Chapter 4 (Cont.

…)

Continuous-Time System Responses

 Chapter 4 (page#115)
Turn
ON Continuous-Time System Responses
Matlab Introduction

4.1 Time Response of Ist Order Systems

4.2 Response of Second-Order Systems

4.3 Time Response Spec in Desgn

4.6 Response of Higher-Order Systems

4.7 Reduced Order Systems

 Introduction

Chapter: Continuous-Time System Responses

Higher Order Systems = Sum of first order and second order systems. Why?

Common input to control system is the : Step function

Time function f(t) = u(t); Laplace Transform F(s) = 1/s
[see table B.1 P=836]
Examples of Step Inputs:
 Introduction
OtherTypes of Inputs:
Ramp
Sinusoidal
Pulse
Repeated Sequence
Random Number
In automatic Landing of
For investigation:aircraft,
response theof Istaircraft is
& IInd order systems are
commanded to follow for the
checked for various inputs
glide slop; this glide slop is
commonly approximately 3o
 Introduction

First Order System- Type of Inputs

Impulse Exponential
response K
1  sT
Step response Step,
K K exponential
-
s s 1/ T
Ramp response Ramp, step,
K KT KT exponential
- -
s 2
s s 1/ T

No oscillations (as seen by poles)

 Introduction

Laplace Transforms of Common Functions

Name f(t) F(s)
1 t 0
Impulse f (t )   1
0 t 0

Derivative
Integrate
1
Step f (t )  1
s
1
Ramp f (t )  t
s2
1
Exponential f (t )  e at
sa
1
Sine f (t )  sin( t )
 2  s2
Matlab Animation
4.1 Time response of first-order systems
• First-order systems - Example Animation

Pole =1/t=-a0
X
S = -a0

Question: What does this circuit

often used for?

1
b0 K Vc (s) (Cs ) 1
G(s)     
s  a0 ts  1 V ( s) R  1 RCs  1
(Cs )
t = RC (sec); K=1
4.1 Time response of first-order systems
C(s) b0 c( t ) b0
G(s)    
Can be written as R(s) s  a 0 r( t ) d  a 0
dt
dc
 a 0 c  b 0r  C(s)[S  a0 ]  b0R(s)
dt
C(s) b0 1
T(s)  G(s)   Let a0 
R(s) s  a 0 t Pole =1/t=-a0
C(s) K/t X
 K
R(s) s  1 / t Characteristics & b0  S = -a0
Equation: Why?t = time constant:
t
C(s) K

R(s) ts  1 t= RC (sec); t = L / R (sec)
C(s)( ts  1)  R(s)K K=DC gain i.e steady state value
C(t)
1 G(0)=K
t C(s) (s  )  R(s) K
t -Transient
K
S=0
1 1
C(s) (s  )  R(s) K -Natural Steady-state
t t -S≠0 t
Ts=4τ
4.1 Time response of first-order systems

1 1
C(s) (s  )  R(s) K
t t
The inverse Laplace Transform (Time domain)

d 1 1 dc( t ) c( t ) 1
c( t ) (  )  r ( t ) K    r( t ) K
dt t t dt t t

Now take the Laplace transform and include the initial conditions

C(s) k
S C(s)  c(0)   R(s)
t t
C(0) : initial condition and is a constant value

ILLT of a constant = impulse response; impulse function c(0)(t)

4.1 Time response of first-order systems

C(s) K
S C(s)  c(0)   R(s)
t t

1 K
C(s)( s  )  C(0)  R(s)
t t

C(0) K/t
C(s)   R(s)
 1  1
s   s  
 t  t
4.1 Time response of first-order systems

C(0) K/t
C(s)   R(s)
 1  1
s   s  
 t  t

K/t
R(s)  1
 s  
 t  +

C(s)

1
If initial
+
c(0)  1
conditions=0
s  
 t K/t
R(s)  1 C(s)
C(0) initial condition  s  
 t 
is impulse input
4.1.1 Unit-step response (1st-order system) page 117
Why do we call 1/s (integrator) as a
step function?
C(s)  G(s) R(s) 1
G(s)  ; characteristic eq s  0
s0
C(t)
R(s)= 1/s step input
c (t)  Ke 0  K K
t
0
K
C(s)  t R(s)
K/t
 1
s   R(s)  1
s  
C(s)
 t  t

K/t 1 K K
C(s)   
 1 s s  1
s   s  
 t  t
4.1 Time response of first-order systems
TABLE 4.1

K K t e-t/t
C(s)  
s  1 0 1
s  
 t t 0.3679
Inverse Laplace transform [see table B.1 P=836] 2t 0.1353
t
c( t )  K(1  e t ) , t0 3t 0.0498

t
4t 0.0183
c( t )  K  Ke t e-5t 0
5t 0.0067
Originates in the System G(s) Transfer
Function & is Called:
Originates in the pole of R(s), has  Transient Response
Constant Value & is Called:  Natural Response
Forced Response
As t→0 Ke-t/t goes to zero
Steady State Response
4.1 Time response of first-order systems

C(t)

0.5K
t
t e-t/t
K(1  e t ) Settling 0 1
Time
t 0.3679
Ts=4t
2t 0.1353
t t
0 3t 0.0498
Ts=4t
4t 2 % 0.0183

-0.5K t 5t 1 % 0.0067
 Ke t

Slop = K/t If decay at its initial rate, it would

reach a value of zero in t sec
-K Figure 2.1&2.2 Step response of first order system
 C(s) b 1
G (s)   a
R (s) s  a t

Time constant (t): The

time for e-at to decay to
37% of its initial valu
OR
t = The time it takes for
the step response to rise
to 63% of its final value
Example: 4.1 Find the unit step response of a system with the transfer function

C(s) 2.5 5 K
G(s)   G ( s)  ; K  2.5; t  0.5
R(s) 0.5 s  1 s  2t s  1 Pole =1/t
Characteristic equation ? S+2=0 X
S = -2
Step response R(s) = A/s = 1/s unit step response

5 1 5 / 2 5 / 2
C(s)  G(s) R(s)   
s2 s s s2 C(t)
t 2.5
2t t
c(t )  (5 / 2) (1  e )  K(1  e )
s=-2 p= 1/t =2 t =0.5 sec Ts=4t =2 sec

K= 5/2 =steady state response or forced response t

Ts=4t =2 sec
t→ (5 / 2) e2t ) naturalresponse Will go to zero (decay exponentially)
K /t

 1
s  
 t
 TABLE 4.1
C(s) 2.5 K
G(s)    ; K  2.5; t  0.5 t e-t/t
R(s) 0.5 s  1 t s  1
0 1
2.5 Similarly t
G(s)  0.3679
0. 5 s  1 t
t
2t 0.1353
c( t )  2.5(1  e ) 3t
s0 0.0498
 t 0 4t 0.0183
2.5 c(0)  2.5(1  e t )0
G(0)   2. 5 5t 0.0067
0. 5 x 0  1
C(t)
t < 4τ t > 4τ
2.5 S=d/dt  0 S=d/dt=0
K
s0
2.5
G(0)   2.5
0.5x0  1
t 4t
c( t  4t)  2.5(1  e t )  2.5
 t 0
c(0)  2.5(1  e t )0 t

Ts=4t =2 sec
RL DIFFERENTIAL EQUATION

I(s) 1
G (s)  
V(s) Ls  R

I(s) 1/ L
G (s)  
V(s) s  R / L
t / t
G (s) 
I(s)

1/ L i( t )  I(1  e )
V(s) s  pole

I(s) 1/ L
G (s)  
V(s) s  1 / t
MATLAB m.File Program MATLAB Simulink

num=[0 0 5];
den=[1 2 0];
[r,p,k]=residue(num,den)
pause
G=tf ([0 5],[1,2]);
Step (G)
>>r =
-2.5000
2.5000
>>p =
-2
0
>>k =
[]

t = 0:0.01:3;
c=2.5*(1-exp(-2*t));
plot(t,c)
 C(s) 1
G(s)   ; characteristic eqaution s  0
R(s) s  0
1 1
t  
C(t) Pole 0 Impulse (Natural) Response
Impulse
t
Input K c( t )  Ke  K
t
0
s=0
X
C(t)
Complete response = Natural + forced

Unit Step
c( t )  t K
t
Input 0

1 1 1 1
C( s )  R( s )   2  Ramp response
s0 s s s
 C(s) 1
G(s)   ; characteristic eqaution s  2
R(s) s  2
1 1
t   0. 5
C(t) Pole 2 Impulse (Natural) Response
Impulse
K t
Input c(t )  Ke t
t
0 decaying ex ponential
X ; s=-2
C(t) Complete response = Natural + forced
K t
c(t )  K (1  e t )
Unit Step
Input t
0

1 1 1 1
C(s)  R(s)    Rising ex ponential
s2 s  2 s s(s  2)
 C(s) 1
G(s)   ; characteristic eqaution s  4
R(s) s  4
1 1
C(t)
t   0.25
Pole 4 Impulse (Natural) Response
K
t
Impulse
c(t )  Ke t
t Input
0

X ; s=-4
C(t) Complete response = Natural + forced

K t
Unit Step
c(t )  K (1  e t )
Input
t
0
1 1 1 1
C(s)  R(s)    Rising ex ponential
s4 s  4 s s(s  4)
 I(s) 1/ L
G (s)  
V(s) s  1 / t

V(s) 1/ L I(s)

s  1/ t

1
V(s) 
s I(s)
R
 zeros and
poles
generate
the
pole at -5 amplitudes
for both the
generated forced and
e-5t; natural
natural responses
response
Example from previous book

3
T ( s)  G(s) 
Y ( s)

b0 T(s)  ;
R ( s ) s  a0 s3
 r (t )  6u(t);
b0 Y (0 )
Y ( s)  R( s )  
s  a0 s  a0 y(0 )  10
Zero-state Zero-input
component component

 b0 A b0 A a0t 
y(t )    e u(t ) No Initial Conditions
 a0 a0 
 b0 A   b0 A   a0t 
y (t )     y (0 )   e u (t ) With IC
 a0  a0  
Problem from Dorf Book: P2.30 The measurement or sensor element in a feedback
system is important to the accuracy of the system. The dynamic response of the sensor
is important. Most sensor elements possess a transfer function:

k
H(s) 
ts  1

Suppose that a position-sensing photo detector has T = 4,us and 0.999 < k < 1.001.
Obtain the step response of the system, and find the k resulting in the fastest response
that is, the fastest time to reach 98% of the final value.

Solution:
where t = 4μs = 4 × 10−6 seconds and 0.999 ≤ k < 1.001. The step response is:

k 1 k k
Y(s)   
ts  1 s s  s  1 
  t

Taking the inverse Laplace transform yields:

y(t) = k − ke−t/t = k(1 − e−t/t ) .

The final value is k. The time it takes to reach 98% of the final value is t = 15.6μs
independent of k. HOW? Find
An armature-controlled DC motor is driving a load.
The input voltage is 5 V. The speed at ( = 2 seconds is
30 rad/s, and the steady speed is 70 rad/s when t—*oo.
Determine the transfer function <o(s)/V(s).
Time response of first-order systems – Ramp Input Response
Suppose we wish to calculate the impulse response with no initial conditions.

The inverse transform of this expression can be written as

 di
V  iR  L
dt
di dc
L  iR  V   a 0 c  b 0r...(2.1)
dt dt

I(s)(LS  R)  V(s)

I(s) 1 C(s) K
  
V(s) (LS  R) R(s) ts  1
I(s) 1/ L C(s) K/t
  
V(s) (S  R / L) R(s) s  1 / t
 5
T(s) 
s2 Pole =1/t
X
S = -2

• Example was stable: (Pole in left half of S-plane)

– the forced response is the steady-state response
– and the natural response is the transient response

• DC gain:
– If the system is stable, so that c(t) has a (dc) steady-state
value:

• For unstable responses, "steady-state" and "transient"

are meaningless
Example B.15
The differential equation describes the relationship between the input x(t) and the output
y(t) of a causal system. Calculate the impulse response of the system.

Solution B.15
For the above equation, x(t) is the input, or the forcing function, and y(t) is the response
function (output). Taking the Laplace transform of this equation, we get
) s(X2)] s(Y[10)] 0(y) s(sY[5 ) s(X2) 0(y5] 10s 5)[s(Y
Solving for the response Y(s).

By setting the initial conditions to zero, the transfer function is obtained.

• What is steady-state gain (or dc gain) of a system?
• Given G(s), the transfer function of a system, how to calculate its
steady-state gain?

Remark:
The system dc gain is the steady-state gain to a constant input for
the case the output has a final value, and it is equal to the system
transfer function evaluated at s = 0. (why?)