Time Response

Siva Rama Krishna

Department of Electrical Engineering

IIT Hyderabad

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Time Response

Time Response - System Response analysed in time domain

Types of Responses
Natural Response
Force Response
Transient Response
Steady Steady Response
Total Response = Natural Response + Force Response
Total Response = Transient Response + Steady State Response
Concept of Poles and Zeros - Simplifies the analysis of System
Response

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Poles and Zeros

Pole - Poles of a transfer function are the values of the Laplace

transform variable, s, that cause the transfer function to become
infinite.
Zero - Zeros of a transfer function are the values of the Laplace
transform variable, s, that cause the transfer function to become
infinite.
Poles
Generates the form of the response
Generates the amplitude of the response
Zeros
Have minimum/no role in the form of the response
Generates the amplitude of the response
Pole of a transfer function generates the natural response
Pole of input function generates the Forced response
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First Order Systems
Systems having transfer functions with one pole are known as first
order systems
Key Parameter is the time constant τ
τ characterizes the speed of the response of the system to an input

Y (s) 1
TF = =
R(s) τs + 1

r + 1
y
± s

Figure: A simple First order order system

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First order system- Example

R(s) s + 2
Y (s)
s + 5

Zero at -2; Pole at -5

1
Input - Unit Step: R(s) = s
2/5
Response Y (s) = s + s 3/5
+ 5
2 3 −5t
The response y (t) = 5 + 5e

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Impulse Response of First order system

1
Unit Impulse R(s) = 1
1 δ(t)
Y (s) = τs + 1
0.8

1 − τt
y (t) = L1 {Y (s)} = τe 0.6

τ is the time constant of the

0.4
system
1 − τt
τe is the transient term 0.2

The steady state term is 0

0 2 4
zero

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Step Response of First order system

1
Unit Step R(s) = s
1
Y (s) = s(τ s + 1 )
2

t 1.5
y (t) = L1 {Y (s)} = 1 − e − τ
t u(t)
−e − τ is the transient term 1 u(t)
The steady state term is 1
Settling time:TIme taken to 0.5

reach 2% of the final steady

state value 0
0 2 4
There is no steady state
error for step response

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First Order System- Definitions

Time constant- Time taken for

the natural response to decay to
37% of original value
Time constant - Time taken for
the step response to reach 67%
of original value
Rise time: Time for the
waveform to go from 0.1 to 0.9
of its final value.
Settling time: Time for the Tr = 2.31τ − 0.11τ = 2.2τ
response to reach, and stay
within, 2% of its final value Ts = 4τ

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Ramp Response of First order system

1
Unit Ramp R(s) = s2
1 4
Y (s) = s 2 (τ s + 1
)
t
y (t) = t − τ + τ e − τ
t
τ e − τ is the transient term 2

The steady state term is

t −τ
Steady state error in ramp 0
0 2 4
response depends on τ

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Review Questions

Name the performance specification of first order systems?

Ans: The time constant τ
Significance of τ
Ans: It indicates the time taken to reach the steady state value.
Larger the time constant is larger is the time that it takes to reach
the steady state
In a system with an input and output, what poles generate
steady state response
Ans: Input poles
In a system with an input and output, what poles generate
transient response
Ans: System or transfer function poles

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Second Order Systems

Systems with two poles are called second order systems

A generic transfer function of the second order system can be written
as
Y (s) b
TF = = 2
R(s) s + as + b

R(s) b
Y (s)
(s 2 + as + b)

Figure: A simple second order system

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Types of responses

2.5 Variation of output

x(t)
ζ = −0.1
Based on the nature and 2.0 ζ =0.0
location of the poles, the ζ =0.1
ζ =0.5
1.5
response of the system can be ζ =1.0
ζ =1.5
categorised into four types 1.0

y(t)
Overdamped Response
0.5
Underdamped Response
Undamped Response 0.0
Critically damped Response
0.5
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
Time [sec]

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Overdamped and Underdamped Responses

Overdamped
Poles: Real and distinct Underdamped
Natural Response: Two Poles: Complex and Conjugate
exponentials with the time
Natural Response: Damped sinusoid
constant equal to the
with an exponential envelope
reciprocal of the pole
locations Generic form
Generic form y (t) = Ae −σd t
cos(ωd t − φ)
−σ1 t −σ2 t
y (t) = K1 e + K2 e

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Critically and Undamped Responses

Undamped
Critically damped Poles: Imaginary, Complex
Poles: Two real poles at the Conjugate poles
same location Natural Response: Undamped
Natural Response: No Sinusoid with radian frequency
Overshoot equal to the imaginary part of
Generic form the poles.
Generic form
−σ1 t −σ1 t
y (t) = K1 e + K2 te
y (t) = Acos(ω1 t − φ)

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Basic parameters of second order system

Natural Frequency (ωn ) : the frequency of oscillation of the system

without damping
Damping ratio :describes damped oscillations regardless of time scale.
Damping ratio ζ is defined as

Exponential decay frequency

ζ = (1)
Natural Frequency

Alternatively

1 Natural period
ζ = (2)
2π Exponential time constant

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Generic Transfer function

Consider the generic second order transfer function

b
G (s) = (3)
(s 2 + as + b)

Consider Undamped system: a = 0

For this case
b
G (s) =
(s 2 + b)
By definition, the natural frequency ωn ,

b = ωn2

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Generic Transfer function

For an underdamped system.

a
σ = − .
2

a = 2ζωn
Hence a generic second order transfer function can be written as

ωn2
G (s) = (4)
(s 2 + 2ζωn s + ωn2 )

The roots of this generic transfer function are

p
s1,2 = −ζωn ± ωn ζ2 − 1 (5)

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Second Order Systems

Systems with two poles are called second order systems

A generic transfer function of the second order system can be written
as
Y (s) b
TF = = 2
R(s) s + as + b

r + ωn2 y
± s(s + 2ζωn )

Figure: A simple second order system

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Basic parameters of second order system

Natural Frequency (ωn ) : the frequency of oscillation of the system

without damping
Damping ratio :describes damped oscillations regardless of time scale.
Damping ratio ζ is defined as

Exponential decay frequency

ζ = (6)
Natural Frequency

Alternatively

1 Natural period
ζ = (7)
2π Exponential time constant

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Generic Transfer function

Consider the generic second order transfer function

b
G (s) = (8)
(s 2 + as + b)

Consider Undamped system: a = 0

For this case
b
G (s) =
(s 2 + b)
By definition, the natural frequency ωn ,

b = ωn2

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Generic Transfer function

For an underdamped system.

a
σ = − .
2

a = 2ζωn
Hence a generic second order transfer function can be written as

ωn2
G (s) = (9)
(s 2 + 2ζωn s + ωn2 )

The roots of this generic transfer function are

p
s1,2 = −ζωn ± ωn ζ2 − 1 (10)

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Second Order Systems

Systems with two poles are called second order systems

A generic transfer function of the second order system can be written
as
Y (s) b
TF = = 2
R(s) s + as + b

r + ωn2 y
± s(s + 2ζωn )

Figure: A simple second order system

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Terminology

ωn : Natural frequency
ζ: Damping ratio
ωn : Angular frequency at which system tends to oscillate in the
absence of damping force
ζ is a dimensionless quantity describing the decay of oscillations
during transient response
ωd : Angular frequency at which system tends to oscillate in the
presence of damping force
p
ωd = ωn 1 − ζ2

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Response of a 2nd order system

Response of a 2nd order system mainly depends on the damping ratio

ζ
Depending on the value of ζ, a second order system can be classified
into
ζ > 1: Overdamped system
ζ = 1: Critically damped system
0 < ζ < 1: Underdamped system
ζ = 0: Undamped system
Damping: It is an effect created in an oscillatory system that
reduces, restricts or prevents the oscillation of the systems

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Classification based on damping factor

Overdamped Sytem: Transients in the system exponentially decays

to steady state without any oscillations
Critically damped Sytem: Transients in the system exponentially
decays to steady state without any oscillations in shortest possible
time
Underdamped Sytem: System exhibits oscillations, however the
amplitude of oscillations gradually decay to zero to reach the steady
state
Undamped response: System keeps on oscillating at its natural
frequency without any decay in amplitude

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Impulse Response of a 2nd order system

Unit Impulse, the input R(s) = 1

The generic transfer function is given by

Y (s) ωn2
TF = = 2
R(s) s + 2ζωn s + ωn2

Case1: ζ = 0: Undamped system

Y (s) ω2
TF = = 2 n 2
R(s) s + ωn

y (t) = ωn sin(ωn t)
ωn is the natural frequency

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Impulse Response of a 2nd order system
Case2: 0 < ζ < 1: Underdamped system

Y (s) ωn2
TF = = 2
R(s) s + 2ζωn s + ωn2

ωn2
 
−1
y (t) = L
(s + ζωn − jωd )(s + ζωn + jωd )
 
( √ ωn ωd )
( 1 − ζ2)
y (t) = L−1
((s + ζωn )2 + (ωd )2 )
 
ωn
y (t) = p e −ζωn t sin(ωd t)
( 1 − ζ 2)

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Impulse Response of a 2nd order system

Case 3: ζ = 1 - Critically damped system

The generic transfer function is given by

Y (s) ωn2
TF = = 2
R(s) s + 2ωn s + ωn2

ωn2
 
−1
L
(s + ωn )2

y (t) = ωn2 te −ωn t

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Impulse Response of a 2nd order system

Case 4: ζ > 1 - Overdamped System

Y (s) ωn2
TF = = 2
R(s) s + 2ζωn s + ωn2

ωn2
 
−1
L p p
(s + ζωn − ωn ζ 2 − 1)(s + ζωn + ωn ζ 2 − 1)

ω2 √ ω2 √
ζ 2 − 1)t ζ 2 − 1)t
y (t) = p n e −(ζωn − ωn
− p n e −(ζωn + ωn
2 ζ2 − 1 2 ζ2 − 1

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Step response of a second order system

Focus is on under damped systems

For underdamped systems 0 < ζ < 1
The critical parameters/ metrics
Peak time Tp is the time required to reach the first or maximum peak.
Percent Overshoot %OS is the amount that the waveform
overshoots the steady state. It is the value at the peak time expressed
as a percentage of the steady state value
Settling time Ts is the time required for the transient’s damped
oscillations to reach and stay with ±2% of the steady state value
Rise time Tr is the time required for the waveform to go from 0.1 of
the final value to 0.9 of the final value.

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Step response of a second order system
Peak Time Tp
To figure out peak time, it is imperative to differentiate the step
response y(t) and equate it to zero.
Instead of doing it in time domain, it is convinient to do the same in
the s-domain

ωn2
L[ẏ (t)] = sY (s) = (11)
(s 2 + 2ζωn s + ωn2 )

ωn2
L[ẏ (t)] = (12)
(s + ζωn )2 + ωn2 (1 − ζ 2 )

ωn
p
√ ωn 1 − ζ2
1 − ζ2
L[ẏ (t)] = (13)
(s + ζωn )2 + ωn2 (1 − ζ 2 )

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Step response of a second order system

ωn p
ẏ (t) = p e −ζωn t sinωn 1 − ζ 2 t (14)
1 − ζ2
For maxima p
ωn 1 − ζ 2 t = nπ (15)
The peak time ( the first maxima)

π π
Tp = p = (16)
ωn 1 − ζ 2 ωd

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Step response of a second order system
Percent Overshoot %OS
The %OS is given by
ymax − yfinal
%OS = × 100 (17)
yfinal
The maximum ymax occurs at the peak time
√−ζπ
 
2
ζ
ymax = 1 − e 1−ζ cos π + p sin π (18)
1 − ζ2

√−ζπ
ymax = 1 + e 1−ζ 2 (19)
√−ζπ
%OS = e 1−ζ 2 × 100 (20)
−ln(%OS/100)
ζ = p (21)
π + ln2 (%OS/100)
2

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Step response of a second order system
Settling time Ts
The time it takes for the amplitude of decaying sinusoid is

1
e −ζωn t p = 0.02 (22)
1 − ζ2

p
−ln(0.02 1 − ζ 2 )
Ts = (23)
ζωn
The numerator varies from 3.91 to 4.74 as ζ varies from 0 to 0.9. A
good approximation is

4 4
Ts ≈ ≈ (24)
ζωn σd

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Review Questions

What can be derived from the imaginary part of pole

Ans: Radian frequency of a sinusoidal response
What can be derived from the real part of pole
Ans: Time constant of the exponential (decaying) response
Difference between Natural Frequency and Damped Frequency
Ans: Frequency of oscillations without damping Vs Frequency of
oscillations with damping
What will be response of the system if imaginary part of pole is
kept constant while varying the real part
Ans: Their damped frequency of oscillation will be the same

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Review Questions

What will be response of the system if real part of pole is kept

constant while varying the imaginary part
Ans: They will all exist under the same exponential decay envelop
What will be response of the system if pole is moved along a
radial line
Ans: They will all have the same percent overshoot and the same
shape although differently scaled in time
What are specifications of second order systems
Natural frequency ωn , damping factor ζ, Peak time Tp , Settling time
Ts , % Overshoot % OS
How many specifications completely determine the response
Ans: Two

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