graph that describes the response of each systems reaching equilibrium
through time.
2. to compare the theoretical and experimental responses of the first and second order
systems.

III. SCOPE AND LIMITATIONS

The experiment will be conducted to investigate the response of first and second order
systems to a step change. It will be conducted inside the Research and Instrumentation Room
of the School of Technology using the hydraulic bench for liquid flow measuring. Water tanks
will be the system to be studied for the response of first and second order systems. The fluid to
be used is water, assumed to be at room temperature, 25 °C. Two set-ups will be considered:
the first order system will consist of only one water tank and the second order system will
consist of two water tanks forming an interacting system. The volume of the tanks will be
assumed uniform and valve resistance will be assumed constant. Flow rate will be varied to
create a unit step changes. The response of the system will only be limited to the change in
level of the water inside the tank/s. Finally, a stopwatch will be used for measuring the time
intervals in recording the water level inside the tank.
IV. METHODOLOGY

A. Materials and Apparatus

1. Hydraulic Bench
2. Two water tanks
3. Tape measure
4. Timer or Stopwatch
5. Personal Protective Equipment (PPE)

B. Diagram of the Apparatus

Figure 3. Hydraulic Bench (Edibon, 2016)

C. Procedure
First Oder System

1. Attach the tape measure inside the tank for fluid level measurement.
2. First order system tank will be placed on top of the hydraulic bench.
3. The hydraulic bench will be filled with water for easy pumping of water.
4. Connect the hydraulic bench to the tank using connecting pipes.
5. Plug the hydraulic bench and turn its switch on.
6. Open the water control valve of the equipment.
7. Fill the tank with water while the exit valve is closed.
8. Open the exit valve when the tank is almost full.
9. Allow the system to be stabilized.
10. Measure the flow rate of water.
11. Increase the flow rate by adjusting the water control valve to allow unit step
input.
12. Record the height of the water every 15 seconds until stability is achieved.
13. Measure the new flow rate of water.
14. Do the procedure with three varied flow rates.
15. After the experiment, close the water control valve, turn the switch off, and
unplug the equipment.

Second Order System

1. Connect the exit pipe of the first tank, from previous part of the experiment, to
the second tank forming an interacting system.
2. Connect the hydraulic bench to the first tank using the connecting pipe.
3. Plug the hydraulic bench and turn its switch on.
4. Open the water control valve of the equipment.
5. Fill the first tank with water while the exit valve is closed.
6. Open the exit valve when the tank is almost full. The water will flow, filling the
second tank.
7. Allow the system to be stabilized.
8. Measure the flow rate of water.
9. Increase the flow rate by adjusting the water control valve to allow unit step
input.
10. Record the height of the water every 15 seconds until stability is achieved.
11. Measure the new flow rate of water.
12. Do the procedure with three varied flow rates.
13. After the experiment, close the water control valve, turn the switch off, and
unplug the equipment.
14. Drain the water out of the equipment.
V. EXPECTED OUTPUT

A. First Order System

Table 1.Datasheet for the measurement of initial flowrate

Time (sec) Volume (L) Initial Flowrate (L/s)

15
Table 2. Datasheet for the measurement of height of the water through time

Height (cm)
Time (sec)
Trial 1 Trial 2 Trial 3
0
15
30
45
60
75
90
105
120
135
150
165

Table 3. Datasheet for the measurement of final flowrate

Time (sec) Volume (L) Final Flowrate (L/s)

15

B. Second Order System

Table 4. Datasheet for the measurement of initial flowrate

Time (sec) Volume (L) Initial Flowrate (L/s)

15

Table 5. Datasheet for the measurement of height of the water through time

Height (cm)
Time (sec) Trial 1 Trial 2 Trial 3
Tank 1 Tank 2 Tank 1 Tank 2 Tank 1 Tank 2
0
15
30
45
60
75
 90
105
120
135
150
165
Table 6. Datasheet for the measurement of final flowrate

Time (sec) Volume (L) Final Flowrate (L/s)

15

The height of water level will be plotted against time to compare the response and
difference between First Order System and Second Order System.

Figure 4. Plot of the level of water through time for the First Order System
 Figure 5. Plot of the level of water through time for the Second Order System

VI. REFERENCES

Bequette, B. W. (2002). Transfer function analysis of first-order systems. In Process

Control: Modeling, Design, and Simulation (pp. 191-193). Upper Saddle River, NJ:
Prentice Hall Professional.
Haidekker, M. A. (2013). First comprehensive example: the temperature-controlled
waterbath. In Linear Feedback Controls: The Essentials (pp. 77-82). London,
England: Newnes.
LeBlanc, S. E., & Coughanowr, D. R. (2009). Response of first order systems. In Process
Systems Analysis and Control (3rd ed., pp. 71-87, 123-12). New York, NY: McGraw-
Hill.
Massachusetts Institute Of Technology: Department Of Mechanical Engineering. (n.d.).
Review of first- and second-order system response. Retrieved from
http://web.mit.edu/2.151/www/Handouts/FirstSecondOrder.pdf
Seborg, D., Edgar, T. F., & Mellichamp, D. (2003). Transfer functions and state-space
models. In Process Dynamics and Control (2nd ed., pp. 78-79). Hoboken, NJ: John
Wiley & Sons.
Stephanopoulos, G. (1984). Development of a mathematical model. In Chemical Process
Control: An Introduction to Theory and Practice (pp. 45-48). Upper Saddle River,
NJ: Prentice Hall.
Swarthmore College. (n.d.). Step Response. Retrieved from
http://lpsa.swarthmore.edu/Transient/TransInputs/TransStepTime.html