Time Response

Siva Rama Krishna

Department of Electrical Engineering

IIT Hyderabad
Salutations

I Salutations to the lotus feet of mother

I Salutations to the lotus feet of father
I Salutations from the bottom of my heart to my Teachers
I Boquets to them
I Brick Bats to me
Time Response

I Time Response - System Response analysed in time domain

I Types of Responses
I Natural Response
I Force Response
I Transient Response
I Steady Steady Response
I Total Response = Natural Response + Force Response
I Total Response = Transient Response + Steady State
Response
I Concept of Poles and Zeros - Simplifies the analysis of System
Response
Poles and Zeros
I Pole - Poles of a transfer function are the values of the
Laplace transform variable, s, that cause the transfer function
to become infinite.
I Zero - Zeros of a transfer function are the values of the
Laplace transform variable, s, that cause the transfer function
to become infinite.
I Poles
I Generates the form of the response
I Generates the amplitude of the response
I Zeros
I Have minimum/no role in the form of the response
I Generates the amplitude of the response
I Pole of a transfer function generates the natural response
I Pole of input function generates the Forced response
First Order Systems
I Systems having transfer functions with one pole are known as
first order systems
I Key Parameter is the time constant τ
I τ characterizes the speed of the response of the system to an
input
Y (s) 1
TF = =
R(s) τs + 1

r + 1
y
± s

Figure: A simple First order order system

First order system- Example

R(s) s + 2
Y (s)
s + 5

I Zero at -2; Pole at -5

1
I Input - Unit Step: R(s) = s
2/5
I Response Y (s) = s + s 3/5
+ 5
2 3 −5t
I The response y (t) = 5 + 5e
Impulse Response of First order system

I Unit Impulse R(s) = 1 1

1
I Y (s) = τs + 1
0.8
I
1 − τt
δ(t)
y (t) = L1 {Y (s)} = τe 0.6

I τ is the time constant of

0.4
the system
t
I 1 e− τ is the transient 0.2
τ
term
0
I The steady state term is 0 2 4

zero
Step Response of First order system
1
I Unit Step R(s) = s
1
I Y (s) = s(τ s + 1 )
2
I
− τt
y (t) = L1 {Y (s)} = 1 − e
t 1.5
I −e − τ is the transient
u(t)
term 1 u(t)
I The steady state term is
1 0.5

I Settling time:TIme taken

to reach 2% of the final 0
0 2 4
steady state value
I There is no steady state
error for step response
First Order System- Definitions
I Time constant- Time taken
for the natural response to
decay to 37% of original
value
I Time constant - Time taken
for the step response to
reach 67% of original value
I Rise time: Time for the
waveform to go from 0.1 to
0.9 of its final value. Tr = 2.31τ − 0.11τ = τ
I Settling time: Time for the
response to reach, and stay 4
Ts =
within, 2% of its final value τ
Ramp Response of First order system

1
I Unit Ramp R(s) = s2
1
I Y (s) = s 2 (τ s + 1
)
4
t
I y (t) = t − τ + τ e − τ
t
I τ e − τ is the transient
term 2

I The steady state term is

t −τ
I Steady state error in 0
0 2 4
ramp response depends
on τ
Second Order Systems

I Systems with two poles are called second order systems

I A generic transfer function of the second order system can be
written as

Y (s) b
TF = = 2
R(s) s + as + b

R(s) b
Y (s)
(s 2 + as + b)

Figure: A simple second order system

Types of responses

I Based on the nature and 2.5 Variation of output

x(t)
location of the poles, the ζ = −0.1
2.0 ζ =0.0
response of the system can ζ =0.1
ζ =0.5
be categorised into four 1.5
ζ =1.0
ζ =1.5
types 1.0

y(t)
I Overdamped Response
0.5
I Underdamped Response
I Undamped Response 0.0
I Critically damped 0.5
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
Response Time [sec]
Overdamped and Underdamped Responses

Overdamped
I Poles: Real and distinct Underdamped
I Natural Response: Two I Poles: Complex and Conjugate
exponentials with the I Natural Response: Damped
time constant equal to sinusoid with an exponential
the reciprocal of the pole envelope
locations I Generic form
I Generic form
−σd t
y (t) = Ae cos(ωd t − φ)
−σ1 t −σ2 t
y (t) = K1 e + K2 e
Critically and Undamped Responses

Undamped
Critically damped I Poles: Imaginary, Complex
Conjugate poles
I Poles: Two real poles at the
same location I Natural Response:
Undamped Sinusoid with
I Natural Response: No
radian frequency equal to
Overshoot
the imaginary part of the
I Generic form poles.
y (t) = K1 e −σ1 t
+ K2 te −σ1 t I Generic form

y (t) = Acos(ω1 t − φ)
Basic parameters of second order system
I Natural Frequency (ωn ) : the frequency of oscillation of the
system without damping
I Damping ratio :describes damped oscillations regardless of
time scale.
I Damping ratio ζ is defined as

Exponential decay frequency

ζ = (1)
Natural Frequency

I Alternatively

1 Natural period
ζ = (2)
2π Exponential time constant
Generic Transfer function
I Consider the generic second order transfer function

b
G (s) = (3)
(s 2 + as + b)

I Consider Undamped system: a = 0

I For this case
b
G (s) =
(s 2 + b)
I By definition, the natural frequency ωn ,

b = ωn2
Generic Transfer function
I For an underdamped system.

a
σ = − .
2

a = 2ζωn
I Hence a generic second order transfer function can be written
as
ωn2
G (s) = (4)
(s 2 + 2ζωn s + ωn2 )
I The roots of this generic transfer function are
p
s1,2 = −ζωn ± ωn ζ2 − 1 (5)
Second Order Systems
I Systems with two poles are called second order systems
I A generic transfer function of the second order system can be
written as

Y (s) b
TF = = 2
R(s) s + as + b

r + ωn2 y
± s(s + 2ζωn )

Figure: A simple second order system

Terminology

I ωn : Natural frequency
I ζ: Damping ratio
I ωn : Angular frequency at which system tends to oscillate in
the absence of damping force
I ζ is a dimensionless quantity describing the decay of
oscillations during transient response
I ωd : Angular frequency at which system tends to oscillate in
the presence of damping force
p
ωd = ωn 1 − ζ2
Response of a 2nd order system

I Response of a 2nd order system mainly depends on the

damping ratio ζ
I Depending on the value of ζ, a second order system can be
classified into
I ζ > 1: Overdamped system
I ζ = 1: Critically damped system
I 0 < ζ < 1: Underdamped system
I ζ = 0: Undamped system
I Damping: It is an effect created in an oscillatory system that
reduces, restricts or prevents the oscillation of the systems
Classification based on damping factor

I Overdamped Sytem: Transients in the system exponentially

decays to steady state without any oscillations
I Critically damped Sytem: Transients in the system
exponentially decays to steady state without any oscillations
in shortest possible time
I Underdamped Sytem: System exhibits oscillations, however
the amplitude of oscillations gradually decay to zero to reach
the steady state
I Undamped response: System keeps on oscillating at its
natural frequency without any decay in amplitude
Impulse Response of a 2nd order system
I Unit Impulse, the input R(s) = 1
I The generic transfer function is given by

Y (s) ωn2
TF = = 2
R(s) s + 2ζωn s + ωn2

I Case1: ζ = 0: Undamped system

Y (s) ω2
TF = = 2 n 2
R(s) s + ωn

y (t) = ωn sin(ωn t)
I ωn is the natural frequency
Impulse Response of a 2nd order system
I Case2: 0 < ζ < 1: Underdamped system

Y (s) ωn2
TF = = 2
R(s) s + 2ζωn s + ωn2

ωn2
 
−1
y (t) = L
(s + ζωn − ωd )(s + ζωn + ωd )
 
( √ ωn ωd )
( 1 − ζ2)
y (t) = L−1
((s + ζωn )2 + (ωd )2 )
 
ωn
y (t) = p e −ζωn t sin(ωd t)
( 1 − ζ 2)
Impulse Response of a 2nd order system

I Case 3: ζ = 1 - Critically damped system

I The generic transfer function is given by

Y (s) ωn2
TF = = 2
R(s) s + 2ωn s + ωn2

ωn2
 
−1
L
(s + ωn )2

y (t) = ωn2 te −ωn t

Impulse Response of a 2nd order system

I Case 4: ζ > 1 - Overdamped System

I
Y (s) ωn2
TF = = 2
R(s) s + 2ζωn s + ωn2

ωn2
 
−1
L p p
(s + ζωn − ωn ζ 2 − 1)(s + ζωn + ωn ζ 2 − 1)
ω2 √ ω2 √
ζ 2 − 1)t ζ 2 − 1)t
y (t) = p n e −(ζωn − ωn
− p n e −(ζωn + ωn
2 ζ2 − 1 2 ζ2 − 1
Step response of a second order system

I Focus is on under damped systems

I For underdamped systems 0 < ζ < 1
I The critical parameters/ metrics
I Peak time Tp is the time required to reach the first or
maximum peak.
I Percent Overshoot %OS is the amount that the wayveform
overshoots the state state. It i the value t the peak time
expressed as a percentage of the steady state value
I Settling time Ts is the time required for the transient’s
damped oscillations to reach and stay with ±2% of the steady
state value
I Rise time Tr is the time required for the waveform to go from
0.1 of the final value to 0.9 of the final value.
Step response of a second order system
Peak Time Tp
I To figure out peak time, it is imperative to differentiate the
step response y(t) and equate it to zero.
I Instead of doing it in time domain, it is convinient to do the
same in the s-domain

ωn2
L[ẏ (t)] = sY (s) = (6)
(s 2 + 2ζωn s + ωn2 )

ωn2
L[ẏ (t)] = (7)
(s + ζωn )2 + ωn2 (1 − ζ 2 )

ωn
p
√ ωn 1 − ζ2
1 − ζ2
L[ẏ (t)] = (8)
(s + ζωn )2 + ωn2 (1 − ζ 2 )
Step response of a second order system

I
ωn p
ẏ (t) = p e −ζωn t sinωn 1 − ζ 2 t (9)
1 − ζ2
I For maxima p
ωn 1 − ζ 2 t = nπ (10)
I The peak time ( the first maxima)

π π
Tp = p = (11)
ωn 1 − ζ 2 ωd
Step response of a second order system
Percent Overshoot %OS
I The %OS is given by

ymax − yfinal
%OS = × 100 (12)
yfinal
I The maximum ymax occurs at the peak time
√−ζπ
 
2
ζ
ymax = 1 − e 1−ζ cos π + p sin π (13)
1 − ζ2

√−ζπ
ymax = 1 + e 1−ζ 2 (14)
√−ζπ
%OS = e 1−ζ 2 × 100 (15)
−ln(%OS/100)
ζ = p (16)
π + ln2 (%OS/100)
2
Step response of a second order system
Settling time Ts
I The time it takes for the amplitude of decaying sinusoid is

1
e −ζωn t p = 0.02 (17)
1 − ζ2

p
−ln(0.02 1 − ζ 2 )
Ts = (18)
ζωn
I The numerator varies from 3.91 to 4.74 as ζ varies from 0 to
0.9. A good approximation is

4 4
Ts ≈ ≈ (19)
ζωn σd