DMT 354

Time Response Analysis

Chapter 3

1
Contents

 Introduction
 Influence of Poles on Time Response
 Transient Response of First-Order System
 Transient Response of Second-Order System
 INTRODUCTION

TIME RESPONSE ANALYSIS

 In most control problems the time
domain response is used to measure a
system performance.
 Transient Response: response of a
system as a function of time before
steady-state.
 Time response could be divided into 2:
 Transient response - the response
before convergence or steady
 Steady-state response - the
response after convergence
 INTRODUCTION

 The concept of poles and zeros, fundamental to the analysis of and

design of control system, simplifies the evaluation of system response.
 The poles of a transfer function are:
i. Values of the Laplace Transform variables s, that cause the transfer
function to become infinite.
ii. Any roots of the denominator of the transfer function.
 The zeros of a transfer function are:
i. The values of the Laplace Transform variable s, that cause the
transfer function to become zero.
ii. Any roots of the numerator of the transfer function.
 POLES AND ZEROS

Consider a transfer function

(s  z1)(s  z2 ).... (s  zm )
F(s)  K
(s  p1)(s  p2 ).... (s  pn )
Singular point of F(s) approaching to infinity is when

(s  p1)(s  p2)....(s  pn )  0

The roots are called poles  p1 ,  p2 , ...., pn

Singular point of F(s) approaching to zero is when

(s  z1)(s  z2)....(s  zm) 0

The roots are called zeros z1,z2,....,zm
 INFLUENCE OF POLES

The output response of a system is a sum of

i. Forced response
ii. Natural response

Zero
Pole

a) System showing an input and an output

b) Pole-zero plot of the system
 INFLUENCE OF POLES

c) Evolution of a
system response.
Follow the blue
arrows to see the
evolution of system
component
generated by the
pole or zero

7
 INFLUENCE OF POLES

1. A pole of input function generates forced response.

2. A pole of TF generates natural response.
3. A pole on real axis generates exponential response of form
𝑒 , where 𝛼 is the pole location on real axis.
4. The zeros & poles generate the amplitudes for both forced
& natural responses.
INFLUENCE OF POLES

Effect of a real-axis pole upon

transient response

a) First-order system
b) Pole plot of the system
 INFLUENCE OF POLES

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

1
𝑅 𝑠 𝐶 𝑠
𝑠 𝑠 3
𝑠 11𝑠 38𝑠 40
 Solution:
By inspection, each system pole generated an exponential as part of the natural
response.The input's pole generates the forced response.Thus,
𝐾 𝐾 𝐾 𝐾
𝐶 𝑠
𝑠 𝑠 2 𝑠 4 𝑠 5

Forced response Natural response

 INFLUENCE OF POLES

 Taking inverse LT,

𝑐 𝑡 𝐾 𝐾𝑒 𝐾𝑒 𝐾𝑒

Forced Natural
response response
 FIRST ORDER SYSTEM

First order system : a system without zero.

𝐶 𝑠 𝑎
𝐺 𝑠
𝑅 𝑠 𝑠 𝑎
If input = unit step,
𝑎
𝐶 𝑠 𝐺 𝑠 𝑅 𝑠
𝑠 𝑠 𝑎
Taking the inverse LT, the step response:
𝑐 𝑡 𝑐 𝑡 𝑐 𝑡 1 𝑒
 FIRST ORDER SYSTEM

 Let us examine the

significance of parameter a.

 When 𝑡 ,
𝑒 𝑒 0.37
or 𝑐 𝑡 1 𝑒
1 0.37 0.63

From these values, we can

define 3 transient response
performance specification.
First-order system response
to a unit step
 FIRST ORDER SYSTEM

 Transient Response: Gradual change of output from initial to the desired

condition.
 Block diagram representation:
Where,
K : DC Gain
𝐾 𝑎 𝐾
R(s) C(s) a : exponential
𝑎𝑠 𝑠 𝑎 𝑠 𝑠 𝑎
frequency

 By definition itself, the input to the system should be a step function

which is given by the following:

1
R( s) 
s
 FIRST-ORDER SYSTEMS

•  is related to the speed

of response of the
system.
• The slower the system
responds to an input, the
larger the value of 
• The faster the system
responds to an input, the
smaller the value of 

Step response of a first-order system for different

time constant 
 TRANSIENT RESPONSE SPEC

 Time constant, . 𝜏

 The time for e-at to decay 37% of its initial value.

.
 Rise time, Tr. 𝑇

 The time for the waveform to go from 0.1 to 0.9 of its final value.

 Settling time, Ts 𝑇

 The time for the response to reach, and stay within 2% of its final value.
 Where, a = the initial rate of change of the exponential at t=0
 EXAMPLE

 Problem: For a system with the transfer function shown below, find the
relevant response specifications if input is a unit step.

50
G(s) 
s  50
i. Time constant,
 (Ans:  = 0.02s)
ii. Settling time,
Ts (Ans:Ts = 0.08s)
iii. Rise time,
Tr (Ans:Tr = 0.044s)
 EXAMPLE

Find the output response , c(t) for each of the systems below.
Also find the DC gain, time constant, rise time and settling time
for each case:
1

(a)
s 5 C (s)

2s  5
1
s 40 C (s)
(b)
s  20
EXAMPLES

Analysed:
1. The time constant, t.
2. The initial slope, a.
3. The gain, K.
4. The rise time, Tr.
5. The settling time, Ts.
6. The transfer function of
the system, C(s). 19
 SECOND ORDER SYSTEM

 General form:
Kn2
G s   2
s  2 n s  n2

Where,
K : Gain
𝜉 : Damping ratio
n : Undamped natural frequency

s 2  2 n s  n2  0
 Roots of denominator:

b  b2  4ac
s1, 2   n  n   1
2 s
2a
 SECOND ORDER SYSTEM

 Natural frequency, n
Frequency of oscillation of the system without damping.

 Damping ratio, ξ
Quantity that compares the exponential decay frequency of
the envelope to the natural frequency.
𝐸𝑥𝑝𝑜𝑛𝑒𝑛𝑡𝑖𝑎𝑙 𝑑𝑒𝑐𝑎𝑦 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
𝜉
𝑟𝑎𝑑
𝑁𝑎𝑡𝑢𝑟𝑎𝑙 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
𝑠
 RESPONSE OF 2ND ORDER SYSTEM TO STEP
INPUTS

9 9
𝐶 𝑠
𝑠 𝑠 9𝑠 9 𝑠 𝑠 7.854 𝑠 1.146

 Response : OVERDAMPED, ξ 1
 Poles : Two real at 𝜎, 𝜎
 RESPONSE OF 2ND ORDER SYSTEM TO STEP
INPUTS

9 9
𝐶 𝑠
𝑠 𝑠 2𝑠 9 𝑠 𝑠 1 𝑗 8 𝑠 1 𝑗 8

 Response : UNDERDAMPED, 0 𝜉 1
 Poles : Two complex poles at
 RESPONSE OF 2ND ORDER SYSTEM TO STEP
INPUTS

9 9
𝐶 𝑠
𝑠 𝑠 9 𝑠 𝑠 𝑗3 𝑠 𝑗3

 Response : UNDAMPED, ξ 0
 Poles : Two imaginary poles at
 RESPONSE OF 2ND ORDER SYSTEM TO STEP
INPUTS

9 9
𝐶 𝑠
𝑠 𝑠 6𝑠 9 𝑠 𝑠 3

 Response : CRITICALLY DAMPED, ξ 1

 Poles : Two real poles at
RESPONSE OF 2ND ORDER SYSTEM TO STEP
INPUTS
 EXAMPLE

 For each of the transfer function, find the values of K, 𝜉 and n, as well
as characterize the nature of the response.

400 225
G s   2 G s  
s  12 s  400 s 2  30s  225
900
G s   2 G s   2
625
s  90s  900 s  625
 UNDERDAMPED SECOND-ORDER SYSTEM

• Rise Time, Tr
The time required for the waveform to go from 0.1 of the final
value to 0.9 of the final value.

• Peak Time, Tp
The time required to reach the first, or maximum peak.
 UNDERDAMPED SECOND-ORDER SYSTEM

• Percent overshoot, %OS

The amount that the waveform overshoots the steady state, or
final value.

Cmax  C final
%OS   100
C final
/
𝐶 1 𝑒
𝐶 1

𝑂𝑆
ln %
𝜁 100
%𝑂𝑆 𝑒 100 𝑂𝑆
𝜋 𝑙𝑛 %
100
 UNDERDAMPED SECOND-ORDER SYSTEM

 Settling Time, Ts
The time required for the transient’s damped oscillations to reach and
stay within 2% of the steady state value.
 Further Reading

 Chapter 4
i. Nise N.S. (2008). Control System Engineering (5th Ed), John
Wiley & Sons.
 Chapter 5
i. Dorf R.C., Bishop R.H. (2017). Modern Control Systems
(13th Ed), Prentice Hall.