Lecture 4: Time

Response of 1 st

and 2 order
nd

Systems
Instructor
Dr Samina Jamil

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Lecture 4: Time
Response of System

Lecture Overview • Design of 2nd order systems

• Time Response of First Order Systems
• Determination of TF from step response
• 2nd order system
• Types of poles and response of 2nd order
system
• Specifications of 2nd order system
• Determination of 2nd order system from step
response
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Lecture 4:
Time Response

Time Response for Test Signals •Ramp can be increase in velocity command
•The output generated by a system over a through accelerator of a vehicle.
time is called time response.
•Various test signals are used to analyze a
system by observing the output.
•These signals model various commands or
disturbances.
•Impulse can be a sudden jerk applied to a
body.
•Step can be a command to an elevator.
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Lecture 4:
Time Response

Time Response via System Model

•Given a system
•The step response of a system can be:
•ODE, transfer function and SS can be used
for generating time response.
•All these methods require lengthy
calculations.
•An estimate to a system’s time response can
be made through pole and zeros of a system.
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Lecture 4: Zeros are the values of s which make

TF value equal to zero, s=-2 is the

Time Response zero of G(s)

Poles are the values of s which make
the TF value infinite, s=-5 is the pole
of G(s)

Time Response via TF

Poles and zeros of TF
•Transfer functions can give an insight into Values of s
time response indirectly using pole and zero are the roots
analysis. which can be
complex;
•Zeros are the roots of numerator of TF. real and
•Poles are the roots of denominator of TF. imaginary
•Pole zero map is made in complex / s-plane
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Lecture 4:
Time Response

Time Response via TF

Poles and zeros of TF
•The system is
•Output response for the step input

•Output in time domain is:

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Lecture 4:
Time Response

Time Response via TF

Forced & free responses
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Lecture 4:
Time Response

Time Response via TF

Forced & free responses •Pole at the origin is due to input and causes
forced (step) response.
•Pole at -5 is due to system and causes
natural response.
•A pole farther on left side causes fast
transient response.
•Values of system pole and zero determine
magnitude of forced and natural response.
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Lecture 4:
Time Response

Time Response via TF

Forced & free responses
Example 4.1 (Nise)
• Given a TF model
• The step response is:
Skill assessment 4.1 (Nise)
• Given a TF model
• The step response is:
Physically this system can be a series RL circuit with V as input and I as output 10

Lecture 4: 1st Oder

Systems Response

1st Order System Without Zeros

•Let the system be
•One pole at s=-2
•No zeros
•Step response

•The time response is

•A 1st order physical system with a zero?
•Analyze this system for step response.
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Lecture 4: 1st Oder

Systems Response

Experimental Determination of TF
Since ic=CdVc/dt, Vc is the
1st order system without zeros
only state of this system.
Problem 4.4 (Nise) Switch closes at t=0, find
steady state voltage across capacitor, given initial
state=0. Consider 5V as input and Vc as the
output?
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Lecture 4: 1st Oder

Systems Response

1st Order System Without Zeros

System parameters
•Let a first order system be given by
•It has a pole
•Step response is
•For K=a, the time domain response is
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Lecture 4: 1st Oder

Systems Response

1st Order System Without Zeros

System parameters
1) Time constant (Tc) The time when output c(t)
reaches 63% of final or steady state value.

Tc=1/a
2) Initial slope (a) The first order systems have a
non-zero initial slope equal to a.
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Lecture 4: 1st Oder

Systems Response

1st Order System Without Zeros

System parameters
3) Rise time (Tr) The time required to rise output
from 10% to 90% of final value. Solving c=1-e-at
for c=0.9 and c=0.1.

4) Settling time (Ts) The time required to rise

output and stay at 98% of the final value.
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Lecture 4: 1st Oder

Systems Response

1st Order System Without Zeros

Skill assessment Ex 4.2 (Nise) Find the time
constant Tc, rise time Tr and settling time Ts for
the system ?
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Lecture 4: 1st Oder A first order system’s step

response has a non-zero
Systems Response initial slop=a and no
oscillations in transient
response part of response.

1st Order System Without Zeros

Experimental Determination of TF
•Given a system with unknown TF
•Its step response is checked experimentally
and the plot on scope is:
•The plot seems like a first order system.
•The general TF is
•The general step response can be
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A 1st order system has only one pole which
can have real value only; +ve values makes
system unstable and –ve value determines
Lecture 4: 1st Oder speed of transient response.

Systems Response

1st Order System Without Zeros •TF=G=5.54/(s+0.72)

Experimental Determination of TF
•To find TF, K and a should be measured from
step response curve.
•Steady-state value K/a=0.72.
•Tc=Time to rise to 0.63x0.72=0.45 is 0.13
sec.
•Hence, a=1/0.13=7.7.
•K/a=0.72, K=0.72x7.7=5.54
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Lecture 4: 1st Oder

Systems Response

1st Order System Without Zeros

Experimental Determination of TF
Problem 4.32 (Nise) Determine the TF from
given step response
•Final value=K/a=2
•63% of final value=1.26
•Time constant =1/a=0.025, a= 40
•K=2x40=80
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In s= decays the transient response and brings
oscillations in transient response.

Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros

General form of the system
•A 2nd order system has two poles, whose
type determine nature of transient response. •=0, s1,s2 are real and identical.
•Any +ve pole makes the system unstable. •0, s1,s2 are real and distinct.
•-ve poles can appear in 4 possible forms. •=0, s1,s2 are imaginary pair.
•The step response, therefore, can have 4 •<0, s1,s2 are complex conjugate pair
different forms as well.
(both real + img values).
•Using quadratic formula. If discriminant is:
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Damping refers to the property of system that prevents it from generating oscillations

Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros •Critically damped means oscillations are
prevented at the border line; fastest response
Case I: Poles are real & identical: critically
without oscillations.
damped response
•Let the system be:
•Step response is

•Fast transient time.

•Poles have no imaginary part hence no
oscillations in the output.
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros •Over damped means oscillations are
more strongly prevented, such that the
Case II: Poles are real & distinct: over damped
overall output is slowed down.
response
•Step response
•The output has the form

•Transient response is slow.

•Poles have no imaginary part, so no
oscillations in the output.
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros The oscillation has time period t ≈ 2 sec,
Case III: Poles are imaginary pair: undamped hence f ≈ 0.5 Hz.
response 2πf=3
1/f=t=2π/3 ≈ 2 sec
•Step response is
•Poles have no real part, so no decaying term
in output response.
•Imaginary term gives oscillations of
frequency 3 rad.
•Undamped means oscillations are not
prevented.
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros present in the output.

Case IV: Poles are complex pairs: underdamped
response
•Step response is
•Poles are complex; real part gives decay to
the oscillations; imaginary part gives oscillations.
•Total output has decaying oscillations
settling to final value.
•Under damped means that due to
insufficient damping some oscillations are
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros

Role of a pole in system response
•When real part of pole remains same, decay
rate remains the same.
•When imaginary part of pole remains same,
frequency of oscillation remains the same.
•When both real and imaginary values
change but damping ratio remains the same,
decay rate and frequency of oscillation change
but overshoot remain same.
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros Poles in the standard form

Standard form of the systems •Using quadratic formula, poles are:
•A general 2nd order system can be described
in terms of two variables; natural frequency and •Comparing with
damping ratio . •,
•General 2nd order written in standard form: Damped frequency (
•refers to the changed frequency due to
presence of damping in system.
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros Exponential decay frequency (

Standard form of the systems •Frequency of decay curve.
Natural frequency (
•This is undamped natural frequency of the
system.
Damping ratio (
•Gives a measure that how much oscillation
are there and how much system will kill them.
Higher damping ratio means less oscillations
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros

Standard form of the systems
Role of damping ratio in system response
•By inspecting damping ratio only, nature of
step response can be predicted.
•Very often, systems exhibit underdamped
response.
•From now, we will focus only on
underdamped systems in terms of standard form.
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros

Underdamped systems specifications
Rise time (Tr)
•The time required for output to rise from Peak time (Tp)
10% to 90% of final value. •The time required to reach max peak.
% Overshoot (%OS)
Settling time (Ts) •The output maximum peak as a % of
final value.
•The time required by output to reach and
stay within 2% of final value.
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros

Standard form of the systems
Problem 4.20 (Nise) Find Ts , Tp , Tr , , %OS
and .
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros

Underdamped systems specifications
A more general case
•For systems with numerator
• and
•Final value is different, but response type
remains the same as poles are same.
•Steady state value
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros

Underdamped systems determination
Problem 4.32 (Nise) Determine the TF from given
step response
•Cmax=13.5, Cfinal=11,
•%OS=(13.5-11)/11=0.22=22%

•Settling time Ts=2.5 sec

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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros

Underdamped systems determination
Problem 4.32 (Nise) Determine the TF from given
step response
•=0.43 and,
•Cfinal≠
•, K=11x13.84=152.3,
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Lecture 4: 2nd Oder

Systems Response

2nd Order System Without Zeros

Underdamped systems design
Example 4.7 (Nise) Let T be a step input, find
values of J and D to give 20% overshoots and
settling time of 2 sec