CHE334 Instrumentation and

Process Control
Lecture 13 & 14
Chapter 10 : Dynamics of First Order
System
By Dr. Maria Mustafa
Department of Chemical Engineering

Dynamic Behavior of first order

systems (Chapter 10)
First order system
A first order system is one whose output is
modeled by a first order differential equation.
For Linear system (Case 1 )

+ = ()

Where f(t) is (forcing ) input function. If is nonzero, then dividing above equation by we have

+=
()

Defining

=
=

Then the equation becomes as

+ = ()

Where is known as time constant

And = steady state gain or gain of the

system

If y(t) and f(t) is in deviation variables around a

steady state, the initial conditions are
y(0) = 0 and f(0) = 0
Then the transfer function of a first order system
or process is given by

()
=
=
() + 1
A first order process having transfer function of

is also known as first order lag, linear lag,

+1

or exponential transfer lag.

 Case 2

= ()

Dividing on both sides

=
=

The transfer function of the system is given by
()
=
=

()
In such case the process is called purely capacitive or
pure integrator.

Characteristics of First order System

A process that possesses a capacity to tore
mass or energy and then acts as a buffer
between inflowing and outflowing streams
will be ordered as first order system
The first order processes are characterized
by:
Their capacity to store mass, energy or
momentum.
The resistance associated with the flow of
mass. Energy or momentum in reaching the
capacity.

Examples
Sr. No. Process

Capacity

Resistance

Dynamic response
of the tank

Dynamic response
of the tank that
have capacity to
store liquid or
gasses

Dynamic response
of temperature of
solid, liquid or
gaseous system

That can store

thermal energy (
thermal capacity
Cp)

Resistance to
associated with
pumps, valves,
weirs and pipes
attached to either
inflowing or
outflowing liquids
or gasses
Resistance is
associated with the
transfer of heat
through walls, liquid
or gasses.

Example 10.1: First order system with

a capacity for mass storage

Consider the tank

shown in fig. . The
volumetric flow in is
Fi, Ti
Fi and the outlet
volumetric flow rate
is Fo. In the outlet
there is a resistance
to flow such as a
T
pipe, valve, pump or
weir.

h
R

F, T

Example 10.1: First order system with

a capacity for mass storage
Consider the tank shown in fig. . The volumetric flow
in is Fi and the outlet volumetric flow rate if Fo. In
the outlet there is a resistance to flow such as a pipe,
valve, pump or weir. Assume that the effluent ( out)
flow rate Fo is related to hydrostatic pressure of the
liquid h, through resistance R :

= =

At any time point, the tank has the capacity to store
mass. Analyzing the transfer function of the system

 The total mass balance around the system

gives

= =

Dividing both sides by R we have

+ =

Where A is the cross sectional area

At steady state
= ,
Subtract the equation B from Equation A

+ =

Comparing

And

+ =

+ = ()

We have
= =time constant of process
= = Steady state gain
The transfer function of the system is

()
()

 Points to be noted
1. The cross sectional area A , is a measure of its
capacitance to store mass. Thus larger the value of
A, the larger the storage capacity.
2. Since = so we can say that
(time constant)= (storage capacitance ) x (resistance to flow)

Example 10.2 : First Order system with

a capacity for Energy Storage
The liquid of a tank is
heated with saturated
steam, which flows
through a coil immersed
in the liquid. Analyzing
the transfer function

T
Q

Tst

Example 10.2 : First Order system with

a capacity for Energy Storage
The liquid of a tank is heated with saturated
steam, which flows through a coil immersed in the
liquid. Analyzing the transfer function
Energy balance for the system yields
[ ]
= = ( )

= = ( ) .

The steady state is given by

0 = (, ).. Eqn B

Eqn A

 Subtracting Eqn A from Eqn B, we have

= =

+ =

The transfer function of the system is

()

=
=
=
() + +

Where =

= time constant of the process

and
= steady state gain of process =1

 Points to be noted
1. The above equation clearly demonstrates that this
is a first order lag system
2. The system possesses capacity to store thermal
energy and a resistance to the flow of heat
characterized by U.
3. The cross sectional area , is a measure of its
capacitance to store energy and

is the

resistance to the flow of heat from steam to liquid.

4. Since =

so we can say that

(time constant)= (storage capacitance ) x (resistance to flow)

Example 10.3: Pure Capacitive System

Consider the tank shown in fig. . The volumetric

flow in is Fi and the outlet volumetric flow rate
is Fo which remain constant for all time. Fo is
determined by a constant displacement pump
and not by the hydrostatic pressure of the
liquid level h
Fi

Analyzing the
transfer
function of
the system

h
Fo

 The total mass balance around the system gives

Dividing both sides by A we have

1
1
= ( ) ( )

Where A is the cross sectional area

At steady state
1
1
0 = ( ), ( )

Subtract the equation B from Equation A

1
= ( )

Comparing

And

1
= ( )

= ()

We have
=

( )

= Steady state gain

The transfer function of the system is

()
()

10.3: Dynamic Response of a Pure

Capacitive system
The transfer function of the pure capacitive system is
given by
()
=
=

()

Let y(t) changes with time, when f(t)

undergoes a unit step change :
= 1 > 0
The Laplace of f(t) is given by

 Then y(s) becomes as follows :

=
=

And after inversion y(t) is given by

=
This means that the output grows linearly wih
time in an unbounded fashion. Thus

Such type of response , characteristic of a pure
capacitive process, lends the name pure
integrator because it behaves as if there were an
integrator between its input and output.

 A pure capacitive process can not balance

itself, loose control and is known as non-self
regulation process. It will cause serious
control problems. As in example 10.3, a small
change in inlet Flow will make the tank either
flood or run dry (empty).

Dynamic Behavior of First Order Lag

system
The transfer function of first order lag system is given by:

()
=
=
() + 1
Lets assume that the f(t) undergoes a unit step change with
time
= 1 > 0
Then

( +1)

and

By taking inverse the y(t) will given as follows

= (1

 Lets assume that the f(t) undergoes a step

change of magnitude A with time
= > 0
Then

( +1)

and

By taking inverse the y(t) will given as follows

= (1 )
In terms of the dimensionless coordinator
/ = (1

Plotting

(1

1
0.8

0.6

(1

0.4
0.2

0
0

t =

t/

3 t/ 4

Output response

/ = (1
0

% output response
)
0

0.632121

63.2

0.864665

86.466

0.981684

98.17

0.997521

99.75

Characteristics of First order Lag

system by analyzing graph
1. First order Lag system is self regulating . After
disturbances, the system output response reaches to
new steady state.
2. The slope of the response at t=0 is equal to 1. This
implies that , the output response would reach its
final value in one time constant. Also we can
conclude:
the smaller the value of time constant , the steeper the
initial output response of the system. Or
The time constant of a process is a measure of the time
necessary for the process to adjust to a change in it
input.

Characteristics of First order Lag

system by analyzing graph
3. The value of output response y(t) reaches 63.2 % of its
final value when the time elapsed is equal to one time
constant. [ see above Table ]

4. As we know that = 1 , When t ,

then output response . Since for any step
change in input , the steady state change in
output is given by (output) = (output).
This tells us how much change we have to made
in input in order to have desired value of output
response for a process with given gain . Thus
to effect the same change in output, we need
A small change in the input if is large ( very sensitive
systems )
A large change in the input if is small.

Example 10.4: Effect of Parameters on

the response of first order system
1
0.9

System2(A2)

0.8
0.7
0.6

System1(A1)

0.5
0.4
0.3
0.2
0.1

Consider two systems (System 1 and

system 2) of liquid storage ( as shown
in Example 10.1) of different two
areas A1 and A2 resp. such that A1 >
A2 . This means that time constant of
systems 1 is greater than system
provided resistance to flow R is same
in both system. So the System 2 initial
response is steeper than that of
system 1 as shown in this Plot.

0
0

10

0.12
0.1
0.08
0.06
0.04
0.02
0
0

Consider two systems (System 1 and system 2) of liquid storage ( as shown in Example
10.1) of different two areas A1 and A2 resp. and different two resistances R1 and R2 resp.
such that A1 > A2, R2>R1 and A1RI =A2R2 . This means that gain of systems 2 is greater
than system 1 provided time constants are same in both system. So the System 2 initial
response is same to that of system 1 but as time goes on, the system 2 output response
caused due to change in same input will rise to higher steady state value as compare to
that of system 1 as shown in this Plot.

For total mass balance

()
=

Mass Balance on component

( ) ( )
=
=

Total energy balance

() ( + + )
=

For total mass balance

()
=

Mass Balance on component

( ) ( )
=
=

Total energy balance

() ( + + )
=

Laplace of few common functions