Chapter 6

Dynamic Behavior of Ideal

Systems
Overall Course Objectives
Develop the skills necessary to function as an
industrial process control engineer.
Skills
Tuning loops
Control loop design
Control loop troubleshooting
Command of the terminology
Fundamental understanding
Process dynamics
Feedback control
Ideal Dynamic Behavior
Idealized dynamic behavior can be
effectively used to qualitatively describe the
behavior of industrial processes.
Certain aspects of second order dynamics
(e.g., decay ratio, settling time) are used as
criteria for tuning feedback control loops.
Inputs
A
A
A
t
a
A
P
First Order Process
Differential equation

Transfer function

Note that gain and
time constant define
the behavior of a first
order process.
) ( ) (
) (
t u K t y
dt
t dy
p p
= + t
1
) (
+
=
s
K
s G
p
p
p
t
First Order Process
u
y(t)
0.95 AK
p
0.63 AK
p
0
t
p
3t
p
t
A
y
A
u
Determine the Process Gain and
Process Time Constant from G
p
(s)
8 5 . 0
directly determined be can and Then
1 5 . 0
8
) ( G
form standard to Rearrange
2
16
) (
p
p
= =
+
=
+
=
p
p p
p
K
K
s
s
s
s G
t
t
Estimate of First-Order Model
from Process Response
4
time settling
p
p
u
y
K
=
A
A
=
t
In-Class Exercise
By observing a process, an operator
indicates that an increase of 1,000 lb/h of
feed (input) to a tank produces a 8%
increase in a self-regulating tank level
(output). In addition, when a change in the
feed rate is made, it takes approximately 20
minutes for the full effect on the tank to be
observed. Using this process information,
develop a first-order model for this process.
Second Order Process
) ( ) (
) (
2
) (
2
2
2
t u K t y
dt
t dy
dt
t y d
p p p
= + + t , t
Differential equation

Transfer function

Note that the gain,
time constant, and the
damping factor define
the dynamic behavior
of 2nd order process.
1 2
) (
2 2
+ +
=
s s
K
s G
p p
p
p
t , t
Underdamped vs Overdamped
Effect of , on Overdamped
Response
0
0.2
0.4
0.6
0.8
1
0 4 8 12
t/
t
p
y
(
t
)
/
A
K
p
,
=1
,
=3
,
=2
Effect of , on Underdamped
Response
0
0.5
1
1.5
2
0 4 8 12
t/
t
p
y
(
t
)
/
A
K
p
,
=1.0
,
=0.1
0.4
0.7
Effect of , on Underdamped
Response
-2
-1
0
1
2
3
4
0 4 8 12
t /t
n
y
(
t
)
/
A
K
p
,
=-0.1
,
=0
Characteristics of an
Underdamped Response
y
(
t
)
t
ri se
D
B
C
T
5%
t
rt
Time
Rise time
Overshoot (B)
Decay ratio
(C/B)
Settling or
response time
Period (T)
Example of a 2nd Order Process
PT
PC
Vent
P
sp
C.W.
The closed loop performance of a process with a PI
controller can behave as a second order process.
When the aggressiveness of the controller is very
low, the response will be overdamped.
As the aggressiveness of the controller is increased,
the response will become underdamped.
Determining the Parameters of a
2nd Order System from its G
p
(s)
75 . 0
2
3
2 2 4
Then
1 3 4
2
) (
form standard the into g Rearrangin
5 . 0 5 . 1 2
1
) (
2
2
= =
= = =
+ +
=
+ +
=
p
p p
p
p
K
s s
s G
s s
s G
t
,
t
Second-Order Model Parameters
from Process Response
p
Data: PI controller with 20% overshoot and
with a period of oscillation equal to 5 min.
Solution: PI controller yields K 1. With Equation 5.15
20% overshoot yields 0.456. Then, Equation 5.17
with the period of oscillation yields 0.
p
t
=
=
=
2
708 min
1
( )
0.0502 1.29 1
p
G s
s s
=
+ +
High Order Processes
Time
y
n=15
n=3
n=5
The larger n, the more
sluggish the process
response (i.e., the larger
the effective deadtime)
Transfer function:
( )
n
p
p
p
s
K
s G
1
) (
+
=
t
Example of Overdamped Process
AT
LC
LC
AT
D
L
B
V
Distillation columns are
made-up of a large
number of trays stacked
on top of each other.
The order of the process
is approximately equal
to the number of trays in
the column
Integrating Processes
0 20 40 60 80 100
Time (seconds)
F
out
L
s
In flow and out
flow are set
independent of
level
Non-self-regulating
process
Example: Level in
a tank.
Transfer function:
s A
s G
c
p

1
) (

=
Deadtime
F
C
A0
F
FT
FC
F
spec
AT
L
Transport delay from reactor to analyzer:

Transfer function:
F A L t C t C
c s
/ where ) ( ) ( u u = =
s
p
e s G
u
= ) (
FOPDT Model
High order processes are well represented by
FOPDT models. As a result, FOPDT models do a
better job of approximating industrial processes
than other idealized dynamic models.
Time
FOPDT Model
5th Order
Process
Determining FOPDT Parameters
Time
t
1/3
t
2/3
1/3 A y
2/3 A y
A y
0
Determine time to one-third of total change and
time to two-thirds of total change after an input
change.
FOPDT parameters:
u
y
K t
t t
p p p p
A
A
= =

= t u t 4 . 0
7 . 0
3 / 1
3 / 1 3 / 2
Determination of t
1/3
and t
2/3

6 1 6
6 1 5
3 1 4 4 1 4
1 1 2 3 1 3
4 2 1 2
2 0 1 1
6 0 0 0
3 / 2
3 / 1
3 / 2
3 / 1
= =
= =
=
=
= A
t
t
y
y
y
y u t
In-Class Exercise
Determine a FOPDT model for the data
given in Problem 5.51 page 208 of the text.
Inverse Acting Processes
Time
y(t)
u(t)
Results from competing
factors.
Example: Thermometer
Example of two first
order factors:
p p p p
p
p
p
p
p
and K K
s
K
s
K
s G
t t
t t
<
'
<
'
+
'
'

+
=
1 1
) (
Lead-Lag Element
1
1
) (
lg
+
+
=
s
s
s G
ld
t
t
Time
y
(
t
)
t
ld
>t
lg
t
ld
<t
lg
1.0
0.0
Recycle Processes
Feed
Product
T
f
T
o
T
r
Recycle processes
recycle mass and/or
energy.
Recycle results in larger
time constants and
larger process gains.
Recycles (process
integration) are used
more today in order to
improve the economics
of process designs.
Energy Recycle
Mass Recycle Example
Steam
TT
C Product
LC
LC
LC
TT
Fresh B
Feed
Fresh A
Feed
PT
Steam
Overview
It is important to understand terms such as:
Overdamped and underdamped response
Decay ratio and settling time
Rectangular pulse and ramp input
FOPDT model
Inverse acting process
Lead-Lag element
Process integration and recycle processes