Fundamentals of Automatic Control

Instructors: Dr. Helmy El-Zoghby

[email protected]

2024/3/21 1
 Lecture 8
Time response of control systems

(1- First order systems)

2
 Introduction
• Time response of a dynamic system response to an input expressed as a
function of time.

System

• In time-domain analysis the response of a dynamic system to an input is

expressed as a function of time.
• It is possible to compute the time response of a system if the nature of input and
the mathematical model of the system are known.
• Usually, the input signals to control systems are not known fully ahead of time.
• It is therefore difficult to express the actual input signals mathematically by simple
equations.
 Introduction

The time response of a control system consists of two

parts:

1. Transient response 2. Steady-state response

- from initial state to the final - the manner in which the system
output behaves as t approaches
state – purpose of control
infinity – the error after the
systems is to provide a desired
transient response has decayed,
response.
leaving only the continuous
response.

4
 Introduction
Standard Test Signals
• The characteristics of actual input signals are a sudden shock, a sudden
change, a constant velocity, and constant acceleration.
• The dynamic behavior of a system is therefore judged and compared under
application of standard test signals – an impulse, a step, a constant velocity,
and constant acceleration.
• The other standard signal of great importance is a sinusoidal signal.

δ(t)

1) Impulse signal A
– The impulse signal imitate the sudden shock
characteristic of actual input signal.
0 t
– If A=1, the impulse signal is called unit impulse
signal.
A t0
 (t )  
0 t0
 Introduction
Standard Test Signals u(t)
A

2) Step signal
0 t
– The step signal imitate the sudden change
characteristic of actual input signal.
A t0
– If A=1, the step signal is called unit step signal u(t )  
0 t0

r(t)
3) Ramp signal
– The ramp signal imitate the constant
velocity characteristic of actual input
signal. t
0
– If A=1, the ramp signal is called unit
ramp signal  At t0
r(t )  
0 t0

r(t) r(t)
ramp signal with
slope A unit ramp
signal
 Introduction
4) Parabolic signal p(t)

– The parabolic signal imitate the constant

acceleration characteristic of actual input
signal.
0 t
– If A=1, the parabolic signal is called unit
parabolic signal.  At 2
 t  0
p(t )   2
0 t  0
Relation between standard Test Signals 

p(t)

Unit parabolic
signal

p(t)

parabolic signal
with slope A
 Introduction
Laplace Transform of Test Signals

• Impulse • Ramp

A t0  At t  0
 (t )   r(t )  
0 t0 0 t  0
A
L { r ( t )}  R ( s ) 
L{ ( t )}   ( s )  A s 2

• Parabolic
• Step
 At 2
A t0 
p(t )   2
t  0
u (t )  
t0 0
0  t  0
A
L { u ( t )}  U ( s )  A
S L { p ( t )}  P ( s ) 
S 3
 1) Time Response of Control Systems
• When the response of the system is changed from equilibrium it takes some
time to settle down. This is called transient response.

• The response of the system after the transient response is called steady state
response.
x 10
6
• Transient response depend upon
Step Input
the system poles only and not on 5
the type of input.

Steady State Response

• It is therefore sufficient to 4

analyze the transient response Response

using a step input. 3

• The steady-state response

2
depends on system dynamics Transient Response
and the input quantity. 1
• It is then examined using
different test signals by final 0
0 2 4 6 8 10 12 14 16 18 20
value theorem. Time (sec)
 1) Time Response of First Order Control Systems

• The first order system has only one pole. C (s) K


R(s) Ts  1

• Where K is the DC gain and T is the time constant of the system.

• Time constant is a measure of how quickly a 1st order system responds to a unit
step input.
• DC Gain of the system is ratio between the input signal and the steady state value
of output.
For example , the first order system . 10
G(s) 
3s  1
• DC gain is 10 and time constant is 3 seconds.
3 3/5
• For the following system G(s)  
s5 1/ 5s  1

• DC Gain of the system is 3/5 and time constant is 1/5 seconds.

• Note: at steady state S=0.
 1) Time Response of First Order Control Systems

1
R (s ) C (s )
Ts C (s ) 1
=
R (s ) T s + 1

Example. Electrical first-order system R

U c (s ) 1 1
= = C
U r (s ) R C s + 1 T s + 1 ur uc

where the time constant is T=RC.

11
 1) Time Response of First Order Control Systems
a) Unit-Impulse response of First-order Systems

1
R(s) C(s) R(s)

Ts1 1

If the input is a unit-impulse, then 0 t

R (s)   (s)  1
Therefore,
1
C ( s) 
Ts  1

Taking the inverse Laplace transform gives

1 t /T
c (t )  e
T
12
 1) Time Response of First Order Control Systems
a) Impulse response of First-order Systems

K
• Re-arrange following equation as C(s) 
Ts  1
K /T
C (s) 
s  1/T
• In order to compute the response of the system in time domain we need to compute
inverse Laplace transform of the above equation.

1  C   at
K/T*exp(-t/T)
L    Ce 1.5

 s  a 
K  t / T 1
c(t )  e
T
c(t)

0.5

• If K=3 and T=2s then

0
0 2 4 6 8 10
Time

13
 1) Time Response of First Order Control Systems

b) Unit-Step Response of First-order Systems

1
R (s ) C (s )
Ts  1

The input signal: 1

R (s ) =
s
1
C (s) 
s Ts  1 

• In order to find out the inverse Laplace of the above equation, we need to break it
into partial fraction expansion (page 867 in the Textbook)

C (s ) =
1 1
= -
T 1
= -
1
c ( t )  1  e t /T

s (T s + 1) s T s + 1 s s + 1/ T

If R (s) 
K Then c ( t )  K 1  e t /T

s
14
 1) Time Response of First Order Control Systems
b) Unit-Step Response of First-order Systems

dc 1
c (t ) = 1 - e - t /T
, =
dt t= 0 T

c (T ) = 0.63
c (2T ) = 0.86
c (3T ) = 0.95

c (4T ) = 0.98

Unit step response

The time constant is the time it takes for the step response to rise to 63% of its
final value. Because of this, the time constant is used to measure how fast a
system can respond. The time constant has a unit of seconds.
15
 1) Time Response of First Order Control Systems

b) Step Response of First-order Systems

• If K=10 and T=1.5 s then 
c(t )  K 1  e t / T 
 1) Time Response of First Order Control Systems

b) Step Response of First-order Systems


c(t )  K 1  e t / T 
• If K=1, 3, 5, 10 and T=1
• If K=10 and T=1, 3, 5, 7
K*(1-exp(-t/T)) K*(1-exp(-t/T))
11 11

10 10
T=1s K=10
9 9

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

5
5 T=7s
4
4 K=3
3
3
2
2 K=1
1
1 0
0 5 10 15
0 Time
0 5 10 15
Time
 1) Time Response of First Order Control Systems

b) Step Response of First-order Systems

• If K=10 and T=1, 3, 5, 7 c(t )  K 1  e 

t / T

Matlab code:
10

t=0:0.1:15; 8
k1=10; T1=1; 7
k2=10; T2=3;
6
k3=10; T3=5;
5
k4=10; T4=7;
4
o1= k1 *( 1-exp(-t/T1));
o2= k2 *( 1-exp(-t/T2)); 3

o3= k2 *( 1-exp(-t/T3)); 2

o4= k3 *( 1-exp(-t/T4)); 1

plot( t, o1, t, o2,t, o3,t, o4) 0

0 5 10 15
 1) Time Response of First Order Control Systems

b) Step Response of First-order Systems

• If K=10 and T=1, 3, 5, 7 c(t )  K 1  e 

t / T

Matlab / Simulink code:

 1) Time Response of First Order Control Systems
c) Unit-Ramp response of First-order Systems

1
R(s) C(s)
Ts1

If the input is the unit ramp

1
then R (s ) = 2
s
Expanding C(s) into partial fractions gives
1 T T
C (s ) = - +
s 2 s s + 1/ T

Thus, the time-domain response is c (t )  t  T  Te  t / T 

20
 1) Time Response of First Order Control Systems
First Order System With Delays
1
C (s) K
 e  st d Unit Step
R(s) Ts  1 Step Response

td t
For example : Step Response

10

8
C (s) 10
 e 2s
R (s) 3s  1 6

10
C (s)  e 2s 4
s (3 s  1)
10  10 2
L  1 [(  )e 2s ] 
s s  1 /3 0

[ 10 ( t  2 )  10 e  1 / 3 ( t  2 ) ] u ( t  2 ) 0 5 10 15
Time (sec)
 THANKS

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