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8024103-3
AUTOMATIC CONTROL
SYSTEMS
Lecture Note 6: Time Response Analysis

Instructor
Ahmed Al Otaibi, Ph.D.
Dept. of Mechanical Engineering
Taif University

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

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Roadmap (Time Responses)

Time Response

⚫ As defined earlier, time response is the

response of control system as a function of
time. y(t) = yt(t) + ys(t)
• The time response analysis is
divided into two parts

•i) the output is changing with

respect to time.
(transient response)

•ii) the output is almost constant.

(steady state response)

where yt(t) denotes the transient response, and ys(t) denotes the steady-state response.

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Standard test signal

▪The characteristics of actual input signals are a

sudden shock, a sudden change, a constant velocity,
and constant acceleration.

▪The dynamic behavior of a system is therefore

judged and compared under application of standard
test signals – an impulse, a step, a constant velocity,
and constant acceleration.

▪Another standard signal of great importance is a

sinusoidal signal

Unit Impulse input

▪The impulse signal imitate the sudden shock characteristic

of actual input signal.

If A=1, the impulse signal is called unit impulse signal.

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Unit Step input

▪The step signal imitate the sudden change characteristic of

actual input signal.

If A=1, the step signal is called unit step signal

Unit Ramp input

r(t)

0 t

▪The ramp signal imitate the constant velocity

characteristic of actual input signal.

 At t0
r(t ) = 
0 t0

If A=1, the ramp signal is called unit ramp signal

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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.
⚫ The zeros of a transfer function are:
i. The values of the Laplace Transform variable s,
that cause the transfer function to become zero.

Influence of Poles on Time

Response
⚫ The output response of a system is a sum of
i. Forced response
ii. Natural response

a) System showing an input and an output

b) Pole-zero plot of the system

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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

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Example 1
⚫ PROBLEM: Given the system of Figure 4.3, write the output,
c(t), in general terms. Specify the forced and natural parts of
the solution.

⚫ SOLUTION: By inspection, each system pole generates an

exponential as part of the natural response. The input's pole
generates the forced response. Thus,

⚫ Taking the inverse Laplace transform, we get

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Response Analysis of First-Order

Systems

✓Many systems are approximately first-order. The

important feature is that the storage of mass,
momentum and energy can be captured by one
parameter.

✓Examples of first-order systems are: velocity of a

car on the road, control of the velocity of a rotating
system, electric systems where energy storage is
essentially in one capacitor or one inductor,
incompressible fluid flow in a pipe, level control of a
tank, pressure control in a gas tank, temperature in a
body with essentially uniform temperature
distribution (e.g. steam filled vessel).

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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

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First-Order System
⚫ General form:
C (s) K
G( s) = = C ( s) = G ( s) R( s)
R( s) s + 1

⚫ Output response:
 1  K 
C ( s ) =   
 s  s + 1 
A B
= +
s s + 1
B
c(t ) = A + e −t 


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First-Order System
⚫ Problem: Find the forced and natural responses for the
following systems

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First Order System

First-order system response to a unit step

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Transient Response
Specifications
⚫ Time constant, 
⚫ The time for e-at to decay 37% of its 1
=
initial value. a

⚫ Rise time, tr
⚫ The time for the waveform to go 2.2
tr =
from 0.1 to 0.9 of its final value. a

⚫ Settling time, ts
⚫ The time for the response to reach, 4
ts =
and stay within 2% of its final value. a

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Transient Response
Specifications
⚫ Problem: For a system with the transfer function shown
below, find the relevant response specifications
50
G( s) =
s + 50

i. Time constant, 
ii. Settling time, ts
iii. Rise time, tr

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Second-Order System
⚫ Compared to the simplicity of a first-order
system, a second-order system exhibits a
wide range of responses that must be
analyzed and described.
⚫ Whereas varying a first-order system's
parameter simply changes the speed of the
response, changes in the parameters of a
second-order system can change the form of
the response.

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Second-Order System Cont.

⚫ A second-order system can display
characteristics much like a first-order system,
or, depending on component values, display
damped or pure oscillations for its transient
response.
⚫ In the general case, Second-Order System
has two finite poles and no zeros.

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Second-Order System
⚫ Problem: Find the step response for the following transfer
function
225
𝐺 𝑠 =
𝑠 2 + 30𝑠 + 225

⚫ Answer:

c(t ) = 1 − e −15t − 15te −15t

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Second-Order System
 Problem: For each of the transfer function, find the values of
ζ and n, as well as characterize the nature of the response.

G (s ) =
400
a)
s + 12s + 400
2

G (s ) = 2
900
b)
s + 90s + 900

G (s ) =
225
c)
s + 30s + 225
2

G (s ) =
625
d)
s + 625
2

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Second-Order System

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Second-Order System

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Second-Order System
⚫ Step responses for second-order system damping cases

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Second-Order System
⚫ Pole plot for the underdamped second-order system

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Second-Order System
⚫ Second-order response as a function of damping ratio

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Second-Order System
⚫ Second-order response as a function of damping ratio

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Second-Order System
⚫ Second-order underdamped responses for damping ratio
value

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Transient Response
Specifications
⚫ Second-order underdamped response specifications

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Transient Response
Specifications
⚫ Rise time, Tr
⚫ The time for the waveform to go from 0.1 to 0.9 of its
final value.


⚫ Peak time, Tp Tp = 2
⚫ The time required to reach the first n 1 − 
or maximum peak.

⚫ Settling time, Ts 4
⚫ The time required for the transient’s Ts =
 n
damped oscillation to reach and stay
within ±2% of the steady-state value.

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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
steady-state value.

%OS = e −( / 1− 2 )

100%

− ln(%OS / 100)
 =
 2 + ln 2 (%OS / 100)

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Discuss the unit step response:

q r
C k − Bk  k  k − k k t
 A je 
b s jt
c( t ) = m + + e sin( k 1 −  k2 )t
an
k =1  k 1 −  k
2
j =1

We have:
1) 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑠𝑡𝑎𝑏𝑙𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 𝑚𝑢𝑠𝑡 𝑎𝑙𝑙 𝑝𝑜𝑙𝑒𝑠 𝑎𝑟𝑒 𝑖𝑛 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡 𝑠 − 𝑝𝑙𝑎𝑛𝑒.

2) 𝑇ℎ𝑒 𝑟𝑒𝑙𝑒𝑣𝑎𝑛𝑡 𝑡𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡 𝑝𝑜𝑟𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑠 𝑒𝑥𝑝𝑜𝑛𝑒𝑛𝑡𝑖𝑎𝑙𝑙𝑦

𝑑𝑒𝑐𝑙𝑖𝑛𝑒𝑑 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑟𝑒𝑎𝑙 𝑝𝑜𝑙𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡 𝑠 − 𝑝𝑙𝑎𝑛𝑒.

3) 𝑇ℎ𝑒 𝑟𝑒𝑙𝑒𝑣𝑎𝑛𝑡 𝑡𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡 𝑝𝑜𝑟𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑠 𝑎 𝑑𝑒𝑐𝑙𝑖𝑛𝑒𝑑

𝑜𝑠𝑐𝑖𝑙𝑙𝑎𝑡𝑖𝑜𝑛 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑐𝑜𝑚𝑝𝑙𝑒𝑥 𝑝𝑜𝑙𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡 𝑠 − 𝑝𝑙𝑎𝑛𝑒.

4 ) 𝑇ℎ𝑒 𝑓𝑎𝑟𝑡ℎ𝑒𝑟 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦 𝑎𝑥𝑖𝑠 𝑡ℎ𝑒 𝑝𝑜𝑙𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡 𝑠 − 𝑝𝑙𝑎𝑛𝑒 𝑖𝑠,
𝑡ℎ𝑒 𝑓𝑎𝑠𝑡𝑒𝑟 𝑡ℎ𝑒 𝑟𝑒𝑙𝑒𝑣𝑎𝑛𝑡 𝑡𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡 𝑝𝑜𝑟𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑠 𝑑𝑒𝑐𝑙𝑖𝑛𝑒𝑑.
𝑎𝑛𝑑 𝑡ℎ𝑒 𝑙𝑖𝑡𝑡𝑙𝑒𝑟 𝑡ℎ𝑒 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑠.

5) 𝑇ℎ𝑒 𝑓𝑎𝑟𝑡ℎ𝑒𝑟 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑟𝑒𝑎𝑙 𝑎𝑥𝑖𝑠 𝑎𝑛𝑑 𝑡ℎ𝑒 𝑚𝑜𝑟𝑒 𝑐𝑙𝑜𝑠𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦
𝑎𝑥𝑖𝑠 𝑡ℎ𝑒 𝑝𝑜𝑙𝑒𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡 𝑠
− 𝑝𝑙𝑎𝑛𝑒 𝑎𝑟𝑒, 𝑡ℎ𝑒 𝑏𝑖𝑔𝑔𝑒𝑟 𝑡ℎ𝑒 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑠.
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6) 𝑇ℎ𝑒 𝑧𝑒𝑟𝑜𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 𝑜𝑛𝑙𝑦 𝑎𝑓𝑓𝑒𝑐𝑡 𝑡ℎ𝑒 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑚𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑜𝑓

𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡 𝑝𝑜𝑟𝑡𝑖𝑜𝑛𝑠.

7) 𝑇ℎ𝑒 𝑝𝑜𝑙𝑒𝑠, 𝑤ℎ𝑖𝑐ℎ 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑚𝑜𝑠𝑡 𝑐𝑙𝑜𝑠𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦 𝑎𝑥𝑖𝑠 𝑖𝑛 𝑡ℎ𝑒
𝑙𝑒𝑓𝑡 𝑠 − 𝑝𝑙𝑎𝑛𝑒, 𝑎𝑟𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑠𝑡 𝑖𝑛𝑓𝑙𝑢𝑒𝑛𝑐𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒.

𝐷𝑜𝑚𝑖𝑛𝑎𝑛𝑡 𝑝𝑜𝑙𝑒𝑠:
𝑡ℎ𝑒 𝑝𝑜𝑙𝑒𝑠 → 𝑚𝑜𝑠𝑡 𝑐𝑙𝑜𝑠𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦 𝑎𝑥𝑖𝑠 𝑖𝑛 𝑡ℎ𝑒 𝑙𝑒𝑓𝑡 𝑠 − 𝑝𝑙𝑎𝑛𝑒.

We can use the dominant poles to approximate

a nth-order
system to a second-order or a first-order system.
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System Performance
⚫ Percent overshoot versus damping ratio

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System Performance
⚫ Lines of constant peak time Tp, settling time Ts and percent
overshoot %OS

Ts2 < Ts1

Tp2 < Tp1

%OS1 < %OS2

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System Performance
⚫ Step responses of second-order underdamped systems as
poles move

a) With constant
real part

b) With constant
imaginary part

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System Performance
⚫ Step responses of second-order underdamped systems as
poles move

c) With constant damping ratio

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Questions?

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