Time Response Analysis

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

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.

ii.

Values of the Laplace Transform variables s, that cause the

transfer function to become infinite.
Any roots of the denominator of the transfer function that are
common to roots of the numerator.

The zeros of a transfer function are:

i.

ii.

The values of the Laplace Transform variable s, that cause the

transfer function to become zero.
Any roots of the numerator of the transfer function that are
common to roots of the denominator.

INFLUENCE OF POLES ON TIME RESPONSE

The output response of a system is a sum of

i.
ii.

Forced response
Natural response

a) System showing an input and an output

b) Pole-zero plot of the system

INFLUENCE OF POLES ON TIME RESPONSE

c) Evolution of a system response. Follow the blue

arrows to see the evolution of system
component generated by the pole or zero

INFLUENCE OF POLES ON TIME RESPONSE

Effect of a real-axis pole upon transient response

a) First-order system
b) Pole plot of the system

FIRST-ORDER SYSTEM

Problem: Derive the transfer function for the following circuit

1
RC
G( s)

RCs 1 s 1
RC

FIRST-ORDER SYSTEM

Transient Response: Gradual change of output from initial to

the desired condition.
Block diagram representation:
R(s)

a
sa

C(s)

Where,
a : pole
Tc : Time constant

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 SYSTEM

General form:
G (s)

C ( s)
a

R( s) s a

C ( s ) G ( s ) R( s )

Output response:

c(t ) 1 e at 1 e t Tc

FIRST-ORDER SYSTEM

Problem: Find the forced and natural responses for the

following systems

FIRST ORDER SYSTEM

First-order system response to a unit step

TRANSIENT RESPONSE SPECIFICATIONS

Time constant, TC

1
TC
a

Rise time, tr

The time for e-at to decay 37% of its

initial value.

The time for the waveform to go

from 0.1 to 0.9 of its final value.

2 .2
tr
a

Settling time, ts

The time for the response to reach,

and stay within 2% of its final value.

4
ts
a

TRANSIENT RESPONSE SPECIFICATIONS

Problem: For a system with the transfer function shown below,

find the relevant response specifications
50
G (s)
s 50
i.

ii.
iii.

Time constant, TC
Settling time, ts
Rise time, tr

SECOND-ORDER SYSTEM

General form:
n2
b
G s 2
2
s as b s 2n s n2
Where,
: Damping ratio
n : Undamped natural frequency

Roots of denominator:
s 2 2n s n2 0
s1, 2 n n 2 1

SECOND-ORDER SYSTEM

Natural frequency, n

Frequency of oscillation of the system without damping.

Damping ratio,

Quantity that compares the exponential decay frequency of the

envelope to the natural frequency.

Exponentia l decay frequency

Natural frequency (rad/s)

SECOND-ORDER SYSTEM

Problem: Find the step response for the following transfer

function
G s

225
s 2 30 s 225

Answer:
ct 1 e 15t 15te 15t

SECOND-ORDER SYSTEM

Problem: For each of the transfer function, find the values of

and n, as well as characterize the nature of the response.
a)

b)

G s

400
s 2 12 s 400
900
G s 2
s 90 s 900

c)

225
G s 2
s 30 s 225

d)

625
G s 2
s 625

SECOND-ORDER SYSTEM

SECOND-ORDER SYSTEM

SECOND-ORDER SYSTEM

Step responses for second-order system damping cases

SECOND-ORDER SYSTEM

Second-order response as a function of damping ratio

SECOND-ORDER SYSTEM

Second-order response as a function of damping ratio

UNDERDAMPED SECOND- ORDER SYSTEM

Second-order response components generated by complex

poles

UNDERDAMPED SECOND-ORDER SYSTEM

n2
G s 2
s 2n s n2

R( S )

n2
s 2n
1
C (s)

s s 2 2 n s n2 s s 2 2 n s n2
s n n
s 2 n
1
1
C (s)

s s n 2 n2 2n2 s s 2 1 2
n

C( S )

1

s

c(t ) 1 e

s n

n
n 1 2

s n

n t

n 1 2

n 1

2
cos 1 2
sin n 1 t
n
2


G s 2
2
s 2n s n
2
n

R( S )

STEP RESPONSE TO AN UNDERDAMPED

SECOND ORDER SYSTEM

c(t ) 1 e nt cos n 1 2 t
sin n 1 2 t
2

UNDERDAMPED SECOND- ORDER SYSTEM

When 0 < < 1, the transfer function is

given by the following.

Where,

d n 1 2

POLE POSITION
G s

n2

s n jd s n jd

UNDERDAMPED SECOND-ORDER SYSTEM

Second-order underdamped responses for damping ratio value

TRANSIENT RESPONSE SPECIFICATIONS

Second-order underdamped response specifications

TRANSIENT RESPONSE SPECIFICATIONS

Rise time, Tr

Peak time, Tp

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

The time required to reach the first

or maximum peak.

Tp

n 1

Settling time, Ts

The time required for the transients

damped oscillation to reach and stay
within 2% of the steady-state value.

Ts

TRANSIENT RESPONSE SPECIFICATIONS

Percent overshoot, %OS

The amount that the waveform overshoots the steady-state, or

final value at peak time, expressed as a percentage of the steadystate value.

%OS e

( / 1 2 )

100%

ln(% OS / 100)

2 ln 2 (%OS / 100)

EXAMPLE
The system shown has

25
G(s)
s(s 5)
Determine the peak time, %O.S., and settling time.

SOLUTION
25
T(s) 2
s 5s 25
s 5s 25
2

s2 2 n s
n2

n 25 5
2 n 5, 0.5

T p

n 1

0.726 sec

%O.S. 100e
Ts (s)

1 2

16.3%

1.6 sec

EXAMPLE: GAIN DESIGN FOR TRANSIENT RESPONSE

The system shown has

K
G (s)
s ( s 5)

Determine the value of K so that %O.S. is 10%.

SOLUTION
K
T(s) 2
s 5s K

for %O.S . 10%

s2 5s K
s 2 n s
2

2
n

n K
5
2 n 5,
2 K

%O.S . 100 e

1 2

10.0%

0.591, K 17.9

SYSTEM PERFORMANCE

Percent overshoot versus damping ratio

SYSTEM PERFORMANCE

Lines of constant peak time Tp, settling time Ts and percent

overshoot %OS

Ts2 < Ts1

Tp2 < Tp1
%OS1 < %OS2

SYSTEM PERFORMANCE

Step responses of second-order underdamped systems as

poles move
a) With constant
real part

b) With constant
imaginary part

SYSTEM PERFORMANCE

Step responses of second-order underdamped systems as

poles move

c) With constant damping ratio

THE END