06/03/2017

UWE Bristol Todays Lecture

Industrial Control Inputs: Step, Ramp and Pulse
UFMF6W-20-2

Control Systems Engineering Response in the Time Domain (First order)

UFMEUY-20-3
Step
Lecture 3: Modelling Systems Ramp
Time Response Final Value Theorem

2017 University of the West of 2017 University of the West of

England, Bristol. England, Bristol.

Step Input Ramp Input

At t0
Consider: f (t ) = for
0 t<0
A t0
f (t ) = for F (s ) = Ate - st dt = A t e - st dt
0 t<0 0 0
u dv

remember : u dv = u v - v du
u = t du = dt

Ae - st Ae - Ae -0 A e -st
F (s ) = Ae - st dt = -
- st
=- - - = dv = e dt v = -
s s
s
s s
0 0
te - st
e - st A

A
F ( s ) = A - + dt = 0 + e - st dt = 2
s s s s

If A = 1, it is called a unit step function
0 0 0
2017 University of the West of 2017 University of the West ofunit step
England, Bristol. England, Bristol.

Pulse Input Pulse Input

A t 0 t t0 A t 0 t t0
f (t ) = 0 for f (t ) = 0 for
0 t < 0 and t > t0 0 t < 0 and t > t0
t t0
- A - st
( )
Area under function, A 0
A A
If t0 approaches zero impulse
F ( s ) = e - st dt = e = 1 - e - st0
t
0 0
st0 t =0
st0
If A=1:
Area = A For an impulse, set t0 0
( )
Unit pulse or d - st 0
Unit impulse (t) 1 - e - st0 dt 1 - e se - st0
F ( s ) = A lim = A lim 0
= A lim =A
Example: t 0 0
st0 t 0 0
d t 0 0
s
st
Physiology: shot of drug t0 dt0 0
Hydraulics: dumping of fluid For a unit impulse, L[(t)] = 1
2017 University of the West of
England, Bristol.
2017 University of the West of
England, Bristol.
LHpitals Rule

2017 University of the West of

England, Bristol. 1
 06/03/2017

Inputs Applying Inputs

Step Input: A Transfer function:
F (s ) =
s R(s) C(s)
Ramp Input: G(s)
A
F (s ) = R(s) is input
s2 A
Impulse: Step input: C ( s) = G( s)
s
F (s ) = A Ramp input:
A
C ( s) = 2 G( s)
s
For unit response, replace A with 1 Impulse: C ( s) = AG ( s)

2017 University of the West of 2017 University of the West of

England, Bristol. England, Bristol.

Time Response First Order: Unit Step

Determine Time Response Unit Step Input: R(s) = 1/s
1. Apply Input to Transfer Function Transfer Function: G(s) = g 1t g t A
= =
2. Simplify (if possible) 1 + ts 1 t s + 1 t s + a

3. Use Inverse Laplace Transform Tables to g 1

where A = and a =
convert from the s-domain back to the time- t t
1 A 1
domain Output: C (s) = s s + a = A s(s + a)
Not listed on Inverse LT tables!

2017 University of the West of 2017 University of the West of

England, Bristol. England, Bristol.

Partial Fraction Expansion First Order: Unit Step

C ( s) =
A A A
= A0 + 1 + 2 We can use equation to estimate response
s( s + a) s s+a
g t

( )
A 1 -
A0 = 0 (numerator and denominator have different orders) c(t ) = 1 - e - at where A = and a = c(t ) = g 1 - e t

a t t
A A A
C (s) = = 1 + 2 A = A1 (s + a ) + A2 s
s( s + a) s s + a
A time Output
A = A1s + A1a + A2 s group A = A1a A1 =
a 0 0
A = s( A1 + A2 ) + A1a common terms
0 = A1 + A2 A2 = -
A
0.632%
a
3 0.95%
C ( s) =
A
=
A1 A 1
-
s( s + a) a s a s + a
A A
a a
A
c(t ) = - e -at = 1 - e -at
a
( ) 5 0.99%
10 0.999%
2017 University of the West of 2017 University of the West of
England, Bristol. England, Bristol.

2017 University of the West of

England, Bristol. 2
 06/03/2017

Example: Unit Step First Order: Unit Step

Unit Step Any first order system represented by:
-
t

g -
t
c(t ) = K 1 - e t

c(t ) = 1 - e t
t
95%
reaches 95% of final value after three time
g =1 t =1 63.2% constants
The time constant, , must be small for a
fast response
First order lag

2017 University of the West of 2017 University of the West of

England, Bristol. England, Bristol.

First Order: Unit Ramp Partial Fraction Expansion

Unit Ramp Input: R(s) = 1/s2 C ( s) =
A A A A
= A0 + 21 + 2 + 3
s 2 ( s + a) s s s+a
Transfer Function: G(s) = g 1 t =
g t
=
A
1 + ts 1 t s +1 t s+a
A0 = 0 (numerator and denominator have
g 1
where A = and a =
t t
different orders)
1 A 1
Output: C ( s) = 2
s s+a
=A 2
s ( s + a)
Solution with: g = 1 t = 1
Not listed on Inverse LT tables! -
t

c(t ) = t - t 1 - e t

2017 University of the West of 2017 University of the West of

England, Bristol. England, Bristol.

Example: Unit Ramp Example: First Order

Unit Ramp Unit Impulse Input: R(s) = 1
Transfer Function: G(s) = g 1 t =
g t
=
A
-
t
1 + ts 1 t s +1 t s+a
c(t ) = t - t 1 - e t

g 1
where A = and a =
t t
A
Output: C ( s ) = 1
s+a
4 Inverse LT:
A g - t
C ( s) = c(t ) = Ae -at = e t
s+a t
2017 University of the West of 2017 University of the West of
England, Bristol. England, Bristol.

2017 University of the West of

England, Bristol. 3
 06/03/2017

Example: First Order Final Value Theorem

Unit Impulse with g = 1 t = 1 To find the final steady state value
g -tt lim f (t ) = lim sF (s)
c(t ) = e t s 0
t
Example: X ( s) 5 3
= G( s) = ; input F(s) =
F ( s) s+3 s
5 3
X ( s) =
s+3 s
x() = lim sX ( s) = 5
2017 University of the West of 2017 University of the West of
England, Bristol. England, Bristol.

Todays lecture
Inputs: Pulse (impulse), Step, Ramp
To determine time response: get transfer
function in s-domain, apply input, then go back
to time domain using:
Inverse Laplace transforms
Partial Fraction technique then ILT
Step response
Ramp response
Final Value Theorem

2017 University of the West of

England, Bristol.

2017 University of the West of

England, Bristol. 4