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EMPIRICAL
MODEL

First-Order Plus Time Delay Model (FOPTD)

𝑌 𝑠 𝐾𝑝 𝑒 −𝜃𝑠
𝐺 𝑠 = =
𝑋 𝑠 𝜏𝑠 + 1

For this FOPTD model, we note the following characteristics

of its step response:

1. The response attains 63.2% of its final response

at time, t = +.
2. The line drawn tangent to the response at
maximum slope (t = ) intersects the y/KM=1
line at (t =  +  ).
3. The step response is essentially complete at t=5.
In other words, the settling time is ts=5.

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First-Order Plus Time Delay Model

There are two generally accepted graphical techniques for
determining model parameters , , and K.
Method 1: Slope-intercept method

First, a slope is drawn through the inflection point of the process

reaction curve in Fig. 7.5. Then  and  are determined by
inspection.

Method 2. Sundaresan and Krishnaswamy’s Method

This method avoids use of the point of inflection construction
entirely to estimate the time delay.

First-Order Plus Time Delay Model

Method I: Slope-intercept method

Figure 7.5 Graphical analysis of the process reaction curve to obtain parameters
of a first-order plus time delay model.

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First-Order Plus Time Delay Model

Method II: Sundaresan and Krishnaswamy’s Method

• They proposed that two times, t1 and t2, be estimated from a

step response curve, corresponding to the 35.3% and 85.3%
response times, respectively.
• The time delay and time constant are then estimated from the
following equations:
θ = 1.3𝑡1 − 0.29𝑡2
τ = 0.67 𝑡2 − 𝑡1

• These values of  and  approximately minimize the

difference between the measured response and the model,
based on a correlation for many data sets.

First-Order Plus Time Delay Model

45 15
Process reaction curve - Method II
𝐾𝑝 = Δ𝑌/Δ𝑋
input variable in deviation (% open)

𝑡1
35 = 𝑡35.3% 11
output variable in deviation (K)

𝑡2 = 𝑡85.3%
𝜃 = 1.3𝑡1 − 0.29𝑡2 0.853
τ
25 = 0.67 𝑡2 − 𝑡1 Y 7

15 0.353 3

5 -1
X
t1 t2
-5 -5
0 10 20 30 40
time (min)
Data is plotted in deviation variables

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Example:
■ Dihasilkan data input dan output dari reaktor kimia:
– Jika diasumsikan model mengikuti FOPTD. Tentukan
modelnya menggunakan PRC metode 1 dan 2

Solution:
79.00 95

77.00 85

75.00 75

73.00 65

71.00 55

69.00 45

67.00 35

65.00 25
0 20 40 60 80 100 120

Series1 Series2

Δ𝑌 76 − 69.65
𝐾𝑝 = = = 0.79
Δ𝑋 38 − 30

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Solution: Metode 1
7.00

6.00

5.00

4.00

𝐾𝑝 = 0.79
3.00
𝜃 = 30
τ = 29.7
2.00

1.00

0.00
0 20 40 60 80 100 120

-1.00

0.79𝑒 −30𝑠
Model 𝐺 𝑠 =
29.7𝑠 + 1

Solution: Metode 2
120.00

100.00

85.3%
80.00

𝐾𝑝 = 0.79
60.00
𝑡1 = 42.3
𝑡2 = 61.1
40.00
35.3% 𝜃 = 1.3𝑡1 − 0.29𝑡2 = 37.3
τ = 0.67 𝑡2 − 𝑡1 = 12.6
20.00

0.00
0 20 40 60 80 100 120
𝑡1 𝑡2
-20.00

0.79𝑒 −37.3𝑠
Model 𝐺 𝑠 =
12.6𝑠 + 1

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EMPIRICAL MODEL BUILDING PROCEDURE

Process reaction curve Is this a well designed
experiment?
Start 45 15

Experimental Design

input variable in deviation (% open)

35 11

output variable in deviation (K)

25 7
Plant Experimentation

15 3
Determine Model Structure
5 -1

Parameter Estimation
-5 -5
0 10 20 30 40
time (min)

Diagnostic Evaluation

Input should be close to a perfect

Model Verification
step; this was basis of equations. If
not, cannot use data for process
Complete
reaction curve.

EMPIRICAL MODEL BUILDING PROCEDURE

Process45reaction curve 15

Start

Experimental Design
35 The output must be “moved” 11
output variable, degrees C

enough. Rule of thumb:

input variable, % open

25 7
Plant Experimentation Signal/noise > 5
15 3
Determine Model Structure

5 -1
Parameter Estimation

-5 -5
Diagnostic Evaluation
0 10 20 30 40
time

Model Verification

Complete Should we use this data?

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EMPIRICAL MODEL BUILDING PROCEDURE

Process reaction curve

Start

Experimental Design Plot measured vs predicted

45 15
Plant Experimentation

35 measured 11
Determine Model Structure

output variable, degrees C

input variable, % open
25 7
Parameter Estimation

15 3
Diagnostic Evaluation predicted
5 -1
Model Verification

-5 -5
Complete 0 10 20 30 40
time

Plot measured vs predicted from previous example

Metode 2

Metode 1

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Example
■ A single –tank process has been operating for a long period of time
with the inlet flow rate q𝑖 = 30.4 𝑓𝑡3/𝑚𝑖𝑛. After the operator increase
the flow rate suddenly by 10%, the liquid level in the tank changes as
shown in below table. Assuming that the process dynamics can be
described by a FOPTD model, calculate the steady state gain and time
constant using PRC method 2:

Time, min Height, ft Time, min Height, ft

(𝒖𝒊 ) (𝑌𝑖 ) (𝒖𝒊 ) (𝑌𝑖 )
0.0 5.50 1.8 6.32
0.2 5.50 2.0 6.37
0.4 5.50 3.0 6.40
0.6 5.50 4.0 6.43
0.8 5.75 5.0 6.45
1.0 5.93 6.0 6.50
1.2 6.07 7.0 6.51
1.4 6.18 8.0 6.52
1.6 6.26

Solution
Δ𝑌 6.52 − 5.50 𝑚𝑖𝑛
𝐾𝑝 = = = 0.336 2
Δ𝑋 30.4 𝑥 0.1 𝑓𝑡
120

100
85.3%
80 𝑡1 = 0.92
𝑡2 = 2
60 𝜃 = 1.3𝑡1 − 0.29𝑡2 = 0.62

35.3% τ = 0.67 𝑡2 − 𝑡1 = 0.72

40

20

0
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0

𝑡1 𝑡2
-20

0.336𝑒 −0.62𝑠
Model 𝐺 𝑠 =
0.72𝑠 + 1

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Estimating Second-order Model Parameters Using

Graphical Analysis

• In general, a better approximation to an experimental step

response can be obtained by fitting a second-order model to
the data.
• Figure 7.6 shows the range of shapes that can occur for the
step response model,
𝐾
𝐺 𝑠 =
τ1 𝑠 + 1 τ2 𝑠 + 1

• Figure 7.6 includes two limiting cases: τ 2 / τ1 = 0 , where the

system becomes first order, and τ 2 / τ1 = 1 , the critically
damped case.
• The larger of the two time constants, τ1 , is called the
dominant time constant.
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Figure 7.6 Step response for several overdamped second-order systems.

18

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Smith’s Method

• Assumed model:
𝐾𝑒 −𝜃𝑠
𝐺 𝑠 =
τ2 𝑠 2 + 2ζτ𝑠 + 1

• Procedure:

1. Determine t20 and t60 from the step response.

2. Find ζ and t60/ from Fig. 7.7.
3. Find t60/ from Fig. 7.7 and then calculate  (since t60 is
known).

19

Y axis is
logarithmic scale

20

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Example:

For unit step response shown in figure, estimate the following model using
graphical method: 1. FOPTD
2. second order using Smith method

Solution: FOPTD
0.853

Δ𝑌
𝐾𝑝 = =1
Δ𝑋
𝑡1 = 𝑡35.3% = 5
0.353 𝑡2 = 𝑡85.3% = 13.8
𝜃 = 1.3𝑡1 − 0.29𝑡2 = 2.5
τ = 0.67 𝑡2 − 𝑡1 = 5.9

t1 t2

𝑒 −2.5𝑠
Model 𝐺 𝑠 =
5.9𝑠 + 1

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Solution: 2nd order smith method

Δ𝑌
𝐾𝑝 = =1
60% Δ𝑋
𝑡20 = 3.2
𝑡60 = 8
ζ = 1.2
t60/ = 2
=4
20%

1
𝐺 𝑠 =
t20 t60 16𝑠 2 + 9.6𝑠 + 1

τ τ 1
τ1 = = 7.45 τ2 = = 2.14 Model 𝐺 𝑠 =
𝜁 − 𝜁2 − 1 𝜁 + 𝜁2 − 1 (7.45𝑠 + 1)(2.14𝑠 + 1)

Plot measured vs predicted from previous example

2nd order model

FOPTD model

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Exercise
■ A Heat Exchanger used to heat a solution with a hot oil is
𝑇′(𝑠)
known to exhibit FOPTD behavior, 𝐺 𝑠 = , where T’ is
𝑄′(𝑠)
the outlet temperature deviation and Q’ is the hot oil flow rate
deviation. A thermocouple is placed 3 m downstream from
the outlet of the HE. The average velocity of the glycol in the
outlet pipe is 0.5 m/s. The thermocouple is also known to
exhibit FOPTD behavior, however its time constant is expected
to be considerably smaller than the HE time constant.
a) Data from a unit step test in Q’ on the complete system are
shown in figure. Using smith method calculate the time
constants of this process from step response. Then develop
them
b) From your empirical model, find transfer function for the HE,
pipe and thermocouple. Think the model as the product of
three transfer functions. State all assumptions that you
make.

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END

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