Chapter 2 (page#119)

Continuous-Time
System Responses
2.2 Response of Ist Order System
2.3 Response of Second-Order Systems
2.5 Stability Testing
Introduction
2.4 Higher- Order System Response
Turn
ON
Matlab
Introduction
Chapter: Continuous-Time System Responses
Higher Order Systems = Sum of first order and second order systems. Why?
Time function f(t) = u(t); Laplace Transform F(s) = 1/s
[see table B.1 P=836]
Examples of Step Inputs:
Common input to control system is the : Step function
Laplace Transforms of Common Functions
Name f(t) F(s)
Impulse
Step
Ramp
Exponential
Sine
1
s
1
2
1
s
a s
1
2 2
1
s + e
1 ) ( = t f
t t f = ) (
at
e t f = ) (
) sin( ) ( t t f e =

>
=
=
0 0
0 1
) (
t
t
t f










D
e
r
i
v
a
t
i
v
e







I
n
t
e
g
r
a
t
e

Matlab Animation
First Order System
Impulse
response
Exponential
Step response Step,
exponential
Ramp response Ramp, step,
exponential

1 sT
K
+

/ 1
2
T s
KT
-
s
KT
-
s
K

+

/ 1 T s
K
-
s
K

+
No oscillations (as seen by poles)
OtherTypes of Inputs:
Ramp
Sinusoidal
Pulse
Repeated Sequence
Random Number
In automatic Landing of
aircraft, the aircraft is
commanded to follow for the
glide slop; this glide slop is
commonly approximately 3
o

For investigation: response of Ist & IInd order systems are
checked for various inputs
Time response of first-order systems
First-order systems - Example
Question: What does this circuit
often used for?
0
0
a s
b
) s ( R
) s ( C
) s ( G ) s ( T
+
= = =
2.2(p 120) RESPONSE OF FIRST-ORDER SYSTEMS
1 + t
=
s
K
) s ( R
) s ( C
t
t
K
b
a Let
=
=
0
0
&
1
K ) s ( R ) s )( s ( C = + t 1
K ) s ( R ) s ( ) s ( C =
t
+ t
1
K ) s ( R ) s ( ) s ( C
t
=
t
+
1 1
Can be written as
t = time constant:
t= RC (sec); t = L / R (sec)
K=DC gain i.e steady state value
G(0)=K
) . .....( r b c a
dt
dc
1 2
0 0
= +
) s ( R b ] a S )[ s ( C
0 0
= +
t +
t
=
/ s
/ K
) s ( R
) s ( C
1
X
S = -a
0
Pole =1/t=-a
0
X
S = -a
0
Pole =1/t=-a
0
Characteristics
Equation: Why?
C(t)
t
K
-S0
S=0
-Transient
-Natural Steady-state
T
s
=4
K ) s ( R ) s ( ) s ( C
t
=
t
+
1 1
The inverse Laplace Transform (Time domain)
K ) t ( r )
dt
d
( ) t ( c
t
=
t
+
1 1
K ) t ( r
) t ( c
dt
) t ( dc
t
=
t
+
1
Now take the Laplace transform and include the initial conditions
) s ( R
k ) s ( C
) ( c ) s ( C S
t
=
t
+ 0
ILLT of a constant = impulse response; impulse function c(0)o(t)
C(0) : initial condition and is a constant value
2.2(p 120) RESPONSE OF FIRST-ORDER SYSTEMS .Cont
) s ( R
s
/ K
s
) ( C
) s ( C
|
.
|

\
|
t
+
t
+
|
.
|

\
|
t
+
=
1 1
0
) s ( R
K ) s ( C
) ( c ) s ( C S
t
=
t
+ 0
) s ( R
K
) ( C ) s )( s ( C
t
+ =
t
+ 0
1
2.2(p 120) RESPONSE OF FIRST-ORDER SYSTEMS .Cont
) s ( R
s
/ K
s
) ( C
) s ( C
|
.
|

\
|
t
+
t
+
|
.
|

\
|
t
+
=
1 1
0
C(s)
|
.
|

\
|
t
+
1
1
s
|
.
|

\
|
t
+
t
1
s
/ K
+
+
R(s)
c(0)
|
.
|

\
|
t
+
t
1
s
/ K
R(s)
C(s)
C(0) initial condition
is impulse input
2.2(p 120) RESPONSE OF FIRST-ORDER SYSTEMS .Cont
If initial
conditions=0
Unit-step response for first-order system =R(s) = A/s
) s ( R
s
K
) s ( C
|
.
|

\
|
t
+
t
=
1
s
s
/ K
) s ( C
1
1
|
.
|

\
|
t
+
t
=
) s ( R ) s ( G ) s ( C =
|
.
|

\
|
t
+

+ =
1
s
K
s
K
|
.
|

\
|
t
+
t
1
s
/ K
R(s)
C(s)
= 1/s
2.2(p 120) RESPONSE OF FIRST-ORDER SYSTEMS .Cont
|
.
|

\
|
t
+

+ =
1
s
K
s
K
) s ( C
Inverse Laplace transform [see table B.1 P=836]
0 1 > =
t

t , ) e ( K ) t ( c
t
t

=
t
Ke K ) t ( c
Originates in the pole of R(s), has
Constant Value & is Called:
-Forced Response
-Steady State Response
Originates in the System G(s) Transfer
Function & is Called:
- Transient Response
- Natural Response
As t0 Ke
-t/t
goes to zero
e
-5t
~0
TABLE 4.1
t e
-t/t
0 1
t 0.3679
2 t 0.1353
3 t 0.0498
4 t 0.0183
5 t 0.0067
TABLE 4.1
t e
-t/t
0 1
t 0.3679
2 t 0.1353
3 t 0.0498
4 t 0.0183
5 t 0.0067
2.2(p 120) RESPONSE OF FIRST-ORDER SYSTEMS .Cont

t e
-t/t
0 1
t 0.3679
2 t 0.1353
3 t 0.0498
4 t 0.0183
5 t 0.0067
t
) e ( K
t
t

1
t

t
Ke
Figure 2.1&2.2 Step response of first order system
Slop = K/t
If decay at its initial rate, it would
reach a value of zero in t sec
2 %
1 %
Settling
Time
T
s
=4t
-K
K
-0.5K
0.5K
0
t
C(t)
T
s
=4t
2.2(p 120) RESPONSE OF FIRST-ORDER SYSTEMS .Cont
Example
Find the unit step response of a system with the transfer function
1 5 0
5 2
+
= =
s .
.
) s ( R
) s ( C
) s ( G
2
5
+
=
s
X
S = -2
Pole =1/t
s s
) s ( R ) s ( G ) s ( C
1
2
5
+
= =
2
2 5 2 5
+

+ =
s
/
s
/
) e ( ) / ( ) t ( c
t 2
1 2 5

= ) e ( K
t
t

= 1
K= 5/2 =steady state response or forced response
s=-2
s= 1/t =2
t =0.5 sec
T
s
=4t =2 sec
Characteristic equation ?
S+2=0
ponse naturalres ) e ) / (
t 2
2 5

t
Will go to zero (decay exponentially)
T
s
=4t =2 sec
C(t)
t
2.5
5 . 0 ; 5 . 2 ;
1
) ( = =
+
= t
t
K
s
K
s G
|
.
|

\
|
+
=
t
t
1
/
s
K
Step response R(s) = A/s = 1/s unit step response
1 5 0
5 2
+
= =
s .
.
) s ( R
) s ( C
) s ( G 5 0 5 2
1
. ; . K ;
s
K
= t =
+ t
=
) e ( . ) t ( c
Similarly
t
t

= 1 5 2
S=d/dt=0
t > 4
S=d/dt = 0
t < 4
5 2
1 0 5 0
5 2
0
0
1 5 0
5 2
.
x .
.
) ( G
s
s .
.
) s ( G
=
+
=
=
+
=
5 2 1 5 2 4
4
. ) e ( . ) t ( c
t
= = t >
t
t >
TABLE 4.1
t e
-t/t
0 1
t 0.3679
2 t 0.1353
3 t 0.0498
4 t 0.0183
5 t 0.0067
TABLE 4.1
t e
-t/t
0 1
t 0.3679
2 t 0.1353
3 t 0.0498
4 t 0.0183
5 t 0.0067
5 2
1 0 5 0
5 2
0
0
.
x .
.
) ( G
s
=
+
=
=
C(t)
t
2.5
T
s
=4t =2 sec
K
0 1 5 2 0
0
= =
t
=
) e ( . ) ( c
t
0 1 5 2 0
0
= =
t
=
) e ( . ) ( c
t
MATLAB m.File Program
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)
MATLAB Simulink
0
0
) (
) (
) ( ) (
a s
b
s R
s Y
s G s T
+
= = =
D2.1 For Drill Problems Solutions (Page 123)
Conditions Initial No t u e
a
A b
a
A b
t y
t a
) ( ) (
0
0
0
0
0
|
|
.
|

\
|
=

0 0
0
) 0 (
) ( ) (
a s
Y
s R
a s
b
s Y
+
+
+
=

Zero-state
component
Zero-input
component
IC With t u e
a
A b
y
a
A b
t y
t a
) ( ) 0 ( ) (
0
0
0
0
0
)
`

+ =

10 ) 0 (
); ( 6 ) (
;
3
3
) (
) ( Pr
=
=
+
=

y
t u t r
s
s T
a oblem Drill
Time response of first-order systems Ramp Input Response
0
0
1
=
+
= = s eqaution stic characteri ;
s ) s ( R
) s ( C
) s ( G
response Ramp
s
s s
s R
s
s C = = =
+
=
2
1 1 1
0
1
) ( ) (
C(t)
0
t
K Ke ) t ( c
t
= =

K t ) t ( c =
s=0
X
C(t)
0
t
K
Pole
1
= t
Impulse (Natural) Response
Complete response = Natural + forced
Unit Step
Input
Impulse
Input
X ; s=-2
2
2
1
=
+
= = s eqaution stic characteri ;
s ) s ( R
) s ( C
) s ( G
ponential ex ng Risi
s s s s
s R
s
s C =
+
=
+
=
+
=
) (
) ( ) (
2
1 1
2
1
2
1
) ( ) (
t
t
e K t c

= 1
ponential ex decaying
Ke t c
t
t

= ) (
C(t)
0
t
K
C(t)
K
0
t
Pole
1
= t
Impulse (Natural) Response
Complete response = Natural + forced
Unit Step
Input
Impulse
Input
4
4
1
=
+
= = s eqaution stic characteri ;
s ) s ( R
) s ( C
) s ( G
) ( ) (
t
t
e K t c

= 1
t
t
Ke t c

= ) (
C(t)
0
t
K
X ; s=-4
C(t)
0
t
K
Pole
1
= t
Impulse (Natural) Response
Complete response = Natural + forced
Unit Step
Input
Impulse
Input
ponential ex ng Risi
s s s s
s R
s
s C =
+
=
+
=
+
=
) (
) ( ) (
4
1 1
4
1
4
1
dt
di
L iR V + =
) . ...( r b c a
dt
dc
1 2
0 0
= +
V iR
dt
di
L = +
) s ( V ) R LS )( s ( I = +
) R LS ( ) s ( V
) s ( I
+
=
1
1 + t
=
s
K
) s ( R
) s ( C
) L / R S (
L /
) s ( V
) s ( I
+
=
1
t +
t
=
/ s
/ K
) s ( R
) s ( C
1
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
X
S = -2
Pole =1/t
2
5
+
=
s
) s ( T
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.
Suppose we wish to calculate the impulse response with no initial conditions.
The inverse transform of this expression can be written as
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.
System dc gain
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?)
X
S = -a
0
Pole =1/t=-a
0
Characteristics
Equation
X
S = -a
0
Pole =1/t=-a
0
X
S = -a
0
Pole =1/t=-a
0