Second-order Dynamics

Asst. Prof. Karl Ezra Pilario

ChE 182 (lec)
1s AY 2020-2021
 Second-order Processes

A second-order process can be

𝒀 𝒔 𝑲 𝒀 𝒔 𝑲
described by a transfer function = = 𝟐 𝟐
with the following standard forms: 𝑼(𝒔) (𝝉𝟏 𝒔 + 𝟏)(𝝉𝟐 𝒔 + 𝟏) 𝑼(𝒔) 𝝉 𝒔 + 𝟐𝝉𝜻𝒔 + 𝟏

Relationship between the two forms: Example: Find 𝜁 for the following
transfer function:
𝝉𝟏 𝒔 + 𝟏 𝝉𝟐 𝒔 + 𝟏 = 𝝉𝟐 𝒔𝟐 + 𝟐𝝉𝜻𝒔 + 𝟏
10
𝝉𝟏 𝝉𝟐 𝒔𝟐 + 𝝉𝟏 + 𝝉𝟐 𝒔 + 𝟏 = 𝝉𝟐 𝒔𝟐 + 𝟐𝝉𝜻𝒔 + 𝟏 (𝑠 + 1)(𝑠 + 5)
Solution:
𝝉𝟏 𝝉𝟐 = 𝝉𝟐 𝝉𝟏 + 𝝉𝟐 = 𝟐𝝉𝜻
𝜏1 = 1 𝜏1 + 𝜏2 1 + 0.2
𝝉 𝜁= =
𝝉𝟏 = , (𝜻 ≥ 𝟏) 2 𝜏1 𝜏2 2 1 × 0.2
𝜏2 = 0.2
𝝉𝟏 + 𝝉𝟐 𝜻− 𝜻𝟐 −𝟏
𝝉 = 𝝉𝟏 𝝉𝟐 𝜻= 𝐾=2 𝜁 = 1.342
𝟐 𝝉𝟏 𝝉𝟐 𝝉
𝝉𝟐 = , (𝜻 ≥ 𝟏)
𝜻+ 𝜻𝟐 −𝟏
© 2020 Karl Ezra S. Pilario, PhD.
 Second-order Dynamics

A second-order process can be

𝒀 𝒔 𝑲 𝒀 𝒔 𝑲
described by a transfer function = = 𝟐 𝟐
with the following standard forms: 𝑼(𝒔) (𝝉𝟏 𝒔 + 𝟏)(𝝉𝟐 𝒔 + 𝟏) 𝑼(𝒔) 𝝉 𝒔 + 𝟐𝝉𝜻𝒔 + 𝟏

Characteristic Equation
The equation when the 𝜏1 𝑠 + 1 𝜏2 𝑠 + 1 = 0 𝜏 2 𝑠 2 + 2𝜏𝜁𝑠 + 1 = 0
denominator polynomial equals 0.

Damping Coefficient Damping Roots of the

Step Response
Coefficient characteristic equation
The 𝜁 in the 2nd standard form.
𝜁>1 Real and unequal Overdamped

𝜁=1 Real and equal Critically damped

0<𝜁<1 Complex conjugates Underdamped

*𝜁 ≤ 0 will not be discussed because the system is unstable in this case.

© 2020 Karl Ezra S. Pilario, PhD.
 Second-order Dynamics: Step Response
𝐾 Solving for 𝑦 ′ 𝑡 :
Given: 𝐺 𝑠 = 2 2
𝜏 𝑠 + 2𝜏𝜁𝑠 + 1
𝑀 1. Overdamped 𝜻 > 𝟏
𝑈 𝑠 = Step Input
𝑠

Damping Coefficient, 𝛇 2. Critically damped (𝜻 = 𝟏)

(dimensionless)

=
Decrease 𝜁 Larger
(damping) oscillation 3. Underdamped (𝟎 < 𝜻 < 𝟏)

1 − 𝜁2 𝜁 1 − 𝜁2
𝑦 𝑡 = 𝐾𝑀 1 − 𝑒 −𝜁𝑡/𝜏 cos 𝑡 + sin 𝑡
𝜏 1−𝜁 2 𝜏

© 2020 Karl Ezra S. Pilario, PhD.

Second-order Dynamics: Step Response
Effect of varying 𝜁:
(Constant 𝐾 = 1, 𝜏 = 1)

Effect of varying 𝐾:
Effect of varying 𝜏: (Constant 𝜏 = 1, 𝜁 = 0.5)
(Constant 𝐾 = 1, 𝜁 = 0.5)

© 2020 Karl Ezra S. Pilario, PhD.

 Second-order Dynamics: Step Response
Rise Time (𝒕𝒓 ) –
time it takes to reach
the new steady-state
for the first time.
Overshoot (𝑶𝑺) –
computed as a/b.
© 2020 Karl Ezra S. Pilario, PhD.
Time to First Peak (𝒕𝑷 )
– time it takes to reach
the first maximum value.
𝒕𝒓 𝒕𝑷
𝑷 Period (𝑷) – the time
between two successive
peaks in the response.
a
b
Decay Ratio (𝑫𝑹)
– computed as c/a.
Underdamped Response
 Exercise
A step change from 15 to 31 psi in actual pressure Solution:
results in the measured response from a pressure- Period: 𝑃 = 2.3 𝑠
indicating element shown below. Final Value: 11.2 mm
Other values: 𝑎 = 12.7 − 11.2 = 1.5
𝑏 = 11.2 − 8 = 3.2
Solving for 𝜁 via the computed overshoot (OS):

𝑎 −𝜋𝜁
𝑂𝑆 = = 0.46875 = exp 𝜁 = 0.235
𝑏 1− 𝜁2

Assuming 2nd-order dynamics, calculate all Solving for 𝜏 via the given Period (P):
important parameters and write a transfer function 2𝜋𝜏
𝑃= = 2.3 𝜏 = 0.356 𝑠
in the form: 1− 𝜁2

𝑅′ 𝑠 𝐾 ∆𝑦 11.2 − 8
= 2 2 Solving for 𝐾: 𝐾= = = 0.2
𝑃′(𝑠) 𝜏 𝑠 + 2𝜏𝜁𝑠 + 1 ∆𝑢 31 − 15

where 𝑅′ is the instrument output deviation (mm) Final answer: 𝑅′ 𝑠 0.2

=
and 𝑃′ is the actual pressure deviation (psi). 𝑃′(𝑠) 0.127𝑠 2 + 0.167𝑠 + 1

© 2020 Karl Ezra S. Pilario, PhD.

 Summary

1. Second-order processes can be written in two alternative standard forms.

2. The response of second-order processes are heavily dependent on the

process gain 𝐾, time constant 𝜏, and damping coefficient 𝜁.

3. Depending on 𝜁, the step response of second-order processes may be

under damped, critically damped, or overdamped.

4. For underdamped responses, oscillations exist. We can compute for

certain properties of this oscillation such as overshoot, settling time, etc.

© 2020 Karl Ezra S. Pilario, PhD.

 Other Scripts
MATLAB / GNU Octave code for figures in Slide 5:

col = 'bgmr'; col = 'bgmr';

M = 1; % Step input change M = 1; % Step input change

K = 1; % Steady-state gain K = [0.5 1 2 3]; % Steady-state gain
tau = 1; % Time constants tau = 1; % Time constants
zeta = [2 1 0.5 0.25]; % Damping coefficients zeta = 0.5; % Damping coefficient (Underdamped)
t = 0:0.01:20; t = 0:0.01:20;
y = M*ones(size(t)); % y contains step input change y = M*ones(size(t)); % y contains step input change at t = 0
at t = 0 plot(t,y,'k'); hold on; grid on; axis([0 20 0 4]);
plot(t,y,'k'); hold on; grid on; axis([0 20 0 2]); leg = {'Step Input'}; % For legend
leg = {'Step Input'}; % For legend
for j = 1:4
for j = 1:4 sys = tf(K(j),[tau^2, 2*tau*zeta, 1]);
sys = tf(K,[tau^2, 2*tau*zeta(j), 1]); y = M*step(sys,t);
y = M*step(sys,t); plot(t,y,col(j),'LineWidth',1.2);
plot(t,y,col(j),'LineWidth',1.2); leg{j+1} = sprintf('Response, K = %.2f',K(j));
leg{j+1} = sprintf('Response, zeta = %.2f',zeta(j)); end
end legend(leg);
legend(leg);

© 2020 Karl Ezra S. Pilario, PhD.

 Other Scripts
MATLAB / GNU Octave code for figures in Slide 5:

col = 'bgmr';

M = 1; % Step input change

K = 1; % Steady-state gain
tau = [1 2 3 4]; % Time constants
zeta = 0.5; % Damping coefficient (Underdamped)
t = 0:0.01:20;
y = M*ones(size(t)); % y contains step input change at t = 0
plot(t,y,'k'); hold on; grid on; axis([0 20 0 2]);
leg = {'Step Input'}; % For legend

for j = 1:4
sys = tf(K,[tau(j)^2, 2*tau(j)*zeta, 1]);
y = M*step(sys,t);
plot(t,y,col(j),'LineWidth',1.2);
leg{j+1} = sprintf('Response, tau = %.2f',tau(j));
end
legend(leg);

© 2020 Karl Ezra S. Pilario, PhD.