Dynamic response of Second order

systems
Profesora: Silvia Ochoa Cáceres
Universidad de Antioquia
02-2019

Control de Procesos 1
 SECOND ORDER SYSTEMS

• The dynamic behavior of a second order

system can be represented by:

2
d y dy
a2 2 + a1 + a0 y = bu (t )
dt dt

• where : u(t) is the input or forcing action.

 SECOND ORDER SYSTEMS

• if a0≠ 0; ad we replace
a2 a1 b
τ =2
2ζτ = K=
a0 a0 a0
• It is obtained,

2
d y dy
τ 2
2
+ 2ζτ + y = Ku (t )
dt dt
 SECOND ORDER SYSTEMS

• where:
τ Time Constant
ζ Damping Factor
K Process Gain
• Taking the Laplace Transform:
τ 2 s 2 y ( s ) + 2ζτsy ( s ) + y ( s ) = Ku ( s )
K
y(s) = 2 2 u ( s)
τ s + 2ζτs + 1
 COMPORTAMIENTO DINÁMICO DE SISTEMAS
LINEALES DE SEGUNDO ORDEN

• The transfer function for a second order

system is:

K
G(s) = 2 2
τ s + 2ζτs + 1
 COMPORTAMIENTO DINÁMICO DE SISTEMAS
LINEALES DE SEGUNDO ORDEN

• Second order systems may appear in some

cases, i.e. :
– First order interacting systems (two coupled
dynamics)
– System which are second order inherently
– A first order system operating in closed loop.
Dyamic response of second order Ssytems to a Step
input

• For a Unitary step change

K
y( s) =
(
s τ s + 2ζτs + 1
2 2
)
• Re-writting:
K
y(s) = τ2
s s 2 +  2ζs
  τ 
( )
 + 1 
2 
τ 
Dyamic response of second order Systems to a Step
input

• The roots of the second order polynomial are

described by:


s +
2


2ζ s
τ 
( )
 + 1 = 0
τ 2
Dyamic response of second order Systems to a Step
input

• The roots are:

ζ ζ −1 2
ζ ζ −1 2
p1 = − + y p2 = − −
τ τ τ τ

• The dynamic response will depend on the value

of these roots as follows:
– Case A: when ζ >1 real roots
– Case B: when ζ = 1 equal roots.
– Case C: when ζ < 1 Complex roots
Dyamic response of second order Systems to a Step
input

• Case A: ζ>1. Overdamped Response:

Usually in interacting systems.

 −ζt
 t ζ t 
y (t ) = K 1 − e τ  cosh ζ − 1 +
2
sinh ζ − 1
2 
  τ ζ −1
2 τ 
 
Dyamic response of second order Systems to a Step
input

• Case B: ζ=1. Critically damped response:

−t
  t  τ
y (t ) = K 1 − 1 + e  ζ

  τ  
Dyamic response of second order Systems to a Step
input
Dyamic response of second order Systems to a Step
input

• Case C: ζ <1. Underdamped response:

Usually when there is interaction with a
controller.

 −ζt 
e τ sin (wt + φ )
1
y (t ) = K 1 −
 1− ζ 2


1− ζ 2  1 − ζ 2 
w= φ = tan 
−1

τ  ζ 
Dyamic response of second order Systems to a Step
input
Dyamic response of second order Systems to a Step
input
 Underdamped response: Characteristics
• Overshoot: Is the ratio A/B.

A  − πζ 
= exp 
B  1− ζ 2 
 
• The overshoot increases when ζ decreases, and it
tends to zero when ζ tends to 1 (critically damped).
Underdamped response: Characteristics
 Underdamped response: Characteristics

• Decay ratio is defined as:

C  − 2πζ 
= exp  = overshoot 2
A  1−ζ 2 
 
 Underdamped response: Characteristics

• Oscillation period: is the time between two

successive peaks or two successive valleys of
the response.
2πτ
T=
1− ζ 2

• Rise Time : is the time the process output

takes to first reach the new steady-state value.
 Underdamped response: Characteristics

• SettlingTime:
Time required for the process output to reach
and remain inside a band whose width is
between ± 3 to ±5% of the new steady state.
Underdamped response: Characteristics
 Underdamped response: Characteristics

• When a control system is coupled to any

process, we should look for ζ and τ values
sucha as we obtain:
– A short overshoot
– A short rise time
– A short Settling time
Example: Firts order plus PI Controller

Fi

Controlador PI

LI LC

F0
 Example: Interacting tanks
qi

h1
q1 h2
q0
q2

Obtain the expressions for the level dynamics in both tanks

 Example

y(s) 2
g (s) = = 2
u (s) s + 0 .4 s + 1

Find:
Oveshoot, decay ratio, rise time, settling time and
the oscillation period
26
 Identificación de Modelos de 2do Orden :
Método de Smith
El método requiere los tiempos a los que la respuesta
normalizada alcanza el 20% (t20) y el 60% (t60 )del
cambio total. El método es útil tanto para sistemas
sobreamortiguados como para subamortiguados.

• Se calcula el t20 y el t60

• De la figura, se obtiene el factor
de amortiguamiento ζ.
• De la figura, se obtiene el factor
t60/τ, y de allí se encuentra τ.

Control de Procesos 27
 Example
• Calculate the time constant and the damping
factor for: 1
G( s) =
1.56 S + s + 1 2

1
G( s) =
1.56 S + 2 s + 1
2

1
G( s) =
1.56 S + 4 s + 1
2

Control de Procesos 28
 Block Diagrams

u1(s)
G11 ( s ) + y1(s)
G21 ( s ) +

u2(s)
G12 ( s)
+
y2(s)
G22 ( s)
+
29
 Operations in Block Diagrams

1. Y=A-B-C
B C
- -
A+ Y B - Y
+ +
-
C + A
B
- Y
A +

-
C
Operations in Block Diagrams

2. Y=G1G2A

A Y
G1 G2

A Y
G2 G1

A Y
G1 G2
Operations in Block Diagrams
3. Y=G1(A-B)

B
-
A + Y
G1

A + Y
G1
-
B
G1
Operations in Block Diagrams
4. Y= A (G1+G2)
A G1
G2 + Y
G2
+

A +
G1
Y

G2
+
 Operations in Block Diagrams
5. Y= G1A +G2B

A +
G1
Y

B +
G2

• Draw the Block diagram for:

Y ( s ) = G3 (G1 − G2 )u1 ( s ) + (G4 − 1)u2 ( s)
 Example: Block diagram for CSTR reactor

Ti, CAi
A→B
A

Fluido
Térmico T, CA
Tc
A, B
 Example: Block diagram for CSTR reactor

• Remember that the model in the Laplace transform

domain is:

C A ( s ) = G11 Fi ( s ) + G12C Ai ( s ) − G13Ti ( s ) − G14Tc ( s )

T ( s ) = G21 Fi ( s ) + G22C Ai ( s ) + G23Ti ( s ) + G24Tc ( s )
Fi(s) G11 ( s ) + cA(s)

+
G 21 ( s )
- -
CAi (s)
G12 ( s )

G22 ( s )

Ti(s) G13 ( s )

G 23 ( s )

TC (s)
G14 ( s )

G24 ( s ) + +
T (s)
+
+