CHE 509: Process Dynamics

MODULE 5:
Dynamic Behaviour of Second Order Systems

Ayorinde Bamimore, Ph.D.

Department of Chemical Engineering
Obafemi Awolowo University
 Module Objective
 To study and Characterize the dynamic
behavior of second order systems.

u(s) y(s)
g(s)

Types of input Types of output response

 Step  Step response
 Impulse response
 Impulse
 Pulse response
 pulse
 Ramp response
 Ramp  Sinusoidal response
 Sinusoidal

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 Classification of Linear Systems
I Low order systems
(a) First order system:
(b) Pure gain system:
(c) Pure capacity system:
(d) Lead/lag system:

II Second order systems

(a) Two first order in series:
(b) General Second order system:

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 Classification of Linear Systems
III Higher order systems
N First order systems in series:

IV Inverse response systems (systems with wrong way behavior)

The presence of RHP(right half plane) zero is response for the inverse response
V Time delay systems
(a) First order plus time delay(FOPTD):
(b) Second order plus time delay(SOPTD):

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 Step Responses of Some Systems

Fig. 5.1x: Step

responses of
common systems

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 General Second Order Systems
Consider a linear second-order ODE with constant parameters:
(5.1)
Eq.(5.1) is often written in the form
(5.2)
where:
, , ,
gain (units of output/input)
damping factor (dimensionless)
natural period (units of time)
By taking Laplace transform of (5.2), we have
(5.3)

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 General Second Order Systems
Assuming the initial conditions are zero, i.e.,
(5.4a)
N.B:
(5.4b)
Eq.(5.4b) refers to the characteristics eqn of the second order
transfer function
Finding the roots of the characteristics equation
Recall that the roots of quadratic equation: , are
given by:
(5.5)
If we assume and , then the roots of xtics Eq.(5.4b) will
be:

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 General Second Order Systems
(5.5)
Which yields
(5.6a)

(5.6b)
NB:
The real portions of the roots and are negative, hence the
system is stable.

The roots and can be of three types depending on the value

of

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 General Second Order Systems

Table 5.1: Characteristic behavior of second-order transfer function

Case Damping Factor Pole Location Characteristic behavior

I 2 real and distinct Overdamped
poles
II 2 real and equal Critically damped
poles
III 2 complex Underdamped
conjugate poles

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 Transient response of a second order system to step input
I. The step input of magnitude M, u(t)=M
II. The Laplace transform is obtained as, u(s)=M/s
III. Combine the input u(s) with g(s), we obtain
(5.7)
IV. Invert y(s) to obtain y(t)
The inversion will depend on the value of ( ).
Case I: Overdamped ( )
The denominator polynomial can be factored thus:
(5.8a)
The poles of the system are:
and (5.8*)
N.B: p1 and p2 are already obtained as Eqs. 5.6a & b.
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 Transient response of a second order system to step input

(5.8b)

(5.8c)
Thus,
(5.8d)

(5.8e)

By splitting (5.8e) into partial fractions and taking inverse

Laplace transform gives:
(5.8f)

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 Transient response of a second order system to step input
Sketching step response of second order system
Defining c(t)=y(t)/kM, we have
N.B.:

The greater the value of

( ), the more damped
and the slower the
response

Fig. 5.1a: Step response of critically damped and overdamped second order processes

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 Transient response of a second order system to step input
Case II: Critically damped ( )
The denominator polynomial can be factored thus:
(5.8g)
The poles of the system are:

(5.8h)
(5.8i)

(5.8j)
By splitting (5.8j) into partial fractions and taking inverse
Laplace transform gives:

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Transient response of a second order system to step input

(5.8k)

(5.8l)
Sketching the response

Fig. 5.1b: Step response of different types of second order processes

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 Transient response of a second order system to step input

Case II: Underdamped ( )

Recall the poles of the system:
(5.6a)

(5.6b)
When ( ), the poles are complex conjugate,

(5.8m)

which can be written in terms of the real and imaginary

contributions:
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 Transient response of a second order system to step input

(5.8n)
where ,
By finding the inverse Laplace transform, we have:

(5.8o)

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 Transient response of a second order system to step input

Fig. 5.2: Plot of poles of second order underdamped system

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 Sketching step response of second order underdamped system

(5.8p)

When t=0, and takes values between -1

and +1, so that

(5.8q)

AS t , , so that

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 Sketching step response of second order underdamped system

asymptotes

0
T 2T 3T 4T 5T 6T
X
asymptotes

Fig. 5.3: Step response of a second order underdamped system

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 Step Response of Second Order Underdamped System

The lower the values of

the damping factor ( ),
the mores oscillatory
the response of the
system.

Fig. 5.4: Step response of a second order underdamped system for various ( )

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 Step Responses of the Second Order System

Fig. 5.5: Step responses of the second order system

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 General Remarks on the Responses of Second Order Systems

From the plots of c(t) against (t/ ), the following

general remarks can be made:
[1.] Responses exhibit a higher degree of oscillation and
overshoot as ( ) approaches zero.
[2.] Large values ( ) of yield a sluggish (slow) response
[3.] The fastest response without overshoot is obtained
for the critically damped case ( ).
[4.] The case ( ) when is referred to as undamped
N.B.: Most engineering systems are underdamped in
nature, so we want to have a closer look at this type:

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 Characteristics of Underdamped Step Response

Fig. 5.6: Step responses of the second order system

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 Characteristics of Underdamped Step Response

The following common measures characterize the step

response of a second order system:
[1] Rise time (tr)=time to reach the new steady state
value
[2] Peak time(tp)=time to reach the first peak
[3] Overshoot(Mp)=distance between the first peak and
the new steady state
overshoot=
[4] Settling time=time for the process to be 98%
complete, which is approximately 4

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 Transient Response Specifications for Second Order System

Control engineers most often attempt to make the

response of the controlled variables to setpoint change
approximates the ideal step response of an underdamped
second-order system. This is because, most closed-loop
system behavior is second order in nature.

We are now going to derive expressions for each of the

parameters used in characterizing an underdamped
second order system in terms of and .

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 Transient Response Specifications for Second Order System

[1] Rise time (tr): Recall that

(5.8p)

where
, and
At rise time, output, c( )=1
Eq.(5.8p) then becomes
(5.8r)
(5.8s)

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 Transient Response Specifications for Second Order System

(5.8t)
[2] Peak time (tp): By differentiating (5.8p) wrt t,
equating to zero and solving for t, gives:
(5.8u)
[3] Maximum overshoot (Mp): This occurs at peak
time, i.e., . Substituting into (5.8p) gives:
(5.8v)
[4] Decay ratio (D.R.):
(5.8w)

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 Transient Response Specifications for Second Order System

[5] Period of oscillation of the damped oscillation (P)

(5.8x)
[6] Settling time (ts)
criterion, [process is less than 1% complete] (5.8y)
criterion, [process is less than 2% complete] (5.8z)
criterion, [process is less than 3% complete] (5.8xy)

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 Example 5.1
Consider the following transfer function, subject to a unit
step input (M=1). Assume time unit is minute.

Find the:
[1] rise time (tr)
[2] peak time(tp)
[3] maximum overshoot (Mp)
[4] Decay ratio (D.R.)
[5] Period of oscillation (P)
[6] Value of y(t) at the peak time.

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 Solution to Example 5.1
By comparing the given equation with Eq.5.4a
(5.4a)
K=5, ,
,
Recall that:

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 Solution to Example 5.1
[1] rise time: minutes (5.8t)
[2] peak time: minutes (5.8u)
[3] Maximum overshoot:
(5.8v)
[4] Decay Ratio: (5.8w)
[5] Period: minutes (5.8x)
[6] Recall that: Mp=c(tp) 1, c(tp)= Mp + 1=1.53
y(tp)= c(tp) kM=1.53 5 1=7.65

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