H83PDC Process

Dynamic & Control

Lecture 4
Dynamic Behaviour of Processes

Lecture Outline
Response of First-Order Processes

Response of Second-Order Processes

Response of Processes with Time Delays

H83PDC Process Dynamic & Control

Lecture 4 - 2

Transfer Function

Use transfer function to investigate how processes respond to

changes in their inputs
Time-domain solution can be found once the nature of the input
change is specified
Q(s)

G1(s)
+
+

Ti (s)
=

T(s)

G2(s)

1
+

+ 1
+ 1

= +



Output = controlled/ process variable

Inputs = manipulated & disturbance variables
H83PDC Process Dynamic & Control

Lecture 4 - 3

Types of Process Inputs Changes

Step Input

Sudden & sustained input changes

e.g. reactor feedstock change, heater input change
X s (s) =

M
s

Ramp Input Gradually change with a roughly constant slope

e.g. ambient temperature change
X R (s) =

a
s2

Rectangular Sudden step change then returns to its original

value
Pulse
e.g. feed to a reactor is shut off for an hour
X RP ( s ) =

h
1 e t w s
s

H83PDC Process Dynamic & Control

Lecture 4 - 4

Types of Process Inputs Changes

Impulse
Input

A short transient disturbance

e.g. injection of a tracer dye into the process
X impulse (s ) = 1

Sinusoidal
Input

Cyclic process changes

e.g. 24 h variations in cooling water temperature
X sin ( s ) =

Random
Input

A
s2 + 2

Complex manner, not possible to be described as

deterministic functions of time

H83PDC Process Dynamic & Control

Lecture 4 - 5

Response of First-Order Processes

General first-order transfer function
Y ( s)
K
=
X ( s ) s + 1

where K = process gain; = time constant

Investigate some particular forms of input X(s)

Deriving expressions for Y(s)
Determine the resulting response y(t)

H83PDC Process Dynamic & Control

Lecture 4 - 6

1.

Step Response

For a step input of magnitude M,

M
X ( s) =
s
Thus,

K M
Y (s) =

s + 1 s
The corresponding time-domain
response:

y (t ) = KM 1 e



Step response of a first-order process

The process response is still only 63.2%

complete at t =
The process output does approximate
the new steady-state value when t 5
H83PDC Process Dynamic & Control

Lecture 4 - 7

2.

Ramp Response

For a ramp input,

a
X (s) = 2
s

x(t)

x(t)

Thus,

Ka
Ka 2 Ka Ka
Y ( s) =
=

+ 2
2
(s + 1) s
s
s
s + 1
The corresponding time-domain
response:

y (t ) = Ka e t / 1 + Kat
For large value of time (t >> )

y (t ) Ka (t )

Ramp response of a first-order process

(comparison of input and output)


After an initial transient period,

the ramp input yields a ramp
output with slope equal to Ka,
but shifted in time by the
process time constant

H83PDC Process Dynamic & Control

Lecture 4 - 8

3.

Sinusoidal Response

For a sinusoidal input xsin(t) = A sin t,

A
X sin ( s ) = 2
s +2
Thus,

KA
KA 2
s
=

+
Y (s) =

(s + 1)( s 2 + 2 ) 2 2 + 1 s + 1 s 2 + 2 s 2 + 2

The corresponding time-domain response:

KA
y (t ) = 2 2
(
e t cos t + sin t )
+1
By using trigonometric identities,
KA t
KA
y (t ) = 2 2
e +
sin(t + )
2
2
+1
+1
1
where = tan ( )

Trigonometric Identities
a sin + b cos = a 2 + b 2 sin( + )

where = tan 1 (b a )

H83PDC Process Dynamic & Control

Lecture 4 - 9

KA t
KA
y (t ) = 2 2
e +
sin(t + )
2
2
+1
+1

The exponential term goes to zero as t , leaving a pure

sinusoidal response


Frequency Response ! (will be discussed later)

For large t, the y(t) is also sinusoidal, therefore the output

1
sine is attenuated by
2 2 + 1
 Amplitude

attenuation !

KA

AA

x (t ) 2

y (t ) ( ) 2

Phase lag

2 2 + 1

Process
1

Sinusoidal response

H83PDC Process Dynamic & Control

Lecture 4 - 10

Response of Second-Order Processes

General second-order transfer function
G (s) =

K
2 s 2 + 2s + 1

where K = process gain; = time constant (determine response time);

= damping coefficient (dimensionless)
A second-order transfer function arises physically whenever:
 A second-order differential equation process model is transformed
 Two first-order processes are connected in series
X(s)
X(s)

Y1(s)

Y ( s)
K1 K 2
K
G ( s) =
=
=
X ( s ) ( 1s + 1)( 2 s + 1) ( 1s + 1)( 2 s + 1)
H83PDC Process Dynamic & Control

where K = K1 K 2
Lecture 4 - 11

Three important classes of second-order systems

Equating the denominators,

2 s 2 + 2s + 1 = ( 1s + 1)( 2 s + 1)

Factor left side of equation,

s
s

2 2
+ 1
+ 1
s + 2s + 1 =
2 1 + 2 1

Roots,

1 =

2 =

+ 1

H83PDC Process Dynamic & Control

( 1)
Lecture 4 - 12

1. Step Response
For a step input of magnitude M,
KM
Y (s) = 2 2
( s + 2s + 1) s
The corresponding time-domain response:
Case 1: Overdamped ( > 1)

2 1
2 1
t

y (t ) = KM {1 exp( )[cosh(
t) +
sinh(
t )]}
2

1
Case 2: Critically Damped ( = 1)
t

y (t ) = KM [1 (1 + ) exp( )]
Case 3: Underdamped (0 < 1)

1 2
1 2
t

y (t ) = KM {1 exp( )[cos(
t) +
sin(
t )]}
2

1
H83PDC Process Dynamic & Control

Lecture 4 - 13

Step response of critically damped and overdamped second-order processes




Large values of yield a sluggish (slow) response

The faster response without overshoot is obtained for critically
damped case ( = 1)
H83PDC Process Dynamic & Control

Lecture 4 - 14

Step response of underdamped second-order processes



Responses exhibit a higher degree of oscillation and overshoot

(y/KM > 1) as approaching zero
H83PDC Process Dynamic & Control

Lecture 4 - 15

Dynamics of underdamped processes

1. Rise time (tr) = time that process output
takes to first reach the new steady-state
value
2. Time to first peak (tp) = time that required
for the output to reach its first maximum
value
3. Settling time (ts) = time that required for the
process output to reach and remain inside a
band whose width is equal to 5% of the
total change in y for 95% response time
Performance characteristics
for the step response of an
underdamped process

4. Overshoot, OS = a/b (% overshoot = 100 a/b)

5. Decay ratio, DR = c/a (c = height of 2nd peak)
6. Period of oscillation (P) = time between two
successive peaks or two successive valleys
of the responses

H83PDC Process Dynamic & Control

Lecture 4 - 16

Analytical expressions:
a. Time to first peak

tp =
1 2
b. Overshoot

OS = exp
1 2

c. Decay ratio
DR = (OS ) 2 = exp( 2

1 2 )

d. Period of oscillation
2
P=
1 2
H83PDC Process Dynamic & Control

Lecture 4 - 17

Relation between some performance characteristics of an underdamped

second-order process and the process damping coefficient
H83PDC Process Dynamic & Control

Lecture 4 - 18

2. Sinusoidal Response
For a sinusoidal input xsin(t) = A sin t, the output for large values
of time:
KA
y (t ) =
sin(t + )
2 2
2
[1 ( ) ] + (2 )
Where

2
= tan
2

1
(

)
Output amplitude: A =

KA

[1 ( ) 2 ]2 + (2 ) 2
)
A
K
Amplitude ratio:
AR = =
A
[1 ( ) 2 ]2 + (2 ) 2
)
A
1
Normalized amplitude ratio: ARN =
=
KA
[1 ( ) 2 ]2 + (2 ) 2
H83PDC Process Dynamic & Control

Lecture 4 - 19

The maximum value of ARN can be found by:

ARN

max

)
A
1
=
=
;
2
KA max 2 1

max =

1 2 2

0 < < 0.707

There is no maximum
when 0.707

At high frequency, the

output is well
damped

At low frequency, the

output is not damped
well

Sinusoidal response amplitude of a second-order

system after exponential terms have become negligible
H83PDC Process Dynamic & Control

Lecture 4 - 20

Response of Processes with Time Delays

Time delays occur due to:

Transport/ distance/ velocity lag

Fluid flows in a pipe

Transport of solid material (e.g. conveyor belt)

Chemical analysis:
 Sampling line delay
 Time required for analysis (e.g. on-line gas
chromatograph)

H83PDC Process Dynamic & Control

Lecture 4 - 21

A time delay, a between an input x and an output y

results in the following expression:
0
y (t ) =
x(t a )

t<a
ta


The output y(t) is simply

the same input function
shifted backward in time
by a

Laplace transform of a
function shifted in time by
t0 units is simply e t0 s

Transfer function of a
time delay of magnitude a

a
a

The effect of a time delay is a translation of the

function in time
H83PDC Process Dynamic & Control

Y ( s)
= G ( s ) = e as
X ( s)
Lecture 4 - 22

First-Order Plus Deadtime (Delay)

X(s)

Ke-as
s+1

Y(s)

y(t)

For a step input of magnitude M,

0

as

Ke
M
Y (s) =

(s + 1) s

The corresponding time-domain response:

y (t ) = KM 1 e ( t a )

H83PDC Process Dynamic & Control

Lecture 4 - 23