Mohammed Husain Mohammed Automatic Control System

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CHAPTER 3 PART(1) Time Response

(Introduction)

This chapter describe the time response system and the behavior of the system in the time domain.

After describing a valuable analysis and design tool, poles and zeros, we begin analyzing our models to find
the step response of first- and second-order systems. The order refers to the order of the equivalent
differential equation representing the system—the order of the denominator of the transfer function after
cancellation of common factors in the numerator or the number of simultaneous first-order equations
required for the state-space representation.

 Pole and zeros in the system response.

The zeros of a transfer function are the values of the Laplace transform variable, s, that cause
the transfer function to become zero. (0) for the zeros

The poles of a transfer function are the values of the Laplace transform variable, s, that cause
the transfer function to become infinite. (x) for the pole

( ) ( ) ( ) ( )

( )
( )

⁄ ( )

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we draw the following conclusions:

1. A pole of the input function generates the form of the forced response (that is, the pole at the origin
generated a step function at the output).

2. A pole of the transfer function generates the form of the natural response (that is, the pole at
generated).

3. A pole on the real axis generates an exponential response of the form , where ( )a is the pole
location on the real axis. Thus, the farther to the left a pole is on the negative real axis, the faster the
exponential transient response will decay to zero.

4. The zeros and poles generate the amplitudes for both the forced and natural responses .

First-Order Systems

We now discuss first-order systems without zeros to define a performance specification for such a system. A
first-order system without zeros can be described by the transfer function.

If the input is a unit step, where ( ) the Laplace transform of the step response is C(s), where

(a) First-order system (b) pole plot

( ) ( ) ( ) ( )

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( )
( )

( )

The forced response ( )

The natural response ( )

First-order system response to a unit step

 Time Constant ( ):

Time constant can be described as the time for at to decay to 37% of its initial value. Alternately. the time
constant is the time it takes for the step response to rise to 63% of its final value.

( )

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 Rise Time ( ):

Rise time is defined as the time for the waveform to go from 0.1 to 0.9 of its final value. Rise time is found
by solving for the difference in time at ( ) ( )

( )

( )

 Settling Time ( ):

Settling time is defined as the time for the response to reach, and stay within, 2% of its final value.2 Letting
( ) solving for time

( )

Example 1: A system has transfer function ( )

Find the:

 time constant?
 settling time?
 rise time?

Solution

At a= 50

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Example 2:

An experimental result of a first order system under a step function input , is as shown. If the system has
transfer function

( )

Find the value of ( K ) and (a) ?

Figure : Laboratory results of a system step response test

Solution

the time constant is evaluated where the curve reaches 0.63 * 0.72 =0.45 or about 0.13 second.

( ) ( ) ( ) ( )

( )

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( )

( )

At ( )

At ( ) ⁄

So the value of K equal to

K=0.72*7.7

K=5.544

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