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Process Dynamics and Control Notes
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SOS – General Form
• General second order system
Standard form
SRSaunders - WSU - ChE 441 141
𝑎2
𝑑2𝑦(𝑡)
𝑑𝑡2+ 𝑎1
𝑑𝑦(𝑡)
𝑑𝑡+ 𝑎𝑜𝑦(𝑡) = 𝑏𝑢(𝑡)
𝜏2𝑑2𝑦(𝑡)
𝑑𝑡2+ 2𝜏𝜁
𝑑𝑦(𝑡)
𝑑𝑡+ 𝑦(𝑡) = 𝐾𝑢(𝑡)
𝜏 =𝑎2
𝑎𝑜, 2𝜏𝜁 =
𝑎1
𝑎𝑜, 𝐾 =
𝑏
𝑎𝑜
𝜏2𝑠2𝑌 𝑠 + 2𝜏𝜁𝑠𝑌 𝑠 + 𝑌 𝑠 = 𝐾𝑈(𝑠)
𝑌 𝑠 =𝐾
𝜏2𝑠2 + 2𝜏𝜁𝑠 + 1𝑈(𝑠)
SOS Parameters
• Three key parameters
Gain K
Natural period τ
Damping coefficient ζ (Zeta)
• Existence and nature of oscillation are
characterized by ζ and τ
• Poles?
SRSaunders - WSU - ChE 441 142
𝑝1,2 =−2𝜏𝜁 ± 4𝜏2𝜁2 − 4𝜏2
2𝜏2=
−𝜁 ± 𝜁2 − 1
𝜏
Lets look at 3 test cases and their
response to a unit step…
K 10 10 10
τ2 40 42.25 13
2τζ 25 13 3
SRSaunders - WSU - ChE 441 143
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
time
y(t)
K=10,t2=40, 2tz=25
K=10,t2=42.25, 2tz=13
K=10,t2=40, 2tz=3
Which is :
Underdamped?
Overdamped?
Critically Damped?
SOS Dynamics
Damping Coefficient ζ
• Damping coefficient characterizes qualitative
process response
• Case 1: 0 < ζ < 1
Poles are real or imaginary?
Displays oscillation
Has OVERSHOOT
• progression past the final value,
• followed by a return to the
• steady state
Underdamped
SRSaunders - WSU - ChE 441 144
0 20 40 60 80 1000
5
10
15
time
y(t)
K=10,t2=40, 2tz=3
SOS Dynamics
Damping Coefficient ζ
• Case 2: ζ = 1
Poles are real or
imaginary?
Fastest approach to
final value w/o
overshoot
Critically damped
• Case 3: ζ > 1
Poles are real or
imaginary?
Slower response than
case 2
Overdamped system
SRSaunders - WSU - ChE 441 145
0 20 40 60 80 1000
2
4
6
8
10
time
y(t)
Overdamped
Critically Damped
SOS Dynamics
Damping Coefficient ζ
• Case 4: ζ = 0
• Pole are real or imaginary?
• Oscillatory response
• with no damping
• Frequency of oscillation :
• 1/τ => period = τ
• Case 5: ζ < 0
• UNSTABLE
SRSaunders - WSU - ChE 441 146
0 10 20 30 40 50 60 70 80 90 1000
5
10
15
20
25
30
time
y(t)
Oscillatory No Damping
Unstable
FOS vs. SOS
• Step response comparison
SOS (w/ no zeros) always more
sluggish than FOS
SOS has an “S” shape response
TOS is even more sluggish
System FOS SOS
Final Value AK AK
Initial Value 0 0
Initial
SLOPE
Finite, non-
zero0
SRSaunders - WSU - ChE 441 147
Underdamped SOS
• Rise time
Time to the first crossing of the final steady state
value
SRSaunders - WSU - ChE 441 148
tr=12
𝑡𝑟 =𝜏
𝛽𝜋 − 𝜙
𝛽 = 1 − 𝜁2
𝜙 = tan−1𝛽
𝜁A=1, K=10, τ2=40, 2τζ=3
Underdamped SOS
• Period
Time between successive oscillation peaks
SRSaunders - WSU - ChE 441 149
𝑇 =2𝜋𝜏
𝛽𝑝𝑒𝑟𝑖𝑜𝑑 𝑜𝑓 𝑜𝑠𝑐𝑖𝑙𝑙𝑎𝑡𝑖𝑜𝑛
𝜔 =𝛽
𝜏𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑜𝑓 𝑜𝑠𝑐𝑖𝑙𝑙𝑎𝑡𝑖𝑜𝑛
A=1, K=10, τ2=40, 2τζ=3
Underdamped SOS
• Decay Ratio
A measure of the rate of oscillation decay
• Overshoot
SRSaunders - WSU - ChE 441 150
a1=4.64
a2=1.0𝐷𝑅 =𝑎2
𝑎1= 𝑒
−2𝜋𝜁𝛽
A=1, K=10, τ2=40, 2τζ=3𝑂𝑆 = 𝐴𝑒
−𝜋𝜁
1−𝜁2
Underdamped SOS
• Settling Time – time at which the output
enters (and remains within) a percentage of
the final value
Often 90%, 95% or 99% settling time
SRSaunders - WSU - ChE 441 151
t90%=49
t95%=69
t99%=123
A=1, K=10, τ2=40, 2τζ=3
FOS - Lead-lag Systems
• System with a “proper” transfer function
Gain K
Zero -1/𝜏𝑎
Pole -1/τ
Lead-to-lag ratio ρ = 𝜏𝑎𝜏
• Lead arises from the zero, lag from the pole.
SRSaunders - WSU - ChE 441 152
𝐺 𝑠 =𝐾(𝜏𝑎𝑠 + 1)
𝜏𝑠 + 1
FOS – Lead-Lag Systems
• Partial Fraction Expansion
• General Form
SRSaunders - WSU - ChE 441 153
(𝜏𝑎𝑠 + 1)
𝜏𝑠 + 1= 𝐴 +
𝐵
𝜏𝑠 + 1
𝜏𝑎𝑠 + 1 = 𝐴 𝜏𝑠 + 1 + 𝐵
𝑠1: 𝜏𝑎𝑠 = 𝐴𝜏𝑠
𝐴 =𝜏𝑎
𝜏= 𝜌
𝑠0: 1 = 𝐴 + 𝐵𝐵 = 1 − 𝐴 = 1 − 𝜌
𝐺 𝑠 =𝐾(𝜏𝑎𝑠 + 1)
𝜏𝑠 + 1= 𝐾𝜌 +
𝐾 1 − 𝜌
𝜏𝑠 + 1
Lead-Lag Step Response
• Observations
For very small t (t->0, i.e., use initial value
theorem) y(0)=KρA
• Discontinuous jump in the output signal
• Effect of the zero
For very large t (t->∞, i.e., use final value
theorem) y(∞)=KA
• Effect of lag term
Behavior of y(t) is a big function of ρ
SRSaunders - WSU - ChE 441 154
𝑌 𝑠 =𝐾 𝜏𝑎𝑠 + 1
𝜏𝑠 + 1𝑈 𝑠 =
𝐾𝜌𝐴
𝑠+
𝐾 1 − 𝜌 𝐴
𝑠(𝜏𝑠 + 1)
Lead-Lag Systems – Effect of ρ
• Case 1: 0 < 𝜏𝑎 < τ (0 < ρ < 1)
Discontinuous Jump @ moment of
step
𝜏𝑎-> 0, becomes more of a “pure”
FOS and lag dominates
SRSaunders - WSU - ChE 441 155
A=1, K=5, 𝜏𝑎=0.5, τ=1y(t
)
0
Lead-Lag Systems – Effect of ρ
• Case 2: 𝜏𝑎 = τ (ρ = 1)
Pole-zero cancellation
Pure gain system G(s)=K
Discontinuous jump @
moment of step
SRSaunders - WSU - ChE 441 156
A=1, K=5, 𝜏𝑎=0.5, τ=0.5
y(t
)
0
Lead-Lag Systems – Effect of ρ
• Case 3: 𝜏𝑎 > τ (ρ > 1)
Overshoot
Lead dominates
Discontinuous jump @
moment of step
SRSaunders - WSU - ChE 441 157
A=1, K=5, 𝜏𝑎=1, τ=0.5
y(t
)
0
Lead-Lag Systems – Effect of ρ
• Case 4: 𝜏𝑎 < 0 < τ (ρ < 0)
Inverse response
Initial move away from the SS Value
SRSaunders - WSU - ChE 441 158
A=1, K=5, 𝜏𝑎=-1, τ=0.5
y(t
)
t0
0
FOS In Parallel
𝐺1 𝑠 =𝐾1
𝜏1𝑠 + 1
𝐺2 𝑠 =𝐾2
𝜏2𝑠 + 1
𝑌 𝑠 = 𝑌1 𝑠 + 𝑌2 𝑠
= 𝐺1 𝑠 𝑈 𝑠 + 𝐺2 𝑠 𝑈 𝑠
= 𝑈 𝑠 𝐺1 𝑠 + 𝐺2 𝑠
= 𝑈 𝑠 𝐺(𝑠)
𝐺 𝑠 = 𝐺1 𝑠 + 𝐺2 𝑠 =𝐾1
𝜏1𝑠 + 1+
𝐾2
𝜏2𝑠 + 1
SOS with
Zeroes!
SRSaunders - WSU - ChE 441 159
=𝐾1(𝜏2𝑠 + 1) + 𝐾2(𝜏1𝑠 + 1)
(𝜏1𝑠 + 1)(𝜏2𝑠 + 1)
=(𝐾1 + 𝐾2)
(𝐾1𝜏2 + 𝐾2𝜏1)𝐾1 + 𝐾2
𝑠 + 1
(𝜏1𝑠 + 1)(𝜏2𝑠 + 1)
=(𝐾1𝜏2 + 𝐾2𝜏1)𝑠 +(𝐾1 +𝐾2)
(𝜏1𝑠 + 1)(𝜏2𝑠 + 1)=
𝐾1𝜏2𝑠 + 𝐾1 + 𝐾2𝜏1𝑠 + 𝐾2
(𝜏1𝑠 + 1)(𝜏2𝑠 + 1)
G2
G1
U(s) Y(s)+
+
SOS with Zeroes
• 2-pole, 1 zero system:
• Output step response:
SRSaunders - WSU - ChE 441 160
𝐺 𝑠 =𝐾 𝜏𝑎𝑠 + 1
𝜏1𝑠 + 1 𝜏2𝑠 + 1
𝑌 𝑠 =𝐾 𝜏𝑎𝑠 + 1
𝜏1𝑠 + 1 𝜏2𝑠 + 1
𝐴
𝑆= 𝐾𝐴
𝐵
𝑠+
𝐶
𝜏1𝑠 + 1+
𝐷
𝜏2𝑠 + 1
𝐵 = 1
𝐶 = −𝜏1 𝜏1 − 𝜏𝑎
𝜏1 − 𝜏2
𝐷 =𝜏2 𝜏2 − 𝜏𝑎
𝜏1 − 𝜏2
𝑦 𝑡 = 𝐴𝐾 1 −𝜏1 − 𝜏𝑎
𝜏1 − 𝜏2𝑒
−𝑡𝜏1 +
𝜏1 − 𝜏𝑎
𝜏1 − 𝜏2𝑒
−𝑡𝜏2
SOS with Zeroes – Step Response
A=1, K=10, 𝜏1=5, 𝜏2=10
SRSaunders - WSU - ChE 441 161
>
SOS – Case Evaluations
• Let τ1
< τ2, τ
a> 0
Unless otherwise noted
• Case 1: τa
> τ2
Overshoot
• Case 2: τa
= τ1
or τa
= τ2
Pole-zero cancellation
Yields a FOS
SRSaunders - WSU - ChE 441 162
𝐺 𝑠 =𝐾 𝜏𝑎𝑠 + 1
𝜏1𝑠 + 1 𝜏2𝑠 + 1=
𝐾
𝜏𝑖𝑠 + 1
>
SOS – Case Evaluations
• Case 3: 0 < τa
< τ2
Resembles a FOS until τa
<< τ1
• Case 4: τa
< 0
Always displays inverse response
SRSaunders - WSU - ChE 441 163
Case Summary – FOS τa
Values Key Observations
0 < τa < τJump at t=0 toward
y(∞)
τa = τ
Pure gain system
(pole-zero
cancellation)
τa > τ Overshoot
τa < 0 < τ Inverse response
SRSaunders - WSU - ChE 441 164
• Discontinuous jump @ t=0 for all cases
• Let τ1
< τ2, τ
a> 0
• Unless otherwise noted
• No discontinuous jump @ t=0
Case Summary – SOS τa
Values Key Observations
0 < τa < τ2 Similar to FOS
τa = τ1 or τ2
FOS
(pole-zero cancellation)
τa > τ2 Overshoot
τa < 0 Inverse response
SRSaunders - WSU - ChE 441 165
Case Summary – SOS ζ
Values Key Observations
ζ < 0 Unstable
ζ = 0Underdamped
oscillates forever
0 < ζ < 1Overshoot and
underdamped
ζ = 1 Critically damped
ζ > 1Overdamped –
sluggish
SRSaunders - WSU - ChE 441 166
Inverse Respone
• When a process output initially moves in a
direction opposite to its steady state value
followed by a return to steady state
Effect of (at least) two opposing processes are
different timescales
Occurs when τa
< 0 in single-zero systems
y(t) crosses the zero axis (in deviation variables)
in response to a step input
• Where does this show up?
SRSaunders - WSU - ChE 441 167
A Two Timescale Exercise
• Given the following block diagram and
transfer functions, calculate G(s)
SRSaunders - WSU - ChE 441 168
𝐺1 𝑠 =5
10𝑠 + 1𝐺2 𝑠 =
−1
1𝑠 + 1
𝐺 𝑠 = 𝐺1 𝑠 + 𝐺2 𝑠
=5
10𝑠 + 1−
1
𝑠 + 1
=5 𝑠 + 1 − (10𝑠 + 1)
(10𝑠 + 1)(𝑠 + 1)
=4 −
54
𝑠 + 1
10𝑠2 + 11𝑠 + 1
G2
G1
U(s) Y(s)+
+
FOS in Parallel
• Two FOS in Parallel
• Let:
|K1|> |K
2|
K1
and K2
be opposite signs
τ1
> τ2
(G2
is faster than G1)
• Consequences
Fast process => Initial response
Slow Process => final response (due to higher
gain)
SRSaunders - WSU - ChE 441 169
𝐺(𝑠) =(𝐾1 + 𝐾2)
(𝐾1𝜏2 + 𝐾2𝜏1)𝑠𝐾1 + 𝐾2
𝑠 + 1
(𝜏1𝑠 + 1)(𝜏2𝑠 + 1)
Real Inverse Response
• Drum Boiler
Used for steam generation
SRSaunders - WSU - ChE 441 170
Heat
Source
Steam
Cold Water