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Lecture 5, First Order

This document outlines the learning objectives and key concepts related to first-order systems in the Process Dynamics and Control course at Malawi University of Science and Technology. It covers system behavior, parameter determination, MATLAB/Simulink usage, and the effects of deadtime, along with mathematical representations of first-order systems. Additionally, it provides examples of first-order step responses and explains the significance of system parameters K and τ.

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Catherine chaima
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6 views

Lecture 5, First Order

This document outlines the learning objectives and key concepts related to first-order systems in the Process Dynamics and Control course at Malawi University of Science and Technology. It covers system behavior, parameter determination, MATLAB/Simulink usage, and the effects of deadtime, along with mathematical representations of first-order systems. Additionally, it provides examples of first-order step responses and explains the significance of system parameters K and τ.

Uploaded by

Catherine chaima
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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MALAWI UNIVERSITY OF SCIENCE AND TECHNOLOGY

Process Dynamics and Control


PRDC-410

Lecturer : R. Chilipa
Email : [email protected]
Phone : 0 994 069 262
Office Number : 1st floor Room 57

Lecture 3.3

First Order Systems


Learning objectives:

 To become familiar with first-order system behaviour.


 To find parameters K and τ from a first-order time response graph.
 To use MATLAB/Simulink to investigate system responses.
 To recognise how the parameter τ affects the speed of response of the
system.
 To introduce the idea of deadtime in a system.
 To illustrate the step response of a first-order lag-plus-deadtime
system.
First-Order System Model
Two different process systems are shown in Fig .1 (a) and (b).

a) In the first system, the level of liquid in the tank is dependent on the
flow into the tank.
b) In the second system, the voltage across the capacitor is altered by
changing the input voltage.

Both these systems can be represented by first-order differential equations.

Fig. 1: Liquid level system and electrical RC circuit.

Table 1: System descriptions


First-order step response
This involves giving a step change in input signal to a general first-order
system. It is common to use a unit step, or inject a step of size ro.

If a step of size ro is injected to a first-order system (with a time constant of


τ = 10) the graph of the output y(t) against time is as shown in Fig. 2 is
realized.

Fig. 2: First-order step response of system.


Key Values from First Order System Plot
Steady state value of output: the value of the output reaches a constant
level, yss (steady state value). This value is equal to:

yss = Kro

Value of output at the time constant: The time constant, τ, represents the
time taken for the output to rise to 63% of the change in output. In the
plot, the output changes from zero to a steady state value of Kro. The change
is then given by (Kro – 0) = Kro. The value of the system output when the
time reaches the value of the time constant, yτ

yτ= 0.63Kro

Positive and negative step signals


General first-order system time response
A first-order model can be represented by the first-order differential
equation:

Output to a step change, ro, in input signal

y(t )  Kr0 (1  et / )


Output response for no input signal but non-zero initial conditions

y (t )  y0et /
System Parameters and System Behavior
Model parameters, K and τ
The output response for a step input of magnitude ro and zero initial
conditions is given by:
y(t )  Kr0 (1  et / )
Steady state value

Time constant
The value τ is called the time constant of the system, with units of time
(seconds, minutes, etc.). The actual value of τ will depend on the particular
physical system parameters. using the non-unity step response equation:
For t= τ:

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