Step response of First Order System

I.

Objectives
1. To plot the response of first order liquid level system as a function of time and to
evaluate the flow resistance R of a first order liquid level system.

II.

Materials/Equipment Needed
PCT 9 process module
PCT 10 electrical console

III.

Equipment Set Up

`
Level Control Equipment
IV.

Theory
The step response of a system in a given initial state consists of the time evolution of its

outputs when its control inputs are Heaviside step functions. In electronic engineering and
control theory, step response is the time behavior of the outputs of a general system when its
inputs change from zero to one in a very short time. The concept can be extended to the abstract
mathematical notion of a dynamical system using an evolution parameter.
From a practical standpoint, knowing how the system responds to a sudden input is
important because large and possibly fast deviations from the long term steady state may have
extreme effects on the component itself and on other portions of the overall system dependent on

this component. In addition, the overall system cannot act until the component's output settles
down to some vicinity of its final state, delaying the overall system response. Formally, knowing
the step response of a dynamical system gives information on the stability of such a system, and
on

its

ability

to

reach

one

stationary

state

when

starting

from

another

(http://en.wikipedia.org/wiki/Step_response, 10/22/12).
Time behavior of a system is important. In designing a system, the time behavior may
well be the most important aspect of its behavior. How long it takes the temperature to reach a
new steady state is important in a control system thats controlling a temperature.
The parameters you find in a first order system determine aspects of various kinds of
responses. Whether we are talking about impulse response, step response or response to other
inputs, we will still have the following quantities and system parameters:
x(t) = Response of the System,
u(t) = Input to the System,
= The System Time Constant,
Gdc = The DC Gain of the System
Every system will have an input which we can call u (t), and a response we will denote
by x (t). Each system will also have a time constant and a DC gain.
, the time constant, will determine how quickly the system moves toward steady state.
Gdc, the DC gain of the system, will determine the size of steady state response when the input
settles out to a constant value.
Step Response of a First Order System:
A standard first order linear system will satisfy this differential equation.
dx(t) x (t)
=
+ Gdc U (t)
dt

A first order linear system will almost always have this form - or can be put into this
form.
When the step is applied, the derivative of the output changes immediately.
Unit-Step Response of First-Order Systems

o R(s) = 1/s, and therefore the unit-step response is: Y(s) =

o Expanding Y(s) into partial fractions: Y(s) =

1
T

s Ts+1

1
s ( Ts+1 )

1
1

s
1
s+
T

o Take the inverse Laplace transform: y(t) = 1 e t/T , t 0

o

The solution has two parts: a steady-state response: y(t) = 1, and a transient response: y t

(t) = e
,, which decays to zero as t

The steady-state error is the error after the transient response has decayed leaving only
the continuous response. The error signal: e(t) = r(t) - y(t) = 1 - 1 + e-t/T = e-t/T

V.

Procedure
Set up the PCT 9 with motorized valve fully open, solenoid valve 3, open, V3 and V4

closed. Adjust the flow meter to 0.50 L/min and record steady state height. This will take few
minutes. When the height of the liquid is steady, adjust the flow meter to 0.70 L/min manually in
the PCT 10 simultaneous with the timer. Record the time for every 5 mm of increase in liquid
level.
VI.

Results and Discussion

Table 11.2. Liquid Level vs. Time
Liquid Level, (mm)
15
20
25
30
35
40
45
50
55
60
65
70
75

Time, (s)

Table 11.2. Liquid Level vs. Time (Continuation)

Liquid Level, (mm)
80
85
90
95
100
105
110
115
120
125
130
135

Time, (s)

insert
Figure1.1 Plot of Liquid level vs. Time Elapsed
VI.

Conclusion and Recommendation

VII.

References
1. Unit Operations of Chemical Engineering, 4th Edition (McCabe, W.L., et.al,)
2. Principles of Transport Processes and Separation Processes (Geankoplis, C.J.)