‫بسم هللا الرحمن الرحيم‬

Faulty of Engineering
Mechatronics Engineering Dept.

Automatic Control & Applications Course

Lec 4
Time Response

DR. M. Arafa 13/3/2024

Example 3:
➢ The following figure shows the signal flow graph of a dynamic system, find the transfer function
𝑌(𝑠)
using Mason’s formula.
𝑅(𝑠) 𝐺1

R(S) 3 𝐺2 6 𝐺5 7 𝐺6 Y(S)
2 𝐺1 𝐺3 5 𝐺4
1 4 8
−𝐻4
−𝐻1

−𝐻2

−𝐻3
 (3) Non-touching loops:
(1) Forward Paths:

• The number of forward paths 𝑁 = 2 (2) Loops: 𝐿1 𝐿4 = 𝐺1 𝐺2 𝐺4 𝐻2 𝐻4

𝑃1 = 𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 ≡ 1 2 3 4 5 6 7 8 𝐿1 = −𝐺4 𝐻4 ≡ 5 6 5 𝐿1 𝐿6 = 𝐺1 2 𝐺2 𝐺4 𝐺6 𝐻3 𝐻4
𝑃2 = 𝐺1 2 𝐺2 𝐺6 ≡ 1 2 3 4 7 8 𝐿2 = −𝐺5 𝐺6 𝐻1 ≡ 6 7 8 6
𝐿3 = −𝐺2 𝐺3 𝐺4 𝐺5 𝐻2 ≡ 3 4 5 6 7 3
𝑌 𝑠 σ𝑁=2
𝑖=1 𝑃𝑖 ∆𝑖 𝑃1 ∆1 + 𝑃2 ∆2 𝐿4 = −𝐺1 𝐺2 𝐻2 ≡ 3 4 7 3
𝑇. 𝐹 = = =
𝑅 𝑠 ∆ ∆ 𝐿5 = −𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 𝐻3 ≡ 2 3 4 5 6 7 8 2
𝐿6 = −𝐺1 2 𝐺2 𝐺6 𝐻3 ≡ 2 3 4 7 8 2
• ∆ = 1 − 𝐿1 + 𝐿2 + 𝐿3 + 𝐿4 + 𝐿5 + 𝐿6 + 𝐿1 𝐿4 + 𝐿1 𝐿6

∴ ∆ = 1 + 𝐺4 𝐻4 + 𝐺5 𝐺6 𝐻1 + 𝐺2 𝐺3 𝐺4 𝐺5 𝐻2 + 𝐺1 𝐺2 𝐻2 + 𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 𝐻3
+ 𝐺1 2 𝐺2 𝐺6 𝐻3 + 𝐺1 𝐺2 𝐺4 𝐻2 𝐻4 + 𝐺1 2 𝐺2 𝐺4 𝐺6 𝐻3 𝐻4

• ∆1 = ∆ = 1
𝑃1 = 0

• ∆2 = ∆ = 1 − 𝐿1 = 1 + 𝐺4 𝐻4
𝑃2 = 0
𝑌 𝑠 σ𝑁=2
𝑖=1 𝑃𝑖 ∆𝑖 𝑃1 ∆1 + 𝑃2 ∆2 𝑃1 + 𝑃2 (1 + 𝐺4 𝐻4 )
𝑇. 𝐹 = = = =
𝑅 𝑠 ∆ ∆ ∆

𝑌 𝑠 𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 + 𝐺1 2 𝐺2 𝐺6 (1 + 𝐺4 𝐻4 )
∴ 𝑇. 𝐹 = =
𝑅 𝑠 ∆✓
 Lecture (4): Time Response

➢ The Meaning of Time Response

➢ Standard Test Signals

➢ Time Response of First Order System

➢ Time Response of Second Order System

Remember
Transfer Function (T.F)

The T.F is the relation between the 𝑂/𝑃 in 𝑠 − 𝑑𝑜𝑚𝑎𝑖𝑛 to the 𝐼/𝑃 in 𝑠 − 𝑑𝑜𝑚𝑎𝑖𝑛.

𝑂/𝑃(𝑠)
𝑇. 𝐹 =
𝐼/𝑃(𝑠)

R(S) Y(S)
G(S)
− 𝐑(𝐬) 𝐘(𝐬)
𝐺(𝑠)
≡ T.F =
1+𝐺𝐻(𝑠)
H(S)

𝐺(𝑠)
is called the closed-loop transfer function
1 + 𝐺𝐻(𝑠)

𝐺𝐻(𝑠) is called the open-loop transfer function

1 + 𝐺𝐻 𝑠 = 0 is called the characteristic equation

Remember Transfer Function (T.F)
➢ Poles: the values of 𝑠 that make the denominator equal zero.

➢ Zeros: the values of 𝑠 that make the numerator equal zero.

➢ System Order: the highest exponent of 𝑠 in the denominator of the T.F.

Example:

Consider the following transfer function of a control system:

𝑠 + 2 (𝑠 − 1)
𝑇. 𝐹 =
𝑠 𝑠 + 3 (𝑠 + 4)
➢ Poles: the system has three poles at 𝑠 = 0, −3, −4

➢ Zeros: the system has two zeros at 𝑠 = −2, 1

rd
➢ System Order: the system is a third (3 ) order system.
Time Response
 Time Response

➢ The system response means the system output in time domain. The response of a physical
system is divided to two parts:

• Transient response

• Steady state response

▪ 𝑦 𝑡 = 𝑦𝑡𝑟 𝑡 + 𝑦𝑠𝑠 (𝑡)

▪ lim 𝑦𝑡𝑟 𝑡 = 0
𝑡→∞

➢ Transient response appears in a short period of time immediately after the system is turned on.
If the system is stable, the transient response disappears.
 Time Response

Output
y(t)

Transient Steady
State State

𝒚𝒕𝒓 𝒕 𝒚𝒔𝒔 𝒕

t
0
Example:

𝑦 𝑡 = 1 − 𝑒 −𝑡 y(t)

▪ lim 𝑒 −𝑡 = 0
𝑡→∞

State State
 How to Find the System Response for any System?

➢ Get the closed loop transfer function of the system:

𝑌(𝑠) …..
𝑇. 𝐹 = =[ ]
𝑅(𝑠) …..

➢ Find the output 𝑌(𝑠) in s-domain:

𝑌 𝑠 = 𝑇. 𝐹 𝑅(𝑠)

➢ Get the inverse LaPlace transform to get the output 𝑦(𝑡) in time-domain:
𝑦 𝑡 = ℒ −1 [𝑌 𝑠 ]
 Standard Test Input Signals

1) Unit Impulse Signal 1

1; for 𝑡 = 0
• 𝑟 𝑡 = 𝛿 𝑡 =ቊ
0; 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒

2) Unit Step Signal

1; for 𝑡 ≥ 0
• 𝑟 𝑡 =𝑢 𝑡 =ቊ
0; 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒
3) Unit Ramp Signal
𝑡; for 𝑡 ≥ 0
• 𝑟 𝑡 =ቊ
0; 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒

4) Parabolic Signal
𝑡2
• 𝑟 𝑡 = ቐ2
; for 𝑡 ≥ 0
0; 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒
 Standard Test Inputs in s-domain

𝒓(𝒕) 𝑹(𝒔)

Unit Impulse 𝑟 𝑡 = 𝛿 𝑡 1

1
Unit Step 𝑟 𝑡 = 𝑢 𝑡
𝑠

1
Unit Ramp 𝑟 𝑡 = 𝑡
𝑠2

𝑡2 1
Parabolic 𝑟 𝑡 =
2 𝑠3
Remember 𝒇 𝒕 𝓛 𝑭(𝒔)
𝛿(𝑡) 1
1
𝑢(𝑡)
𝑠
1
𝑡
𝑠2
𝑛!
𝑡𝑛
𝑠 𝑛+1
1
𝑒 ±𝑎𝑡
𝑠∓𝑎
𝜔
sin(𝜔𝑡)
𝑠2 + 𝜔2
𝑠
cos(𝜔𝑡)
𝑠2 + 𝜔2
𝜔
𝑒 ±𝑎𝑡 sin(𝜔𝑡)
(𝑠 ∓ 𝑎)2 +𝜔 2
𝑠∓𝑎
𝑒 ±𝑎𝑡 cos(𝜔𝑡)
(𝑠 ∓ 𝑎)2 +𝜔 2
(1) Time Response of the First
Order System
 Time Response of the First Order System

➢ System Order:

The highest power of 𝑠 in the denominator term of the closed loop T.F.

Example 1:

Find the impulse and unit-step responses for the following feedback system

1
𝑌 𝑠 1
• 𝑇. 𝐹 = = 𝑇𝑠
1 = 𝑅(𝑠) + 1 𝑌(𝑠)
𝑅 𝑠 1+𝑇𝑠 1+𝑇𝑠
− 𝑇𝑠
1
•𝑌 𝑠 = 𝑅(𝑠)
1+𝑇𝑠

where 𝑇 is time constant

➢ The Impulse Response:

• 𝑟 𝑡 =𝛿 𝑡 ⇒𝑅 𝑠 =1

1 1 1
• 𝑌 𝑠 = (1) =
1+𝑇𝑠 𝑇 𝑠+ 1 y(t)
𝑇

𝓛 −𝟏

𝑡
1 −𝑇
• 𝑦 𝑡 = 𝑒 𝑢(𝑡)
𝑇
 ➢ The Unit-step Response:

1
• 𝑟 𝑡 =𝑢 𝑡 ⇒𝑅 𝑠 =
𝑠

1 1 1 𝑦 𝑡
• 𝑌 𝑠 = =[ ]
1+𝑇𝑠 𝑠 𝑠 1+𝑇𝑠

𝐴1 𝐴2 • 𝐴1 = 1
= +
𝑠 (1 + 𝑇𝑠) • 𝐴2 = −𝑇
1 𝑇 1 1
= − = = − 1
𝑠 (1+𝑇𝑠) 𝑠 𝑠+𝑇

𝓛 −𝟏
𝑡
−𝑇
𝑦 𝑡 = 1−𝑒 𝑢(𝑡)
 Poles and Zeros

1
• 𝑇. 𝐹 =
1+𝑇𝑠

• Characteristic Equation : 1 + 𝑇𝑠 = 0
Imaginary
1
• Poles: 𝑠 = −
T

x Real
• Pole-zero plot 0
1
−
T

S-Plane
Example 2:
Find the impulse and unit-step responses 𝒗𝒐 𝒕 for the following electrical system

𝑉𝑖 𝑠 = 𝑅 𝐼 𝑠 + 𝑉𝑜 𝑠 ,

1
𝑉𝑜 𝑠 = 𝐼 𝑠 → 𝐼 𝑠 = 𝐶𝑠 𝑉𝑜 𝑠
𝐶𝑠
→ 𝑉𝐼 𝑠 = (𝑅𝐶𝑠 + 1)𝑉𝑜 𝑠

𝑉𝑜 𝑠 1
∴ 𝑇. 𝐹 = =
𝑉𝐼 𝑠 1+𝑅𝐶𝑠

1
𝑉𝑜 𝑠 = 𝑉𝐼 (𝑠)
1 + 𝑅𝐶𝑠
 ➢ The Impulse Response:

• 𝑣𝑖 𝑡 = 𝛿 𝑡 → 𝑉𝐼 𝑠 = 1

1 1 1
• 𝑉𝑂 𝑠 = 𝑉𝐼 𝑠 → 𝑉𝑂 𝑠 = = 1
1+𝑅𝐶𝑠 (1+𝑅𝐶𝑠) 𝑅𝐶(𝑠+ )
𝑅𝐶

𝒗𝒐 (𝒕)
𝓛 −𝟏 𝟏
𝑹𝑪

1 − 1 𝑡
𝑣𝑜 𝑡 = 𝑒 𝑅𝐶 𝑢(𝑡)
𝑅𝐶
➢ The Unit-step Response:

1
• 𝑣𝑖 𝑡 = 𝑢 𝑡 ⇒ 𝑉𝐼 𝑠 =
𝑠
• 𝐴1 = 1
1 1 𝐴1 𝐴2
• 𝑉𝑂 𝑠 = 𝑉𝐼 𝑠 ⇒ 𝑉𝑂 𝑠 = = + • 𝐴2 = −𝑅𝐶
1+𝑅𝐶𝑠 𝑠(1+𝑅𝐶𝑠) 𝑠 1+𝑅𝐶𝑠

1 𝑅𝐶 1 1
• 𝑉𝑂 𝑠 = − = − 1
𝑠 𝑅𝐶𝑠+1 𝑠 𝑠+
𝑅𝐶

𝓛 −𝟏 𝑣𝑜 𝑡

1
− 𝑅𝐶 𝑡
𝑣𝑜 𝑡 = 1 − 𝑒 𝑢(𝑡)
 Poles and Zeros

1
• 𝑇. 𝐹 =
1+𝑅𝐶𝑠

• Characteristic Equation : 1 + 𝑅𝐶𝑠 = 0

Imaginary
1
• Poles: 𝑠 = −
𝑅𝐶

x Real
• Pole-zero plot 0
1
−
𝑅𝐶

S-Plane