Time Response

Ref: Control System Engineering

Norman Nise Chapter 4,
Sections 4.1 through 4.8

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

Chapter objectives :

How to find the time response from the transfer function

How to use poles and zeroes to determine the response of a
control system
How to describe quantitatively the transient response of
first and second order systems.
How to approximate higher-order systems as first or
second order.

Time Response - 2

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

Deducing Time Response via Parametric Form

of Transfer Functions

Effect of Poles & Zeros on Time Response

First-Order Systems: Gain/Time-Constant Format
Second-Order Systems:
Damping Ratio/Natural Frequency Format
Higher-Order Systems:
Effect of Additional Zeros
Effect of Additional Poles

Time Response - 3

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Poles, Zeros & System Response

Poles: The poles of a transfer function are those

values of s for which the function is undefined
(becomes infinite).
Zeros: The zeros of a transfer function are those
values of s for which the function is zero.

Time Response - 4

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

Example of the Effect of Pole/Zero Locations

1. Input pole generates form

of forced response.
2. Transfer function pole
generates form of natural
response.
3. Real axis pole generates
exponential character of
natural response.
4. Location of zero affects
the amplitude (magnitude of
residues) of each term of the
response.

Time Response - 5

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

First-Order System Format

G ( s)

K
s 1

where
K system "gain", and
system " time constant".
The response of a first-order system can be
approximately deduced from its gain and time
constant.

Time Response - 6

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Impulse Response & Step Response of First-Order System

Impulse Response:

Step Response:

s + 1

K /
K t
e u( t )
s 1/

K
K /
K
K

K 1 e u( t )
ss 1 s s 1 /
s s 1/

The step response is shown on the following slide. Note that the
steady-state value of the step response is K. Thus, K is interpreted
as the systems gain. For convenience, it is common to plot the step
response with a gain of unity (K=1).

Time Response - 7

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

Response of a Unity-Gain, First-Order System to a Step Input

Rise Time,Tr : The time for the response

to go from 10% to 90% of its final value.
Tr 2.2 *
Settling Time,Ts : The time for the response
to reach, and stay within, 2% of its final value.
Ts 4 *

Time Response - 8

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

Experimental Determination of Gain & Time Constant

Input = 1u(t)
Gain = 0.72/1=0.72
Time Constant = 0.13

Time Response - 9

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Second-Order System Format

G (s)

K
2

s
s
2
1
2
n
n

K n
2
s 2 n s n
2

where
K system " gain" ,
n system " natural frequency", and
system " damping ratio".
The response of the system can be approximately
deduced from its gain, natural frequency, and
damping ratio.
Time Response - 10

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Second-Order
Systems
pole plots and step
responses

Time Response - 11

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

Step Response of Second-Order System with Various

Damping Ratios
0 Undamped
0 1 Underdamped
1 Critically damped
1 Overdamped

Time Response - 12

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S-Plane for Various Damping Ratios

Note: The
overdamped
case can be
considered to be
two first-order
systems. One
with a slow time
constant and
one with a fast
time constant.

Time Response - 13

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Example : characterizing response from the value of

Time Response - 14

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Pole Plot of Underdamped Second-Order System

s1,2 n j 1 2 n n j d
where
d is the "damped natural frequency".

Time Response - 15

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Step Response for Various Damping Ratios

Time Response - 16

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Second-Order Underdamped Response Specifications

1. Peak Time, Tp: Time to

reach first, or maximum,
peak.
2. Percent Overshoot, %OS:
Amount response overshoots
steady-state value, expressed
as a percentage.
3. Settling Time, Ts: Same as
for first-order system.
4. Rise Time, Tr: Same as for
first-order system.

Time Response - 17

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Peak Time & Settling Time

Tp

d n 1 2

Ts

4
n

Percent Overshoot

% OS e

1 2

100

ln % OS / 100
2 ln 2 (% OS / 100)

Time Response - 18

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Rise Time

See footnote on
p. 196 for
approximate
analytic
expression of
normalized rise
time as a
function of
damping ratio.

Time Response - 19

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

Pole plot for an underdamped

second-order system

Lines of constant peak time,Tp ,

settling time,Ts , and percent
overshoot, %OS
Note: Ts < Ts ; Tp < Tp ; %OS1 <
1
2
1
%OS2 2

Time Response - 20

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

Effect of Pole Locations

a. Constant real part;
b. Constant imaginary
part;
c. Constant damping
ratio

Time Response - 21

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Example 4.6, p. 200

n 3
d 7 n 1 2
Therefore,
n
n 1 2

1 2

2
3
9

49 9 2 9
7
1 2 49

3
0.394
58
3
n
58 7.616
3 / 58

Tp

0.449
7
0.394*

% OS e
Ts

1 0.394 2

100 26%

4
1333
.
3

Time Response - 22

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

System response with additional poles

Formulae describing percent overshoot, settling time and peak
time derived only for a system with two complex pole and
no zeroes
If the system has two or more poles or with zeros, it may be
approximated as a second-order system that has two complex
dominant poles.
If the approximation can be justified, second-order formulae
can be applied.
Time Response - 23

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

Extension to Higher-Order Systems

Component responses of a
three-pole system:
a. Pole plot;
b. Component responses:
nondominant pole is near
dominant second-order
pair (Case I), far from the
pair (Case II), and at
infinity (Case III)

Time Response - 24

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Cases

Time Response - 25

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Step responses of system T1(s), system T2(s), and system

T3(s)

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Validity of 2nd order approx.

In general, if the additional pole is five times or more further away
to the left on the s-plane than the real part of the complex dominant
pole, a second order approximation is valid.
The 2nd order approximation is valid for T2(s) and not for T3(s).
Practice your Matlab skill script, Simulink and LTI Viewer
Example
Determine the validity of a 2nd order approx for these 2 TFs
700

G (s)

s 15 s 2 4s 100

G (s)

s 4 s 2 2s 90

360

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Validity test
a. Solve for roots of the denominator The second-order
approximation is valid, since the dominant poles have a
real part of 2 and the higher-order pole is at 15, i.e. more
than five-times further.
b. Solve for roots of the denominator The second-order
approximation is not valid, since the dominant poles have
a real part of 1 and the higher-order pole is at 4, i.e. not
more than five-times further.

TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

System response with an additional zero (first order)

Recall: The poles and zeros
generate the amplitudes for
both the forced and natural
response.

s 2 A B

s s 5 s s 5
s 2
2
A
lim
s 5 s 0 5
s 2
3

Without the zeros the

amplitudes for both the
forced and natural response.
C (s)

1
A
B

s s 5 s s 5

C (s)

lim
s s 5 5
2 3 5t
c(t ) e
5 5

lim

s 5 s 0

1
5

1
1
lim
s s 5
5
1 1
c(t ) e 5t
5 5
B

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TM 141352 DYNAMIC SYSTEMS & AUTOMATIC CONTROL

Effect of adding a zero to a two-pole system

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Step response of a nonminimum- phase system

Zero on the right hand side of the s-plane

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Step response of the nonminimum-phase network (c(t)) and

normalized step response of an equivalent network without the
zero

12