PROCESS CONTROL AND INSTRUMENTATION LAB (BKF3791)

TITLE OF EXPERIMENT: STUDY ON DYNAMICS OF FIRST ORDER AND

SECOND ORDER SYSTEMS
DATE OF EXPERIMENT: 20/3/2023
INSTRUCTOR’S NAME: Dr. ROHAIDA CHE MAN

SECTION: 1
GROUP: 5

Group Members:
1. VIGHNETA A/P VASUTHEVAN KA19117
2. PRITHINAH A/P M.KRISHNNAN KA19066
3. ABDULLAH AHMED MOHAMMED LAHMDI KA19128

FACULTY OF CHEMICAL AND NATURAL RESOURCES ENGINEERING

UNIVERSITI MALAYSIA PAHANG

 TABLE OF CONTENT

1.0 ABSTRACT............................................................................................................. 1
2.0 METHODOLOGY.................................................................................................. 2
3.0 RESULTS AND DISCUSSIONS............................................................................ 3
4.0 CONCLUSION AND RECOMMENDATION .................................................... 9
5.0 REFERENCES......................................................................................................... 10
6.0 APPENDICES.......................................................................................................... 11
1.0 ABSTRACT
The experiment was conducted to study the dynamics of first order and second order
systems. The objectives of this experiment were to analyze dynamic response of first and
second order systems for different input values and to determine parameters based on the
dynamic response of first and second order systems. The simulation was conducted using
MATLAB version 7.0. There are two parts to this experiment. The first part is to study the
dynamic of the first order system. System gain (Kp) and system time constant (τp) values were
fixed before running the simulation. The graph produced was then observed and analysed to
obtain the new steady state value and the length of time in output. In the second part, system
gain (Kp), value of constant A, and constant B were set to determine the type of damping by
observing and analyzing the graph obtained. The overshoot, decay ratio, rise time, settling time
and the period of oscillation values were found as well. From the results, it is shown that the
final steady state output value increases as Kp increases. Only a slight increase in time constants
is needed to reach the final steady state for the first order system. Thus, fastest reaction was
observed when the Kp and τp are set as 5 and 9 respectively. However, output value for the
second order system is influenced by the damping coefficient’s value. The underdamped
systems responded with the shortest time due to the overshoot while the critically damped
systems respond with overshoot the quickest.

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 2.0 METHODOLOGY
Part A: First Order System
The First and Second
Order Systems button
from the Main Menu
was clicked.
Several points along
the response curve
were taken in the
analysis.
Figure 2.1: Flowchart of the first order system experiment
Part B: Second Order System
The Second Order
Systems button was
selected to start the
second order system.
The parameters of
first and second
orders system were
determined.
The System Identification
Problem 1 button from the
Main Menu was selected
followed by running the
simulation.
Figure 2.2: Flowchart of the second order system experiment
The First Order
System button was
selected to start the
first order system.
New steady state value and
the length of time it takes for
the output to reach the new
steady state were recorded.
A list of values was
chosen for system gain
(Kp), A, and B.
The overshoot, decay ratio, rise
time, settling time and the
period of oscillation values
were calculated.
Output data using a step
input were generated
and the Kp and the τp
were determined.
The system gain Kp and time
constant τp were set at
various values based on the
first order system block.
The step time and value of
the step function were
chosen prior to running
the simulation.
The initial and final
values of the step
function were chosen
and the simulation was
performed.
The system was
determined whether the
system is overdamped,
underdamped or
critically damped.
The parameters of
second order system
were determined using
similar method like the
first order system.
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3.0 RESULTS AND DISCUSSIONS

Part A: First Order System

Table 3.1: First Order System with Different Gain, Kp, and Time Constant 𝜏𝜌

No. Gain, 𝜅𝜌 Time Time (s) Output Comments

Constant, 𝜏𝜌
1. 5 9 60.5388 5 Reasonable
2. 10 10 63.6578 9.9761 Reasonable
3. 15 15 92.2968 14.9710 Reasonable
4. 20 15 97.1172 19.9865 Reasonable
5. 25 20 116.3989 24.9478 Reasonable
6. 30 30 146.1720 29.7462 Reasonable
𝜅𝜌
For the standard form of first order transfer function, 𝐺(𝑠) = 𝜏 +1
𝑠

Table 3.1 shows the first order system with different gain, Kp and time constant,𝜏𝜌 . According
to table 3.1, altering the system's inputs, gain (Kp) and time constant (𝜏𝜌 ), will alter how long
it takes to attain its steady state. The graph was used to evaluate how the system's output
changed as the inputs were changed. According to the results, the time needed to reach steady
state will reduce as the time constant, 𝜏𝜌 , decreases. The time it takes to reach steady state will
then somewhat decrease as system gain is increased, according to 𝜅𝜌 . The graph and first order
transfer function were displayed at the appendix.

Part B: Second Order System

Table 3.2: Properties of Second Order System with Different Input Values.

No. Gain, 𝜅𝜌 𝐴 = 𝜏2 𝐵 = 2𝜉𝜏 𝜏 𝜉 Type

1. 10 40 14 6.3246 1.1068 Overdamped
2. 10 18 2 4.2426 0.2357 Underdamped
3. 20 30 14 5.4772 1.2780 Overdamped
4. 20 42.25 13 6.5 1 Critically
damped
5. 10 18 15 4.2426 1.7678 Overdamped
6. 20 20 15 4.4721 1.6771 Overdamped

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In which case:
Underdamped: 𝜉 < 1
Critically damped: 𝜉 = 1
Overdamped: 𝜉 > 1
No. Overshoot Decay Ratio Rise Time Settling Period
Time
1. - - - - -
2. 0.4668 0.2179 17.5876 64.8922 27.4299
3. - - - - -
4. - - - - -
5. - - - - -
6. - - - - -
𝜌 𝐾
The standard form of second order transfer function is: 𝐺(𝑠) = 𝜏2 𝑆2+2𝜉𝜏𝜌𝑠+1
𝜌

Table 3.2 shows the properties of Second Order System with different input values of gain,𝜅𝜌 ,
A and B. The second order system was impacted by the damping coefficient,𝜉 .Overshoot,
decay ratio, rise time, settling time and period are explained below. The graph and second order
transfer function were displayed in the appendix.

−2𝜋𝜉
( )
√(1−𝜉2 )
Decay Ratio, 𝐷𝑅 = 𝑒
Overshoot, 𝑂𝑆 = √𝐷𝑅
2𝜋𝜏
Period, 𝑃 =
√(1−𝜉 2 )

Rise Time, tr: Time taken for the output process to take the first reach of the new steady state
value.
Settling Time, ts: Time required for process output to reach and remain inside a band width of
±5% of the total change in new steady state value.

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Part C: System Identification Problem 1

Figure 3.1: System Profile for System Identification Problem 1

Δ𝑂𝑢𝑡𝑝𝑢𝑡 𝑣𝑎𝑙𝑢𝑒 = 𝐹𝑖𝑛𝑎𝑙 𝑜𝑢𝑡𝑝𝑢𝑡 𝑣𝑎𝑙𝑢𝑒 − 𝐼𝑛𝑖𝑡𝑖𝑎𝑙 𝑜𝑢𝑡𝑝𝑢𝑡 𝑣𝑎𝑙𝑢𝑒

= 2.1447-0

= 2.1447

Δ𝑜𝑢𝑡𝑝𝑢𝑡 (2.1447 − 0)
𝐾𝜌 = =
Δ𝑖𝑛𝑝𝑢𝑡 (10 − 0)

= 0.2145

After a time interval equal to the process time constant (𝑡 = 𝜏𝜌 ), the first order process is still
only 63.21% complete. (Seborg et al., 2011)

63.21% × Δ𝑜𝑢𝑡𝑝𝑢𝑡 = 0.6321 × 2.1447 = 1.3557

Referring to the Figure 3.3.1,

𝜏𝜌 = The time taken by the process to achieve 63.21% complete = 46.32 seconds

Hence,

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 Table 3.3: Transfer Function Parameters of First Order System

𝐾𝜌 0.2145
𝜏𝜌 46.32

First Order Transfer function of unknown system:

𝐾𝜌 0.2145
𝑌(𝑠) = =
(𝜏𝜌 𝑠 + 1) (46.32𝑠 + 1)

System Identification Problem 2

Figure 3.2: System Profile for System Identification Problem 2

𝑎 (22.0228−14.7073)
Overshoot (OS): 𝑏 = 14.7073

= 0.4974

Period: 𝑡(𝑝𝑒𝑎𝑘,2) − 𝑡(𝑝𝑒𝑎𝑘,1) = 55.4820 − 25.4253 = 30.0567

Output: Final output value – Initial output value = 14.7073 - 0 = 14.7073

−𝜋𝜉
( )
(√(1−𝜉2 ))
Overshoot, 𝑂𝑆 = 𝑒

Through this equation, damping coefficient can be found using a calculator,

Damping coefficient, 𝜉 = 0.2170

2𝜋𝜏
Period, 𝑃 =
√(1−𝜉 2 )

Rearrange the above equation to get response time, 𝜏

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 √(1−𝜉 2 ) √(1−(0.21702 ))
Response time, 𝜏 = 𝑃 = (30.0567) = 4.6697
2𝜋 2𝜋

∆𝑜𝑢𝑡𝑝𝑢𝑡 (14.7073 − 0)
𝐾𝑝 = = = 98.05
∆𝑖𝑛𝑝𝑢𝑡 (0.15 − 0)

Table 3.4: Transfer Function Parameters of Second Order System

𝐾𝑝 𝜏𝑝 𝜉
98.05 4.6697 0.2170

Therefore, the second order transfer function for this unknown system at step unit of 0 to 0.15
is

𝐾𝜌 98.05
𝐺(𝑠) = =
(𝜏𝜌2 𝑆 2 + 2𝜉𝜏𝜌𝑠 + 1) ((4.6697)2 𝑠 2 + 2(0.2170)(4.6697)𝑠 + 1)

98.05
= (21.8061𝑠2 +2.0266𝑠+1)

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 Increasing the gain can lead to faster response times but may also introduce instability
and oscillation. The increase in process gain has improved system performance while
decreasing the time required to reach steady state. A system with a high process gain indicates
that small changes in input which results in large changes in output. On the other hand,
increasing the gain can lead to faster response times but may also introduce instability and
oscillation. negative gain is possible, in which case output will fall and stabilise. The reduction
of time constant in a process would improve the overall performance of the system, allowing
for a shorter time to reach steady state (Seborg, D. E. ,2011). A small-time constant indicates
that the reaction occurs quickly and that a shorter period is required to reach a new steady state.
Slower response times and increased stability can be obtained by increasing the time constant,
whereas faster response times and decreased stability can be obtained by decreasing the time
constant. The specific effect of time constant changes will differ depending on the type of
control system, the control parameter being adjusted, and the time constant's specific values.
Negative gain, on the other hand, can cause instability and oscillation in some systems,
particularly control systems.

Before implementing negative gain in a system, it is critical to carefully consider the

potential impact on system behaviour and stability. A negative time constant is not possible as
−𝑡
the formula, 𝑦(𝑡) = 𝐾𝑀  (1 − 𝑒 𝜏 ). If time constant is negative, the process output would never
reach steady state. When the time constant is negative, the process response will also be
negative. In theory, the process output will never reach the new steady state. It can use a
complex exponential input of the form to characterise the sinusoidal response. u(t)=ejω0t,
u(s)=1s−jω0 Then, the system output is given as: y(s)=G(s)s−jω0. The response of a linear
system to a sinusoidal input can be used to predict its behaviour for arbitrary periodic inputs,
but more importantly, it can be used to design compensators. The sinusoidal response of first-
order systems is determined by the DC gain, K, but primarily by the time constant (Seborg, D.
E.,2011)

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 Figure3.3: Sinusoidal response

Physical systems are modelled using first and second order systems for analysis and
control system design. A first order system is frequently an excellent mathematical model for
representing the behaviour of many real-world systems. Temperature change in an oven due to
heat input, R-C or R-L circuit behaviour, liquid level change in a leaky tank, and other
examples are provided. First-order systems do not exhibit overshoot or oscillatory behaviour
and are therefore inappropriate models in some situations. In such cases, a second-order model
is preferable. A second-order model is used to represent systems that can respond to input
stimulus in a variety of ways, such as overshoot, undershoot, or oscillatory behaviour. R-L-C
circuits, car suspension systems, and other applications are examples.

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4.0 CONCLUSION AND RECOMMENDATION

In conclusion, the gain constant and time constant for the first order system of the
control process determine how long it requires for the output to reach the new steady state and
the output of the new steady state value. As the gain value rises, it also increases the final steady
output value. The system's high gain will result in a large output if only a slight input change
is noticed. Moreover, a reduced time constant speeds up the first order system's transition to
the final steady state. Hence, the first-order system's inputs with gain constant and time constant
of 5 and 9, respectively, showed the fastest reaction. Yet, the output response for the second
order system of the control process might be impacted by the damping coefficient's value. Due
to the overshoot, it has been found that underdamped systems respond with the shortest time.
But nevertheless, a critically damped system responds with overshoot the quickest.

It is essential to assess and contrast the output system's response as this can assist in
having a better understanding on the impact of the gain constant and time constant before
deciding the values for the simulation. In order to determine the precise value of the time
constant and output value, we must use the cursor to pick the pointer box. By doing so, the
system can be optimised as required using the right chosen value.

5.0 REFERENCES

1. Seborg, D. E. (2011). Process Dynamics and Control. California: John Wiley & Sons, Inc.

2. Liberty, S. (1972). Modern control engineering. IEEE Transactions on Automatic

Control, 17(3), 419–419. https://doi.org/10.1109/tac.1972.1100013

3. Pan, W., Mousavinezhad, S. H., & Hart, K. (2009). Digital signal processing,
theory/practice, HW/SW. In ASEE Annual Conference and Exposition, Conference
Proceedings. American Society for Engineering Education.

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6.0 APPENDICES

Results

Part A: First Order System

1.

Figure A-1: First Order System with KP = 5, τp = 9

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2.

Figure A-2: First Order System with KP = 10, τp = 10

12
3.

Figure A-3: First Order System with KP = 15, τp = 15

13
4.

Figure A-4: First Order System with KP = 20, τp = 15

14
5.

Figure A-5: First Order System with KP = 25, τp = 20

15
6.

Figure A-6: First Order System with KP = 30, τp = 30

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Part B: Second Order System

1.

Figure B-1: Second Order System with KP = 10, A = 40, B = 14

17
2.

Figure B-2: Second Order System with KP = 10, A = 18, B = 2

18
3.

Figure B-3: Second Order System with KP = 20, A = 30, B = 14

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4.

Figure B-4: Second Order System with KP = 20, A = 42.25, B = 13

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5.

Figure B-5: Second Order System with KP = 10, A = 18, B = 15

21
6.

Figure B-6: Second Order System with KP = 20, A = 20, B = 15

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Part C: System Identification Problem

System Identification Problem 1

1.

Figure C-1: Graph of System Identification Problem 1

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System Identification Problem 2

1.

Figure C-2: Graph of System Identification Problem 2

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