LECTURE 07

TIME RESPONSE
 OBJECTIVES
 Use pole and zeros of a transfer function to determine
time response of a control system
 Quantitatively analyze the transient response of a
first order system
 Write the general response of a second order system
given pole location
 Find damping ratio and natural frequency of a second
order system
 Find time response from state space representation
INTRODUCTION
 After obtaining the mathematical model, systems
are analyzed for its response, to see if they yield
the desired properties or not

 Transient response of system/homogenous solution

 Steady state response of system/ Forced
response/particular solution
RESPONSE OF SYSTEM
 Output response = natural response + forced response

 Natural response is the system's response to initial

conditions with all external forces set to zero

 Forced response is the system's response to an

external stimulus with zero initial conditions.

 Complete solution = homogeneous solution + particular

solution
 Complete response = Natural response (zero input) + forced
response (zero state)
TRANSIENT RESPONSE OF CONTROL SYSTEM

 As the name suggests transient response of

control system means changing

 Just after switching ‘on’ the system that means at the

time of application of an input signal to the system.

 Just after any abnormal conditions. Abnormal

conditions may include sudden change in the load,
short circuiting etc.
STEADY STATE RESPONSE OF CONTROL
SYSTEM

 Occurs after the system becomes settled

 Steady state response of control system is a
function of input signal and it is also called as
forced response
 Specification for transient response analysis
include rise time, peak time, overshoot, steady
state value etc
LINKING CONCEPT WITH POLES AND ZEROS

 Pole of input function generates forced response

 Pole of transfer function generates natural

response

 The zeros and poles generate the

amplitudes for both the forced and natural
responses.

 Poles and zeros have direct relationship with the

time response of a system
POLES

 The poles of a transfer function are values of

Laplace transform variable s, that causes the
transfer function to become infinite.

 For example, the roots of the characteristic

polynomial in the denominator are values of
s that make transfer function infinite.
ZEROS

 The zeros of a transfer function are values of

Laplace transform variable s, that causes the
transfer function to become zero.

 For example, the roots of the numerator are

values of s that make transfer function zero and
thus called zeros.
EXAMPLE: POLES AND ZEROS OF FIRST
ORDER SYSTEM

Zero at s = -2

Pole at s = -5
 EXAMPLE: POLES AND ZEROS OF FIRST
ORDER SYSTEM
 To show the properties of poles and zeros, let us find unit
step response of the system
EXAMPLE: POLES AND ZEROS OF FIRST
ORDER SYSTEM
EXAMPLE: POLES AND ZEROS OF FIRST
ORDER SYSTEM
SUMMARY

 Each pole of the system transfer function on real

axis generates an exponential response that is a
component of natural response
 The input poles generate the forced response
 EXAMPLE
For the given system, write the output c(t) in general terms.
Specify forced and natural parts of the solution.

By inspection, each system pole generates an exponential as

part of natural response

Taking inverse Laplace transform

First Order Systems
 FIRST ORDER SYSTEMS
 We focus on first-order systems without zeros

With step input i.e. R(s)=1/s, the step response

is C(s)

Taking inverse Laplace transform, the step response

is given by

Input pole at the origin is responsible for forced response

Cf(t)=1 and system pole at –a generated the natural response
Cn(t) = -e-at
 FIRST ORDER SYSTEMS

 The only parameter needed to describe transient response is a

Input pole at the origin is responsible for forced response

Cf(t)=1 and system pole at –a generated the natural response
Cn(t) = -e-at ,when t = 1/a
 FIRST ORDER SYSTEMS
Time Constant: 1/a is the time constant of the response and
defined as the time for e-at to decay to 37% of its initial value
or time it takes for step response to rise to 63% of its final
value.

First order system response to a unit step

 FIRST ORDER SYSTEMS

 Reciprocal of time constant has units (1/seconds), or

frequency and known as exponential frequency

 Time constant is considered a transient response

specification of first order system. The farther the pole is
towards the left, the faster the transient response.
 FIRST ORDER SYSTEMS

Other System Specifications:

 Rise Time: Time for the waveform to go from 0.1 to 0.9 of
its final value.

 Settling Time: Time for the waveform to reach and stay

within 2% of its final value. Let c(t) = 0.98 then
 FIRST-ORDER TRANSFER FUNCTIONS VIA
TESTING
 Sometimes it is not possible to obtain transfer function of
a system. Maybe the system is closed and components are
not clearly identifiable.

 Using the fact that transfer function related input and

output, we can use step input to see the system’s response.
This can help us to find time constant and steady-state
value from which transfer function can be calculated
without knowing the internal representation of the
system.
 FIRST-ORDER TRANSFER FUNCTIONS VIA
TESTING
 Consider a simple first order system

 The step response is

 If we can identify K and a, we can obtain the transfer

function of the system

 Let’s perform step input and see the response

 FIRST-ORDER TRANSFER FUNCTIONS VIA
TESTING

• First order characteristics, no overshoot.

• Using response, we measure time constant i.e. time for
amplitude to reach 63% of its final value. Final value here is 0.72.
Time constant is 0.63 x 0.72 = 0.4536 i.e. about 0.13 seconds.
Hence time constant (a) = 1/0.13 = 7.7 seconds
 FIRST-ORDER TRANSFER FUNCTIONS VIA
TESTING

• To find K, we know the forced response reached a steady-state

value K/a of 0.72. Substitute a= 7.7 to get K= 5.54. The transfer
function is therefore
Second Order Systems
SECOND ORDER SYSTEMS
 Varying parameter of first order system simply
changes the speed of the response

 Varying the parameters of a second order system

can change the form of the system response
SECOND ORDER SYSTEM

 Types of second order system:

 Over damped system: A system is said to be
over damped system when the value of ζ is
greater than one.
 Overdamped refers to the large amount of
energy absorption in the system, which
inhabits overshooting and oscillating response
about SS value
 Energy absorption reduced—becomes
underdamped –exhibits overshoot
SECOND ORDER SYSTEM
 Under damped system : A system is said to
be under damped system when the value of ζ
is less than one.
 Roots are complex in nature
 Real parts are always negative
 Presence of finite overshoot
 Exponential decaying amplitude is generated by
real part of complex number
 Sinusoidal oscillations generated by imaginary
pole pair, frequency of sine oscillations matches
with the imaginary part of the pole
SECOND ORDER SYSTEM
 Critically damped system : A system is
said to be critically damped system when the
value of ζ is one.
 Roots are real in nature
 Real parts are always repetitive in nature
 Rise time is less
 There is no presence of finite overshoot.

 Undamped system A system is said to be

sustain damped system when the value of
zeta is zero. No damping occurs in this case
NATURE OF RESPONSES: OVER DAMPED

Input System
Pole Poles on
real axis
 NATURE OF RESPONSES: UNDER DAMPED

Input Complex System

• Real part of pole Pole Poles
matches exponential
decay frequency of
sinusoid amplitude
• Imaginary part
corresponds to
 GENERAL DAMPED SINUSOIDAL RESPONSE OF A
2ND ORDER SYSTEM

Second order step response components generated by complex poles

•The transient response is equal to exponential decaying amplitude

(due to real part of pole) multiplied by sinusoidal waveform (due to
imaginary part of pole)
•Time constant of exponential decay = reciprocal of real part
•Imaginary part = frequency of sinusoid. It is named as damped
frequency of oscillation ω
NATURE OF RESPONSES: UNDAMPED

Input Complex System

Pole Poles
NATURE OF RESPONSES: CRITICALLY DAMPED

Input Complex System

Pole Poles
 NATURE OF RESPONSES: SUMMARY
Response Poles Natural Response Mathematical
form
Over-damped Two exponential with
time constants equal to
reciprocal of pole
locations
Under- Damped sinusoid with
damped exponential envelope.
Time constant is equal to
reciprocal of real part
and damped frequency of
oscillation is equal to
imaginary part
Un-damped Un damped sinusoid with
frequency equal to
imaginary part of poles
Critically- One term is exponential
damped whose time constant is
equal to reciprocal of pole
location. The other term
is product of time t and
an exponential with time
GENERAL SECOND ORDER SYSTEM
 To establish quantitative specifications of a
second order system, we use natural frequency
and damping ratio.
NATURAL FREQUENCY ΩN
 The natural frequency of a second order system is
the frequency of oscillation of the system without
damping.
DAMPING RATIO,
 To quantify the damped oscillations, we use ratio
of exponential decay frequency to natural
frequency
 GENERAL SECOND ORDER SYSTEM
For a general second order representation, we need to find a and
b in terms of natural frequenct and damping ratio

For an un-damped system, a=0, since the poles are purely

imaginary

Next what is a? Assume an under-damped

system,
GENERAL SECOND ORDER SYSTEM

and

General second order transfer

function is

Pole locations can be found from the above general second order
transfer function: