Republic of the Philippines

BATANGAS STATE UNIVERSITY

Pablo Borbon Main II, Alangilan, Batangas City
College of Engineering, Architecture, and Fine Arts
www.batstate-u.edu.ph Telefax: (043) 425-0139 loc. 118

CHEMICAL AND FOOD ENGINEERING DEPARTMENT

ChE 529
PROCESS DYNAMICS AND CONTROL

FIRST ORDER OPEN LOOP SYSTEM

SUBMITTED BY:

ARANAS, SANTA MONICA V.

CENA, RENIEL C.
HERNANDEZ, MA. EUFRACIA I.
MISTEOLA, SARAH ELAINE B.

SUBMITTED TO:

ENGR. NANETH J. AGUADO

 FIRST ORDER OPEN LOOP SYSTEM

Objectives:

1. To know what is first order system.

2. To discuss the physical systems modeled as first order.

3. To discuss the response of the first order system to various input.

REMEMBER: Time behavior of a system is important. When you design a system, the time
behavior may well be the most important aspect of its behavior. (How quickly a system responds
is important.)

What is a first order system?

 First order systems are, by definition, systems whose input-output relationship is a

first order differential equation.
 First order differential equation: It is a first order derivative but no derivative higher
than the first order.
 First order systems are also called first order lag or single exponential stage.
 First order system model:

a: block diagram b. simplified block diagram

 First order systems contain a single energy storage element.

 First order systems are an extremely important class of systems. Many practical
systems are first order; for example, the mass-damper system and the mass heating
system are both first order systems.

 Higher order systems can often be approximated as first order systems to a reasonable
degree of accuracy if they have a dominant first order mode.

RESPONSES TO FIRST ORDER SYSTEM

Transfer Function

The transfer function is defined as: the ratio of the output and the input in the Laplace domain.
GENERAL RULES

1. Make an unsteady state balance (mass, heat or momentum)

2. Make a steady state balance
3. Subtract the steady state equation from the unsteady state equation
4. Transform the resulting equation into the Laplace domain.
5. Rearrange the equation to get the ratio of the (out/in) in one side and the other parameters
in the other side (the resulting is the transfer function)

Example on first order systems

Basic assumptions:
1. All the resistance to heat transfer resides in the film surrounding the bulb (conduction
resistance is neglected).
2. All the thermal capacity is in the mercury.
3. The mercury assumes a uniform temperature throughout.
4. The glass wall containing the mercury does not expand or contract during the transient
response.
5. Constant properties.
To develop the transfer function of the thermometer we will follow the steps mentioned earlier;

1. Unsteady state heat balance

Input – Output = Rate of change
2. Steady state balance
ℎ(𝑥𝑠 − 𝑦𝑠 ) = 0
3. Unsteady state balance – steady state balance

4. Laplace Transform

Note:

 The time constant is a measure to how fast be the system response. The smaller is the
time constant, the more responsive is the system.
 𝜏 also called “dead time” or “dynamic lag”

Trivia:

 The first modern thermometer was invented in 1714 by Daniel Gabriel Fahrenheit, a
German physicist who also revealed the Fahrenheit scale a decade later.
 The first lowest temperature for a thermometer was created by placing it in a mixture of
ice, water and ammonium chloride

Response of the First Order Systems to Various Inputs

𝑌(𝑠) 𝐾
𝐺 (𝑠 ) = =
𝑋(𝑠) 𝜏𝑠 + 1

where 𝐺(𝑠) is a transfer function, 𝑌(𝑠) is output, 𝑋(𝑠) is input, 𝐾 is steady state gain and 𝜏 is
time constant (dead time or dynamic lag).
 Response Input 𝑋 (𝑠) Output 𝑌 (𝑡)
Impulse 1 𝐾 −𝑡
𝑒 𝜏
𝜏
1 𝑡
Step
𝐾 (1 − 𝑒 −𝜏 )
𝑠
1 𝑡
Ramp
𝐾 (𝑡 − 𝜏 + 𝜏𝑒 −𝜏 )
𝑠2

A. Impulse Response of 1 st Order System

B. Step Response of 1st Order System

Characteristics of step response

 The value of the output reaches 63.2% of its ultimate value after 𝑡 = 𝜏.
 If the initial rate of change is maintained the response will be completed after 𝑡 =
𝜏.
 The response is completed after 𝑡 = 5𝜏.
 The speed of the response of a first-order system is determined by the time
constant for the system. As t increases, it takes longer for the system to respond to
the step disturbance.
C. Ramp Response of 1st Order System

References:
http://engineering.ju.edu.jo/Laboratories/04%20-%20First%20Order%20System.pdf
https://www.kau.edu.sa/Files/0060757/Subjects/33%20Response%20of%20first%20orde
r%20systems.pdf