Department of Chemical Engineering

CHE 821: PROCESS DYNAMICS AND

CONTROL SYSTEM
BY
COURSE LECTURER: Engr. Dr. Christopher
E. Akhabue
(Associate Professor)
email: christopher.akhabue@uniben.edu
Step Response Time Domain Solution for a Second
Order System
Overdamped Response;
Critically damped Response;
Underdamped Response
Graphical Form
Analysis of the Underdamped Response
Analysis of the Underdamped Response

Rise time : This is defined as

the time required for the
output to first reach its final
steady state value.
Peak time : This is defined
as the time required for the
output to reach its first
maximum value. The
mathematical expression for
peak time is given as
•
Analysis of the Underdamped Response

Response/settling time :
This is defined as the time
required for the output to
come within some
prescribed limit of the final
steady state value and
remains. Its general
expression is given as
For 2% tolerance band,

For 5% tolerance band,

Analysis of the Underdamped Response
Delay time : This is defined as
the time required for the output
to reach of its final steady state
value for the first time.

Decay Ratio: This is defined as

the ratio of . The decay ratio is
related to the damping
coefficient by the expression
Decay ratio
Analysis of the Underdamped Response
Overshoot: This is defined as the
ratio .
• Overshoot
• Overshoot increases with
decreasing damping
coefficient and it approaches
zero when the damping
coefficient approaches 1.
Analysis of the Underdamped Response
• Period of Oscillation T: This
is defined as the time taken
to make one complete
oscillation or the time
between two successive
peaks.

• where is the cylindrical

frequency
•
• .
Analysis of the Underdamped Response
Natural Period of
Oscillation,
In this case, the damping
coefficient is zero

when
Multicapacity Processes as a Second –
Order System
• Connection of Two First Order Systems in
Series
Multicapacity Processes as a Second –
Order System
• Connection of Two First Order Systems in
Series
 Derivation of Transfer Functions
Non –Interacting Capacities: General Case

Modeling Equations
• First capacity
• Second capacity
 Derivation of Transfer Functions
Non –Interacting Capacities: General Case
 Derivation of Transfer Functions
Non –Interacting Capacities: General Case
 Derivation of Transfer Functions
Note
 Two first –order systems connected in series
gives a second order response with two
distinct real poles and and the overall
response is overdamped.
 If two first order systems are connected in
series, we get overdamped or critically
damped response, but never an
underdamped response.
 Derivation of Transfer Functions
Note
• For nth number of first order systems
connected in series
Example of the Non- Interacting Systems

Tank 1
Example of the Non- Interacting Systems
Example of the Non- Interacting Systems
Taking the Laplace

The modeling Equation for Tank 2

Example of the Non- Interacting Systems
Example of the Non- Interacting Systems
Taking the Laplace transform of the model
Example of the Non- Interacting Systems
Example of the Non- Interacting Systems
• For a Unit Step change
,
Example of the Non- Interacting Systems
Examples of Interacting Systems

• The Modeling Eq.

Tank 1
Examples of Interacting Systems

• Tank 2
Examples of Interacting Systems

• Tank 1
• Tank 2
•
• Tank 1
•
• Tank 2
Examples of Interacting Systems

• Tank 1

• Tank 2
NOTE:
• The overall response for this two interacting
systems connected in series is second order.
Examples of Interacting Systems

NOTE:
• The overall response for this two interacting systems connected
in series is second order.
• The roots are;

There are two roots since

 The overall response is overdamped because the damping

coefficient is greater than 1
Second Order Dynamics: First – Order Process +
Controller

•
Second Order Dynamics: First – Order Process +
Controller

• Controller Equation
Second Order Dynamics: First – Order Process +
Controller
Second Order Dynamics: First – Order Process +
Controller
Second Order Dynamics: First – Order Process +
Controller

• To know if the system is overdamped, critically

damped or underdamped, the equation below
is used.
• , i.e.
• , i.e.
• , i.e.
DYNAMICS OF HIGHER ORDER SYSTEMS

 Processes having first order

systems connected in series.
 Process with dead time/time
delay.
 Processes with inverse response.
DYNAMICS OF HIGHER ORDER SYSTEMS

• N Capacities Connected in Series

• n non – interacting capacities
• n interacting capacities.
DYNAMICS OF HIGHER ORDER SYSTEMS
PROCESSES WITH DEAD TIME
PROCESSES WITH DEAD TIME
 PROCESSES WITH DEAD TIME

• Recall that

• In the same vain

PROCESSES WITH DEAD TIME
 PROCESSES WITH DEAD TIME

• The overall transfer function

• If a second order is to be considered, the

overall transfer function will be
PROCESSES WITH DEAD TIME
Transfer Function Approximation
• Padé Approximation
• First Order Padé Approximation
• Second Order Padé Approximation
Transfer Function Approximation
• Taylor’s Series Expansion
• First Order Taylor Approximation
Approximation of Higher Order Transfer Function
to Lower Order Transfer Function

• Example:
Derive a transfer function in the form of
Approximation of Higher Order Transfer Function
to Lower Order Transfer Function

Solution
1. Taylor’s Method

Similarly:

Retaining the dominant time constant (6), we

get
Approximation of Higher Order Transfer Function
to Lower Order Transfer Function
Solution
1. Skogestad’s Half Rule:

• For this, we take the longest neglected time constant

considered in the Taylor’s method which is 3.
• According to this Skogestad’s half rule method, 50% of
3 which is 1.5 is added to the next largest time constant
(6)
•