Chapter 4:

Time Response

Course Instructor
Prof. Adel Abdennour
Electrical Engineering Department
Islamic University of Madinah

EE 3631 Control Theory Spring Term: 2021-2022 1

 • Introduction
• Poles, Zeros and System Reponses
• First Order Systems
• The General Second Order Systems
• Underdamped Second Order Systems
• Laplace Transfer Solution of State Equations

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 Introduction
Transient response and Steady state Response
Reference r(t) Output y(t)
System
Input

• y(t) = transient response + steady state response

 y(t) = yt(t) + yss(t)

• The transient response is the part of the time response that

goes to zero as time becomes very large: limt yt(t) =0

• The steady state response is simply the part of the total

response that remains after the transient has died out
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 -3
x 10 Step Response
6

Step Input
5

Steady State Response

4
Response
Amplitude

1
Transient Response

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

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 • In Chapter 2, we saw how transfer functions can represent linear,
time-invariant systems.
• In Chapter 3, systems were represented directly in the time domain
via the state and output equations.
• After the engineer obtains a mathematical representation, the
system is analyzed for its transient and steady-state responses to
see if they yield the desired behavior.
• This chapter deals with the analysis of system transient response.

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 Poles, Zeros, and System Response
• The concept of poles and zeros is fundamental to the analysis and
design of control systems
• This concept simplifies the evaluation of a system's response
• Poles and zeros of the transfer function can be quickly inspected to
determine the form of the response.
 The poles of a function are values of s for which the function
becomes infinite.
 The zeros of a function are values of s for which the function
becomes zero
Example: 𝑠+2 Pole: s=-5
𝑌 𝑠 =
𝑠+5 Zero: s=-2
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 Importance of poles:
• Consider this
system with a unit
step input.

• The system response is:

• Applying the ILT we obtain the time-domain response:

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 Notice the following:
• The input pole contributes, together with system dynamics, the
form of the forced response (steady state)
• The system pole generates the form of the natural response
(transient)
• The pole (s=-5) is on the negative real axis. Hence, it generated a
decaying exponential
• The zeros and poles together contribute to the calculation of A
and B of the partial fraction expansion

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 Example:
Given this system, write the output,
c(t), in general terms and specify the
forced (steady state) and natural
(transient) parts of the solution.
• By inspection, each system pole
generates an exponential as part
of the natural response. The
input's pole generates the forced
response. Thus:

•Taking the inverse

Laplace transform,
we get:

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 First-Order Systems

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 Examples:
10
• For the first order system given by: G( s ) 
3s  1
 The D.C gain is 10 and the time constant is 3 seconds.

3
• For system given by: G( s ) 
s5
 The D.C Gain is 3/5 and the time constant is 1/5 seconds.

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• If K=10 and τ=1.5s then 
c(t )  K 1  e  t / T  (** *)
K*(1-exp(-t/T))
11

10

9 Step Response

8
steady state output 10
D.C Gain  K  
7 Input 1
6 63.2%
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time
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• To see the effect of τ, let K=10 and τ=1, 3, 5, 7
K*(1-exp(-t/T))
11
10
T=1s
9

8 T=3s
7
T=5s
6
c(t)

5 T=7s

4
3
2
1
0
0 5 10 15
Time
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• To see the effect of K, let K=1, 3, 5, 10 and τ =1
K*(1-exp(-t/T))
11
10
K=10
9

8
7
6
K=5
c(t)

5
4
K=3
3
2
K=1
1
0
0 5 10 15
Time
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First-Order Transfer Functions via Testing

Input
? output

• Often, it is not possible to obtain a system's transfer function

analytically because the system is closed, and the component
parts are not easily identifiable.
• Since the transfer function relates the input to the output, the
system's step response can lead to a representation even if the
system is unknown.
• With a step input, we can measure the time constant and the
steady-state value, from which the transfer function can be
obtained.
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Consider the simple first-order system Input
𝑲 c(t)
𝒔+𝒂
• The step response of this system is:

• We can identify K and a from laboratory testing as follows:

 Apply a unit step input and plot the response
 Observe that the response has the first-order characteristics we
have seen thus far, (e.g., no overshoot, nonzero initial slope)
 From the response, measure the time constant, that is, the time
for the amplitude to reach 63% of its final value
 Find K from the steady-state value of the response

Let’s apply these steps to identify the system given above

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• Since the final value is about 0.72, the time constant is evaluated
where the curve reaches 0.63 x 0.72 =0.45, or about 0.13 second.
Hence, a = 1/0.13 = 7.7.
• To find K, we realize that the forced response reaches a steady-state
value of K/a = 0.72. Substituting the value of a, we find K = 5.54.
• Thus, the transfer function for the
system is:
𝟓. 𝟓𝟒
𝑮 𝒔 = K=0.72
𝒔 + 𝟕. 𝟕
In fact, the response was generated
using the transfer function:
𝟓 T=0.13s
𝑮 𝒔 = Very close!
𝒔+𝟕

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 Second-Order Systems: Introduction

• Let us now extend the concepts of poles and zeros and transient
response to second order systems.
• Compared to the simplicity of a first-order system, a second-order
system exhibits a wide range of responses that must be analyzed
and described.
• Whereas varying a first-order system's parameter simply changes
the speed of the response, changes in the parameters of a
second-order system can change the form of the response.
• Second-order systems (systems described by second-order DE’s)
have transfer functions of the following form:
The location of the two poles is
very significant as will be seen

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 Effect of the two poles on the shape of the response:

j y(t)
 1 Response is
0 Underdamped

t
0

j y(t) Response is
1 critically damped
0  (Fastest response
without overshoot)
t
0

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 y(t)
j 1
The response is
 t over-damped
0

j y(t) The response is

 1 undamped
t
0

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 Other cases (Unstable)

j y(t)
 1
t
0

j y(t)
1

t
0

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 The General (prototype) Second-Order System

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 We can now describe the second-order system as follows:

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 Example: For each of the systems shown, find the value of ξ
and describe the kind of response expected.

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 Example: For each of the transfer functions : (1) Find the values of ξ
and ωn (2) characterize the nature of the response.

Answer

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 Underdamped Second-Order Systems
Consider the step response for a general second-order system:

Remember: Poles=
  n   n  2
1

  n   n  2
1
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 we usually specify the response with the following parameters:

These are highlighted in the following figure

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If we are given the %OS instead, we can use:

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 Consider just the exponential envelope of c(t), and solve for the
time at which the envelope decays to 0.02:

Note that this is a conservative estimate since the sinusoid might

actually reach and stay within 2% earlier
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 There is no analytical form for Tr (time to go from 10% to 90% of
final value). This value can be calculated numerically and has been
formed into a table: T *ω
r n

An approximation:
0.8  2.5
tr  0   1
n
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 Example: Given the transfer function:
Find Tp , %OS , Ts , and Tr .
Solution:
ωn = 10 and ξ=0.75
Substituting directly in the formulas, we find:
Tp = 0.475 second, %OS = 2.838, and Ts = 0.533 second.
For Tr , Using the table, the normalized rise time is approximately
2.3 seconds. Dividing by ωn yields Tr = 0.23 second.

Using this approximation:

0.8  2.5
tr  0   1 Tr =0.1*(0.8+2.5*0.75)=0.2675 second
n
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• We now have expressions that relate peak time, percent overshoot,
and settling time to the natural frequency and the damping ratio.
• Now, let us relate these quantities to the location of the poles that
generate these characteristics.

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 We can relate Tp, Ts , and %OS to
the locations of the poles.

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 Lines of constant Tp, Ts, and %OS.

Note:
• Ts2 < Ts1
• Tp2 < Tp1
• %OS1 < %OS2

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 Changing only the imaginary value:

• The settling time is virtually the same for all waveforms.

• the overshoot increases,
• the rise time decreases.
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 Changing only the real value:

• The response damps out more rapidly, while the frequency

remains the same.
• The peak time is the same because the imaginary is the same
• The %OS decreases due to the increase of the damping ratio
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 Constant radial line (constant angle):

• The percent overshoot remains the same.

• The responses look exactly alike, except for their speed. The
farther the poles are from the origin, the more rapid the response

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 Example:
Given the pole plot, find ξ , ωn , Tp, %OS, and Ts.
tan(θ)=7/3  θ =66.8o ξ =cos(θ)=0.394

𝜔𝑛 = 72 + 32 = 7.616

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 Example:

Let’s start by finding the transfer function of this mechanical system:

𝑇 𝑡 = 𝐽𝜃ሷ + 𝐷𝜃ሶ + 𝐾𝜃 𝑇 𝑠 = (𝐽𝑠 2 + 𝐷𝑠 + 𝐾)𝜃(𝑠)

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 (1)

• The specification of 20% overshoot allows us to calculate:

ξ = 0.456
• But, from the problem statement, Ts = 2
𝟒
𝑻𝒔 = 𝟐 =  𝝃𝝎𝒏 = 𝟐 (2)
𝝃𝝎𝒏
𝑫
• From (1) and (2), we conclude: =𝟒
𝑱

and 𝜉 𝐾=2  5 = 4 = 4
= 19.24
𝐽 𝐽 𝜉 2 (0.456) 2

 J =0.26 kg-m2 D =1.04 N-m-s/rad

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 Laplace Transform Solution of State Equations
In Chapter 3, systems were modeled in state space in the form:

Taking the Laplace transform of both yields:

(1)
(2)
Rearranging (1), we obtain:

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Eigenvalues and Transfer Function Poles
• We saw that the poles of the transfer function determine the
nature of the transient response of the system.
• Is there an equivalent quantity in the state-space representation
that yields the same information? Yes!
• The roots of det(sl - A) = 0 are the eigenvalues of the system
matrix, A. These are equal to the poles of the system's transfer
function.
• From previous slide, solving for the transfer function, Y(s)/U(s):
Poles of the TF and
eigenvalues of matrix A

Sometimes we use:
(I-A) instead of (sI-A)
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 You will need this:

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Example:
Given the system represented in state space by:

a) Solve the preceding state equation and obtain the output for the
given exponential input.
b) Find the eigenvalues and the system poles.

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Since U(s) , the Laplace transform for e-t , is 1/(s + 1), X(s) can be
calculated as:

B=

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 Note: the pole at - 1 is canceled
by a zero at - 1

• Taking the inverse Laplace transform:

b) det(sl - A) = 0 gives both the poles of the system and the

eigenvalues - 2 , - 3, and -4

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Example:
Given the system represented in state space by:

a) Solve for y(t) using state-space and Laplace transform techniques.

b) Find the eigenvalues and the system poles.

Matlab Code:
syms s X=( (s*I-A)^ - 1 ) * (X0+B*U);
A=[0 2 ; - 3 -5]; B=[0;1]; Y=C*X; Y=simplify (Y);
C=[1 3];X0=[2;1]; y=ilaplace (Y);
U = 1 / ( s + 1 ) ; pretty(y)
I=[1 0;0 1]; eig(A)

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