CHAPTER 4

TIME RESPONSE
(Part 2)
BEEE2364
CONTROL PRINCIPLES

HAFEZ JTKEK FTKEE

 Learning Outcome
After completing Chapter 4 (Part 2), the student will be able to:

• describe the response of first-order and second-order

systems.
• find the parameters (damping ratio and natural
frequency) of a second-order system.

HAFEZ JTKEK FTKEE

 First-order System
• A first order system without zeros can be described by

Transfer function
Pole location

1
• If the input is a unit step 𝑅 𝑠 = , then the output 𝐶(𝑠) is
𝑠
𝑎
𝐶 𝑠 = .
𝑠(𝑠+𝑎)
• Applying PFE
𝑎 𝐴 𝐵
𝐶 𝑠 = = +
𝑠(𝑠+𝑎) 𝑠 𝑠+𝑎
𝑎 𝑎
𝐴= | = 1 , 𝐵 = |𝑠=−𝑎 = −1
𝑠+𝑎 𝑠=0 𝑠
1 1
𝐶 𝑠 = −
𝑠 𝑠+𝑎
HAFEZ JTKEK FTKEE
 First-order System (Cont.)
• Using inverse Laplace transform, the time response 𝑐(𝑡) is
𝑐 𝑡 = 1 − 𝑒 −𝑎𝑡 .

• At 𝑡 = 0 (starting), 𝑐 0 = 1 − 𝑒 −𝑎 0 = 1 − 1 = 0.
At 𝑡 = ∞ (steady-state), 𝑐 ∞ = 1 − 𝑒 −𝑎 ∞ = 1 − 0 = 1.

• Time response
plot of 𝑐 𝑡

HAFEZ JTKEK FTKEE

 First-order System (Cont.)

Proof: 𝑐 𝑡 = 1 − 𝑒 −𝑎𝑡 ln 𝑒 −𝑎𝑇𝑐 = ln 0.37

0.63 = 1 − 𝑒 −𝑎𝑇𝑐 −𝑎𝑇𝑐 = −1
𝑒 −𝑎𝑇𝑐 = 0.37 1
𝑇𝑐 =
HAFEZ JTKEK FTKEE a
 First-order System (Cont.)

Proof: 0.9 = 1 − 𝑒 −𝑎𝑇90% 0.1 = 1 − 𝑒 −𝑎𝑇10%

𝑒 −𝑎𝑇90% = 0.1 𝑒 −𝑎𝑇10% = 0.9
−𝑎𝑇90% = ln 0.1 = −2.31 −𝑎𝑇10% = ln 0.9 = −0.11
2.31 0.11
𝑇90% = 𝑎 . 𝑇10% = 𝑎 .
HAFEZ JTKEK FTKEE
 First-order System (Cont.)

𝟗𝟖%

Proof: 0.98 = 1 − 𝑒 −𝑎𝑇98%

𝑒 −𝑎𝑇98% = 0.02
−𝑎𝑇98% = ln 0.02 ≈ −4
4
HAFEZ JTKEK FTKEE
𝑇98% = .
𝑎
 First-order System (Cont.)
Summary

98%

HAFEZ JTKEK FTKEE

 First-order System (Cont.)
Example 4.3 Find the time constant, rise time and settling time of the
first-order system with the following transfer function and input.
50 1
G( s)  R( s ) 
s  50 s
Solution:
Pole location at 𝑠 = −50 = −𝑎, thus 𝑎 = 50.

1 1
Time constant 𝑇𝑐 = = = 0.02 second.
a 50

2.2 2.2
Rise time 𝑇𝑟 = = = 0.044 second.
a 50

4 4
Settling time 𝑇𝑠 = = = 0.08 second.
a 50

HAFEZ JTKEK FTKEE

 First-order System (Cont.)
Example 4.4 Find the time constant, rise time and settling time of the
first-order system with the following transfer function and input.
200 1
G( s)  R( s ) 
s  50 s
Solution:
The solutions are similar to Example 4.3 where 𝑇𝑐 = 0.02 s,
𝑇𝑟 = 0.044 s, and 𝑇𝑠 = 0.08 s.
However, since numerator (200) is not equal to 𝑎 (50), the magnitude
(final value) of the time response is differ.
50
𝐶 𝑠 =4 ⇒ 𝑐 𝑡 = 4(1 − 𝑒 −𝑎𝑡 )
𝑠(𝑠+50)
For 𝑡 = ∞, 𝑐 ∞ = 4 1 − 𝑒 −𝑎 ∞ = 4 (not 1 as in standard case).
𝑎
Thus, in general 𝐺 𝑠 = 𝐾𝑠 where 𝐾𝑠 is the final value.
𝑠+𝑎

HAFEZ JTKEK FTKEE

 First-order System (Cont.)
Example 4.5 For the first-order system time response given below,
find the transfer function.

HAFEZ JTKEK FTKEE

 First-order System (Cont.)
Solution:

Final value = 0.72 ∴ The transfer function:

𝑎
𝐺 𝑠 = 𝐾𝑠
𝑠+𝑎
0.45
7.7
= 0.72
𝑠+7.7
63% of final value = 0.63 0.72
= 0.45 5.54
=
𝑠+7.7
Time constant = 0.13 𝑠

1 1
Time constant 𝑇𝑐 = 0.13 = a ⇒ 𝑎 = = 7.7
0.13
HAFEZ JTKEK FTKEE
 Second-order System

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Summary: Poles location comparison

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Summary: Time response comparison

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Example 4.6 Determine the type of time response for the following
system.

Solution:
 b  b 2  4ac
 1,2 
2a

 10  10 2  4(1)(200) The poles are real and imaginary.

 1,2 
2(1) Therefore, the time response is
 10  j 4(175) underdamped.
 1,2 
2
 1 ,2  5  j13.23

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
• So far, the time response information is found based on the
location of poles for the second-order system.

• In the next, the analysis of the second-order system will be done

by examining two parameters: natural frequency and damping
ratio.
HAFEZ JTKEK FTKEE
 Second-order System
(Cont.)
• Recall: The general form for a second-order system is given by
b
G( s ) 
s 2  as  b

which also can be represented by

n2
G( s)  2
s  2n s  n
2

where 𝜔𝑛 is the natural frequency and 𝜁 is the damping ratio.

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Natural frequency 𝜔𝑛 (rad/sec)
• Frequency of oscillation of the system without damping.

b b
G( s )  G( s ) 
s 2  as  b s 2  as  b
0
b
G( s )  Poles: s2  b  0 Therefore,
s2  b
s   b n  b
sj b b   n2
s   j n

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Damping ratio 𝜁
• Quantity that compares the exponential decay frequency of the
envelope to the natural frequency.
Exponential Decay Frequency
 
Natural Frequency (rad/sec)
b
G( s ) 
s 2  as  b
n2
G( s)  2
s  2n s  n2
a
 
2n
HAFEZ JTKEK FTKEE
 Second-order System
(Cont.)
Relationship of poles with natural frequency and damping ratio

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Time response for damping ratio 𝜻 = 𝟎 (Undamped)

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Time response for damping ratio 𝟎 < 𝜻 < 𝟏 (Underdamped)

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Time response for damping ratio 𝜻 = 𝟏 (Critically-damped)

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Time response for damping ratio 𝜻 > 𝟏 (Overdamped)

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Example 4.7 Determine the natural frequency, damping ratio, and
type of time response for each of the transfer functions below.

400 900
G( s )  G( s ) 
s 2  12s  400 s 2  90s  900

225 625
G( s )  G( s ) 
s 2  30s  225 s 2  625

HAFEZ JTKEK FTKEE

 Second-order System
(Cont.)
Solution:

400 n  400  20
G( s )  12 0 < 𝜁 < 1 ∴ Underdamped
s 2  12s  400   0.3
2(20)

900 n  900  30
G( s )  𝜁 > 1 ∴ Overdamped
s  90s  900
2

90
 1.5
2(30)

225 n  225  15
G( s )  𝜁 = 1 ∴ Critically-damped
s 2  30s  225 
30
1
2(15)
625 n  625  25
G( s )  𝜁 = 0 ∴ Undamped
s  625
2

0
0
2(25)
HAFEZ JTKEK FTKEE