Department of Chemical Engineering

I.I.T. Bombay, India

Lectures 7: Dynamics of higher order

systems
Department of Chemical Engineering
I.I.T. Bombay, India

Dynamic behaviour of second

order systems
Number of dynamic elements are 2.

h
1

h
2

Second order systems can arise because of two first

order systems in interacting or noninteracting setups
Inherent dynamics in the system is of higher order Interaction between
the holdups could give
U-tube manometer. an oscillatory
Presence of a controller in a closed loop even if the response.
process is first order (such as PI or PID controllers in a
closed loop) can give a second order system.
Department of Chemical Engineering
I.I.T. Bombay, India

IIlustrative example: Interacting system of tanks in

series

F0

h
h 2
1

First Principles Model

dh1
A1 = Fo − c1 (h1 − h2 );
dt
dh2
A2 = c1 (h1 − h2 ) − c2 h2
dt
Department of Chemical Engineering
I.I.T. Bombay, India

First Principles
Model

A1 A2 1 c1
If τ 1 = ;τ 2 = ; K1 = ; K 2 =
c1 c2 c1 c2
K1 K 2
y2 ( s ) = 2
u (s)
τ 1τ 2 s + (τ 1 + τ 2 + K 2τ 1 ) s + 1

The roots of the denominator (poles of the transfer

function) could be complex. They could give rise to
oscillatory behaviour for different u.
Department of Chemical Engineering
I.I.T. Bombay, India
Second Illustrative example: Control of a first
order process

+
yd Plant y
controlle
- r u

t
dy ⎡ 1 ⎤
τ + y = Ku an u (t ) = K c ⎢( yd − y ) + ∫0 ( yd − y )dt ⎥⎦
dt d ⎣ τI
t
Therefore,
dy ⎡ 1 ⎤
τ + y = KK c ⎢( yd − y ) + ∫ ( yd − y ) dt ⎥
dt ⎣ τI 0 ⎦
d2y dy KK c
τ1 2
+ (1 + KK c ) + y = yd
dt dt τI
This is a second order system and will give rise to a second
order transfer function.
Department of Chemical Engineering
I.I.T. Bombay, India

U-Tube
Manometer
P L d 2h 4 µ L dh 1
P
2
+ 2
+ h= ΔP
1 2 2 g dt ρ g R dt 2ρ g

L = length of fluid in the

h plane of manometer tube
initial rest ρ, μ = density and
when ΔP = viscosity
h
0 of manometer fluid
R = radius of manometer
tube
g = gravitation constant

ΔP = P1 - P2
Department of Chemical Engineering
I.I.T. Bombay, India

General second order

transfer function
For the manometer
y(s) K
G (s) = = 2 2
u ( s ) (τ s + 2ζ τ s + 1) τ=
L2
g3
ς=
µ
ρR
6L
g 2

The value of ζ (damping factor) determines the dynamic response of

second order systems. It represents viscous or dissipative forces.
If 0 ≤ ζ < 1 (underdamped system) - oscillatory approach to steady
state
≥ 1 (critically damped, overdamped systems) - non-oscillatory
approach to steady state.
τ is also called the natural time constant of the system.
Department of Chemical Engineering
I.I.T. Bombay, India

Step Response of Overdamped Second

Order Systems

A ⎡ τ 1 e −t / τ1 − τ 2 e −t / τ 2 ⎤
u (s) = y (t ) = KA ⎢1 − ⎥
s ⎣ τ1 − τ 2 ⎦

dy ⎡ e −t / τ1 − e −t / τ 2 ⎤
= KA ⎢ ⎥
dt ⎣ τ 1 − τ 2 ⎦

= 0 at
t= 0
Initial Slope = 0.
This is
in contrast to that
of a
first order system
Department of Chemical Engineering
I.I.T. Bombay, India

Step Response of Critically Damped

Second Order Systems
A ⎡ ⎛ t ⎞ −t / τ ⎤
u (s) = y (t ) = KA ⎢1 − ⎜1 + ⎟e ⎥
s ⎣ ⎝ τ ⎠ ⎦

dy ⎡ t e − t /τ ⎤
= KA ⎢ 2 ⎥
dt ⎣ τ ⎦
= 0 at
t= 0

Again, the initial

Slope = 0
Department of Chemical Engineering
I.I.T. Bombay, India

Step Response of Underdamped Second

Order Systems
A ⎧
⎪ ⎡ ⎧⎪ 1 − ζ 2 ⎫⎪ ζ ⎧⎪ 1 − ζ 2 ⎫⎪⎤ ⎫⎪
u (s) = y (t ) = KA ⎨1 − e −ζ t / τ ⎢cos ⎨ t⎬ +
2
sin ⎨ t ⎬⎥ ⎬
s ⎪⎩ ⎢⎣ ⎪⎩ τ ⎪⎭ 1−ζ ⎪⎩ τ ⎪⎭⎥⎦ ⎪⎭

⎧ ⎧⎪ 1 − ζ 2 ⎫⎪ ⎫
−ζ t / τ
⎪e sin ⎨ t⎬ ⎪
dy ⎪⎪ ⎪⎩ τ ⎪⎭ ⎪⎪
= KA ⎨ ⎬
dt ⎪ τ 1−ζ 2 ⎪
⎪ ⎪
⎪⎩ ⎪⎭

= 0 at
t= 0
Again, the initial
Slope = 0
Department of Chemical Engineering
I.I.T. Bombay, India

Step Response of Underdamped Second

Order Systems

τ
tr = (π − cos −1 ζ )
1−ζ 2

Rise time tr: Time at which

the output
first hits the steady state
value
t
r
Department of Chemical Engineering
I.I.T. Bombay, India

Peak
time

Time to first peak tp: Time

at which the output
hits the first maximum
value

t
p
Department of Chemical Engineering
I.I.T. Bombay, India

a=
max(y) - Δ
a
y
b=Δy

Overshoot (OS)
b = a / b −π ζ
OS = exp( )
1−ζ 2
Department of Chemical Engineering
I.I.T. Bombay, India
Settling
time

Time taken
1.05 * to reach
b and
0.95 * remain
b within
5% of the
b= total
Δ y change in
y
(95%
response
t time)
s
Department of Chemical Engineering
I.I.T. Bombay, India

a = value of first
peak - Δ y
a c = value of second
peakc- Δ y

Decay ratio (DR)

= c / a2 −2π ζ
DR = [OS ] = exp( )
2
1−ζ
Department of Chemical Engineering
I.I.T. Bombay, India

Period of Oscillation, P
= time between successive
peaks
= time between successive
valleys

2π τ
P=
P 1−ζ 2
⎧ ⎧⎪ 1 − ζ 2 ⎫⎪ ⎫
−ζ t / τ
⎪e sin ⎨ t⎬ ⎪
dy ⎪⎪ ⎪⎩ τ ⎪⎭ ⎪⎪
= KA ⎨ ⎬
dt ⎪ τ 1−ζ 2 ⎪
⎪ ⎪
⎪⎩ ⎪⎭
Department of Chemical Engineering
I.I.T. Bombay, India

Frequency
Response
y(s) K with u ( s ) = A sin( wt )
G (s) = = 2 2
(
u ( s ) τ s + 2ζ τ s + 1 )
It can be shown that the output y is also a sinusoid with the same
frequency as the input and is given by,

AK
y (t ) t − >∞ = sin( wt + φ )
2 2 2 2
(1 − w τ ) + (2ζwτ )

and
⎡ 2ςwτ ⎤
−1
φ = − tan ⎢ 2 2 ⎥
⎣ (1 − w τ )⎦