Second Order

systems

Instrumentation and Process Control Characteristics

of Underdamped
response
Lecture-30:Second order systems
Damped
vibrator

U-tube
manometer
Dr. Hemanth Kumar Tanneru
First Order
systems in series
Department of Chemical Engineering
Non-interacting
Indian Institute of Petroleum and Energy Visakhapatnam systems

Interacting
systems
Table of Contents

1 Second Order systems

Second Order
systems

2 Characteristics of Underdamped response Characteristics

of Underdamped
response
3 Damped vibrator Damped
vibrator

U-tube
4 U-tube manometer manometer

First Order
systems in series
5 First Order systems in series
Non-interacting
systems
6 Non-interacting systems Interacting
systems

7 Interacting systems
Learning Objectives

Second Order
systems

Characteristics
of Underdamped
1 Understand the Second order systems response

2 Predict how a second order systems respond to step input Damped

vibrator
3 Analyze the different types of second order responses U-tube
manometer
4 Understand the behaviour of underdamped response First Order
systems in series
5 Derive transfer function model for second order systems
Non-interacting
systems

Interacting
systems
Table of Contents

1 Second Order systems

Second Order
systems

2 Characteristics of Underdamped response Characteristics

of Underdamped
response
3 Damped vibrator Damped
vibrator

U-tube
4 U-tube manometer manometer

First Order
systems in series
5 First Order systems in series
Non-interacting
systems
6 Non-interacting systems Interacting
systems

7 Interacting systems
Second Order systems
• A system which can be represented by a linear second order differential
equation is called second order system
• The general form of second order system Second Order
systems

d 2y dy Characteristics
a2 + a1 + a0 y = b0 u(t) (1) of Underdamped
dy dt response

Damped
a2 d 2 y a1 dy b0 vibrator
+ + y = u(t) (2) U-tube
a0 dy a0 dt a0 manometer

• Laplace transform with all initial conditions as zeros First Order

systems in series

τ 2 s 2 Y (s) + 2ζτ sY (s) + Y (s) = Kp U(s) (3) Non-interacting

systems

• On rearranging Interacting
systems
Y (s) Kp
G (s) = = 2 2 (4)
U(s) τ s + 2ζτ s + 1
a2 a1 b0
where, τ 2 = a0 , 2ζτ = a0 and Kp = a0
Step response of a second Order system
• If the forcing function is a unit-step function
1
U(s) = (5) Second Order
s systems

• Output Y(s) can be written as Characteristics

of Underdamped
response
Kp
Y (s) = (6) Damped
s (s 2 + 2ζτ s + 1) vibrator

U-tube
• Factored into two linear terms that contain the roots manometer
p p First Order
ζ ζ2 − 1 ζ ζ2 − 1 systems in series
s1 = − + ; s2 = − − (7)
τ τ τ τ Non-interacting
systems

Interacting
Case ζ Nature of roots (s1 & s2 ) Type of response systems

Case 1 >1 Two distinct real roots Overdamped

Case 2 =1 Two equal real roots Critically damped
Case 3 0<1 Two complex conjugate roots Underdamped
Step response for overdamped system

• Step response of the overdamped system can be given as

" # Second Order
p t ζ p t systems
Y (t) = 1 − e −ζt/τ cosh ζ 2 − 1 + p sinh ζ2 − 1 (8) Characteristics
τ ζ2 − 1 τ of Underdamped
response

Damped
vibrator

U-tube
manometer

First Order
Inference: systems in series

• Response is non-oscillatory Non-interacting

systems

• Becomes more sluggish as ζ increases Interacting

systems
Step response for underdamped system

• Step response of the underdamped system can be given as

" p p !# Second Order
1 − ζ 2 1 − ζ 2 systems
Y (t) = 1 − e −ζt/τ sin + tan−1 (9) Characteristics
τ ζ2 of Underdamped
response

Damped
vibrator

U-tube
manometer

Inference: First Order

systems in series
• Response is oscillatory Non-interacting
systems
• Oscillations decreases with increase in Interacting
time systems
Step response for critically damped system

• Step response of the underdamped system can be given as

Second Order
h ti systems
Y (t) = 1 − e −ζt/τ 1 + (10) Characteristics
τ of Underdamped
response

Damped
vibrator

U-tube
manometer

Inference: First Order

systems in series
• Response is non oscillatory and Non-interacting
systems
approaches to 1
Interacting
systems
Comparison

Second Order
systems

Characteristics
of Underdamped
response

Damped
vibrator

U-tube
manometer

First Order
systems in series

Non-interacting
systems

Interacting
systems
Table of Contents

1 Second Order systems

Second Order
systems

2 Characteristics of Underdamped response Characteristics

of Underdamped
response
3 Damped vibrator Damped
vibrator

U-tube
4 U-tube manometer manometer

First Order
systems in series
5 First Order systems in series
Non-interacting
systems
6 Non-interacting systems Interacting
systems

7 Interacting systems
Characteristics of Underdamped response

• Rise Time: Time required for the

response to to first reach its ultimate Second Order
systems
value Characteristics
of Underdamped
• Response Time: Time required for the response

response to come within ±5 percent of Damped

vibrator
its ultimate value and remain there.
U-tube
• Period of Oscillation: Time between manometer
• Overshoot: A measure of how two successive peaks or two successive First Order
systems in series
much the response exceeds the valleys of the response. Non-interacting
ultimate value following a step systems
• Natural period of Oscillation: If the
change and is expressed as the Interacting
damping is eliminated from system i.e., systems
ratio A/B in Figure.
ζ = 0, then the system will oscillate
• Decay ratio: Ratio of the sizes continuously without any change in the
of successive peaks and is given amplitude of oscillations.
by C/A in Figure.
Formulas for finding terms of underdamped response
1 Overshoot
!
−πζ
Overshoot = exp p (11) Second Order
systems
1 − ζ2
Characteristics
of Underdamped
2 Decay ratio response
! Damped
−2πζ vibrator
Decay ratio = exp p (12)
1 − ζ2 U-tube
manometer

First Order
3 Rise Time systems in series
q 
τ −1 2
Non-interacting
tr = − p tan (1 − ζ )/ζ (13) systems
1 − ζ2 Interacting
systems
4 Period of Oscillation
2πτ
T =p (14)
1 − ζ2
Contd..

Second Order
systems

Characteristics
• Examples of second order systems are: of Underdamped
response
• U-tube manometer Damped
• Damped vibrator vibrator

• Second order systems can arise from several physical situations such as U-tube
manometer
• multi capacity processes First Order
• inherently second order systems systems in series

Non-interacting
systems

Interacting
systems
Table of Contents

1 Second Order systems

Second Order
systems

2 Characteristics of Underdamped response Characteristics

of Underdamped
response
3 Damped vibrator Damped
vibrator

U-tube
4 U-tube manometer manometer

First Order
systems in series
5 First Order systems in series
Non-interacting
systems
6 Non-interacting systems Interacting
systems

7 Interacting systems
Damped vibrator
Assumptions:
• A1. System is free to oscillate
horizontally under the influence of a Second Order
systems
forcing function F(t).
Characteristics
• A2. The origin of the coordinate system of Underdamped
response
is taken as the right edge of the block Damped
when the spring is in the relaxed vibrator

U-tube
• A3. Initially, no force is applied manometer

First Order
systems in series
Goal: To find a transfer function that relates
Non-interacting
Y to F (t) systems

Interacting
The different forces acting on block: systems

• The force exerted by the spring (-KY, towards left)

• The viscous friction force (−C dY
dt , towards left)
• The external force (F(t), towards right)
Balance equation
• Newton’s law of motion: Sum of all forces acting on the mass is equal to the
rate of change of momentum
Second Order
d 2Y dY systems
W 2 = −KY − C + F (t) Characteristics
dt dt of Underdamped
response
• On rearranging
Damped
vibrator
d 2Y dY
W +C + KY = F (t) (15) U-tube
dt 2 dt manometer

• Dividing K on both sides First Order

systems in series

W d 2Y C dY F (t) Non-interacting
systems
2
+ +Y = (16)
K dt K dt K Interacting
systems
• Standard form
Y (s) 1
= 2 2 (17)
U(s) τ s + 2ζτ s + 1
Contd...

Second Order
systems

Characteristics
of Underdamped
response

Damped
W C F (t)
• Here, τ 2 = K , 2ζτ = K, and U(t) = K
vibrator

U-tube
manometer

First Order
systems in series

Non-interacting
systems

Interacting
systems
Table of Contents

1 Second Order systems

Second Order
systems

2 Characteristics of Underdamped response Characteristics

of Underdamped
response
3 Damped vibrator Damped
vibrator

U-tube
4 U-tube manometer manometer

First Order
systems in series
5 First Order systems in series
Non-interacting
systems
6 Non-interacting systems Interacting
systems

7 Interacting systems
U-tube manometer

Assumptions:
• A1. Flow in the manometer is laminar Second Order
systems
• A2. The density of the fluid above the
Characteristics
manometric fluid is negligible of Underdamped
response
• A3. Velocity profile is flat. Each Damped
vibrator
molecule moved with same velocity
U-tube
manometer
Goal: To find a transfer function that relates First Order
H to P, that is, H(s)/P(s). systems in series

Non-interacting
systems

The different forces acting on manometric fluid: Interacting

systems
• Force due to differential pressure
• Force due to gravity
• Frictional drag force
Balance equation

• Momentum balance on the fluid in the manometer Second Order

systems

Characteristics
Sum of forces causing fluid to move = Rate of change of momentum of fluid of Underdamped
response

• Sum of forces causing fluid to move Damped

vibrator

U-tube
Unbalanced pressure forces causing motion − Frictional forces opposing motion(18)
manometer

First Order
systems in series
• Unbalanced pressure forces causing motion
Non-interacting
systems
πD 2 πD 2 Interacting
Unbalanced pressure forces causing motion = (P1 − P2 ) − ρgh systems
4 4
Contd...

• Frictional forces opposing motion can be calculated as skin friction at wall

Second Order
Frictional forces opposing motion = Skin friction at wall systems

Characteristics
• Skin friction at wall of Underdamped
response

Damped
= (Shear stress at wall) × (Area in contact with wall) vibrator
    U-tube
= τwall (πDL) = 8µDV̄ (πDL) = 8µ 1 dh


D 2 dt (πDL) manometer

First Order
systems in series
• The rate of change of momentum of the fluid
Non-interacting
systems
d
= (mass × velocity × momentum correction factor) Interacting
systems
dt 
πD 2 πD 2 1 dh2
    
d V̄
= ρ L (β) = ρ L (β)
4 dt 4 2 dt
Contd...

• Force balance equation for the manometer Second Order

systems

Characteristics
πD 2 1 dh2 πD 2 πD 2
!  !
4 8µ 1 dh
  
ρ L = (P1 − P2 ) − ρgh − (πDL) (19) of Underdamped
4 3 2 dt 2 4 4 D 2 dt response

Damped
vibrator
πD 2 1 dh2 πD 2 πD 2
!  !
4 8µ 1 dh
  
U-tube
ρ L + (πDL) + ρgh = (P1 − P2 )
4 3 2 dt 2 D 2 dt 4 4 manometer

First Order
• Dividing both sides by ρg (πD 2 /4) systems in series

Non-interacting
2L d 2 h 16µL dh P1 − P2 ∆P systems
+ +h = =
3g dt 2 ρD 2 g dt ρg ρg Interacting
systems
Contd...

• Expressed in standard form

Second Order

d 2Y dY systems

τ 2 2 + 2ζτ + Y = U(t) (20) Characteristics

dt dt of Underdamped
response
• Applying Laplace transform Damped
vibrator

τ 2 s 2 Y (s) + 2ζτ sY (s) + Y (s) = U(s)

U-tube
(21) manometer

First Order
• Transfer function systems in series

Non-interacting
systems
Y (s) 1
= 2 2 (22) Interacting
U(s) τ s + 2ζτ s + 1 systems

• Here, τ 2 = 2L 16µL ∆P
3g , 2ζτ = ρD 2 g
, U(t) = ρg and Y = h
Table of Contents

1 Second Order systems

Second Order
systems

2 Characteristics of Underdamped response Characteristics

of Underdamped
response
3 Damped vibrator Damped
vibrator

U-tube
4 U-tube manometer manometer

First Order
systems in series
5 First Order systems in series
Non-interacting
systems
6 Non-interacting systems Interacting
systems

7 Interacting systems
First Order systems in series

• Consider a process with several input variables and several output variables.
Second Order
systems

Characteristics
of Underdamped
response

Damped
vibrator

U-tube
manometer

First Order
systems in series

Non-interacting
systems

Interacting
systems
Figure: Two-tank liquid-level system: (left) Noninteracting; (right) interacting
Table of Contents

1 Second Order systems

Second Order
systems

2 Characteristics of Underdamped response Characteristics

of Underdamped
response
3 Damped vibrator Damped
vibrator

U-tube
4 U-tube manometer manometer

First Order
systems in series
5 First Order systems in series
Non-interacting
systems
6 Non-interacting systems Interacting
systems

7 Interacting systems
Non-interacting systems

Assumptions:
• A1. liquid to be of constant density Second Order
systems
• A2. tanks to have uniform Characteristics
of Underdamped
cross-sectional area response

• A3. the flow resistances to be linear Damped

vibrator

U-tube
Goal: Our problem is to find a transfer manometer

function that relates h2 to q, that is, First Order

systems in series
H2 (s)/Q(s).
Non-interacting
systems
Approach:
Interacting
• Obtain a transfer function for each tank, Q1 (s)/Q(s) and H2 (s)/Q1 (s) systems

• Combined these transfer functions to eliminate the intermediate flow Q1 (s)

and produce the desired transfer function
Derivation
• A mass balance over tank 1:
dh1
q − q1 = A1 (23) Second Order
dt systems
• Valve relation: Characteristics
of Underdamped
h1 response
q1 = (24)
R1 Damped
vibrator
• Substituting Eqn. 24 into 23 eliminates q1 U-tube
manometer
h1 dh1 First Order
q− = A1 (25) systems in series
R1 dt
Non-interacting
• Putting Eqn 24 and 25 into deviation variable form gives systems

Interacting
H1 dH1 systems
Q− = A1 (26)
R1 dt
H1
Q1 = (27)
R1
Contd...
• The transfer function relating to is found by transforming Eqn 26 and
rearranging to obtain
Second Order
H1 (s) R1 K1 systems
= = (28)
Q(s) A1 R1 s + 1 τ1 s + 1 Characteristics
of Underdamped
• Similarly, the transfer function relating to s obtained by transforming Eqn 27. response

Damped
Q1 (s) 1 1 vibrator
= = (29) U-tube
H1 (s) R1 K1 manometer

• The same procedure leads to the corresponding transfer functions for Tank 2 First Order
systems in series

H2 (s) R2 K2 Non-interacting
= = (30) systems
Q2 (s) A2 R2 s + 1 τ2 s + 1 Interacting
systems

Q2 (s) 1 1
= = (31)
H2 (s) R2 K2
• Here, Kp1 = R1 , Kp2 = R2 , τ1 = A1 R1 & τ2 = A2 R2
Transfer function for Noninteracting Tanks
• The transfer function relating the outflow from Tank 2 to the inflow to Tank
1 can be derived by forming the product of Eqn 28 through 31.
Second Order
Q2 (s) H1 (s) Q1 (s) H2 (s) Q2 (s) systems
= × × × (32)
Q(s) Q(s) H1 (s) Q1 (s) H2 (s) Characteristics
of Underdamped
• On substitution response
     Damped
Q2 (s) K1 1 K2 1 vibrator
= (33)
Q(s) τ1 s + 1 K1 τ2 s + 1 K2 U-tube
manometer
• On simplification First Order
systems in series
Q2 (s) 1 Non-interacting
= (34) systems
Q(s) (τ1 s + 1)(τ2 s + 1)
Interacting
systems
Contd...

• Overall transfer function H2 (s)/Q(s) by multiplying Eqns. 28, 29 and 30 to

eliminate Q1 (s) and H1 (s): Second Order
systems

H2 (s) H1 (s) Q1 (s) H2 (s) Characteristics

= × × (35) of Underdamped
Q(s) Q(s) H1 (s) Q1 (s) response

Damped
• On substitution vibrator

U-tube
manometer
   
H2 (s) K1 1 K2
= (36) First Order
Q(s) τ1 s + 1 K1 τ2 s + 1 systems in series

Non-interacting
• On simplification systems

Interacting
systems
H2 (s) K2
= (37)
Q(s) (τ1 s + 1)(τ2 s + 1)
Table of Contents

1 Second Order systems

Second Order
systems

2 Characteristics of Underdamped response Characteristics

of Underdamped
response
3 Damped vibrator Damped
vibrator

U-tube
4 U-tube manometer manometer

First Order
systems in series
5 First Order systems in series
Non-interacting
systems
6 Non-interacting systems Interacting
systems

7 Interacting systems
Interacting systems
Assumptions:
• A1. Liquid to be of constant density
• A2. Tanks to have uniform Second Order
systems
cross-sectional area Characteristics
of Underdamped
• A3. The flow resistances to be linear response

• A4. The resistance for liquid flow is the Damped

vibrator
change in the level difference necessary U-tube
to cause a change inflow rate. manometer

First Order
systems in series
Goal: Our problem is to find a transfer Non-interacting
function that relates h2 to q, that is, systems

H2 (s)/Q(s). Interacting
systems
Approach:
• Obtain a transfer function for each tank, Q1 (s)/Q(s) and H2 (s)/Q1 (s)
• Combined these transfer functions to eliminate the intermediate flow Q1 (s)
and produce the desired transfer function
Transfer Function of Interacting systems
• The balance over tanks 1 & tank 2:
dh1
q − q1 = A1 (38)
dt Second Order
systems
dh2
q1 − q2 = A2 (39) Characteristics
dt of Underdamped
response
• At steady state, Damped
vibrator
qs − q1s = 0 (40) U-tube
manometer
q1s − q2s = 0 (41)
First Order
(42) systems in series

Non-interacting
• Subtracting unsteady state Eqn from steady state and introducing deviation systems

variables give Interacting

systems
dH1
Q(s) − Q1 (s) = A1 (43)
dt
dH2
Q1 (s) − Q2 (s) = A2 (44)
dt
Contd...
• Valve relation:
h1 − h2
q1 = (45) Second Order
R1 systems

h2 Characteristics
q2 = (46) of Underdamped
R2 response

Damped
• Writing in deviation variables gives vibrator

H 1 − H2 H2 U-tube
manometer
Q1 = and Q2 = (47)
R1 R2 First Order
systems in series
• Laplace Transform Non-interacting
systems
Q(s) − Q1 (s) = A1 sH1 (s) (48) Interacting
systems
Q1 (s) − Q2 (s) = A2 sH2 (s) (49)
R1 Q1 (s) = H1 (s) − H2 (s) (50)
R2 Q2 (s) = H2 (s) (51)
Contd...

Second Order
systems
• These equations may be combined to eliminate Q1 , Q2 , and H1 and to arrive
Characteristics
at the desired transfer function: of Underdamped
response

Damped
H2 (s) R2 vibrator
= (52)
Q(s) τ1 τ2 s 2 + (τ1 + τ2 + A1 R2 )s + 1 U-tube
manometer

First Order
• Here, τ1 = A1 R1 and τ2 = A2 R2 systems in series

• Deviation variables: Q = q − qs , Q1 = q1 − q1s , Q2 = q2 − q2s , Non-interacting

systems
H1 = h1 − h1s and H2 = h2 − h2s , Interacting
systems
Model Comparison

Second Order
1 Noninteracting system systems

Characteristics
of Underdamped
H2 (s) R2 response
= (53)
Q(s) (τ1 s + 1)(τ2 s + 1) Damped
vibrator

2 Interacting system U-tube

manometer

First Order
H2 (s) R2 systems in series
= 2
(54)
Q(s) τ1 τ2 s + (τ1 + τ2 + A1 R2 )s + 1 Non-interacting
systems

Interacting
• Difference: Presence of the cross product term A1 R2 in the coefficient of s systems
Step response of non-interacting system
• Transfer function of two tank non-interacting system in series
H2 (s) R2
= (55) Second Order
Q(s) (τ1 s + 1)(τ2 s + 2) systems

• Assumption: τ1 = τ2 = τ Characteristics
of Underdamped
response
H2 (s) R2
= (56) Damped
Q(s) (τ s + 1)(τ s + 2) vibrator

• For a unit step change in input U-tube

manometer

1 First Order
Q(t) = 1; Q(s) = (57) systems in series
s Non-interacting
• Response in level systems

Interacting
R2 systems
H2 (s) = (58)
s(τ s + 1)(τ s + 2)

R2 /τ 2 C1 C2 C3
H2 (s) = = + + (59)
s(τ s + 1)(τ s + 2) s (s + 1/τ ) (s + 1/τ )2
Contd...
• The constants C1 , C2 and C3 are determined as
C1 = R 2 ; C2 = −R2 ; C3 = −R2 /τ (60)
Second Order
• The expression for H2 (t) systems

Characteristics
of Underdamped

−t/τ t 
H2 (t) = R2 1 − e − e −t/τ (61) response
τ Damped
vibrator

U-tube
manometer

First Order
systems in series

Non-interacting
systems

Interacting
systems
Step response of interacting systems
• Transfer function of two tank non-interacting system in series
H2 (s) R2
= (62) Second Order
Q(s) τ1 τ2 s 2 + (τ1 + τ2 + A1 R2 )s + 1 systems

• Assumption: τ1 = τ2 = τ Characteristics
of Underdamped
response
H2 (s) R2
= 2 2 (63) Damped
Q(s) τ s + 3τ s + 1 vibrator

• For a unit step change in input U-tube

manometer

1 First Order
Q(t) = 1; Q(s) = systems in series
s Non-interacting
• Response in level systems

Interacting
R2 systems
H2 (s) = 2 2
(64)
s(τ s + 3τ s + 1)
R2
H2 (s) = (65)
s(0.382τ s + 1)(2.618τ s + 1)
Contd...

R2 /τ 2 C1 C2 C3
H2 (s) = = + + Second Order
s(0.382τ s + 1)(2.618τ s + 1) s (s + 2.618/τ ) (s + 0.382/τ ) systems

Characteristics
• The constants C1 , C2 and C3 are determined as follows of Underdamped
response

C1 = R2 ; C2 = −1.171R2 ; C3 = −0.171R2 Damped

vibrator

U-tube
 t 
H2 (t) = R2 1 + 0.171e −2.618t/τ − 1.171 e −0.382t/τ manometer

τ First Order
systems in series

Non-interacting
systems

Interacting
systems
Effect of interaction on step response

Second Order
systems

Characteristics
of Underdamped
response

Damped
vibrator

U-tube
manometer

First Order
systems in series

Non-interacting
systems

Interacting
systems
Figure: Response comparison plot

• Interacting system is more sluggish than non-interacting

 Second Order
systems

Characteristics
of Underdamped
response

Damped
Thank You vibrator

U-tube
manometer

First Order
systems in series

Non-interacting
systems

Interacting
systems