Process

Control

Second Order
System
Responses
Chapter 5.2: Marlin
Chapter 2.5: Smith & Corripio
 Learning Objectives

• Understand 2nd order systems

• How 2nd order systems are generated
• Role of gain K, time constant t, damping coefficient x
• Be able to transform 2nd order equations to Laplace domain
• Be able to analyse the response of a 2nd order system to a step change in the
input

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 Review of topics so far…

f(t) F(s)
Dynamic
Laplace Transfer
mass & energy
Transform Function
balances

FIRST ORDER

F(s)
y(s) K

f(t)
dy Laplace
t  y  Kx Transform
x( s) ts  1
dt
UNIT STEP f(t)
F(s)
Input increases Laplace
f(s)=1/s
By one unit Df=1 Transform

3
 Block Diagrams & Transfer Functions

• A block relates ONE output to ONE input

• Block diagram:

Input (x) Output (y)

TF eg 1st order=K/(ts+1)

• In control:
– Use TF to represent dynamics
– Use Block diagram to represent the process
4
Combine TF to build block diagrams

input output
unit step TF 1storder TF
1/s K/(ts+1)

5
Combine TF to build block diagrams

input output
unit step TF 1storder TF
A sin (ωt) K/(ts+1)

6
 Next steps… Second order responses

unit step TF input 2nd order TF output

1/s K/(t2s2+2ζts+1)

7
 Second order systems

• Different response characteristics

• Process balances contain a second derivative term
• 2nd order system is created by
• processes inherently 2nd order
• two 1st order processes in series
• Also when adding a 1st order controller to a 1st order
process
• 1st order process with a recycle/interaction

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 Second order processes - mathematical

Second order d2y dy

equation
a 2  b  cy  ex  f
dt dt

Where y(t) is the output variable, x(t) is the input variable

and a, b, c, e, f are constants

Note: This equation is still linear… (see next slide)

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 Second order processes –
deviation variables
Second order d2y dy
equation
a 2  b  cy  ex  f
dt dt
At initial SS conditions, there is no change in y with time
Therefore all the derivative terms are zero :

cy (0)  ex(0)  f
Define Deviation variables:

Y’ (t)  y(t) - y(0) & X’ (t)  x(t) - x(0)

So it is linear
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 Second order processes –
deviation variables
Subtract the SS conditions from the 2nd order equation:
2
d y dy
a 2  b  cy  cy(0)  ex  ex(0)  f  f
dt dt
Substitute derivatives of deviation variables:
Y’(t)=y(t)-y(0) and X’(t)=x(t)-x(0)
1st Derivative is : dY’/dt=dy/dt
2nd derivative is : d2Y’/dt = d2y/dt
d 2Y ' dY '
a 2
b  cY '  eX '
dt dt
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 Convert 2nd order to std form
2
Second order d Y ' dY '
a 2 b  cY '  eX ' Deviation variables
format
equation dt dt

Divide by c to get the std form of the 2nd order equation:

a d 2Y ' b dY ' e
2
 Y' X '
c dt c dt c
Std form:
Coefficient
2 In front of Y
d Y' dY '
t 2
2
 2t  Y '  KX ' Equals ONE
dt dt

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 Understanding 2nd order responses
• Have a 2nd order TF : Y ( s) K
 2
X (s) as  bs  c

• Easiest way is to solve as

Y (s) 1
2x 1st order: K
X ( s) ( s  r1 )(s  r2 )

• “Roots” of the 2nd order

polynomial are given by:  b  b 2  4ac
• Solve for r1 and r2 r1, 2 
2a

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 Roots of a 2nd order polynomial
• r1 and r2 depend on the value of (b2 - 4ac)
• If b2 - 4ac > 0
• R1 and r2 are two real, distinct roots
• If b2 - 4ac = 0
• Then r1=r2  one multiple root
• If b2 - 4ac < 0
• complex conjugate roots because taking square root of a negative number, and i=√-1
(e.g. √-9 = 3i)
• Complex numbers mean oscillating response

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 Inverting Laplace of 2nd order
y k
• 2nd order TF written as:  2
x as  bs  c
Y K
• Convert to format:  22
X t s  2xts  1

 x  x 2 1
• Roots/Poles are: r1, 2 
t
• If |x| is >1, two simple roots (real numbers)
• If |x| is <1, roots contain complex numbers

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 2nd order responses: Effect of damping
coefficient & roots/poles

Acceptable Acceptable NOT Acceptable NOT Acceptable

WHEN ξ≥1: WHEN WHEN WHEN ξ ≤ -1:

Root=negative real 0<ξ<1: -1<ξ<0 Root=positive real
number Root=complex Root=complex number
Overdamped number with number with Runaway response
response Negative real part Positive real part Monotonic but
Monotonic and Under-damped Growing UNSTABLE
stable response oscillations
Oscillatory but UNSTABLE
STABLE oscillatory 16
Aside …

This is what
we want in
our car.
Consider
going over a
bumpy road
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2nd order response: Y K
 22
Effect of damping ξ X t s  2xts  1

r1,r2 are +ve r1,r2 =p+iw r1,r2 =p+iw r1,r2 are -ve

ξ
where p is +ve
where p is -ve

-1 UNSTABLE STABLE 1
0
Underdamped Overdamped

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 Second order: Want ξ≥0!

• When ξ≥0, the process reaches a new steady state value  STABLE response
• “Underdamped” with 0<ξ <1
• “Overdamped” with ξ >1
• Special cases:
• “Critically damped” when ξ = 1
• Fastest response without overshoot
• “Undamped” when ξ = 0
• Continuous oscillation

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Underdamped Characteristics
2t
Time Period  T  decay ratio 
B 1 x 2
2
overshoot  C   B
A overshoot      
2

 B   A
  x 
 exp 
 1 x 2 
 

T
rise time  TR  settling time
4
 TS  SP  5%

T
tP peak time  TP 
2
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 Second order
underdamped response
1. Overshoot: OS = B/A (% overshoot is 100a/b).
2. Decay Ratio: DR = C/B (where c is the height of the second peak).
3. Period of Oscillation: T is the time between two successive peaks or
two successive valleys of the response.
4. Rise Time: time the process output takes to first reach the new
steady-state value. (~T/4)
5. Time to First Peak: time required for the output to reach its first
maximum value. (~T/2)
6. Settling Time: the time required for the process output to reach
and remain inside a band whose width is equal to ±5% of the
setpoint. 21
Overshoot depends on ξ

=C/B =B/A*100

B
overshoot 
A
  x 
 exp 
 1 x 2 
 

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 Damping coefficient ξ
& Overdamped systems

Commonly observed in 2 x 1st order

processes connected in series

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 Y K
2nd order responses  22
X t s  2xts  1

ξ
-1 UNSTABLE 0 STABLE 1
Underdamped Overdamped
Undamped: ξ=0
Critically damped: ξ=1

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 Damping coefficient ξ summary

1. Response is stable if ξ >0.

2. Responses exhibit oscillation when -1< ξ <1.
3. Underdamped responses are stable and have overshoot
when 0<ξ <1.
4. Large values of ξ yield a sluggish (slow) response (ξ>1).
5. The fastest response without overshoot is obtained for the
critically damped case (ξ=1)

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 Notes on Oscillations

1. Making a step change to a 2nd order system can produce

oscillations, depending on the damping coefficient.
2. There are OTHER reasons why the system can oscillate – we
will see these in Frequency response section.
3. (This is a common source of confusion)

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 Basic control

Single control loop T1: Modelling

& Laplace TF

T2: 1st Order T3: 2nd Order T4: Deadtime, T5: Frequency
responses responses Block Diagrams Response

T6: PID Control T7: Tuning

loops Control loops

T8: Cascade T9: Feed

Control Forward
& Ratio control

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