Process Control & Instrumentation

FIRST ORDER
DYNAMIC SYSTEMS
MAPUA INSTITUTE OF TECHNOLOGY
School of Chemical Engineering & Chemistry
 4 BASIC COMPONENTS IN A
FEEDBACK CONTROL LOOP
Operator

Set Point (SV)

3. Controller

Process Variable (PV) Controller Output

2. Measuring Element 4. Final Control Element

Controlled Manipulated
Variable (CV) Variable (MV)

Load
1. Process
Refining Process (Plant)
Variable
 OUTLINE
• General Equation
• Transfer Function
• Physical Examples
• Step Response
• Sample Problems
 GENERAL EQUATION

u (dy/dt) + y = K(u) + y0 y

where:
• u = input variable   = time constant
• y = output variable • K = steady state gain DTF 1
• t = time • y0 = y intercept
TF
 Steady State

us (dy/dt)
0 + ys = K(us) + y0 ys

(dy/dt) = 0 during steady state

where:
• us = steady state value of u
• ys = steady state value of y
 Steady State

us ys = K(us) + y0 ys

y
K
DTF 1
y0
u
 TRANSFER FUNCTION
Transfer Function = ratio of the Laplace Transform of the output
variable to that of the input variable

(5-3)
Y(s) K
U(s) = Y(s)
U(s) (s + 1)
DTF 1
where: DTF 2
• U(s) = Laplace Transform of the DEVIATION VARIABLE U DTF 3
• Y(s) = Laplace Transform of the DEVIATION VARIABLE Y
DTF 4
 Deviation Variable
• Difference between the actual value of a
certain variable at any point and its steady
state value

• U = u - us
DTF 1
• Y = y - ys DTF 2
DTF 3
TF DTF 4
 Deriving the Transfer Function (1/4)
• Subtract the Steady State Equation from the
Unsteady State Equation:

[ (dy/dt) + y = K(u) + y ]
0
Unsteady State

- [ y = K(u ) + y ]
s s 0 Steady State

DTF 2
= (dy/dt) + (y - ys) = K(u - us) + 0 DTF 3
TF DTF 4
 Deriving the Transfer Function (2/4)
• Introduce Deviation Variables U & Y where:
• U = u - us
• Y = y - ys
• dY/dt = dy/dt
Since: dY/dt = d(y - ys)/dt = [dy/dt - dys/dt]
DTF 1
but at Steady Steady: dys/dt = 0
DTF 3
TF DTF 4
 Deriving the Transfer Function (3/4)
• After introducing the Deviation Variables U & Y:

{
L (dY/dt) + Y = K(U) }
{sY(s) + Y(0)} + Y(s) = K{U(s)}
but at Steady Steady: y = ys therefore Y(0) = 0
DTF 1
sY(s) + Y(s) = K{U(s)} DTF 2
TF DTF 4
Deriving the Transfer Function (4/4)
• Factoring out Y(s):
Y(s){s + 1} = K{U(s)}

• Rearranging:
Transfer Function
Y(s)/U(s) = K/{s + 1} for First Order
Systems
DTF 1
DTF 2
DTF 3
 Step Change in U
u U(t) = M (5-4)

u = us + M

M = magnitude of Step Change

us

0 time, t

Y(t) = ?
Example 5.1
 Step Response
(5-18)
y
Y(t) = MK(1 - e ) -t/

y = ys + MK

Y() = MK
Y = 63.2% of MK
ys

0  time, t
Example 5.1
 Y()
• Final Value of Y
– value of Y as time t approaches infinity
– ultimate value of Y
 Sample Problem 1
• Example 5.1 (Coughanowr, p.57)
A thermometer having a time constant of 0.1min is at
a steady state temperature of 90oF. At time t = 0, the
thermometer is placed in a temperature bath
maintained at 100oF. Determine the time needed for
the thermometer to read 98oF.
 Sample Problem 2
A well-stirred, continuous mixer has a single input
and a single output stream with a variable solute
concentration but fixed flow rate. The volume of the
mixer is 1000L and the flow rate through it is
500L/min. Initially, the solute concentration is 0.1g/L
and it has been constant at this value for a long time.
If the inlet concentration were to suddenly increase
to 0.15 g/L, and to remain at this new value, how
long will it take for the exit concentration to reach
0.125 g/L? Determine the exit concentration 5
minutes after the inlet concentration changed.
 Process Control & Instrumentation

SECOND ORDER
DYNAMIC SYSTEMS
MAPUA INSTITUTE OF TECHNOLOGY
School of Chemical Engineering & Chemistry
 OUTLINE
• General Equation
• Transfer Function
• Step Response
• Underdamped 2nd Order Systems
• Sample Problems
 GENERAL EQUATION

u y
2(d2y/dt2) + 2(dy/dt) + y = K(u) + y0

where:
• u = input variable   = damping factor
• y = output variable • K = steady state gain DTF 1

  = time constant • y0 = y intercept

TF
 Steady State

us ys
2(d2y/dt
0 2) ++2(dy/dt)
0 ++yyss==K(u
K(uss))++yy00

(d2y/dt2)= (dy/dt) = 0 during steady state

where:
• us = steady state value of u
• ys = steady state value of y
 Steady State

us ys = K(us) + y0 ys

y
K
DTF 1
y0
u
 TRANSFER FUNCTION
Transfer Function = ratio of the Laplace Transform of the output
variable to that of the input variable

U(s) Y(s) K Y(s)

= (5-40)
U(s) ( s + 2s + 1)
2 2
DTF 1
where: DTF 2
• U(s) = Laplace Transform of the DEVIATION VARIABLE U DTF 3
• Y(s) = Laplace Transform of the DEVIATION VARIABLE Y
DTF 4
 Deviation Variable
• Difference between the actual value of a
certain variable at any point and its steady
state value

• U = u - us
DTF 1
• Y = y - ys DTF 2
DTF 3
TF DTF 4
 Deriving the Transfer Function (1/4)
• Subtract the Steady State Equation from the
Unsteady State Equation:

[ 2(d2y/dt 2) + 2(dy/dt) + y = K(u) + y0 ] Unsteady State

- [ y = K(u ) + y
s s 0 ] Steady State

DTF 2
=  (d y/dt ) + 2(dy/dt) + (y - ys) = K(u - us)
2 2 2

DTF 3
TF DTF 4
 Deriving the Transfer Function (2/4)
• Introduce Deviation Variables U & Y where:
• U = u - us
• Y = y - ys
• d2Y/dt2 = d2y/dt2 & dY/dt = dy/dt
Since: dY/dt = d(y - ys)/dt = [dy/dt - dys/dt]
DTF 1
but at Steady Steady: dys/dt = 0
DTF 3
TF DTF 4
 Deriving the Transfer Function (3/4)
• After introducing the Deviation Variables U & Y:

L { }
2(d2Y/dt 2) + 2(dY/dt) + Y = K(U)

2{s2Y(s) + sY(0) + Y’(0)} + 2{sY(s) - Y(0)} + Y(s) = K{U(s)}

but at Steady Steady: y = ys therefore Y(0) = 0

DTF 1
 s Y(s) + 2sY(s) + Y(s) = K{U(s)}
2 2

DTF 2
TF DTF 4
Deriving the Transfer Function (4/4)
• Factoring out Y(s):
Y(s){2s2 + 2s + 1} = K{U(s)}

• Rearranging:
Transfer Function
Y(s)/U(s) = K/ {2s2 + 2s + 1} for Second Order
Systems
DTF 1
DTF 2
DTF 3
 Step Change in U
u
U(t) = M (5-4)
u = us + M

M = magnitude of Step Change

us

0 time, t

Y(t) = ?
Problem 8.1
 Underdamped Step Response ( < 1)

[ { }]
1 (1 - 2)
Y(t) = MK 1- e-t/ sin (1 - 2)(t/) + tan-1
(1 -  )
2 

y (5-51)

Y() = MK
ys

0 time, t
 Critically Damped Step Response
( = 1)
Y(t) = MK
[ {
1 - 1 +
t
 } ]
e-t/ (5-50)

Y() = MK

ys

0 time, t
 Overdamped Step Response
( > 1)

[ { } { } ]
1 2
Y(t) = MK 1 - e-t/1 - e-t/2 (5-48)
(1 - 2) (2 - 1)
y
=1

Y() = MK

ys

0 time, t
 Overdamped Step Response

 1 = { + (2 - 1) }

 2 = { - (2 - 1) }
Underdamped Step Response ( < 1)
y
Response Time

P
B
C

Y() = MK
ys

0 tr time, t
 Terms Used to Describe an
Underdamped 2nd Order Step Response
• Overshoot
• Decay Ratio
• Rise Time
• Response Time
• Period of Oscillation
 Overshoot
• A measure of how much the response exceeds
the ultimate value following a step change.

Overshoot = B/Y()

Overshoot = exp{-/(1 - 2)} (5-53)

 Decay Ratio
• The ratio of the sizes of successive peaks.

Decay Ratio = C/B

Decay Ratio = (Overshoot)2 = exp{-2/(1 - 2)} (5-54)

 Rise Time (tr)
• The time required for the response to first
reach its ultimate value.
tr increases with increasing 
 Response Time
• The time required for the response to
stabilize or to come within +/-5% of its
ultimate value.
 Period of Oscillation
• The time required to complete one cycle.

Period of Oscillation = 2/(1 - 2) (5-55)

 Sample Problem
• Problem 8.1 (Coughanowr, p.104)
A step change of magnitude 4 is introduced into a system
having the transfer function
Y(s) 10
=
U(s) (s2 + 1.6s + 4)
Determine: (a) Percent overshoot, (b) Maximum value of
Y(t), (c) Ultimate value of Y(t), and (d) Period of Oscillation