Time Response

Poles

These are the values that makes the Transfer

Function Infinite.

In short, these are the roots of the denominator of

the
Transfer Function
 Zeros

These are the values that makes the Transfer

Function Zero.

In short, these are the roots of the numerator of

the
Transfer Function
Given the transfer function of a system, we can see that it has a
pole at -5
and has a zero at -2.
Normally, the poles and zeroes are plotted in the complex plane.
x denotes the poles and for the zeroes.
Let’s get the output response of the system to see more of
the properties of Poles and Zeros

Output Time Response

 Output Time Response

Force Natural
response response

The output response of the system is always the sum of

force response and natural response
 Output Transform Response

s=0 s=-5

Output Time Response

As we can notice, the pole of the input function or the input pole
generates the force response while the pole of the transfer
function or the system pole generates the natural response.
First Order System
 Lets input a unit step response, R(s)=1/s to the given first
order system,
\

By taking the Inverse Laplace Transform,

Lets examine the importance of a in the equation.

Let t=1/a, then

c(t)=1-0.37=0.63
 Time Constant is the time at which
the output reaches to 63% of its fina
value.

1/a is called the time constant.

 Rise Time (Tr)

Is defined as the time for the response to go from 10% to 90%

of its final value.
 Settling Time (Ts)

Is defined as the time for the response to reach and stay within
2% of its final value.
Second Order System
General Second Order Transfer Function

Eqn. 4.23

Where: is the damping ratio and 𝞈n is the natural frequency

Types of Second Order Systems
 Overdamped System
A type system that has an output response that moves
slowly towards to equilibrium
The system generates two distinct real poles.
 Critically Damped System
A type system that has an output response that moves
fastt towards to equilibrium
The system generates two multiple real poles.
 Underdamped System
A type system that has an output response that
oscillates at first then gradually decreases to
equilibrium.
The system generates two distinct complex poles.
 Undamped System
A type system that has an output response that
oscillates back and forth and has a constant
amplitude over time.
The system generates two distinct imaginary poles.
 In terms of Damping Ratio
Type of Second Order System Damping Ratio

Overdamped >1

Critically damped =1

Underdamped 0< <1

Undamped 0