Fourth Class Process Control

Transfer function of a first order system:

U

𝑑𝑑𝑑𝑑
𝑎𝑎1 + 𝑎𝑎0 𝑦𝑦(𝑡𝑡) = 𝑏𝑏0 𝑓𝑓(𝑡𝑡)
𝑑𝑑𝑑𝑑
𝑎𝑎1 𝑑𝑑𝑑𝑑 𝑏𝑏0
� � + 𝑦𝑦(𝑡𝑡) = � � 𝑓𝑓(𝑡𝑡)
𝑎𝑎0 𝑑𝑑𝑑𝑑 𝑎𝑎0
𝑎𝑎 1 𝑏𝑏0
Let 𝜏𝜏𝑝𝑝 = and 𝑘𝑘𝑝𝑝 =
𝑎𝑎 0 𝑎𝑎 0

And take
𝑑𝑑𝑑𝑑
𝜏𝜏𝑝𝑝 + 𝑦𝑦(𝑡𝑡) = 𝑘𝑘𝑝𝑝 𝑓𝑓(𝑡𝑡)
𝑑𝑑𝑑𝑑
Assuming zero initial condition.

Taking the Laplace transform of both sides given,

𝜏𝜏𝑝𝑝 (𝑠𝑠 𝑦𝑦(𝑠𝑠) − 𝑓𝑓(0)) + 𝑦𝑦(𝑠𝑠) = 𝑘𝑘𝑝𝑝 𝑓𝑓(𝑠𝑠)

𝜏𝜏𝑝𝑝 𝑠𝑠 𝑦𝑦(𝑠𝑠) + 𝑦𝑦(𝑠𝑠) = 𝑘𝑘𝑝𝑝 𝑓𝑓(𝑠𝑠)

𝜏𝜏𝑝𝑝 (𝑠𝑠 + 1) 𝑦𝑦(𝑠𝑠) + 𝑦𝑦(𝑠𝑠) = 𝑘𝑘𝑝𝑝 𝑓𝑓(𝑠𝑠)

Where τ p is time constant of the process (time) and K p is a steady state gain or static
R R R R

𝑢𝑢𝑢𝑢 𝑖𝑖𝑖𝑖 𝑜𝑜𝑜𝑜 𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓

gain or simple the gain of the process . Unit of the k p =
𝑢𝑢𝑢𝑢𝑢𝑢𝑢𝑢 𝑜𝑜𝑜𝑜 𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓
R R R R

At steady state G(s)=constant=K p . R R

Second order system:

U

𝑑𝑑 2 𝑦𝑦 𝑑𝑑𝑑𝑑
𝑎𝑎2 2 + 𝑎𝑎1 + 𝑎𝑎0 𝑦𝑦(𝑡𝑡) = 𝑏𝑏0 𝑓𝑓(𝑡𝑡)
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑎𝑎2 𝑑𝑑 2 𝑦𝑦 𝑎𝑎1 𝑑𝑑𝑑𝑑 𝑏𝑏0
+ + 𝑦𝑦(𝑡𝑡) = 𝑓𝑓(𝑡𝑡)
𝑎𝑎0 𝑑𝑑𝑑𝑑 2 𝑎𝑎0 𝑑𝑑𝑑𝑑 𝑎𝑎0

If a 0 ≠0 ,then above equation yield :

R R

𝑑𝑑 2 𝑦𝑦 𝑑𝑑𝑑𝑑
𝜏𝜏𝑝𝑝2 + 2𝜁𝜁𝜏𝜏 𝑝𝑝 + 𝑦𝑦𝑦𝑦 = 𝑘𝑘𝑝𝑝 𝑓𝑓(𝑡𝑡)
𝑑𝑑𝑑𝑑 2 𝑑𝑑𝑑𝑑

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Fourth Class Process Control

𝑎𝑎 2 𝑎𝑎 1 𝑏𝑏0
Where 𝜏𝜏𝑝𝑝2 = and 2𝜁𝜁𝜏𝜏𝑝𝑝 = and 𝑘𝑘𝑝𝑝 =
𝑎𝑎 0 𝑎𝑎 0 𝑎𝑎 0

This equation in the standard form of a second order system

Where ζ =damping factor

K p :steady state ,or static , or simply gain of system .

R R

𝜏𝜏𝑝𝑝2 (𝑠𝑠 2 𝑦𝑦(𝑠𝑠) − 𝑠𝑠𝑠𝑠(0) − 𝑦𝑦(0)) + 2𝜁𝜁𝜏𝜏𝑝𝑝 (𝑠𝑠𝑠𝑠(𝑠𝑠) − 𝑦𝑦(0)) + 𝑦𝑦(𝑠𝑠) = 𝑘𝑘𝑝𝑝 𝑓𝑓(𝑡𝑡)

𝑦𝑦(𝑠𝑠) 𝑘𝑘𝑝𝑝
𝐺𝐺(𝑠𝑠) = = 2 2
𝑓𝑓(𝑠𝑠) 𝜏𝜏𝑝𝑝 𝑠𝑠 + 2𝜁𝜁𝜏𝜏𝑝𝑝 𝑠𝑠 + 1

Zero order system :

U

𝑎𝑎0 𝑦𝑦(𝑡𝑡) = 𝑏𝑏0 𝑓𝑓(𝑡𝑡)

𝑦𝑦(𝑠𝑠)
𝐺𝐺(𝑠𝑠) = = 𝑘𝑘𝑝𝑝
𝑓𝑓(𝑠𝑠)

forcing function :
U

1. Step function

0 t < 0
f (t ) =  
a t ≥ 0

Fig.3 Step function

f(t)=a U(t)
𝑎𝑎
ʆ[𝑓𝑓(𝑡𝑡)] = 𝑓𝑓(𝑠𝑠) =
𝑆𝑆

A:magnitude of step +ve

Negative step change f(t)=-AU(t)

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Fourth Class Process Control

Fig.4 Unit step function

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