Control System Fundamental

Chapter 4
Time Response Analysis
Company

LOGO

Objectives
Students should be able to:
Find the time response from the transfer
function
Use poles and zeros to determine the
response of a control system
Describe quantitatively the transient
response of first-order and second order
systems

INTRODUCTION

In Chapter 2, we learned how transfer functions can

represent linear time invariant systems.
In Chapter 3, we did system modeling in order to
obtain selected system transfer function.
Chapter 4 is devoted to the analysis of system
transient response based from its transfer function.

RESPONSE CHARACTERISTICS AND

SYSTEM CONFIGURATIONS

RESPONSE CHARACTERISTICS
EXAMPLE
A Temperature Controller System Model

Input command : Operator will set the controller at the desired temperature that he / she want.
Output : The actual temperature of the system.
Transient response : The changes of temperature from initial temperature to the desired value.
It is a gradual change before the steady state response.
Steady State response : After the temperature changes from the initial value, the changes will
slow down and stop at the desired value.
Steady State error : There is probability that the temperature did not stop at the desired value. It
is the difference between actual response & desired response

POLES, ZEROS AND SYSTEM

RESPONSE
The output response of a system is the sum of two
responses: the forced response and the natural
response.
Forced response is also called the steady state error or
particular solution.
Natural response is called the homogenous solution.

POLES, ZEROS AND SYSTEM

RESPONSE
Poles of a Transfer Function
Value of Laplace transform variable, s that cause the transfer
function to become infinite; or
Any roots of the denominator of transfer function that are
common to roots of numerator.
Denoted by X in the s-plane.
Zeros of a Transfer Function
Value of Laplace Transform variable, s that cause the
transfer function to become zero; or
Any roots of numerator of the transfer function that
common to roots of denominator.
Denoted by O in the s-plane.

Complex s-plane
Laplace Transform is in s-plane,
lets we know the s-plane..

s j

Pole-zero plot
( s 3)
G(s)
( s 1)( s 2)

2
G ( s)
( s 1)( s 2)

How to map these transfer functions into the

complex s-plane?

( s 3)
G ( s)
( s 1)( s 2)

-3

-2

-1

Poles: s = -1, -2
Zeros: s = -3
Gain constant : 1

G ( s)

2
( s 1)( s 2)

-2

-1

Poles: s = -1, -2
Zeros: NONE
Gain constant : 2

( s 1 j )( s 1 j )
s 2 2s 2

G(s)
2
( s 2)( s 6 s 13) ( s 2)( s 3 2 j )( s 3 2 j )
For complex pole-zero
Poles: s = -2, -3-2j,-3+2j
2
1

-3

-2

-1
-1
-2

Zeros: s=-1-j, -1+j

Gain constant : 1

Example 1
Zeros: -3, 1-2.24j,
1+2.24j
Poles: 3, -1-2.24j,
-1+2.24j
Gain Constant: 1

2
1

-3

-2

-1

1
-1
-2

Poles and Zeros of a First-Order System

Example: Given a transfer function as shown below.
A pole exists at s = -5 and a zero exists at 2.

Example:

( s 2)
C (s)
s( s 5)
( s 2) A B
C (s)

s( s 5) s s 5
2

A B
C (s)
5 5
s s5 s s5

s 2
A
s 5

s 2
B
s

s 0

s 5

2 3 5 t
c(t ) e
5 5

From the development summarized in Figure (c), we draw the following

conclusions:
1. A pole of the input function generates the form of the forced
response (i.e., 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 (i.e., the pole at 5 generated e-5t).
3. A pole on the real axis generates an exponential response of the
form , where is the pole location on the real axis. Thus, the farther
to the left a pole is on negative real axis, the faster exponential
transient response will decay to zero (i.e., again the pole at 5, see
Figure on next slide for the general case).
4. The zeros and poles generate the amplitudes for both the forced
and natural responses.

Example 4.1
Given the system below, write the output, c(t), in general
terms. Specify the forced and natural parts
of the solution.

Solution:
By inspection, each system poles generates an
exponential as part of the natural response. The inputs
pole generates the forced response. Thus,
K1
K2
K3
K4
C (s)

s
( s 2) ( s 4) ( s 5)
Forced

Natural
Response

Response

Taking inverse transform, we get

c(t )

K1

Forced

Response

K 2 e 2t K 3e 4t K 4e 5t

Natural Response

Example 4.2
A system has a transfer function,

10( s 4)( s 6)
G ( s)
( s 1)( s 7)( s 8)( s 10)
Write, by inspection, the output, c(t), in general terms if
the input is a unit step.

Example 4.2

c(t )
A
Be t Ce 7 t De 8t Ee10t
Forced
Natural
Response

Response

Performances of Control
Systems
Specifications (time domain)

Max OS, settling time, rise time, peak time,

Standard input signals used in design

actual signals unknown

standard test signals:
step, ramp, parabola, impulse, etc. sinusoid

(study freq. response later)

Transient response
Steady-state response
Relate to locations of poles and zeros

23

First Order System

R(s)

E(s)

C(s)

1
s

Test signal is step function, R(s)=1/s

24

First order system

A first-order system without zeros can be represented
by the following transfer function
C ( s)
1

R( s ) s 1

Given a step input, i.e., R(s) = 1/s , then the

system output (called step response in this case) is
1
1
1
1
C (s)
R( s)

s 1
s (s 1) s s 1

25

First order system

Taking inverse Laplace transform, we have the step response

c(t ) 1 e

Time Constant:

If t= , So the step response is

C( ) = (1 0.37) = 0.63

is referred to as the time constant of the response. In other

words, 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.
26

First order system

Plot c(t) versus time:

27

Example 1
The following figure gives the measurements of the step response
of a first-order system, find the transfer function of the system.

28

First order system

Transient Response Analysis
Rise Time Tr:
The rise-time (symbol Tr units s) is defined as the time taken
for the step response to go from 10% to 90% of the final value.

Tr 2.31 0.11 2.2

Settling Time Ts:
Defined the settling-time (symbol Ts units s) to be the time
taken for the step response to come to within 2% of the final
value of the step response.

Ts 4
29

First order system

1

a

30

Example 2
A system has a TF, . Find the time
constant, , settling time, Ts and rise time,
Tr.

Ans:

Second Order System

Second-order systems exhibit a wide range of responses
which must be analyzed and described.
Whereas for a first-order system, varying a single
parameter changes the speed of response, changes in
the parameters of a second order system can change the
form of the response.
For example: a second-order system can display
characteristics much like a first-order system or,
depending on component values, display damped or pure
oscillations for its transient response.
32

Second Order System

- A general second-order system is characterized by the
following transfer function:

- We can re-write the above transfer function in the following

form (closed loop transfer function):

33

Second Order System

- referred to as the un-damped natural frequency of
the second order system, which is the frequency of
oscillation of the system without damping.
- referred to as the damping ratio of the second
order system, which is a measure of the degree of
resistance to change in the system output.

Poles;

Poles are complex if < 1!

34

Example 3
For each of the following TF, find and
Ans:

Second Order System

- According the value of , a second-order system can be set
into one of the four categories:
1. Overdamped - when the system has two real distinct
poles ( >1).
2. Underdamped - when the system has two complex
conjugate poles (0 < <1)
3. Undamped - when the system has two imaginary
poles ( = 0).
4. Critically damped - when the system has two real but
equal poles ( = 1).

36

Time-Domain
Specification
Given that the closed loop TF

C (s)
n
T (s)
2
R( s ) s 2n s n 2
2

The system (2nd order system) is parameterized by and n

For 0< <1 and n > 0, we like to investigate its response
due to a unit step input

Two types of responses that are

of interest:
(A) Transient response
(B) Steady state response
Transient

Steady State

37

(A) For transient response, we

have 4 specifications:
(a) Tr rise time =

n 1 2

(b) Tp peak time =

n 1 2

(c) %MP percentage maximum overshoot =

(d) Ts settling time (2% error) =

(B) Steady State Response

(a) Steady State error

38

1 2

x100%

Question : How are the performance

related to and n ?
- Given a step input, i.e., R(s) =1/s, then the system output (or step
response) is;

- Taking inverse Laplace transform, we have the step response;

Where;

or

cos 1 ( )
39

Second Order System

C (s)
n
T (s)
2
R( s ) s 2n s n 2
2

Mapping the poles into s-plane

40

Lets re-write the equation for c(t):

1 2

Let:

and

d n 1 2

Damped natural frequency

n d

Thus:

1 nt
c(t ) 1 e
sin d t

where

cos 1 ( )
41

Transient Response Analysis

1) Rise time, Tr. Time the response takes to rise from 10% to
90%

c(t ) t T r

1 nt
1 e
sin d t 1

sin( d Tr ) 0

d Tr sin (0)
1

Tr
n 1 2
42

Transient Response Analysis

2) Peak time, Tp - The peak time is the time required for the
response to reach the first peak, which is given by;

c(t )
t T p

c(t )
t T p

1
(n )e nt sin( d t ) 1 e nt cos(d t ) n 1 2 0

n nT p
e
sin( d Tp )

tan( d T p )

1 2
n

nT p

cos(d T p )

1
tan

1 2

43

We know that
So,

tan( ) tan( )

tan( d T p ) tan( )

From this expression:

d Tp
d Tp

Tp

d n 1 2
44

Transient Response Analysis

3) Percent overshoot, %OS - The percent overshoot is defined as
the amount that the waveform at the peak time overshoots the
steady-state value, which is expressed as a percentage of the
steady-state value.

% MP

C (T p ) C ()
C ( )

x100%

OR

C max Cfinal
%OS
x 100
Cfinal

C (T p ) 1
1

1 nt
x100% e
sin d t x100%

n
2

n 1
1

x100%
e
sin d

1
e

1 2

sin( )

sin x100%

1 2

x100% e

1 2

x100%

sin 1 2

From slide 25

1 2
46

46

Therefore,

% MP e

1 2

x100%

- For given %OS, the damping ratio can be

solved from the above equation;

ln % MP / 100

2 ln 2 % MP / 100

47

Transient Response Analysis

4) Setting time, Ts - The settling time is the time required
for the amplitude of the sinusoid to decay to 2% of the
steady-state value.
To find Ts, we must find the time for which c(t) reaches & stays
within +2% of the steady state value, cfinal. The settling time is the
time it takes for the amplitude of the decaying sinusoid in c(t) to
reach 0.02, or

Thus,

nTs

1
1

Ts

0.02

n
48

Example 4:UNDERDAMPED
Find the natural frequency and damping ratio for the system
with transfer function

36
G ( s) 2
s 4.2 s 36
Solution:
Compare with general TF

n= 6
=0.35
Use Matlab to see the response
49

Example 5:UNDERDAMPED
Given the transfer function

find
Ts , %
OS , T s
T 0.533s, %OS
2.838%, T 0.475p
s

Ans:

Use Matlab to see the response

50

Or you can use these graphs to find %OS and Tr

UNDERDAMPED

52

Overdamped Response
a=9

C (s)

9
9

s ( s 2 9 s 9) s ( s 7.854)( s 1.146)

s= 0; s = -7.854; s = -1.146 ( two real poles)

53

c(t ) K 1 K 2 e

7.854t

K 3e

1.146t

OVERDAMPED RESPONSE !!!

54

Underdamped Response
a=3

0 1

c(t ) K 1 e 1.5t ( K 2 cos 2.598t K 3 sin 2.598t )

s = 0; s = -1.5 j2.598 ( two complex poles)
55

UNDERDAMPED RESPONSE !!!

56

Undamped Response
a=0

c(t ) K 1 K 2 cos 3t
s = 0; s = j3 ( two imaginary poles)
57

UNDAMPED RESPONSE !!!

58

Critically Damped System

a=6

1
c(t ) K 1 K 2 e

3 t

K 3 te

3t

S = 0; s = -3,-3 ( two real and equal poles)

59

CRITICALLY DAMPED RESPONSE !!!

60

Second Order System

61

62

Effect of different damping ratio,

Increasing

63

Example 6
Describe the nature of the second-order system response via
the value of the damping ratio for the systems with transfer
function

12
1. G ( s ) 2
s 8s 12

16
2. G ( s ) 2
s 8s 16

Do them as your own

revision

20
3. G ( s ) 2
s 8s 20
64

Ex 4.8 (Finding Tp, %OS and Ts from pole location)

Given the pole plot shown in Figure 4.17, find , n, Tp,

%OS and Ts.

Ex 4.8 (Finding Tp, %OS and Ts from pole location)

Solution:

cos

7
cos(tan
)
3
cos(1.166)
1

0.394

Ex 4.8 (Finding Tp, %OS and Ts from pole location)

Solution:

wn 7 2 32
wn 7.616

Ex 4.8 (Finding Tp, %OS and Ts from pole location)

Solution:
Tp

wn 1 2

Tp
wd

Ex 4.8 (Finding Tp, %OS and Ts from pole location)

Solution:
Tp

wn 1 2

Tp

wd 7
T p 0.449 sec

Ex 4.8 (Finding Tp, %OS and Ts from pole location)

Solution:
1 2 )

%OS e

%OS e

( 0.394

%OS 26%

100

1 0.3942 )

100

Ex 4.8 (Finding Tp, %OS and Ts from pole location)

Solution:

4
Ts
wn
4
Ts
d

Ex 4.8 (Finding Tp, %OS and Ts from pole location)

Solution:

4
Ts
wn
4
4
Ts

d 3
Ts 1.333 sec

EFFECT OF THE POLE PLACEMENT

Pole moves along vertical line
The farther away the pole from the
real axis, the shorter Tp is.

Pole moves along horizontal line

The farther away the pole from the
j axis, the shorter Ts is.
Pole moves along radial line
Same %OS
The farther away the pole from the
j axis, the shorter Ts is.
The farther away the pole from the
real axis, the shorter Tp is.

SYSTEM RESPONSE WITH ADDITIONAL

POLE

T1 ( s)

24.542
s 2 4 s 24.542

T2 ( s )

24.542
( s 10)( s 2 4 s 24.542)

T3 ( s )

24.542
( s 3)( s 2 4 s 24.542)

The farthest the third pole from the dominant

poles, the better the approximation to c1(t).

SYSTEM RESPONSE WITH ADDITIONAL

POLE

It is assumed that the exponential decay is negligible after 5 time constants.

If the real pole is 5 times farther to the left than the dominant poles, the system
is assumed to be represented by its dominant second-order pair of poles.

Thus the second-order specifications can be applied.

SYSTEM RESPONSE WITH ADDITIONAL ZERO

As the zero moves away from

the dominant poles, the
response approaches that
of the two-pole system.