CLL261-Dynamic behaviour of first and second order

systems
Hariprasad Kodamana
IIT DELHI

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Dynamic behavior of first and second order process

In analyzing process dynamic and process control systems, it is

important to know how the process responds to changes in the
process inputs.
A number of standard types of input changes are widely used for
two reasons:
They are representative of the types of changes that occur in
plants
They are easy to analyze mathematically
K
First order system: Y (s) = τ s+1 U(s)
Second order system:
K1 K2 K
Y (s) = (τ1 s+1)(τ 2 s+1)
U(s) = τ 2 s 2 +2ζτ s+1
U(s)

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Types of standard inputs

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Step input
A sudden change in a process variable can be approximated by a
step change of magnitude, M:

0 t<0
uS (t) = (1)
M t≥0
uS (s) = Ms
The step change occurs at an arbitrary time denoted as t = 0
Special Case: If M = 1, we have a “unit step change”. We give
it the symbol, S(t)
Example of a step change: A reactor feedstock is suddenly
switched from one supply to another, causing sudden changes in
feed concentration, flow, etc.
The heat input to the stirred-tank heating system is suddenly
changed from 8000 to 10,000 kcal/hr by changing the electrical
signal to the heater.
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Ramp input
Industrial processes often experience ”drifting disturbances”, that
is, relatively slow changes up or down for some period of time
The rate of change is approximately constant
We can approximate a drifting disturbance by a ramp input:

0
t<0
uR (t) =  (2)
αt t ≥ 0

uR (s) = sa2
Examples of ramp changes:
Ramp a setpoint to a new value. (Why not make a step
change?)
Feed composition, heat exchanger fouling, catalyst activity,
ambient temperature
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Rectangular Pulse

It represents a brief, sudden change in a process variable


0 t<0


uRP (t) = h 0 ≤ t < tw (3)


0 t ≥ tw

uRP = hs [1 − e −tw s ]
Examples of rectangular pulse input
Reactor feed is shut off for one hour
The fuel gas supply to a furnace is briefly interrupted

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Sinusoidal inputs

Processes are also subject to periodic, or cyclic, disturbances.

They can be approximated by a sinusoidal disturbance

0t<0
usin (t) = (4)
Asin(ωt) t ≥ 0

where A = amplitude, ω =angular frequency

usin (s) = s 2Aω
+ω 2
Other examples include: Examples: (i) 24 hour variations in
cooling water temperature; (ii) 50-Hz electrical signal
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Step input response - first order system

K M
Y (s) = τ s+1
U(s), with uS (s) = s
, So,

KM
Y (s) = (5)
s(τ s + 1)

By taking inverse Laplace

y (t) = KM(1 − e −t/τ ) (6)

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Step input response - first order system

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Ramp input response - first order system
K a
Y (s) = τ s+1
U(s), with uR (s) = s2
, So,
Ka
Y (s) = (7)
s 2 (τ s + 1)
α1 α2 α3
Y (s) = + + 2 (8)
τs + 1 s s
By Heaviside expansion
kaτ 2 Ka Ka
Y (s) = − + 2 (9)
τs + 1 s s
By taking inverse Laplace
y (t) = Kaτ (e −t/τ − 1) + Kat (10)
FOr t >> τ
y (t) = Ka(t − τ ) (11)
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Ramp input response - first order system

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Sinusoidal input response - first order system
K Aω
Y (s) = τ s+1
U(s), with usin (s) = s 2 +ω 2
, So,
KAω
Y (s) = (12)
(s 2 + ω 2 )(τ s + 1)
ωτ 2
!
KA sωτ ω
Y (s) = 2 2 + + (13)
τ ω + 1 τ s + 1 s 2 + ω2 s 2 + ω2
By taking inverse Laplace
KA  −t/τ

Y (t) = ωτ e − ωτ cos(ωt) + sin(ωt) (14)
τ 2ω2 + 1
By using the trigonometric identity
Asin(ωt) + Bcos(ωt) = Csin(ωt + φ), such that A2 + B 2 = C 2 ,
φ = tan−1 ( BA )
KA KA
Y (t) = ωτ e −t/τ + √ 2 2 sin(ωt + φ) (15)
τ 2ω2+1 τ ω +1
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Second order processes

Second-order transfer function can arise physically whenever two

first-order processes are connected in series
For example, two stirred-tank blending processes each with a
first-order transfer function relating inlet to outlet might be
physically connected
K1 K2 K
Y (s) = U(s) = 2 2 U(s) (16)
(τ1 s + 1)(τ2 s + 1) τ s + 2ζτ s + 1

Two first-order systems in series yield an overall second-order

system.

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Second order processes
K and τ have the same importance as for a first-order TF
K is the process gain, and τ determines the speed of response
(or, equivalently, the response time) of the system
The damping coefficient ζ is dimensionless and provides a
measure of the amount of damping in the system-that is, the
degree of oscillation in a process response after a perturbation
Small values of ζ imply little damping and a large amount of
oscillation, as, for example, in an automobile suspension system
with ineffective shock absorbers

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Second order processes - over damped
Block Notation:

Composed of two first order subsystems (G1 and G2)

K 2nd order ODE model

G(s) =
t s + 2zts + 1
2 2
(overdamped)
K
t = t 1t 2 G(s) =
t1t 2s 2 + (t1 + t 2 )s + 1
t1 + t 2
z= z >1 overdamped
2 t1t 2
z <1 underdamped
- z ± z 2 -1
roots: z =1 critically damped
t
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Second order system - physical occurance

Over damped
First order systems in series
Under damped- Mostly physical related
Too little line capacity - flow or other processes such as a
pneumatic (air) instrument line
Inertial effects- Mercury manometer

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Second order system - step response

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Second order under damped system - step response

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Second order over damped system - step response

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Second order response - effect of ζ

Responses exhibit a higher degree of oscillation and overshoot

(y /KM > 1) as ζ approaches zero.
Large values of ζ yield a sluggish (slow) response.
The fastest response without overshoot is obtained for the
critically damped case( ζ = 1).

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Second order under damped system - properties
Settling Time. ts is the time
required for the process output
to reach and remain inside a
band whose width is equal to
+/-5% of the total change in y
for 95% response time
Overshoot. OS =a/b(%
overshoot is 100 a/b).
Decay Ratio. DR = c/a (where
Rise Time. tT is the time the c is the height of the second
process output takes to first peak).
reach the new steady-state value
Period of Oscillation. P is the
Time to First Peak. tp is the time between two successive
time required for the output to peaks or two successive valleys
reach its first maximum value of the response.
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Second order under damped system - properties

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Second order system - Sinusoidal response after
exponential terms have disappeared

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 Thank you!

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