Experiment No-05: Time Response

Objective

• Be able to analysis and design tool, pole and zero

• To analyzing the transient response of the model of the First-order system and Second-
order system

Pole and Zero of a First-order systems

The First-order system of the transfer function can be described as

𝑎
𝐺(𝑠) =
𝑠+𝑎

As if the input is a unit step, where 𝑅(𝑠) = 1/𝑠, and the Laplace transform of the step
response is 𝐶(𝑠), where

𝑎
𝐶(𝑠) = 𝑅(𝑠)𝐺(𝑠) =
𝑠(𝑠 + 𝑎)

Taking the inverse transform, the step response is given by

𝑐(𝑡) = 𝑐𝑓 (𝑡) + 𝑐𝑛 (𝑡) = 1 − 𝑒 −𝑎𝑡

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

1
𝑇𝑐 =
𝑎

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

2.2
𝑇𝑟 =
𝑎

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

4
𝑇𝑠 =
𝑎
 Figure 1: First-order system response to a unit step

Second-order systems

A second-order system can display characteristic much like a first-order system, or

depending on component values, display damped or pure oscillations for its transient response.

Overdamped response

Poles: Two real at −𝜎1 , −𝜎2

Natural response: Two exponentials with time constants equal to the reciprocal of the pole
locations, or

𝑐(𝑡) = 𝐾1 𝑒 −𝜎1𝑡 + 𝐾2 𝑒 −𝜎2𝑡

Underdamped responses

Poles: Two complex at −𝜎𝑑 ± 𝑗𝜔𝑑

Natural response: Damped sinusoid with an exponential envelope whose time constant is
equal to the reciprocal of the pole’s real part. The radian frequency of the sinusoid, the damped
frequency of oscillation, is equal to the imaginary part of the poles, or

𝑐(𝑡) = 𝐴𝑒 −𝜎𝑑 𝑡 cos (𝜔𝑑 𝑡 − 𝜙)

 Underdamped responses

Poles: Two imaginary at ±𝑗𝜔1

Natural response: Undamped sinusoid with radian frequency equal to the imaginary part of
the poles, or

𝑐(𝑡) = 𝐴cos (𝜔1 𝑡 − 𝜙)

Critically damped responses

Poles: Two real at −𝜎1

Natural response: One term is an exponential whose time constant is equal to the reciprocal
of the pole location. Another term is the product of time, t, and an exponential with time constant
equal to the reciprocal of the pole location, or

𝑐(𝑡) = 𝐾1 𝑒 −𝜎1𝑡 + 𝐾2 𝑡𝑒 −𝜎1𝑡

The step responses for the four cases of damping discussed in this section are superimposed
in Figure below. Notice that the critically damped case is the division

General second-order transfer function finally looks like this:

𝜔𝑛2
𝐺(𝑠) = 2
𝑠 + 2𝜁𝜔𝑛 + 𝜔𝑛2
 Now that we have defined 𝜁 and 𝜔𝑛 , let us relate these quantities to the pole location.
Solving for the poles of the transfer function

𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 √𝜁 2 + 1

From second-order transfer function we see that the various cases of second-order response
are a function of 𝜁; they are summarized
Lab assignment

1. Find the output response, c(t), for each of the systems shown in below. Also find the time
constant, rise time, and settling time for each case. And plot the step response using
MATLAB.

2. For each of the transfer functions shown below, find the locations of the poles and zeros,
plot them on the s-plane, and then write an expression for the general form of the step
response. State the nature of each response (overdamped, underdamped, and so on).
 3. Antenna Control: Open-loop Response

For the schematic of the azimuth position control system a shown,

a. Derive the form of the response of the open-loop angular velocity response of the load to
a step-voltage input to the power amplifier
b. Find the damping ratio and natural frequency of the open-loop system.
c. Derive the complete analytical expression for the open-loop angular velocity response of
the load to a step-voltage input to the power amplifier, using transfer function
d. Obtain the open-loop state-space and output equations.
e. Use MATLAB to obtain a plot of the system response to a step-voltage input.