‘Two Non-Interacting 1* Order Systems Fora series of two non-interacting 1* order systems with different time constants t, & t,, then the overall transfer function is 2*4 order: Fols)__ Ky Ke F(s) ase ostl Since the denominator of the transfer function can be factored into linear terms each with real coefficients, the overall transfer function will give an overdamped response to a disturbance. Also, since the poles of the transfer function, ~1/t, & —1/t,, are real and negative, then the overall transfer function will give a stable overdamped response to a disturbance. We could also analyze the expected response knowing something about 2x4 order systems. Putting the overall transfer function into the standard form for a 24 order system gives: Fils) KK KK, F(s) ese ystl yase(yty)sed KI-K,K, ean > haan sions = conte) For positive +, & +, that are not equal, then the damping factor £; will always be greater than one (meaning an overdamped system). In the event that z, =r,,then ¢)=1 and the system will be critically damped. There are no combinations of t, & x, so that the system ‘would be underdamped - this makes sense since an underdamped system requires linear factors with complex coefficients. Two Interacting 1 Order Systems But what if the processes interact? Can we get an underdamped system then? The answer fs it depends how they interact. Let's look ata simple liquid flow system where the interaction is due to back-pressure from the second tank. Assume the liquid density ts constant, Further assume that the tanks are open to the atmosphere, have constant cross- sectional areas A, and A,,and that the flow through each valve is proportional to the liquid level providing the hydrostatic pressure (i.e, FFoe by. Ane | Fi.p Fp The material balance for Tank 1 leads to: Fi, where x, -4 and K, + +541 ‘The material balance for Tank 2 leads to: di . 4B <6 (hh) Gh dh, Ae 2G)h Gh Again, since a linear system, we can immediately use deviation variables: dh, Fe +6, Mite. +6) (A5+C,+6,)R‘We would normally define the T, time constant by dividing by the sum of the valve coefficients, C, +C,.However, instead, let's define the time constant in a manner similar to that for the 17 tank, ic, t,-A,/C;.This leads to: (n05+6,+6.)R, ae) Ust1+K,\as+i? ustl 1+ 2 poh Kp Tst1+K, tse1)"" yse1 tst1+K, (,5+1)(t,5+1+K,)-K,— KK, _ (es+Dlqstiek) *[essi(yssiem)* r KK, =F (t5+1)(t5+1+K,)-K, ° ats’ + [4 (1+K,) +4, jst Notice the extra K, term in the denominator because of the interaction of the tanks. The coefficients in the denominator are all positive & real, so the resulting response to a disturbance will be stable, But will it be overdamped, critically damped, or underdampod? To answer this, let’s look at the damping factor. In the standard form for a 2" order system:u(t )+e 2H =KIEK HE > tu UK, “Ofna, Ann “feeb fa alin yn 2 Ve Note thatthe frst term for ¢* will always be greater or equal to one (only equal to one if ‘The second term will always be positive. Together, this shows thatthe overall damping factor will always be greater than one - this type of system will always be overdamped. We can do an analysis of the poles, too. The poles are given by: 1 (14K) +t tyr (+ [ -4n.3, aun 3, (L+K,) +t tye (4K) +203, (14K, 48-44, 2a -[s,(14) ue fe 256 os (EKG 20K, 4 2K) aan a (1+K,)+1, Jeu —a) (um 20 me 42K) Notice that the resulting system is still 2° order, stable, and overdamped. As an example, ‘what happens to the poles when the tanks are identical? Here, 1, =, =t and K, =1. Then: