Dynamics of

Higher-
Order
Processes
 “all models are wrong, but some are useful”

Recall:
−𝜃𝑠
1 1
𝑒 = 𝜃𝑠 ≈
𝑒 1 + 𝜃𝑠
𝜃 2 𝑠2 𝜃 3 𝑠3 𝜃 4 𝑠4 𝜃 5 𝑠5
𝑒 −𝜃𝑠 = 1 − 𝜃𝑠 + − + − +⋯
2! 3 4! 5!
𝜃
1− 𝑠
𝑒 −𝜃𝑠 ≈ 2
𝜃
1+2𝑠
Approximation

e-0.1s
𝐾 −0.1𝑠 + 1
𝐺 𝑠 =
5𝑠 + 1 3𝑠 + 1 0.5𝑠 + 1
e-5s e-0.3s e-0.5s
Skogestad’s half
rule

𝐾 −0.1𝑠 + 1
𝐺 𝑠 =
5𝑠 + 1 3𝑠 + 1 0.5𝑠 + 1
Highest neglected time constant
Skogestad’s half
rule

𝐾 −(0.1+0.5+1.5)
𝐺 𝑠 ≈ 𝑒
6.5𝑠 + 1
Attendance Quiz!

• Use Skogestad’s half rule to develop 1) a

1st order and 2) a 2nd order approximation
of
𝐾 1 − 𝑠 𝑒 −𝑠
𝐺 𝑠 =
12𝑠 + 1 3𝑠 + 1 0.2𝑠 + 1 0.05𝑠 + 1
Recall
Attendance Quiz!

• Open your UVLE

• Open Empirical Data Exercise.xlsx
• Develop a First Order Plus Time Delay
Model
 Recall

Overshoot (OS) = a/b

Decay Ratio (DR) = c/a = (a/b)2

If not underdamped, tr = time from 10% to 90%

Attendance
Quiz!
• Develop a 2nd Order Plus Time Delay
Model