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.

h1

h2

Second order systems can arise because of two first order

systems in interacting or noninteracting setups Interaction between the
Inherent dynamics in the system is of higher order holdups could give an
U-tube manometer. oscillatory response.
Presence of a controller in a closed loop even if the 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

h2
h1

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
controller
- u

t
dy ⎡ 1 ⎤
τ + y = Ku and u (t ) = K c ⎢( yd − y ) + ∫0 ( yd − y )dt ⎥⎦
dt ⎣ 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

P1 L d 2h 4 µ L dh 1
P2
2
+ 2
+ h= ΔP
2 g dt ρ g R dt 2ρ g

L = length of fluid in the

h plane of manometer tube
initial rest
when ΔP = 0 ρ, µ = density and viscosity
h
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 2
6L
g

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

ζ≥ 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

tr
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

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

a = max(y) - Δ y
a b=Δy

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

Time taken
to reach and
1.05 * b remain within
5% of the total
change in y
0.95 * b (95% response
time)

b=Δy

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

a = value of first peak - Δ y

c = value of second peak - Δ y
a
c

Decay ratio (DR) = c / a

2 −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 )⎦