Development of Empirical Dynamic

Models from Step Response Data

Some processes too complicated to model
using physical principles

material, energy balances

flow dynamics
physical properties (often unknown)
thermodynamics

Black Box Models

Step Input
Step response is the easiest to use but may
upset the plant manager
Other methods

impulse - dye injection, tracer

random - PRBS (pseudo random binary sequences)
sinusoidal - theoretical approach
frequency response - modest usage (incl. pulse testing)
on-line (under FB control)

Chapter 7

Fitting of 1st-Order Model

K
M
G s
U s
s 1
s
y t KM 1 e t /

y 0.632 KM
1 dy
1

KM dt t 0
5

( = 0)
6

Chapter 7

FOPDT and SOPDT Models

First-Order-Plus-Dead-Time (FOPDT) Model
Ke s
G s
s 1
Second-Order-Plus-Dead-Time (SOPDT) Model
Ke s
G s 2 2
s 2 s 1
7

Fitting of FOPDT Model

s

Chapter 7

Ke
G (s)
s 1
For a 1st order model, we note the following characteristics
in step response:
1. The response attains 63.2% of its final response at one
time constant (t = ).
2. The line drawn tangent to the response at maximum
slope (t = ) intersects the 100% line at (t = ).
There are 3 generally accepted graphical techniques for
determining the first-order system parameters and .
8

Chapter 7

Chapter 7

Method 1: Sundaresan &

Krishnaswany (1978)
1.
2.
3.

Find K from stead-state response.

Normalize step response by dividing all data with KM (t =
0, y = 0; t , y = 1)
Use 35.3% and 85.3 % response times (t1 and t2), i.e.
y t1 0.353KM

y t2 0.853KM

4. Calculate
= 1.3 t1 0.29 t2
= 0.67 (t2 t1)
10

Method 2: Numerical Fitting

(1) Find and in y (t ) KM 1 e

to fit data of y vs. t

KM y t
t
(2) Find and in ln

KM

KM y t
to fit data of ln
vs. t
KM

11

Method 3: Fitting an Integrator Model

to Step Response Data

Chapter 7

In Chapter 5 we considered the response of a first-order process

to a step change in input of magnitude M:

y1 t KM 1 e t /

For short times, t < , the exponential term can be approximated

by
t
t /
e
1

so that the approximate response is:

t
KM
y1 t KM 1 1
t

12

is virtually indistinguishable from the step response of the

integrating element
K2
G2 s
s

(7-23)

Chapter 7

In the time domain, the step response of an integrator is

y2 t K 2 Mt

(7-24)

Hence an approximate way of modeling a first-order process is

to find the single parameter
K
K2

(7-25)

that matches the early ramp-like response to a step change in

input.
13

Chapter 7
Figure 7.10. Comparison of step responses for a FOPTD
model (solid line) and the approximate integrator plus time
delay model (dashed line).
14

Fitting 2nd-Order Models

M
U s
s
K
G s
1s 1 2 s 1
15

Harriots Method

Chapter 7

0.73

1.3

16

0.39

0.26

1 2
17

Harriots Method
1) Determine t0.73 experimentally to satisfy
y t0.73 0.73KM

t0.73
2) Calculate 1 2
1.3
3) Calculate t0.5 0.5 1 2

4) Determine y0.5 y t0.5 from experimental data

4) From Figure 7.6, determine 1 and then calculate 2.
18

Smiths Method
1) Determine t and t experimentally so that
y t60 0.6 KM

y t20 0.2 KM
t20
2)
Fig 7.7 ,
t60

19

20

Chapter 7

21

Chapter 7

Smiths Method

Chapter 7

20% response:
60% response:
t20 / t60 = 0.37

t20 = 1.85
t60 = 5.0

from graph

t60
2.8

= 1.3
Solving,

= 1.79

1 2 1
2 2 1

1 3.81
2 0.84

22

23

Chapter 7