Table of Content

Chap 1a) Introduction

Chap 1b) Classification of Instrumentation

Chap 1c) Static performance characteristic of instrument

Chap 1d) Dynamic performance characteristic of instrument

 Performance Characteristic

Static Characteristic Dynamic Characteristic

Definition: Definition:
When the desired input to the When the desired input to the
instrument is constant or varying instrument is NOT constant or
slowly with time. varying rapidly with time

Fig. Temperature profile

*Instrument rarely respond
instantaneously to changes in the
Dynamic
measured variables
Static
(Steady-State) *It exhibit a characteristic
slowness/sluggishness due to mass,
thermal capacitance, fluid capacitance
or electric capacitance.

*Pure delay in time is often

encountered where the instrument are
‘wait’ for some reaction to take place.
 Performance Characteristic

Static Characteristic Dynamic Characteristic

Definition: Definition:
When the desired input to the When the desired input to the
instrument is constant or varying instrument is NOT constant or
slowly with time. varying rapidly with time

• Parameters used to describe static • Parameters used to describe dynamic

performance are: performance are:
1. Accuracy
1. Types of input changes:
2. Precision
Periodic, Transient,
3. Resolution
Random
4. Sensitivity
2. Responses to step input:
5. Linearity
1st order response;
6. Hysteresis
2nd order response
7. Drift
Rise time, overshoot, decay
8. Over load
ratio
9. Capacity
10. impedance loading
1. Types of dynamic input: Periodic, Transient, Random

❑ Dynamic response characteristic -desired input is not constant but varies

rapidly with the time.

❑ The dynamic inputs to an instrument may be of the following types:--

(a) Periodic Input -

Varying cyclically with time or repeating itself after a constant
interval. The input may be of harmonic or non harmonic type.
(b) Transient Input -
Varying non-cyclically with time. The signal is of a definite duration
and becomes zero after a certain period of time.

(c) Random Input -

Varying randomly with time, with no definite period and amplitude.
This may be continuous, but not cyclic
2. Responses to Step input: 1st order, 2nd order

(a) 1st order response

Step input changes 1st order response curve

(b) 2nd order response

Step input changes 1st order response curve

 Important parameters to describe 1st order response

1st order response

∆ 𝐎𝐮𝐭𝐩𝐮𝐭
1. D. C Gain, K:
∆ 𝐈𝐧𝐩𝐮𝐭

2. Time constant, 𝝉: The duration whereby the system output has undergoes a
change of 63.2% of the total change.

3. Delay time: The delay time for the output to response when the input changed.
Important parameters to describe 2nd order response
 Mathematical function for 1st order response

General 1st order function (expressed in t-domain and in s-domain)

Transfer Function
Ex. 1

𝐾 −𝑡
𝑋𝑜 𝑡 = (𝑒 𝜏 ) 𝑋𝑖 𝑡 Ex. 2
𝜏
Derivation of equation when we consider step input change

𝑡
−𝜏
𝑋𝑜 𝑡 = 𝐾𝑀 (1 −𝑒 )
 Table 3.1 Laplace Transforms for Various Time-Domain Functionsa

f(t) F(s)
Laplace Transform table
 Table 3.1 Laplace Transforms for Various Time-Domain Functionsa

f(t) F(s)
Laplace Transform table
 Table 3.1 Laplace Transforms for Various Time-Domain
Functionsa (continued)
f(t) F(s)
Laplace Transform table
Transfer function

𝑋𝑜 (𝑠) 10
=
𝑋𝑖 (𝑠) 3
2𝑠 + 1

Transfer function

𝑋𝑜 (𝑠) 10
= 𝑒 −2𝑠
𝑋𝑖 (𝑠) 3𝑠 + 1
 Now, Think about this

Brand A Brand B

No have delay time has 3 seconds delay time

Brand A Brand B Brand C

𝜏 = 3 𝑠𝑒𝑐𝑜𝑛𝑑𝑠 𝜏 = 6 𝑠𝑒𝑐𝑜𝑛𝑑𝑠 𝜏 = 9 𝑠𝑒𝑐𝑜𝑛𝑑𝑠

1st order response curve when 𝑘 = 10 and 𝜏 = 1, 3, 5, 7

Xo(t) = KM (1 - 𝑒 −𝑡/𝜏 )

𝜏
1st order response curve when 𝑘 = 1, 3, 5, 10 and 𝜏 = 1

Xo(t) = KM (1 - 𝑒 −𝑡/𝜏 )
Exercise 1

Xo(t)

Develop the mathematical model in s-domain, in-t domain

when the step input is 5. Then, sketch the curve
Exercise 2

A thermocouple, which responses to first order instrument, has a time

constant of 20 ms. Determine its 90% rise time.
 Exercise 3

A sensor measures temperature linearly with a D.C. gain of 33 mV/C and has a
1.5 secs time constant.

(a) Develop the mathematic model to describe this sensor in s-domain if it follow
a typical 1st order dynamic response,
(b) Determine the initial and final output of the sensor when the input has
changed from 20 to 41𝑜 𝐶. Note that the sensor follows the measurement
𝑽 = 33 𝑚𝑉/𝑜 𝐶 T
(c) Find the output after 0.75 secs when the T step changed from 20 to 41
degree.
(d) Find the error in temperature this represent.
Exercise 4
 Mathematical function for 2nd order response

General 2nd order function (expressed in t-domain and in s-domain)

Transfer Function

Where 𝞯 is the damping

𝐾 coefficient. It provides on
𝑋𝑜 𝑠 = 2 2
𝑋𝑖 𝑠
𝜏 𝑠 + 2𝞯𝜏𝑠 + 1 the degree of oscillation
in the response curve
after a perturbation.

Small 𝞯 indicates little

𝑋𝑜 𝑡 = 𝑋𝑖 𝑡 damping and thus, high
oscillation.
 𝐾
𝑋𝑜 𝑠 = 2 2 𝑋 𝑠
𝜏 𝑠 + 2𝞯𝜏𝑠 + 1 𝑖

𝑀
Derivation of equation when we consider step input change, i.e. 𝑋𝑖 𝑠 =
𝑠

𝑿𝒐 (𝒕)

𝑿𝒐 (𝒕)

𝑿𝒐 (𝒕)
Step response of underdamped second-
order processes

Step response of critically damped &

overdamped second-order processes
Exercise 5

a. Based on the given equation, find the value of 𝝉, K, and 𝞯

b. Describe if the response curve is underdamped, critically damped
or overdamped.
c. Form the t-domain equation when the step input is 30.
d. Plot the curve from t = 0 to t = 2 secs.
e. Based on the plotted graph, identify the rise time, time to first
peak, settling time, percent of overshoot, decay ratio, and the
period of oscillation.
Coming semester, you are going to learn how to check the
response curve by using MATLAB
EP323 Process Dynamics and Control
Coming semester, you are going to learn how to check the
response curve by using MATLAB
EP323 Process Dynamics and Control