Experiment No.

– 02 Date : 15-01-24
Study of Ist and IInd order System

2(a) Study of step response of First order system (Thermometer)

AIM
To study the step response of the first order system.

THEORY
A thermometer is added with additional resistance (thermo-well) at its bulb to increase its time constant. The
system can generally be considered as first order system.
The dynamic response of first-order type instruments to a step change can be represented by

Where,
θ = temperature indicated by thermometer, oC
θF = Final steady state temperature, oC
t = time, sec
T = time constant, sec
The linear first order differential has the particular solution for given initial conditions,

The time constant Τ is the time required to indicate 63.2% of the complete change.
The time constant, T is numerically equal to the product of resistance and capacitance.

PROCEDURE
• Fill the heating bath with clean water by opening the inlet valve of heating bath.
• Switch on beeper and set beep interval to 3 seconds.
• Ensue that cyclic timer is set to 30 seconds on time and 30 seconds off time.
• Switch on Mains to heat the water in heating bath to its boiling point. Switch off the mains.
• The water in heating bath is now near its boiling point. Insert the thermometer in heating bath
suddenly after noting its initial temperature.
• Note the thermometer reading at each beep interval till the temperature reaches at steady state.

OBSERVATIONS & CALCULATIONS

1) Initial temperature (0C) = 100 0C 2) Final temperature (0C) = 39 0C
 Time (sec) Actual temperature (oC) Time (sec) Actual temperature (oC)
0 100 96 43
3 80 99 43
6 75 102 43
9 65 105 42
12 60 108 42
15 59 111 42
18 58 114 42
21 56 117 42
24 55 120 42
27 54 123 41
30 54 126 41
33 53 129 41
36 53 132 41
39 52 135 41
42 51 138 41
45 50 141 41
48 50 144 41
51 49 147 41
54 48 150 41
57 47 153 41
60 46 156 41
63 46 159 41
66 46 162 40
69 46 165 40
72 45 168 40
75 45 171 40
78 45 174 40
81 44 177 39
84 44 180 39
87 43 183 39
90 43 186 39
93 43

Calculations
Step change = Final temp. – Initial temp.= 39 – 100 = -61 oC.
Value of 63.2% of step = 0.632 x (Final temp – Initial temp) + Initial temp
= 0.632 x (39 – 100) + 100
= 61.448 oC
Plot the graph of Actual temperature Vs. time and note the value of time at 63.2% of step change. This value
is observed time constant of the Thermometer.
⸫ The time constant of the thermometer is 11 seconds.
Calculate theoretically predicted temperature by following equation:
Theoretical temperature = Initial temp. + {Step change x [1-exp (-1xTime/T)]}
Plot the graph of Theoretical temperature Vs. Time on the same graph plotted above.
Time (sec) Theoretical temp. (0C) Time(sec) Theoretical temp. (0C)
0 100 93 39.01
3 85.44 96 39.01
6 74.35 99 39.01
9 65.92 102 39.01
12 59.49 105 39
15 54.6 108 39
18 50.88 111 39
21 48.04 114 39
24 45.88 117 39
27 44.24 120 39
30 42.99 123 39
33 42.04 126 39
36 41.31 129 39
39 40.76 132 39
42 40.34 135 39
45 40.02 138 39
48 39.78 141 39
51 39.59 144 39
54 39.45 147 39
57 39.34 150 39
60 39.26 156 39
63 39.2 159 39
66 39.15 162 39
69 39.12 165 39
72 39.09 168 39
75 39.07 171 39
78 39.05 174 39
81 39.04 177 39
84 39.03 180 39
87 39.02 183 39
90 39.02 186 39

Graph

Thermometer
120

100
Temperature (C)

80

60

40

20

0
0 20 40 60 80 100 120 140 160 180 200
Time (sec)

Actual Temperature(C) Theoretical Temperature (C)

RESULT
The step response of the first order system has been studied.
The graph of actual temperature vs time and theoretical temperature vs time has been plotted.

Study of Step response of Thermowell

PROCEDURE
• Fill the thermo-well with clean water by opening the inlet valve of heating bath.
• Switch on beeper and set beep interval to 3 seconds.
• Ensue that cyclic timer is set to 30 seconds on time and 30 seconds off time. Switch on Mains to heat
the water in thermo-well to its boiling point. Switch off the mains.
• The water in thermo-well is now near its boiling point. Insert the thermometer in thermo-well
suddenly after noting its initial temperature.
• Note the thermometer reading at each beep interval till the temperature reaches at steady state.
• Switch off beeper and fill up the readings observed in “Observations” below.

Schematic Diagram

OBSERVATIONS
1) Initial temperature (0C) = 100 0C 2) Final temperature (0C) = 47 0C

Time (sec) Actual temperature (0C) Time (sec) Actual temperature (0C)
0 100 177 60
3 96 180 59.5
6 94 183 59
9 92 186 59
12 90 189 59
Time (sec) Actual temperature (0C) Time (sec) Actual temperature (0C)
15 89 192 58.5
18 87 195 58
21 86 198 58
24 85 201 57.5
27 85 204 57.5
30 84 207 57
33 84 210 57
36 84 213 56
39 83 216 56
42 83 219 55.5
45 82 222 55.5
48 82 225 55
51 81 228 55
54 80 231 55
57 79 234 55
60 78.5 237 55
63 78 240 54.5
66 78 243 54
69 77 246 54
72 76 249 53
75 76 252 52
78 75 255 52
81 75 258 52
84 74 261 52
87 74 264 51
90 73 267 51
93 73 270 51
96 72 273 51
99 72.5 276 51
102 71 279 51
105 71 282 51
108 70 285 51
111 70 288 51
114 69 291 51
117 69 294 50.5
120 68 297 50
123 68 300 50
126 67 303 50
129 66 306 50
132 66 309 49.5
135 65 312 49
138 65 315 49
141 64 318 49
144 64 321 49
147 63.5 324 48.5
150 63 327 48
153 63 330 48
156 62 333 47.5
159 62 336 47.5
162 61 339 47.5
165 61 342 47.5
168 60.5 345 47
 Time (sec) Actual temperature (0C) Time (sec) Actual temperature (0C)
171 60 348 47
174 60

CALCULATIONS
1. Step change = Final temp. – Initial temp.
= 47 – 100
= -53 0C
2. Value of 63.2% of step = 0.632 x (Final temp. – Initial temp.) + Initial temp.
= 0.632 x (47 – 100) + 100
= 66.504 0C
3. Plot the graph of Actual temperature Vs time and note the value of time at 63.2% of step change. This
value is observed time constant of the thermometer.
⸫ The time constant of the thermometer is 127 seconds.
4. Calculate theoretically predicated temperature by following equation
Theoretical temperature = Initial temp. + {Step change x [1-exp (-1xTime/T)]}
5. Plot the graph of Theoretical temperature Vs time on the same graph plotted above.
Time (sec) Theoretical temp. (0C) Time (sec) Theoretical temp. (0C)
0 100 177 60.15
3 98.76 180 59.85
6 97.55 183 59.55
9 96.37 186 59.25
12 95.22 189 58.97
15 94.1 192 58.69
18 93 195 58.41
21 91.92 198 58.15
24 90.87 201 57.89
27 89.85 204 57.63
30 88.85 207 57.39
33 87.87 210 57.14
36 86.92 213 56.91
39 85.99 216 56.67
42 85.08 219 56.45
45 84.19 222 56.23
48 83.32 225 56.01
51 82.47 228 55.8
54 81.64 231 55.6
57 80.83 234 55.4
60 80.04 237 55.2
63 79.27 240 55.01
66 78.52 243 54.82
69 77.78 246 54.64
72 77.07 249 54.46
75 76.36 252 54.29
78 75.68 255 54.12
 Time (sec) Theoretical temp. (0C) Time (sec) Theoretical temp. (0C)
81 75.01 258 53.95
84 74.35 261 53.79
87 73.72 264 53.63
90 73.09 267 53.47
93 72.48 270 53.32
96 71.89 273 53.18
99 71.31 276 53.03
102 70.74 279 52.89
105 70.19 282 52.75
108 69.64 285 52.62
111 69.12 288 52.49
114 68.6 291 52.36
117 68.09 294 52.23
120 67.6 297 52.11
123 67.12 300 51.99
126 66.65 303 51.88
129 66.19 306 51.76
132 65.74 309 51.65
135 65.31 312 51.54
138 64.88 315 51.44
141 64.46 318 51.33
144 64.05 321 51.23
147 63.66 324 51.13
150 63.27 327 51.04
153 62.89 330 50.94
156 62.52 333 50.85
159 62.15 336 50.76
162 61.8 339 50.67
165 61.46 342 50.59
168 61.12 345 50.5
171 60.79 348 50.42
174 60.47

Graph

Thermowell
120

100
Temperature (C)

80

60

40

20

0
0 50 100 150 200 250 300 350 400
Time (sec)

Actual Temperature (C) Theoretical Temperature (C)

 2(b) Study of step response of Second order system (water manometer)
AIM
To study the step response of the second order system (water manometer).

THEORY
The dynamic response of a second order system to a step change can be described by a second order
differential equation. The solutions to above equation involve three cases:
1. Under damped condition[ζ<1].
2. Critical damped condition [ ζ=1].
3. Over damped condition [ ζ>1].
The response for under damped system [i.e. ζ<1] can be written as:

In case of manometer:
y(t) = Response at any time ‘t’ after step change (deviation value).
K = Gain factor =1
M = Magnitude of step change

where,
L = Column length in meter,
µ = Dynamic viscosity in kg/m.s,
ρ = Mass density of the manometer fluid in kg/m3,
D = Tube diameter in m,
g = Gravitational acceleration in m/sec2.
Frequency of damped oscillation (f) = 𝜔𝑛√(1 – 𝜁2)
Natural frequency (𝜔𝑛) = √(2𝑔/𝐿) (rad/sec)
Rise time, (tr) = Time the indicated value takes to first reach the new steady state value.
Time to first peak, (tp) = Time required for the indicated value to reach its first maximum value.
Response/settling time(ts) is defined as the time required for the indicated value to reach and remain inside
a band whose width is equal to +/-5% of the total change in θ. The term 95% response time sometimes is
used to refer to this case. Also, values of +/-1% sometimes are used.
Decay ratio (DR)= c/a (Where c is the height of the second peak).
Overshoot (OS) = a/b
= √(Deacy ratio)
Period of oscillation P is the time between two successive peaks or two successive valleys of the response.

PROCEDURE
• Ensure that water level in manometer is set at ‘0’ on the scale.
• Close the vent of water manometer by hand.
• Press the rubber bulb to deflect the water to @100mm from ‘0’ level.
• Note the water level reading and quickly open the vent to apply step change.
• Note peak values observed during oscillations.
• Measure the period of oscillations and note average time required for each oscillation.
• Plot the graphs of Actual & Theoretical response Vs Time.
• Note the top peak and bottom peak readings. Also simultaneously note the period of oscillation.
(This can be noted by measuring time required for 4-5 oscillations and then calculating for each
oscillation)
• Repeat process 2-3 times for different step changes.

OBSERVATIONS
Manometer fluid: water
Dynamic viscosity (µ) = 0.001Kg/m.s
Mass density (ρ) = 1000 Kg/m3
Column length (L) =1.05 m
Tube diameter (d) =22 mm
Actual response (mm) Period of oscillation (s) Actual response (mm) Period of oscillation (s)
280 0 25 15
-230 0.5 -20 16
180 1 20 17
-160 2 -15 17.5
140 3 20 18
-120 3.5 -10 19
110 4 15 20
-100 5 -10 21
90 6 15 21.5
-80 6.5 -9 22
70 7 10 23
-60 8 -7 24
60 9 10 25
 Actual response (mm) Period of oscillation (s) Actual response (mm) Period of oscillation (s)
-50 10 -5 25.5
50 10.5 7 26
-40 11 -4 27
40 12 4 28
-30 13 -2 28.5
30 14 2 29
-25 14.5 0 30

CALCULATIONS
Step change = Final Height – Initial Height
= 230 – 280
= - 50 mm
Period of oscillation(T) = 0.5 sec
Now, ω = 2π/T
= (2 x 3.14)/0.5
= 12.56 rad/sec
∴ Ttheoretical = √(L/2g)
= √(1.05/2 x 9.81)
= 0.231 sec

2 ×9.81
= (8 x 1.05 x 0.001)/{(1000 x 9.81 x (22 x 10-3)2)(√ )
1.05

= 0.00764
As, ζ < 1 , It is the condition of underdamped.

Graph

400 Water Manometer

300

200

100
Actual Response

0
0 5 10 15 20 25 30 35
-100

-200

-300
Time (sec)
From Graph,
a = 180, b = 230 and c =140
Rise time (tr) = 0.85 sec
Decay ratio (DR) = c/a
= 140/180
= 0.77
Overshoot (OS) = a/b
= 180/230
= 0.78

RESULT
The step response of water manometer has been studied.
The graph is also plotted between the response and time.
Overshoot and decay ratio has also been calculated.

INFERENCE
• From the experiment, we understand that both water manometer fall under the 2nd order system, with
a damping coefficient Z<1,both theoretically and experimentally.
• From the damping coefficients calculated, it is concluded that water manometer is under damped
system i.e. ζ<1.