DYNAMIC BEHAVIOUR

ND
OF 2 ORDER
PROCESS
CHAPTER 1

2ND ORDER PROCESSES

Second order process is described by the
solution of 2nd order differential equation
y(t) = output, x(t) = input
2

d y
dy
a2 2 a1 ao y bx(t )
dt
dt

Chapter 2

Standard form
of 2nd order
process

where

2
d
y
dy
2

2
y Kx(t )
2
dt
dt

a2

ao
2

a1
2
ao

b
K
ao

response time
damping factor
K steady state gain of the system
Transfer
function 2nd
order process

Y ( s)
K
G( s)
2 2
X ( s) s 2 s 1

characteristic
polynomial

Chapter 2

Y ( s)
K
G( s)
2 2
X ( s) s 2 s 1

Find roots of
characteristic
polynomial

Roots of the
characteristic
polynomial,

s 2 s 1 0
2 2

2 1

p1

p2

CLASSES OF SECONDORDER SYSTEMS

SYSTEM WITH 2ND

ORDER PROCESS
Multicapacity process ~ series of 1st
order system
Inherently second order process
A processing system with controller

MULTICAPACITY PROCESS
Chapter 2

Noninteracting capacity
Describe by two differential equations
The first system affects the second by its outputs
Fi

K1
G1( s)
1s 1

h1
R1
X

Figure 1

K2
G 2( s )
2s 1

F1

Tank 1
h2

F2
X
Tank 2

CONTINUE
F1(s)

G1(s)

Y1(s)

G2(s)

Y2(s)

Y 2( s) Y 2( s) Y 1( s)
K2
K1
G1( s)

F1 ( s) Y1 ( s) F1 ( s) 1s 1 2 s 1
Overall transfer function of the system is second
order
Always result in an overdamped or critically damped
second order system and never in underdamped
system.

MULTICAPACITY PROCESS
dhi
A1
Fi F1
dt

Chapter 2

Interacting capacity
Mass balance
Assume

h1 h2
F1
R1

dh2
A2
F1 F2
dt

h2
F2
R2
Fiq

Figure 2

h1

F1

h2

F2
q1

q2

Chapter 2

CONTINUE
Overall transfer function of the system is second
order
The response of interacting capacities is always result
underdamped.

RESPONSE TO A UNIT STEP

CHANGE
Chapter 2

For a unit step change for the input, x(t) = 1.

Y ( s)
K
G( s)
2 2
X ( s) s 2 s 1

1
K

Y ( s) 2 2
s 2 s 1 s

THREE CLASSES OF 2ND ORDER

REPONSE
Case A:

Overdamped response
Two distinct real roots

t
t /
2
2
y (t ) K 1 e
cosh 1
sinh 1
2

Chapter 2

CONTINUE
Case B: 1
Critically damped response
Two equal real roots

t
y (t ) K 1 1

t /
e

CONTINUE

CONTINUE
Overdamped response
Resembles a little the response of a 1st order to
a unit step change.

But 2nd order delays to respond.

More sluggish as

increase.

Critically damped

Approach its ultimate value faster than does on

overdamped response

CONTINUE
Case C: 0 1
Underdamped response
Complex roots
= 1
/

1 2

1 2

CONTINUE

Chapter 2

Discuss the dynamic response of second order process at different

values of damping factor.

Chapter 2

CONTINUE
Underdamped response
Response faster than critically damped and
overdamped.
But, oscillating with progressively decreasing
amplitude.
More pronounced with smaller .
Large values of yield a sluggish (slow)
response.
The fastest response without overshoot is obtained
for =1.

Chapter 2

CONTINUE

CONTINUE
1. Rise time: tr, Time to first reach the new steady-state
value.
2. Time to first peak: tp, Time to reach its first maximum
value.

3. Settling time: ts, Time to reach and remain inside a band

of +5% of the total change.
4. Overshoot: OS=a/b

5. Decay ratio: DR = c/a

6. Period of oscillation: P is the time between two successive
peaks.

CONTINUE
a.

Overshoot

Chapter 2

exp
2

b
1

b.

Time of first maximum

tp
1 2

c.

Decay ratio (ratio of the amount above the ultimate

value of two successive peak)

c
exp

d.

2
1

a2
2

Period of oscillation (time between two successive

peaks)
p

2
1

CONTINUE

Chapter 2

Proper selection of the corresponding,

that;

Small overshoot
short rise time
small decay ratio
short response time.

and

values, so