Response Characteristic of

Components and Systems

 Response of a system
q0
q0
Ht
Transfer
function
t=0 t t
t=0
 System equations

• Solution by classical method

• Solution by Laplace transform
• Analogue computer solution
 Classical solution of system equations

Solution by classical method contains two components,

i) particular solution (q01) &
ii) complementary solution (q02)
Particular solution (q01)
• Is the same form as the input disturbance
(i.e step, ramp, sinusoid..)
• Persists as long as the input disturbance persists
• Its nature often apparent from system equations
• Three common type of forcing functions (next slide)
 Classical solution of system equations
q0 q0 +H
Ht t
H

t=0 t=0 -H
t t qi = Hsinwt
i

Input or forcing Form of particular

function solution
qi = H Step q01 = a
q = Ht Ramp q01 = at + b
i

qi = Hsin wt Sine q01 = acos wt + bsin wt

 Classical solution of system equations

The complementary Solution (q02)

Second order linear differential equation
. qi …. Homogeneous equation
….is the characteristic equation
A generic characteristic equation may be written

Which may be factorized to yield n roots

The root values (-an) can be real, imaginary, repeated

or zero
 Classical solution of system equations

and the complementary solution of the linear

differential equation is of the form

Where n the number of factors Be-at, is same as the

order of the equation,
-a parameters are the root values of the
characteristic equation
B coefficients are parameters composed of the
‘system’ and’ input’ constants
and are evaluated by applying initial
whereconditions
q0 = q01 + qto02
the full system response q0,
 Classical solution of system equations

Requirement of stable response

All components of q02 should have –ve roots.

q02

t
 Response of simple first order systems
q0
H ……… First order eqn.
t=0 t

Get response to a step change in input, qi = H

By inspection – particular solution

The homogeneous equation by making qi = 0
is-
and the characteristic equation is –
or simply and a =
 Response of simple first order systems

Hence the characteristic solution is

which decays with time to zero (if t is positive & real)
The full solution is

Using initial conditions, q0 = 0 at t = 0,  B = -KH

Let us examine behavior of the two component

solutions q01 and q02 by plotting them graphically
 Response of simple 1st order systems

q01=HK
HK q0 qi=H
HK
q0 H
t=0
q =HK(1-e -t/t
)
q02=-HKe -t/t 0
-HK t=0 t
Adding q01 and q02
q0/HK
1

Normalized response to a step input

t=0 t
 Response of simple 1st order systems
More characteristics Y(t) Slope=H/t
of first order response H
0.632H

t 2t t 4t

t= 1t 1 - e-1 0.632
Physical
t = 2t 1 - e-2 0.865 significance
t = 4t 1 - e-4 0.982 of this
property
t = 8t 1 - e-8 0.9996
 Response to ramp input
q0
Ht
Ramp input,

t=0 t

Equating like coefficients on both sides

 Response of simple 1st order systems
q0
Ht
Full solution is

t=0 t
Using initial conditions, q0 = 0 at t = 0 yields B = HKt

Let’s examine the solution components q01 & q02

graphically
 Response of simple 1st order systems

q02=HKte-t/t qi=Ht
HKt q0
q01=HK(t-t)
q0 q0= q01+q02
t=0 t =HK(te-t/t +t-t)
Adding q01
t=t
-HKt and q02 t=0 t
As t increases, slope of q0  HK
Lets find steady state error
and steady state lag
 Response of simple 1st order systems
To find steady state error, q (and also lag). Here-

qi=Ht Ht q0
q0
For K=1 as time becomes
Slope=H
large, this expression t
t t
approaches a constant value
q = Ht. Also as t  ¥ , slope of q0  H
Here output slope = SS error/SS lag
Or H = Ht/SS lag ……… Hence SS lag = t
 Response to sine wave

Sine wave input

q01 is of type aCos wt +bsin wt

Substitute q01 for q0 and solve
 Response to sine wave
+H

-H
So substituting q01 for q0 yields= qi = Hsinwt

Equating coefficients of like terms yields

b - taw = KH, and Two unknowns and two
a + tbw = 0 equations, solve-
 Response to sine wave

Assumed solution was

The equation can be rearranged

 Response to sine wave

Using the standard trigonometric relationship-

yields

Now

And
 Response to sine wave

Thus

Using initial condition q0 = 0 when t = 0

 Response to sine wave

Thus the full function may be written as -

Graph on next sheet

Response to sine wave

t=t

t=f/w

+ q02

q02
- t
 Response to sine wave

q0
 Summary of first order systems

q0 q0 +H
Ht t
H

t=0 t=0 -H
t t qi = Hsinwt
i
 Summary, 1st Order: Step input
More characteristics Y(t) Slope=H/t
of first order response H
0.632H

t 2t t 4t

t= 1t 1 - e-1 0.632
t = 2t 1 - e-2 0.865
t = 4t 1 - e-4 0.982
t = 8t 1 - e-8 0.9996
 Summary, 1st Order: Ramp input
To find steady state error, q (and also lag). Here-

qi=Ht Ht q0
q0
For K=1 as time becomes
Slope=H
large, this expression t
t t
approaches a constant value
q = Ht. Also as t  ¥ , slope of q0  H
Here output slope = SS error/SS lag
Or H = Ht/SS lag ……… Hence SS lag = t
Summary, 1st Order: Sine input

q0
 Summary, 1st Order: Sine input

• Response is a sine wave of same frequency

• Delayed phase = f, where f = tan-1wt
• Amplitude directly proportional to H and K
• Amplitude reduces as t increases
• Output amplitude reduces as w increases
• Phase lag is a function of frequency
Amplitude = Phase lag

Let’s observe dependency of amplitude and phase on frequency w

 Frequency response of a 1st order system

• Output amplitude reduces with frequency

• Phase of output lags input with increasing freq
by a value varying from 0° to 90°.
• Attenuation of output with increase in
frequency may be computed from the relation


2

tan-1wt 
2
Response of second order
components and systems
 Response of simple 2nd order components and
systems

Particular solution
Step:
 Response to simple 2nd order components and
systems

Ramp:
 Response to simple 2nd order components and
systems

Sine:
Try
On substituting and solving …..Derivation on moodle
 Response to simple 2nd order components and
systems
1.5

1
q01
0.5

0
0 50 100 150 200 250 300

-0.5

-1

-1.5

For first zero crossing

 Response to simple 2nd order components and
systems

• Step input q0
q01 = KH H Ht
• Ramp input
q01 t=0 t
• Sine input +H
t

-H
qi = Hsinwt
i
 Response to simple 2nd order components and
systems

Complementary solution:

Solution
Being is of theeqn.
quadratic form-
has two roots-

And coefficients B1 & B2 are evaluated using initial

conditions of full response q0.
 Response to simple 2nd order components and
systems

And the roots are

Assuming K1 and K2 to be positive numbers, roots

a1 and a2 will be-
a) Real and different numbers if K22 > 4K1
b) Real and equal numbers if K22 = 4K1
c) A complex pair of numbers if K22 < 4K1
d) An imaginary pair of numbers if K2=0
 Response to simple 2nd order components and
systems

Complementary solution is of the form

Where

In general, B1 and B2 are composed of system

and forcing function constants
 Response to simple 2nd order components and
systems

Case-a: ‘a’ and ‘b’ are real and +ve numbers.

The solution takes the form

Where a1 = -(a - b) and a2 = -(a + b).

This expression decays to zero with increase in
time B + B
1 2

q02
- t
 Response to simple 2nd order components and
systems

Case-b: Special case of a repeated root

Where
q02 = B3e-at + B4te-at = (B3+B4t)e-at
This expression also decays to zero with time
B3
q02
- t
 Response to simple 2nd order components and
systems

Case-c: For case c,

2 1 /2
Where 𝐾2 (4 𝐾1 − 𝐾 2)
𝑎= ;∧ 𝜔 =
2 𝐾1 2 𝐾1
Now- 𝑑

Which can be expanded and rearranged

 Response to simple 2nd order components and
systems

Case-c: ….continued
Using common identity

Using identity

Damped sine wave having frequency = wd and amplitude = B5

 Response to simple 2nd order components and
systems
Zero Renamed as wn
Case d:
Where is positive and real

For this special case of imaginary roots, B’ and

B’’ are equal, and

Using identities-
 Graphical representation of system response

Case-a Case-b
B1+B2 B3

t t
2p/wd 1.5
2p/wn
B5 1
Case-d
0.5 Case-c B6 1

0.5
0

-0.5
0 2
y 4 6 8 10 12 14
t
16 0

-0.5
0 2 4 6 8 10 12 14
t
16 18

-B5
-1
-B6 -1

-1.5
-1.5
 Response to simple 2nd order components and
systems

1. Un-damped natural frequency

2. ‘Damping ratio’ (‘z’ or ‘d’ )is defined as -
d = ½K2K1-1/2 = ½K2wn
Note that d = 0 for K2 =0
d= 1 for K2 =2K11/2 (i.e when (K22 - 4K1)=0)
Thus simple second order transfer function may
be written as
 Response to simple 2nd order components and
systems

Noting that angular velocity w has the unit sec-1

A quadratic time constant T can be defined as
T = wn-1 Sec
In which case the simple second order transfer
function may be written as-
 Response to simple 2nd order components and
systems

The particular solution for various cases can be

written in terms of wn and d.
Step: q01 = HK,
Ramp: q01 =HK(t-K2) or
Sine: ?,
General complementary function(q02) ?, wd?
Characteristic equation becomes
 Response to simple 2nd order components and
systems

Characteristic equation,
The roots are
These are
a) Real and different if d > 1 ….d º V
b) Real and equal if d =1
c) A complex pair if d < 1
d) An imaginary pair if d = 0
Effect of damping ratio - Step input
Effect of damping ratio – Ramp input

qi
d =0.1
d =0
d =1
Type of responses of a 2nd order system
 Next ppt
Solution by analog computers

qi K/K/t q0
1
-q0 t11/t
/
-q0
t 1