PROCESS CONTROL AND INSTRUMENTATION

LAB (BKF3791)

TITLE OF EXPERIMENT: STUDY ON DYNAMICS OF FIRST

ORDER AND SECOND ORDER
SYSTEMS

DATE OF EXPERIMENT: 21 Dec 2021

INSTRUCTOR’S NAME: Ts. Dr. LIANG YONG YEOW

Group of Members:
1. YASER ABDULSALAM MUHAMED KA17261
2. ALI KHATIB JUMA KA18153
3. SIVENESH A/L CHANDRA SEGARAN KA18121
4. CORNELIUS KUMPANG ANAK PHILIP KA18010

SECTION : 3
GROUP : 4

FACULTY OF CHEMICAL AND NATURAL

RESOURCES ENGINEERING

UNIVERSITI MALAYSIA PAHANG

 TABLE OF CONTENT

1.0 ABSTRACT .................................................................................................................... 1

2.0 METHODOLOGY ......................................................................................................... 2

3.0 RESULTS........................................................................................................................ 3

4.0 DISCUSSION ................................................................................................................. 3

5.0 CONCLUSION ............................................................................................................. 10

6.0 RECOMMENDATION ............................................................................................... 10

7.0 REFERENCES ............................................................................................................. 10

8.0 APPENDICES .............................................................................................................. 11

1.0 ABSTRACT

The experiment was to study on dynamics of first order and second order systems. There
are two objectives of this experiment. The first objective is to demonstrate the properties of a first
order system for various values of the system gain and time constant and also to demonstrate the
dynamic properties of a second system for various values of the system gain, natural period and
damping coefficient while the second objective is to illustrate the dynamic response of a first order
and second order system to different input signals. In this experiment, MATLAB version 7.0 was
used to run this simulation.

This experiment divided into 2 parts. Part A is to study dynamic of first order system.
System gain(𝐾𝑝 ) and system time constant(𝜏𝑝 ) were set before running the experiment. Graph was
observed and analyzed. Steady-state value and length of time in output were recorded. In part B,
System gain(𝐾𝑝 ), value of constant A and constant B were set. The graph was observed and
analyzed to determine the type of damping. Output values such as type decay ratio, rise time,
settling time and period were recorded and calculated.

In first order system of control process, the output of the new steady state value and the
length of time it takes for the output to reach the new steady state depends on the gain constant
(KP) and time constant (τp). At constant Kp, the time taken by the process to reach new steady state
increases when τp increases, however an increase in τp doesn’t affect the final steady state output
value. Meanwhile, at constant τp, the final steady state output value increases when Kp increases,
however an increase in Kp reduces the time taken by the process to reach new steady state. For
first order system, the fastest response was achieved by input with KP and τp of 20 and 5
respectively. For second order system, they influenced by the damping coefficient, ξ. The large
value of ζ yield a sluggish response whereas small value of ζ yield a fast response with high degree
of oscillation. The characterization or types of response and roots of characteristic equation or
types of poles were different for different values of damping coefficient, ζ. For underdamped
system, it has the shortest respond time due to overshoot while the response will be sluggish and
slow for overdamped system. For critically damped response, its response was fast without
overshoot.
2.0 METHODOLOGY

Part A: First Order System

The First and Second The system gain The step time is set to
Order System button Kp and time 10.0 with value of
from the main menu is constant τP are set step function from
clicked and First order both to 10.0 on the 0.0 to 1.0.
system button is first order system
selected. block.

Several points The simulation is started and

Step 4 is repeated along new
using a different the response steady state value and the
of K and τ .
set curve in the length of time it takes for the
analysis is taken. output to reach new steady
state value are recorded.
Figure 2.1: Flowchart for Part A: First Order System Experiment

System identification problem:

1. The System Identification Problem 1 button is selected.
2. Using a step input, the simulation is run to generate output data that can be used to determine
system gain Kp and time constant τP.

Part B: Second Order System

Second order The system gain Kp is The initial and final

system button set to 10.0, the value values of the Step
is selected. of A to 40.0 and the Function is set to 0.0
value of B to 14.0. to 1.0.

The simulation is If the system is The simulation is

repeated by underdamped, the started and the
changing different overshoot, decay ratio, rise type of system is
set of values. time and period is determined.
determined.
Figure 2.2: Flowchart for Part B: Second Order System Experiment
 System identification problem:
1. The System Identification Problem 2 button is selected.
2. Using a step input, the simulation is run to generate output data that can be used to determine
the parameters of second order system.

3.0 RESULTS AND DISCUSSION

Part A: First Order System

Table 3.1 First Order System with Different Gain, KP and Time Constant τp

No Gain, KP Time Constant, Time (s) Output Comment

τp

1 10 10 66.9137 9.9808 Reasonable

2 40 10 64.0836 39.9181 Reasonable
3 10 20 120.6873 9.9808 Reasonable
4 10 5 37.3989 9.9808 Reasonable
5 20 10 65.7008 19.9108 Reasonable
6 60 10 62.062 59.8053 Reasonable

𝑲𝑷
For the standard form of first order transfer function, 𝑮 (𝒔) =
𝛕𝒔 +𝟏

Based on the table 3-1 above, the time taken will change to reach its steady state by
manipulating the systems inputs which are gain, Kp and the time constant, τp. By manipulating
the system inputs, the changing in the output was observed based on the graph. From the results
obtained, as the time constant, τp decrease, the time required to reach steady state will also
decrease. Next, the increase in system gain, KP will slightly reduce the time taken to reach the
steady state. The first order transfer function and the graph were shown that shown in the
appendix.
 System Identification Problem 1

a) b)

Figure 3.1: System profile a) Input b) Output

QUESTIONS
1. What is the slope of initial response?

At the point where the process to start to response,

4−0
= = 0.1
50 − 10

2. Calculate the final output value minus the initial output value.

∆Output value = Final output value − initial output value

= 3.2275 − 0
= 3.2275

3. Fill in the following table with the parameter values you calculated and order transfer
function of this unknown system.

At 63.2% from its output response of 3.2275,

KP = 0.632 × 3.2275 = 2.0398

From the graph, time constant, τp at output response of 2.0398 is approximate 42 s.

Table 3.2 Transfer Function Parameters for Unknown System

Kp 0.2152

τp 42

Thus, the first order transfer function for this unknown system at step input of 0 to 15 is

EXERCISE

1. What effect does increase the gain have on the system output?
Increasing the gain will cause the system performs better. It is more accurate and reach steady
state faster. As values of gain increases, the final steady output value also increases.

2. What is meant physically by a system with a large gain?

System with large gain will result in large output change once small input change is introduced
to the system.

3. What effect does decrease the time constant have on the system output?
Time constant determine how quickly the system moved toward the steady state. When the
time constant decreasing, the speed of the system to achieve the steady state will increase.

4. What is meant physically by a system with a small time constant?

The systems that use small time constant usually required rapid response. System with a small
time constant will take shorter time to reach new steady state value. The error will be minimized
by using the small time constant.

5. Is it possible for a system to have a negative gain? What is the expected behaviour?
Yes. It is possible for a system to have a negative gain. The system output is expected to
decrease and eventually reach new steady state after some time.
6. Is it possible for a system to have a negative time constant? What is the expected behaviour?
No. It is impossible. This can be proven from the equation of time response y(t) = KM (1- e-
t/τ
) where negative time constant is not possible. When time constant is negative, the process
response will give negative output change. Theoretically, the process output never reaches
the new steady state except as t→∞.

7. What is the expected response from a first order system driven by a sinusoidal input?
A sinusoidal input is expected to give a sinusoidal response for first order system. Figure 3.2
below shows the sinusoidal response for the first order system.

Figure 3.2 Sinusoidal response for first order system

Part B: Second Order System

Table 3.3: Properties of Second Order System with Different Input Values.
No. KP A = τ2 B = 2ξτ τ ξ Type
1 10 40 14 6.3245 1.107 Overdamped
2 10 18 2 4.2426 0.236 Underdamped
3 10 42.25 13 6.5 1 Critically
damped
4 20 42.25 13 6.5 1 Critically
damped
5 10 18 15 4.2426 1.768 Overdamped

In which:
Underdamped: ξ<1
Critical damped: ξ=1
Overdamped: ξ>1

No. Overshoot Decay Ratio Rise Time Settling Time Period

1 - - - - -
2 0.4668 0.2179 17.5876 64.8922 27.4301
3 - - - - -
4 - - - - -
5 - - - - -

In which:
Overshoot, OS = √DR
−2𝜋ξ
( )
√(1−ξ2 )
Decay ratio, DR = 𝑒
−2𝜋τ
Period, P =
√1−ξ2

Rise Time, tr: Time taken for the output process to take the first reach of the new steady state
value.
Settling Time, ts: Time required for process output to reach and remain inside a band width of ±
5% of the total change in new steady state value.
Meanwhile, the standard form of second order transfer function,
 𝐾𝑃
𝐺(𝑠) =
𝜏𝑃2 𝑠 2 + 2ξτps + 1
Damping coefficient, ξ affected the second order system. Higher degree of oscillation is obtained
when ξ approaches 0. Therefore, the higher the value of ξ, the response becomes more sluggish.
Hence, ξ = 1 is the fastest response only can be obtained from the critical damped. Based on the
graph, the type of the responses can also be verified using the damping coefficient, ξ which is
calculated using equation.

QUESTIONS
1. What is the overshoot in the response?
𝑎 22.0875−14.8275
Overshoot, OS = 𝑏 = = 0.4896
14.8275

2. What is the period of the oscillatory response?

Period = tpeak 2 - tpeak 1 = 55.5596 – 25.1392 = 30.4204

3. Calculate the final output value minus the initial output value.
Final Output Value – Initial Output Value = 14.8275 – 0 = 14.8275
4. Fill in the following table with the parameter values you calculated and derive the second
order transfer function for this unknown system.
−𝜋ξ
Overshoot, OS = exp
√1−ξ2

By rearranging the overshoot equation and solving using calculator,

Damping coefficient, ξ = 0.2217
2𝜋𝜏
Period, P =
√1−ξ2

Rearrange the above equation to get response time, 𝜏

√1−ξ2 √1−0.22172
Response time, 𝜏 = 𝑃= (30.4204) = 4.721
2𝜋 2𝜋

△𝑜𝑢𝑡𝑝𝑢𝑡 14.8275−0
KP = = = 98.85
△𝑖𝑛𝑝𝑢𝑡 0.15−0
 Table 3.4: The Transfer Function Parameters for Unknown System.
KP 𝜏P ζ
98.85 4.721 0.2217

Therefore, the second order transfer function for this unknown system at step input of 0 to
0.15 is
𝐾 98.85
G(S) = =
𝜏2𝑠2 + 2ζτs + 1 2 2
4.721 𝑠 + 2(0.2217)(4.721)𝑠 + 1
98.85
=
22.29𝑠 2+ 2.09𝑠 + 1

EXERCISE
1. What types of poles does this system have? What types of response would be expected for
a system with a damping coefficient in Region I, II and III?

Table 3.5: Types of Poles, Responses and Damping Coefficient in Region I, II and III.
Region Region I Region II Region III
Damping ξ<1 ξ =1 ξ >1
Coefficient
Type of Poles Complex Real and Real and
conjugate multiple distinct
poles poles poles
Type of Underdamped Critically Overdamped
Responses damped
2. Sketch the corresponding response of the output variable to a step input in Region I, II and
III.

Figure 3.2: Corresponding Response of the Output Variable to a Step Input in Region I, II
and III.

3. How does a decrease in the damping coefficient affect the speed of response?

The speed of response increases when the damping coefficient decreases. However, this can
lead to higher degree of oscillation and overshoot.

4. Which of the 3 responses would be expected to have a shorter response time and sluggish?
Shorter response time is underdamped response (Region I).

Sluggish response is overdamped response (Region III).

5. What is the trade-off from a control perspective of the different responses?

Identification of type of controller that is suitable with the system can be observed by
applying different responses. Based on Figure 3.2, Region 1 with damping coefficient less
than 1 has the shortest response time with overshoot or oscillatory response. Region II with
damping equal to 1 has the fastest response without overshoot. Region III with damping
coefficient more than 1 experience sluggish response time without overshoot. Therefore,
smaller damping coefficient will cause increases of response speed in which lead to smaller
settling time. Hence, it can be observed that the major drawbacks are higher degree of
oscillation and overshoot.
4.0 CONCLUSION AND RECOMMENDATION

In conclusion, the length of time it takes for the output to achieve the new steady state
and the output of the new steady state value depend on the gain constant and time constant for
the first order system of the control process. The final steady output value increases when the
gain value increases. When small input change is detected in the system, large output will be
produced by the system with large gain. Besides, the first order system reaches final steady
state faster when the time constant is smaller. Therefore, the fastest response observed in the
first order system by input with gain constant and time constant of 10 and 5, respectively.
Meanwhile, the value of damping coefficient can affect the output response for the second
order system of control process. As observed, underdamped system has the shortest respond
time because of the overshoot. However, critically damped system has the fastest response time
without overshoot.

For recommendation, we need to use curser to select the pointer box in order to obtain
the exact value of time constant and output value. Moreover, it is necessary to compare and
analyze the response of the output system. This can help us understand the effect of gain
constant and time constant more before choosing our own value for the simulation. Hence, the
appropriate chosen value can optimize the system accordingly.

5.0 REFERENCES

Seborg, D. E. (2011). Process Dynamics and Control. California: John

Wiley & Sons, Inc.
APPNEDIX
Results
PART A: FIRST ORDER SYSTEM
1)

Figure A-1: First Order System with KP = 10, τp = 10

2)

Figure A-2 First Order System with KP = 40, τp = 10

3)

Figure A-3 First Order System with KP = 10, τp = 20

4)

Figure A-4 First Order System with KP = 10, τp = 5

5)

Figure A-5 First Order System with KP = 20, τp = 10

6)

Figure A-6 First Order System with KP = 60, τp = 10

System Identification Problem 1:

Figure A-7 Graph of System Identification Problem 1

PART B: SECOND ORDER SYSTEM
1)

Figure B-1 Second Order System with KP=10, A=40, B=14

2)

Figure B-2 Second Order System with KP=10, A=18, B=2

3)

Figure B-3 Second Order System with KP=10, A=42.25,

B=13
4)

Figure B-4 Second Order System with KP=20, A=42.25, B=13

5)

Figure B-5 Second Order System with KP=10, A=18, B=15

System Identification Problem 2

Figure B-6 Graph of System Identification Problem 2