3.

0 RESULTS AND DISCUSSIONS

3.1 RESULTS
3.1.1 PART A: FIRST ORDER SYSTEM
Table 3.1: Results for first order system
No
Kp
p
Time
a
1
10
10
50.3327
a
2
40
10
50.6351
a
3
10
20
99.3246
a
4
40
5
25.5343
a
5
20
20
100.8367
a
6
20
10
50.9375
a
The first order behaviour is attached in the Appendices.

Output
9.9464
39.6836
9.9464
39.6836
19.8429
19.8650

3.1.2 PART B: SECOND ORDER SYSTEM

Table 3.2: Results for second order system
No. Kp
1a
2a

10
10

40
18

14
2

Type

Overshoot

Decay
Ratio
0.2163

Overdamped
Underdamped
0.4668
Critically
3a 10 42.25 13
Damped
Critically
4a 20 42.25 13
Damped
5a 10
40
20 Overdamped
a
The first order behaviour is attached in the Appendices.

Rise
Time
7.6915

Settling
Time
67.2681

32.9637

Period

The type of response (i.e. overdamped, critically damped, underdamped) can be determined
theoretically (Seborg et al., 2011). The second order transfer function follows the following
equation:
( )
Table 3.3: Theoretical results for second order system
No. Kp
1
2
3
4
5

10
10
10
20
10

Damping coefficient
40
18
42.25
42.25
40

14
2
13
13
20

1.1068
0.2357
1
1
1.5811

Type
Overdamped
Underdamped
Critically Damped
Critically Damped
Overdamped
1

3.2 DISCUSSIONS
3.2.1 PART A: FIRST ORDER SYSTEM
QUESTIONS
1. What is the slope of initial response?

Input Profile

Magnitude (-)

15

10

50

100
Time (sec)

150

200

150

200

Output Profile
5

(75, 4.1)
Magnitude (-)

4
3
2

(10, 0.2)
1
0

(75, 0.2)
0

50

100
Time (sec)

Figure 3.1: Behaviour of system identification problem 1

Determining the slope of initial response:

2. Calculate the final output value minus the initial output value.
Determining the final output value minus initial output value:

3. Fill in the following table with the parameter values you calculated and give the first
order transfer function of this unknown system.
Calculating the parameter values:
Given: A=15
From the behavior of system identification problem 1, at steady state,
( )
At steady state,

For first order,

( )

)(
(

)
)(

Table 3.4: Calculated parameter values for system identification problem 1

Kp

0.2133

27.3244

Derivation of first order transfer function for this system

( )
( )

EXERCISE
1. What effect does increasing the gain have on the system output?
When the value of gain (Kp) is increase, the value of system output also increase and the
value of system output is approaching to the value of Kp.
2. What is meant physically by a system with a large gain?
As the changes of the gain in the input is small, it will lead to a large changes on the output
gain.
3. What effect does decreasing the time constant have on the system output?
Decrease in the time constant does not affect or change the value of the system output.
4. What is meant physically by a system with a small time constant?
With a small time constant, the system will result in fast response, thus it will reach steady
state faster.
5. Is it possible for a system to have a negative gain? What is the expected behaviour?
Yes, it is possible since the system tends to reach steady state over the time. The behaviour of
the system with negative gain can be seen in Figure 3.2 below.
Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile
10

Magnitude (-)

-5

-10
0

50
Time (sec)

Figure 3.2: Behaviour of the system with negative gain

4

6. Is it possible for a system to have a negative time constant? What is the expected
behaviour?
No, it is not possible since the system does not reach steady state over the time. The
behaviour of the system with negative time constant can be seen in Figure 3.3 below.
Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
6

Output Profile

x 10

Magnitude (-)

-2
-4
-6
-8
-10
-12

50
Time (sec)

Figure 3.3: Behaviour of system with negative time constant

7. What is the expected response from a first order system driven by a sinusoidal input?
A pure sinusoidal response.

3.2.2 PART B: SECOND ORDER SYSTEM

QUESTIONS
1. What is the overshoot in the response?
Based on Figure 13 in the Appendices,
(

)
5

2. What is the period of the oscillatory response?

Based on Figure 13 in the Appendices,

3. Calculate the final output value minus the initial output value.

4. Fill in the following table with the parameter values you calculated and derive the
second order transfer function for this unknown system.
Determining the parameter values:

)
( )

Table 3.4: Calculated parameter values for system identification problem 1

Kp

15
11.7668
0.2477
6

Derivation of second order transfer function for this system:

( )
( )
( )

)(

( )

EXERCISE
Consider the following values for the damping coefficient for a second order dynamic
system.
Region I Region II Region III
<1

=1

>1

1. What types of poles does this system have? What types of response would be expected
for a system with a damping coefficient in Region I, II and III?
Region
Damping
coefficient
Types of poles
Types of response

Region I

Region II

Region III

<1

=1

>1

Complex conjugate
poles
Underdamped

Real and multiple

poles
Critically damped

Real and distinct

poles
Overdamped

2. Sketch the corresponding response of the output variable to a step input in Region I,
II and III.

Region I

Region II

Region III

3. How does a decrease in the damping coefficient affect the speed of response?
Decrease in the damping coefficient will increase the speed of response since the system
tends to achieve steady state faster.

4. Which of the three responses would be expected to have a shorter response time and
sluggish?
Among the three regions, region I has the shortest response time with overshoot that has a
damping coefficient which is <1. Region III experiences the sluggish response time with a
damping coefficient which is >1. Region II with =1 has the fastest response without
overshoot.

5. What is the trade-offs from a control perspective of the different responses?

Different responses help engineers to identify the type control that need to fit into the system
and performance of the system. The responses fall into Region II is the ideal control where
the control reaches steady-state without overshoot. The responses fall into Region I is the
most common responses face by engineer. The control overshoots a few times to be able to
reach steady state. The responses fall into Region III does not overshoot but has the slowest
responses among the three. The control reaches steady state in a long period of time. With
different responses, engineers can determine the best control for a process because some
process cannot have overshoot in their process such as, dosing of bleaching agent into food
products. Overdosing can bring health hazards to consumers, therefore responses fall in
Region II and Region I are more preferable.
3.3 OVERALL DISCUSSION
In this experiment, MATLAB was used to conduct this experiment. Dealing with the first
order system, we determined the system output by manipulating the inputs such as system
gain, KP and the time constant,

. By manipulating the system inputs, we are required to

determine the changes in the system output by observing the graphs generated. The new
system output is when the system reaches the steady-state. The value taken tends to be
slightly deviate due to human error, in addition the software is unable to give an actual value.
To avoid the mentioned problem, an average value is taken from the five persons in the
group. For the System Identification Problem 1, the slope at the most oblique gradient was
taken as it showed the most exact value of the system gain, KP.

On the other hand, dealing with second order system, the system is totally different from the
first order although we are manipulating the same inputs which are system gain, KP and the
time constant,

. This is because the second order system is influence by the damping

coefficient . A large value of yield a sluggish response and a small value of yield a fast
response. The characterisation or types of response and roots of equation or types of poles
vary with different values of damping coefficient, .
For only under-damped of response, the damping coefficient, can be easily determine as the
overshoot can be easily obtain or detect from the graph. By observing the trend of the graph
we can easily determine the characterisation of the response.
While for the overdamped and critically damped responses, we could hardly determine the
characterisation of their response since they were almost the same. Therefore, it is necessary
to calculate the damping coefficient, by using the overshoot obtained from the graph and
then compare the value calculated with the value of damping coefficient, shown in the table
below to determine the characterisation of the response.
Table 3.5: Characteristic of first order system response
Damping Coefficient
<1
=1
>1

Characterisation/ Types of
Response
Under-damped
Critically damped
Over-damped

Roots of Characteristic
Equation/ Types of Poles
Real and unequal
Real and equal
Complex conjugates

REFERENCES

Seborg, D., Edgar, T., Mellichamp, D., & Doyle, F. (2011). Process dynamics and control
(1st ed.). New York: Wiley.

10

APPENDICES
Behaviours for first order system

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile
10

Magnitude (-)

8
6
4
2
0

50
Time (sec)

Figure 1: Kp=10,

=10

11

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile
50

Magnitude (-)

40
30
20
10
0

50
Time (sec)

Figure 2: Kp=40,

=10

12

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile
10

Magnitude (-)

8
6
4
2
0

50
Time (sec)

Figure 3: Kp=10,

=20

13

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile
50

Magnitude (-)

40
30
20
10
0

50
Time (sec)

Figure 4: Kp=40,

=5

14

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile

Magnitude (-)

20

15

10

50
Time (sec)

Figure 5: Kp=20,

=20

15

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile

Magnitude (-)

20

15

10

50
Time (sec)

Figure 6: Kp=20,

=10

16

Behaviours for second order system

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile
10

Magnitude (-)

8
6
4
2
0

50
Time (sec)

Figure 7: Kp=10, A=40, B=14

17

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile

Magnitude (-)

15

10

50
Time (sec)

Figure 8: Kp=10, A=18, B=2

18

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile
10

Magnitude (-)

8
6
4
2
0

50
Time (sec)

Figure 9: Kp=10, A=42.25, B=13

19

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile
25

Magnitude (-)

20
15
10
5
0

50
Time (sec)

Figure 10: Kp=20, A=42.25, B=13

20

Input Profile
2

Magnitude (-)

1.5

0.5

50

100

150

100

150

Time (sec)
Output Profile
10

Magnitude (-)

8
6
4
2
0

50
Time (sec)

Figure 11: Kp=10, A=40, B=20

21

Behaviours for system identification problem 1

Input Profile

Magnitude (-)

15

10

50

100

150

200

250

150

200

250

Time (sec)
Output Profile
5

Magnitude (-)

4
3
2
1
0

50

100
Time (sec)

Figure 12: System identification problem 1

22

Behaviours for system identification problem 2

Input Profile
0.2

Magnitude (-)

0.15

0.1

0.05

50

100

150

100

150

Time (sec)
Output Profile
30

Magnitude (-)

25
20
15
10
5
0

50
Time (sec)

Figure 13: System identification problem 2

23