Dynamic/Transient Response Characteristics

Poles and Zeros of a 1st Order System

A generalized TF:

Characteristic Equation

Example:

Standard Ways of writing G(s)

What are the significance of Poles and Zeros?

Ex: Consider the step response of
Multiplying G(s) with the step input (1/s):

Thus,
So, we see that the pole of G(s) at s = -5 appears in the exponential decay rate
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Contributions of Poles and Zeros to the system Response:

Conclusions:
1. A pole of the input function generates the form of the forced response
(that is the pole at the origin generated a step function at the output).
2. A pole of the transfer function (system) generates the form of the
natural response (that is, the pole at -5 generated e-5t ).
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3.

A pole on the real axis generates an exponential response of the form

e-t, where is the pole location on the real axis.

4.

thus, further to the left a pole is on the negative real axis, the faster
the exponential transient response will decay to zero

The Zeros and Poles generate the amplitudes for both the forced and
natural responses. This can be seen from the following calculations:

The previous observations can lead us to the answers to the following question
How can we predict the transient response (TR) due to any TF without
computing the solution?
Example:
We have,

Taking ILT:

Additional Info: TR obviously depends on type of input, so we choose the test

input
STEP FUNCTION
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Performance Specification for 1st-order System:

Recall:
One of the primary objectives of designing a control system is to
make the output follow the input as closely as possible.
Does this happen for 1st-order system?

Test Input: STEP FUNCTION

So,

STEP RESPONSE:
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We would like to specify, HOW CLOSE TO u(t) WE WANT c(t)

1.

Time Constant: Clearly the STEEPER the initial slope, the QUICKER
c(t) gets to u(t)
initial slope,

Define: Time Constant = 1/a

The Time Constant is the time it takes for the step response to 63% of
its final value.

Note: The Time Constant can be known just by looking at the G(s) or pole
plot

Since the pole is at a, we can say that the pole is located at the reciprocal of
the time constant
The farther the pole from the imaginary axis, the faster the
Transient Response
2.

Alternatively we can use the specification, Rise Time (Tr)

Tr : Rise time is defined as the time for the waveform to go from 0.1 to 0.9
of its final value

3.

Settling Time (Ts): It is defined as the time for the response to reach and
stay within, 2% of its final value.

Note:
All the specs can be expressed
in terms of the pole.
Conversely, knowing the pole,
one can predict the shape of
transient response without
calculation

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1st-order System Example:

An RC circuit:

where,

a = 1/RC

So,
Time Constant = 1/a=RC
Tr = 2.2/a = 2.2 RC
Ts = 4/a = 4 RC

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1st-order System Identification:

Assume: Only the input and output of a 1st-order system is accessible. How
to experimentally find the TF?
Procedure:
1. Assume,
2. Apply a unit step input, u(t)
3. Observe/record the output

So, we can solve for K and a

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2nd-Order System:

Lets go to the BOARD

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