Dynamic Behavior of

Second order Processes

BITS Pilani Pratik N Sheth
Department of Chemical Engineering
Pilani Campus
Lecture Contents

Response of Second Order System

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Second Order System

Transfer Function

Y (s) K
= (5-40)
U (s) 2 2
s + 2s + 1

K = steady-state gain
= "time constant" [=] time
= damping coefficient (dimensionless)
Damping coefficient
Provides a measure of amount of damping in the system
Its a degree of oscillation in a process response after a perturbation
Small values means little damping and large oscillation
Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus
Examples of Second Order
System

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Example: CSTR

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

CSTR

Assumptions
Perfectly mixed
Constant V
Constant density
All Coolant at TC
Heat of mixing is negligible

Unsteady State Component Balance (Molar Basis)

& Energy Balance

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

CSTR

Assumption
Flow rate q or w are constant and inlet conditions CAi and Ti are constant

Find the transfer function relating changes in reactor

concentration CA to changes in coolant temperature TC

dc A
V = q(c Ai c A ) Vk0 exp( E / RT )c A
dt
dT
VC = wC (Ti T ) + ( H R )Vk0 exp( E / RT )c A + UA(TC T )
dt
Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus
 Linearization
dc A
V = q (c Ai c A ) Vk0 exp( E / RT )c A
dt
dT
VC = wC (Ti T ) + ( H R )Vk0 exp( E / RT )c A + UA(TC T )
dt
f f
f ( u, y ) = f ( u , y ) + u + y (4-61)
u y y y

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Transfer Function

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Second Order Transfer
Function

Y (s) K
= (5-40)
U (s) 2 2
s + 2s + 1

K, and from notes

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Two First order System in
Series

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Step Response for 2nd Order
Process
Response depends upon the value of
If = 1
Critically damped System

If > 1
Over damped System

If 0 < 1
Under damped System

If < 0
?

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Step Response for 2nd Order
Process

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Step Response for 2nd Order
Process

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Step Response for 2nd Order
Process

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Step Response for 2nd Order
Process
1. Responses exhibiting oscillation and overshoot (y/KM > 1)
are obtained only for values of less than one.
2. Large values of yield a sluggish (slow) response.
3. The fastest response without overshoot is obtained for the
critically damped case (=1)

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Performance Characteristics for the step
response of an unde rdamped process

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Performance Characteristics for the step
response of an under damped process

1. Rise Time:
tr is the time the process output takes to first reach the
new steady-state value.
If no overshoot, time to go from 10 % to 90 % of the steady state response
2. Time to First Peak:
tp is the time required for the output to reach its first maximum value.
3. Settling Time:
ts is defined as the time required for the process output to reach and remain inside a
band whose width is equal to 5% of the total change in y. The term 95% response time
sometimes is used to refer to this case. Also, values of 1% sometimes are used.
4. Overshoot:
OS = a/b (% overshoot is 100a/b).
5. Decay Ratio:
DR = c/a (where c is the height of the second peak).
6. Period of Oscillation:
P is the time between two successive peaks or two successive valleys of the response.

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Performance Characteristics for the step
response of an under damped process

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

Performance Characteristics for the step
response of an under damped process

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

5.3

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

5.10

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus

5.14

Dr Pratik N Sheth, Dept of Chemical Engg, BITS Pilani, Pilani Campus