Chapter 5

Dynamic Behavior
st
nd
1 & 2 Order

Chapter 5

Upon the completion of this

chapter, students are able to:
1)Arrange transfer function into standard
form to identify the parameter
2)Describe dynamic behavior of the process
3)Explain the effect of different input
variables on the process dynamics.

Chapter 5

Dynamic Behavior
In analyzing process dynamic and process control systems, it is
important to know how the process responds to changes in the
process inputs.
A number of standard types of input changes are widely used for
two reasons:
1. They are representative of the types of changes that occur
in plants.
2. They are easy to analyze mathematically.

TT representation make easy the effects of different input. Below is the

example for the dynamic model for constant flow stirred tank blending
system

The resulting first order transfer functions

Relates changes in outlet mass fraction X(s) to changes in the mass

flowrate
as well as changes in inlet mass fractions

Output-refer to a controlled variable in process,

a process variable to be maintained at desire
value (set point)

Chapter 5

Input

-refer to any variable that influences the process

output
-2 input variable that influence the output variable
that we wish to control. What is that?

Standard Process Inputs

1)Step Input
2)Ramp input
3)Rectangular Pulse
4(Sinusoidal Input
5)Impulse Input
5

1. Step Input
A sudden change in a process variable can be approximated by
a step change of magnitude, M:

Chapter 5

Us

0 t0
M t0

=
@

Us ( s ) M / s

(5-4)
(5 6)

The step change occurs at an arbitrary time denoted as t = 0.

Special Case: If M = 1, we have a unit step change. We
give it the symbol, S(t).
Example of a step change: A reactor feedstock is suddenly
switched from one supply to another, causing sudden
changes in feed concentration, flow, etc.
6

Example:

Chapter 5

The heat input to the stirred-tank heating system in Chapter 2 is

suddenly changed from 8000 to 10,000 kcal/hr by changing the
electrical signal to the heater. Thus,
and

Q t 8000 2000 S t ,

S t @
= unit step

Q t Q Q 2000 S t ,

Q 8000 kcal/hr

2. Ramp Input
Industrial processes often experience drifting
disturbances, that is, relatively slow changes up or down
for some period of time.
The rate of change is approximately constant.

We can approximate a drifting disturbance by a ramp input:

0 t0
=
U R t @
(5-7)
at t 0

Chapter 5

U R ( s) a / s 2

(5 8)

Examples of ramp changes:

1. Ramp a setpoint to a new value.
2. Feed composition, heat exchanger fouling, catalyst
activity, ambient temperature.
3. Rectangular Pulse
It represents a brief, sudden change in a process variable:

 0 for t 0

U RP t @
= h for 0 t t w
0 for t t
w

h
U RP ( s ) 1 e tw s

(5-9)

(5 11)

Chapter 5

XRP
h

Tw Time, t

Examples:
1. Reactor feed is shut off for one hour.
2. The fuel gas supply to a furnace is briefly interrupted.
9

10

Chapter 5

4. Sinusoidal Input

Chapter 5

Processes are also subject to periodic, or cyclic, disturbances.

They can be approximated by a sinusoidal disturbance:
0 for t 0
U sin t @
=
A sin t for t 0
where:

A = amplitude,

(5-14)

= angular frequency

A
U sin ( s ) 2
s 2

Examples:
1. 24 hour variations in cooling water temperature.
2. 60-Hz electrical noise (in the USA)
11

Chapter 5

Sinusoidal Input

12

5. Impulse Input

Chapter 5

Here, U I t t and U I ( s ) 1
It represents a short, transient disturbance.
It is the limit of a rectangular pulse for tw0 and h = 1/tw

Examples:
1. Electrical noise spike in a thermo-couple reading.
2. Injection of a tracer dye.

Chapter 5

Response
of
First Order Processe
14

Chapter 5

A first order system is one whose output y(t) is

modeled by a first order differential equation. Thus in
the case of linear (or linearized) system, we have

A first order system is

described
by a first order
differential equation.

dy
a1
ao y bx(t )
dt

y(t) = output
x(t) = input
Where x(t) is the input (forcing function). If a 0=0, then the eq
above yields
a1 dy
b
y x(t )
a o dt
ao

Define

b
K
ao

a1
ao

Chapter 5

Standard form
of 1st order
process
1st order
response if step
change in input
of magnitude A

dy

y Kx(t )
dt

y (t ) AK (1 e t / )

The transfer function of a

given by

first order process is

Chapter 5

Y ( s)
K
G ( s)

X ( s ) s 1

eq 5.16

Where:
is known as the time constant of the process and K is called
the steady state gain or static gain or simply the gain of the
process.
If y(t) and x(t) are in terms of deviation variables around a
steady state , the initial condition are y(0)=0 and x(0)=0

17

Revisit Stirred Tank Heating process

Chapter 5

Dynamic model

Transfer function
where

dT
V C
wC Ti T Q
dt

(4)

T s

K
1

Q s
Ti s
s 1
s 1

1
K
wC

(6)

Response to a unit step change

Chapter 5

If

No change in Ti

Step change in Q(s):

A/s

K
T '
Q'
s 1

K A
T'
s 1 s

Inverse laplace, find T(t)

t /

T (t ) AK (1 e )
Plot graph T(t)/AK vs t/

; T(0)=0

Chapter 5

Characteristic response to a unit step

change of 1st order process
Self regulating ~ if inlet increase by unit step, the outlet
increase.
The slope of the response at t=0 is 1. The response would
reach its final value in one time constant.
Time constant, of a process is a measure of the time
necessary for the process to adjust to a change in its input.
The smaller the value of time constant, the steeper the
initial response of the system.
The value of the response y(t) reaches 63.2% of its final
value when the time elapsed is equal to one time constant.

y
y

t
0

2
3
4
5

y
y
___
0
0.632
0.865
0.950
0.982
0.993

Note: Large means a slow response.

21

Response to sinusoidal input

For a sine input (1st order process)

Chapter 5

U (s)

s2 2

output is...
Y(s)

Kp

0
1s
2

s 1 s 2 2 s 1 s 2 2 s 2 2

By partial fraction decomposition,

1
2

K p 2
2 2 1
K p
2 2 1
K p
2 2 1

Inverting,
this term dies out for large t

Chapter 5

y( t )

K p
1
2 2

Kp
2 2 1

sin(t )

arctan()
note: is not a function of t but of and .

Chapter 5

Response
of
Second Order Process

24

Chapter 5

Second order process is described by the

solution of 2nd order differential equation
y(t) = output, x(t) = input

d2y
dy
a2 2 a1 ao y bx(t )
dt
dt

Chapter 5

Standard form
of 2nd order
process
where

2
d
y
dy
2

2
y Kx (t )
2
dt
dt

a2

ao
2

a1
2
ao

b
K
ao

natural period of oscillation of the system

damping factor
K steady state gain of the system
Transfer
function 2nd
order process

Y (s)
K
G (s)
2 2
X ( s ) s 2s 1

System with 2nd order process

Multicapacity Process
Chapter 5

Noninteracting capacity
Describe by two differential equations
The first system affects the second by its outputs
Fi

K1
G1( s )
1s 1

h1
R1
X

F1

Tank 1
h2

F2
X
Tank 2

K2
G 2( s )
2s 1

Chapter 5

F1(s)

G1(s)

Y1(s)

G2(s)

Y2(s)

Y 2( s) Y 2( s) Y 1( s )
K2
K1
G1( s )

F1 ( s ) Y1 ( s ) F1 ( s ) 1s 1 2 s 1
Overall transfer function of the system is second
order
Always result in an overdamped or critically damped
second order system and never in underdamped
system.

 The type of behavior that occurs depends on the numerical

value of damping coefficient, :
It is convenient to consider three types of behavior:

Chapter 5

Damping
Coefficient

Type of Response

Roots of Charact.
Polynomial

Overdamped

Real and

Critically damped

Real and =

Underdamped

Complex conjugates

0 1

Note: The characteristic polynomial is the denominator of the

transfer function:
2 s 2 2s 1
What about 0? It results in an unstable system

29

Chapter 5

Three classes of 2nd order reponse

Case A: 1
Overdamped response

y (t ) K 1 e

t /

t
2
cosh 1 t
sinh 1
2

Chapter 5

Case B: 1
Critically damped response

t t /
y (t ) K 1 1 e

Chapter 5

1. The fastest response without overshoot is obtained for

the critically damped case 1 .
32

Chapter 5

Case C: 0 1
Underdamped response

Chapter 5

Underdamped response
Response faster than critically damped and
overdamped
But, oscillating with progressively decreasing
amplitude.

Chapter 5
1. Responses exhibiting oscillation and overshoot (y/KM > 1)
are obtained only for values of less than one.
2. Large values of yield a sluggish (slow) response.
35

36

Chapter 5

1. Rise Time: tr is the time the process output takes to first

reach the new steady-state value.

Chapter 5

2. Time to First Peak: tp is the time required for the output to

reach its first maximum value.
3. Settling Time: ts is defined as the time required for the
process output to reach and remain inside a band whose width
is equal to 5% of the total change in y. The term 95%
response time sometimes is used to refer to this case. Also,
values of 1% sometimes are used.
4. Overshoot: OS = a/b (% overshoot is 100a/b).
5. Decay Ratio: DR = c/a (where c is the height of the second
peak).
6. Period of Oscillation: P is the time between two successive
peaks or two successive valleys of the response.
37

Second Order Step Change

a.

Chapter 5

b.

Overshoot

a
exp

Time of first maximum

tp

c.

e.

Decay ratio (ratio of the amount above the ultimate value of

two successive peak)

c
exp

d.

a2

2
b2
1

Period of oscillation
(time between two successive peaks)
2
p

Rise Time

Example 1

If the feed flow rate to the reactor changes suddenly from 0.4- 0.5 kg/s and
the temperature of the reactor contents, initially at 100 oC changes eventually to 102 oC.
The response is slightly oscillatory with maxima estimated to be 102.5 oC and 102.1 oC
occurring at times 1000s and 3060s after the change is initiated
1)What is the gain of the transfer function
2)What is the complete process transfer function .Assume that the step response
due to an underdamped second order process.
3)Predict tr on the results in (a) and (b)

39

Exercise 5.14a

40