Response of first order systems

2. Dynamic behavior of first order system

Before studying the control system it is necessary to become familior with the
response os some of simple basic systems (i.e study the dynamic behaviour of the
first and second order systems).

2.1 The transfer function:

The dynamic behaviour of the system is described by transfer function (T.F)
( )
( )

X(s) Transfer Y(s)

Input functionG (s) Output
Forcing function Responce
Block diagram

( )
( )
( )
This definition is applied to linear systems

2.2 Development of T.F for first order system:

2.2.1.Mercury Thermometer

It is a measuring device use to measure the temperature of a stream.

Consider a mercury in glass thermometer to be
located in a flowing stream of fluid for which the
temperature x varies with time.
The opject is to calculate the time variation of the
thermometer reading y for a particular change of x
The following assumptions will be used in this analysis:-
1. All the resistance to heat transfer resides in the film surrounding the bulb (i.e.,
the resistance offered by the glass and mercury is neglected).
2. All the thermal capacity is in the mercury. Furthermore, at any instant the
mercury assumes a uniform temperature throughout.
3. The glass wall containing the mercury does not expand or contract during the
transient response.

Process Dynamics 7 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 It is assumed that the thermometer is initially at steady state. This means that,
before time zero, there is no change in temperature with time. At time zero the
thermometer will be subjected to some change in the surrounding temperature x(t).
(i.e at t<0 , x(t)= y(t) =constant there is no change in temperature with time).
At t=0 there is a change in the surounding temperature x(t)
Unsteady state energy balance:
( ) ……………… (1)
1st order differential equation
Where
A: area of the bulb
Cp: heat capacity of mercury
m: mass of mercury in the bulb
t: time
h: film heat transfer coefficient
h depend on the flowrate and properties of the surounding fluid and the dimension
of the bulb.
The dynamic behaviour must be defined by a deviation variables.
At steady state (s.s.) , t<0 , x(t)=constant=xs , y(t)=constant=ys , x(t)=constant=xs
( ) ……………… (2)
Substract eq. (2) from eq. (1)
( )
( ) ( )

at t=0 Y(0)=0 and X(0)=0

Let = time constant and has time units

[ ( ) ( )] ( ) ( )
( ) ( ) ( )

Process Dynamics 8 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 ( )
( )
( ) ……………… (3)

( )
( )
( )
Any system has a T.F of the form of equation (3) it is called first order system which
is a first order differntial equation (Linear).

2.2.2.Liquid Level Tank

Consider the system shown in below figure which consists of:

1. A tank of uniform cross-sectional area A.
2. Valve attached to the output flow which resistance constant=R.
qo: The output volumetric flowrate (volume/time) through the resistance, is related to
the head h by the linear relationship.
qo  h Linear Valve
h
qo  ……………..(1)
R
Where:
R is related as a linear resistance
If qo h n (n  1) Non linear valve
q(t) is a time varying volumetric flowrate with constant density ρ.

Find the T.F. that relates the head to the input flowrate q(t).

We can analyze this system by writing a transient mass balance around the tank:
Mass flow in - mass flow out = rate of accumulation of mass in the tank
dV
q  qo   (V  Ah)
dt
dh
q  qo  A
dt
h dh
q  A ………………(2)
R dt
At staedy state
hs dh
qs   A s 0 ………………(3)
R dt
Substracting Eq(3) from Eq. (2)
h  hs d (h  hs )
( q  qs )  A
R dt
let Q  q  qs , H  h  hs

Process Dynamics 9 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 dH H
A  Q
dt R
dH
AR  H  RQ Taken laplace for both sides of equation
dt
(s  1) H (s)  RQ(s) where   AR
H ( s) R
 First order system equation …………………(4)
Q( s ) (s  1)

R
H ( s)  Q( s ) …………………(5)
(s  1)

Comparing the T.F. of the tank with thr T.F. of the thermometer we see that eq. (5)
contain the factor (R) which is relate H(t) to Q(t) at s.s. as s  0 , t  
R
For this reason, a factor R in the transfer function is called the steady state gain
s  1
To show that
1
Take Q( s ) 
s
R 1
Therefore H ( s)  .
s  1 s
Final value theorm
R 1 R
lim H (t )  lim sH ( s)  lim s .  lim  R s.s gain
t  s 0 s 0 s  1 s s0 s  1

Also to find the level as a function of time

H (t )  L1H (s)

Example: Liquid level with constant flow outlet

Liquid level with constant flow outlet

In this example the resistance R is replace by a constant flow pump (𝑞𝑜)

Required: the transfer function H(s)

Process Dynamics 10 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Basic assumptions:
a) Constant density.
b) Constant flow outlet.
c) Constant cross sectional area.

i. Unsteady state mass balance

dh
qi - qo = A
dt
ii. Steady state mass balance
dh s
q is - q os = A 0
dt
iii. Subtract the steady state equation from the unsteady state one
d(h - h s )
(q i - q is ) - (q o - q os ) = A
dt
dH
Qi - Qo = A
dt
iv. Taking the transform of the resulting equation
Qi (s) - Qo (s) = AsH(s)
Q i (s) Q o (s)
H(s)  -
As As

2.2.3.Mixing Tank

Consider the mixing process shown in Figure in which a

stream of solution containing dissolved salt flows at a
constant volumetric flow rate q into a tank of constant
holdup volume V. The concentration of the salt in the
entering stream x (mass of salt/volume) varies with time. It
is desired to determine the transfer function relating the
outlet concentration y to the inlet concentration x.
If we assume the density of the solution to be constant, the flow rate in must equal the
flowrate out, since the holdup volume is fixed.
F: Volumetric flowrate
x, y : Input and output salt concentrations (mass or mole/vol)
Unsteady state material balance
dVy dy
Fx  Fy  V
dt dt
Steady state
dys
Fxs  Fys  V 0
dt

Process Dynamics 11 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Subtracting the above both equations and introducing the deviation variables
d ( y  ys )
F ( x  xs )  F ( y  ys )  V
dt
X  x  xs
Y  y  ys
dY
V  FY  FX
dt
V dY
Y  X
F dt
dY
 Y  X
dt
(s  1)Y (s)  X (s)
Y ( s) 1
 1st order system , where  
V
X ( s ) (s  1) F

Example:
Find the T.F for the system shown in figure F1 F2
Solution:
h dh
F1  F2   A
R dt
hs dh h
F1s  F2 s  A s qo
R dt
let F1  F1  F1s , F2  F2  F2 s , h  h  hs
h dh
F1  F2  A
R dt
dh
AR  h  F1 R  F2 R
dt
(s  1)h (s)  F1 (s) R  F2 (s) R
R R
h ( s)  F1 ( s)  F2 ( s)
(s  1) (s  1)
R R
When F1 constant  F1 ( s )  0  h ( s)  F2 ( s)
(s  1) (s  1)
R R
When F2 constant  F2 ( s )  0  h ( s)  F1 ( s)
(s  1) (s  1)

Process Dynamics 12 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
2.2.4.Heating Tank

Energy balance equation.

dT
VC  wC (Ti  T )  Q
dt
Assumption: constant liquid holdup and
constant inflow(w is constant), a linear
model result.

dT
If the process is at steady-state, 0
dt
0  wC (Tis  Ts )  Qs Figure: Continuous stirred-tank heater.

Subtract equations
dT d (T  Ts )
VC  VC  wC [(Ti  Tis )  (T  Ts )]  (Q  Qs )
dt dt
Define some important new variables(Deviation variables).
T  T  Ts , Ti  Ti  Tis , Q  Q  Qs
By substituting deviation variables for variables.
dT
VC  wC (Ti  T )  Q
dt
V dT
 Ti  T  Q / wC
w dt
Let k  1 wC ,  V w
Apply Laplace Transform.
sT ( s )  (Ti ( s )  T ( s ))  kQ ( s )

(s  1)T ( s )  Ti ( s )  kQ ( s )

1 k
T (s)  Ti ( s)  Q ( s)
s  1 s  1
T (s) k
If Ti ( s )  0 , G1 ( s)  
Q ( s) s  1
T (s) 1
If Q ( s )  0 , G2 ( s)  
Ti ( s ) s  1

Process Dynamics 13 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
2.2.5. CSTR with constant holdup:

dC A
V  FC Ai  FC A  VKCA
dt
dC A,ss
at steady state V  FC Ai,ss  FC A,ss  VKC A,ss
dt
by subtracting both equations
d (C A  C A,ss )
V  F (C Ai  C Ai,ss )  F (C A  C A,ss )  VK (C A  C A,ss )
dt
dC A
V  ( F  VK )C A  FCAi  ( F  VK )
dt
V dC A F
 CA  CAi
( F  VK ) dt ( F  VK )
Let   V and K 
F
( F  VK ) ( F  VK )
dC
 A  C A  K CAi
dt
Taking Laplace Transform:
(s  1)C A (s)  KCAi (s)
K CAi ( s)
C A ( s) 
(s  1)

2.3 Properties of transfer functions

T.F relates two variables in a physical process. One of these is (Forcing or Input
variable) and the other is the effect (Reponce or Output).
( )
( )
( )
If we select a particular input variation x(t) for which the L.T is x(s) then the reponce.
( ) ( ) ( )
( ) ( ) ( ) ( )
If G(s) is 1st order of a thermometer

( ) ( ) ( ) ( )

x(s) G(s) y(s)

The ultimate value is final steady state value

U .V  lim y( t )  lim sy( s )
t  s 0

Process Dynamics 14 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
2.4 Transient response for different changes

( ) ( )

Y(t)=? For different types of x(t)

1-Step Change
A
X (t )  A X ( s) 
s
K A
Y ( s)  .
s  1 s
Solving by partial fractions
K A o 
.   1
s  1 s s s  1
KA   o (s  1)  1s
s  0   o  KA
1
s  1 /   KA   o ( /   1)  1 then 1  KA

KA KA KA KA 1 /  KA KA
Y ( s)      
s s  1 s s  1 1 /  s s  1/
t  t 
Y (t )  KA  KAe  KA(1  e )

The above equation is the general form of first order system response to step change.

Characteristics of step response

A. The value of the output reaches 63.2% of its ultimate value after t=
B. If the initial rate of change is maintained the response will be completed after t=
C. The speed of the response of a first-order system is determined by the time
constant for the system. As t increases, it takes longer for the system to respond to the
step disturbance.

Process Dynamics 15 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
D. When the time elapsed is 2 , 3 , and 4 , the percent response is 86.5%, 95%, and
98%, respectively.
E. The response is completed after t= 5

Figure: Step response for first-order system

Example:
A thermometer having a time constant of 0.1 min is at a steady state temperature of
90 Fo. At time t = 0, the thermometer is placed in a temperature bath maintained at
100°F. Determine the time needed for the thermometer to read 98 Fo.
Solution:
At s.s. xs=ys=90 Fo
A
Step change X (s) 
s
A=100-90=10
10
X( s ) 
s
1 A 1 10 10 10 A B
Y( s )      
s  1 s 0.1s  1 s s( 0.1s  1 ) 0.1s( s  10 ) 0.1s s  10
A( s  10 )  B( 0.1s )  10
10
s 0 A 1
10
s  10  B  10
1 10 10 10
Y( s )    
0.1s s  10 s s  10
By taken laplace inverse for the equation
Y ( t )  10  10e 10t  10( 1  e 10t )
Substitute Y(t)=y(t)-ys =98-90
Y(t)=8
8  10( 1  e 10t )

Process Dynamics 16 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
0.8  1  e 10t
ln( e 10t )  ln( 0.2 )
 10t  ln( 0.2 )
t   ln(0.2)  0.1
t=0.161 min

2-Impulse Input
X (t )  A (t ) x(t)
Y ( s) K

X ( s ) s  1
Area
X ( s)  A
K KA KA 1
Y ( s)  A ( )
s  1 s  1  s  1/
KA
Y (t )  y (t )  ys  e t 

A
y (t )  e t   ys


3-Pulse Input
H 0tT
X(t )  
0 t T

Write the function X(t) in terms of the two unit step function
X (t )  H u(t )  H u(t  T )
H H Ts
X ( s)   e
s s
K H H Ts
Y ( s)  (  e )
s  1 s s

Process Dynamics 17 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 H K H K Ts
Y (s)   e
s s  1 s s  1
t ( t T )
 
Y (t )  KH [1  e ] KH [1  e  
]
then
t

Y (t )  KH [1  e  ] for t < T
t ( t T )
 
Y (t )  KH [1  e  ] KH [1  e 
] for t > T

4-Ramp Input
X (t )  At
where A is the slope of the ramp function
Y ( s) K

X ( s ) s  1
A
X ( s) 
s2
KA
Y ( s) 
KA
 
s (s  1) s 2 ( s  1 )
2


Solving by partial fractions
o 1 2
Y ( s)  2
 
s s 1
s

KA 1 1
  o ( s  )  1 s ( s  )   2 s 2
  
s 0 :  o  KA
1
s1 :  o   0  1   0   KA

s 2 : 1   2  0   2  1  KA
Process Dynamics 18 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 KA KA KA
Y ( s)   
s2 s s
1

KA KA KA
Y ( s)   
s2 s s
1

t

Y (t )  KAt  KA  KA e 

t

Y (t )  KAt  KA (1  e ) 

5-Sinsoidal input
x( t )  xs  A sin wt t 0
x( t )  xs  A sin wt
X (t )  x(t )  xs  A sin wt
Aw
X( s ) 
s  w2
2

Aw 1 1
Y( s )  2   Aw[ ]
s  w 2 ( s  1 ) ( s 2  w 2 )( s  1 )
This equation can be solved for y(t) by means of a partial fraction expansion as
described in previous lectures.
1  o s  1 2
Y ( s )  Aw[ 2 ]  Aw[  ]
( s  w 2 )( s  1 ) ( s 2  w 2 ) ( s  1 )
(  o s  1 )( s  1 )   2 ( s 2  w 2 )  1
 o s 2   o s  1s  1   2 s 2   2 w 2  1
Process Dynamics 19 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
s0 1   2 w 2  1 (4)
s1  o  1   0   o   1  (5)
s2  o    2  0   2   o  (6)
By substitution eq.(5) in eq.(6)
 2  1  2 (7)
By substitution eq.(7) in eq.(4)
 1  1  2 w 2  1
1 2 
1  , 2  , 0 
1  2 w2 1   2 w2 1   2 w2
 1 2
s
Y ( s )  Aw[ 1   2 2
w 1  2 w2  1  2 w2 ]
( s 2  w2 ) ( s  1 )
1  s  1 2
Y ( s )  Aw [  ]
1   2 w2 ( s 2  w2 ) ( s  1 )
Aw  s 1 w 2 
Y( s )  [   ]
1   2 w 2 ( s 2  w 2 ) ( s 2  w2 ) w ( s  1 ) 
Aw  s 1 w 
Y( s )  [ 2   ]
1   w ( s  w ) w ( s  w ) ( s  1/  )
2 2 2 2 2

Aw 1
Y (t )  [ cos wt  sin wt  e t  ]
1 w
2 2
w
Using the definition
p cos  q sin   r sin(   )
p
r p2  q2 tan 
q
p
  tan1
q
1
q p  
w
  tan1 ( w )
1  w2 2
r  ( ) 2     
1 1
2
  2

w w2 w
1
  cos wt  sin wt  r sin( wt   )
w
Process Dynamics 20 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
 Aw t  1  w2 2
Y (t )  [e  sin( wt   )]
1   2 w2 w

Aw t  A
Y (t )  e  sin( wt   )]
1 w
2 2
1  w2 2
where
  tan 1 ( w )
As t   then e t   0 , the first term on the right side of main equation
vanishes and leaves only the ultimate periodic solution, which is sometimes called the
steady-state solution
A
Y( t )  sin( wt   )]
1  w2  2

A X(t) _______T_______

-A
By comparing Eq. for the input forcing Y(t) function with Eq. for the ultimate
periodic response X(t), we see that
1. The output is a sine wave with a frequency w equal to that of the input signal.
1
2. The ratio of output amplitude to input amplitude is 1.
1 w 2 2

3. The output lags behind the input by an angle  . It is clear that lag occurs, for the
sign of  is always negative.
0 phase lag
0 phase load

Example:
A mercury thermometer having a time constant of 0.1 min is placed in a temperature
bath at 100°F and allowed to come to equilibrium with the bath. At time t= 0, the
temperature of the bath begins to vary sinusoidally about its average temperature of
l00oF with an amplitude of 2°F If the frequency of oscillation is 10/ cycles/min, plot
the ultimate response of the thermometer reading as a function of time. What is the
phase lag?
In terms of the symbols used in this chapter

Process Dynamics 21 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
  0.1
t 0 x s  y s  100
t 0 x( t )  100  2 sin( wt )
10
f 

Solution
10
w  2f  2   20 rad / min

1 1
T   0.314 min
f 10

X ( t )  x( t )  xs  100  2 sin 20t  100
X ( t )  2 sin 20t
2  20
X( s )  2
s  20 2
Ultimate response t   then e t   0
A
Y( t )  sin( wt   )]
1 w 2 2

  tan (  w )  tan 1( 20  0.1 )  tan 1( 2 )

1

  63.5o
Ultimate response at the above angle
2
Y( t )  sin( 20t  63.5 )]
1  ( 0.1  20 ) 2

2
Y( t )  sin( 20t  63.5 )]
5
Y ( t )  0.896 sin( 20t  63.5 )] Ultimate response

In general, the lag in units of time

is given by:-
 1
phase lag 
360 f
63.5 cycle  min
phase lag 
360 10 cycle
 0.0555 min

Process Dynamics 22 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
A frequency of means that a complete cycle occurs in ( ) . since cycle
is equivalent to 360 and lag is 63.5o
o

How to calculate the time constant ( ) for first order system

1) Mathematical method
Using the definitions
m cp
 Thermometer
hA
  AR Liquid level tan k
V
 Mixing tan k
q

2) Exponential method(Step change in the input variable)

A

0.63 A

Y (t )  A(1  e t  )
as t   Y ()  A(1  e  )  A
as t   Y ( )  A(1  e 1 )  A(1  0.3678)  0.63 A

Time constant ( )is the time required for the response to reach 63% of the its utimate
value.

3. Third method
Y ( t )  A( 1  e t  ) A
dy A
  Ae t  ( 1  )  e t 
dt  Y(t)slope
dy A A
lim  e 0 
t 0 dt  
A t
Slope of the tangent at t=0 is  t
A
Therfore  
slope
Y ( t )  A( 1  e t  )
Y ( t )  A  Ae t 
Process Dynamics 23 Fourth Class
Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Ae t   A  Y ( t )
A  Y( t )
e t  
A
A  Y( t )
 t   ln
A
AY( t )
Let B  A

1
ln B  t

let y  ln B and x  t
1
slope  

Y(t) A  Y( t ) ln B t
B lnB
A slope  
1


1
slope  

1
 
slope

Example: Fitting of a first order system

Below figure gives response of the temperature T in a continuous stirred-tank reactor
to a step change in feed flow rate w from 120 to 125 kg/min. Find an approximate
first-order model for the process for these operating conditions.

Figure: Temperature response

of a stirred-tank reactor for a
step change in feed flow rate.

Process Dynamics 24 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali
Solution
First note that Δw = M = 125-120 = 5 kg/min.
Since ΔT = T(∞) – T(0) = 160 – 140 =20 ºC, the process gain is

The time constant obtained from the graphical construction shown in above Figure is
5 min.
Note that this result agrees with the time constant when 63.2% of the response is
complete, that is
T = 140+0.632*20 = 152.6 ºC
Consequently, the desired process model (Transfer Function) is:
( )
( )

Example: The level in a tank responds as a first order system with changes in the
inlet flow. Given the following level vs. time data that was gathered after the inlet
flow was increased quickly from 1.5 gal/min to 4.8 gal/min, determine the transfer
function that relates the height in the tank to the inlet flow. Be sure to use deviation
variables and include units on the steady state gain and the time constant.
Time Time Time
Level (ft) Level (ft) Level (ft)
(min) (min) (min)
0 4.8 1.2423 8.9354 2.4847 11.4513
0.138 5.3673 1.3804 9.2805 2.6227 11.6612
0.2761 5.9041 1.5184 9.6071 2.7607 11.8599
0.4141 6.412 1.6564 9.9161 ………….. …………..
0.5521 6.8927 1.7945 10.2085 14.3558 15.3261
0.6902 7.3475 1.9325 10.4853 14.4938 15.328
0.8282 7.7779 2.0705 10.7471 14.6319 15.3297
0.9663 8.1852 2.2086 10.9949 14.7699 15.3313
1.1043 8.5706 2.3466 11.2294
Solution:

( )
( ) ( )
This height occurs at t  2.5 min = .
( )
The transfer function is thus:
( )
In this equation: H(s) and Q(s) are deviation variables.
H(s) = h(s) 4.8 ft and Q(s) = q-1.5 gal/min.

Process Dynamics 25 Fourth Class

Dr. Zaidoon M. Shakor Dr. Haider A. Ali