Lecture-2

Time Domain Analysis of 1st Order Systems

Gebremaryam Alem
email: [email protected]
[email protected]
 Introduction
• The first order system has only one pole.
C( s ) K

R( s ) Ts  1
• Where K is the D.C gain and T is the time constant of
the system.

• Time constant is a measure of how quickly a 1st

order system responds to a unit step input.

• D.C Gain of the system is ratio between the input

signal and the steady state value of output.
 Introduction
• The first order system given below.
10
G( s ) 
3s  1
• D.C gain is 10 and time constant is 3 seconds.

• And for following system

3 3/ 5
G( s )  
s  5 1 / 5s  1

• D.C Gain of the system is 3/5 and time constant is 1/5

seconds.
 Impulse Response of 1st Order System
• Consider the following 1st order system
δ(t)

1 K
R(s ) C (s )
Ts  1
t
0

R( s )   ( s )  1

K
C( s ) 
Ts  1
 Impulse Response of 1st Order System
K
C( s ) 
Ts  1
• Re-arrange following equation as

K /T
C( s ) 
s  1/ T

• In order represent the response of the system in time domain

we need to compute inverse Laplace transform of the above
equation.
K t / T
1 
C   at c(t )  e
L    Ce T
sa
 Impulse Response of 1st Order System
K t / T
• If K=3 and T=2s then c(t )  e
T
K/T*exp(-t/T)
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
Time
 Step Response of 1 Order System st

• Consider the following 1st order system

K
R(s ) C (s )
Ts  1

1
R( s )  U ( s ) 
s
K
C( s ) 
s Ts  1
• In order to find out the inverse Laplace of the above equation, we
need to break it into partial fraction expansion
Forced Response Natural Response
K KT
C( s )  
s Ts  1
 Step Response of 1 Order System st

1 T 
C( s )  K   
 s Ts  1 
• Taking Inverse Laplace of above equation


c(t )  K u(t )  e t / T 
 
• Where u(t)=1
c(t )  K 1  e t / T
• When t=T

 
c(t )  K 1  e 1  0. 632 K
 Step Response of 1st Order System
• If K=10 and T=1.5s then 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11

10

9 Step Response

8
steady state output 10
7 D.C Gain  K  
63% Input 1
6
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time
 Step Response of 1st Order System
• If K=10 and T=1, 3, 5, 7 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11
10
T=1s
9

8 T=3s
7
T=5s
6
c(t)

5 T=7s

4
3
2
1
0
0 5 10 15
Time
 Step Response of 1 order System
st

• System takes five time constants to reach its

final value.
 Step Response of 1st Order System
• If K=1, 3, 5, 10 and T=1 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11

10
K=10
9

6
K=5
c(t)

4
K=3
3

2
K=1
1

0
0 5 10 15
Time
 Relation Between Step and impulse
response
• The step response of the first order system is

 
c(t )  K 1  e t / T  K  Ke t / T

• Differentiating c(t) with respect to t yields

dc(t ) d
dt

dt

K  Ke t / T 
dc(t ) K t / T
 e
dt T
 Example#1
• Impulse response of a 1st order system is given below.

c(t )  3e 0.5t
• Find out
– Time constant T
– D.C Gain K
– Transfer Function
– Step Response
 Example#1
• The Laplace Transform of Impulse response of a
system is actually the transfer function of the system.
• Therefore taking Laplace Transform of the impulse
response given by following equation.
c(t )  3e 0.5t
3 3
C( s )  1    (s)
S  0. 5 S  0. 5
C( s ) C( s ) 3
 
 ( s ) R( s ) S  0.5
C( s ) 6

R( s ) 2 S  1
 Example#1
• Impulse response of a 1st order system is given below.

c(t )  3e 0.5t
• Find out
– Time constant T=2
– D.C Gain K=6
– Transfer Function C ( s )  6
– Step Response R( s ) 2 S  1
– Also Draw the Step response on your notebook
 Example#1
• For step response integrate impulse response

c(t )  3e 0.5t

0. 5t
 c( t )dt  3 e dt

c s (t )  6e 0.5t  C

• We can find out C if initial condition is known e.g. cs(0)=0

0  6e 0.50  C
C6
c s (t )  6  6e 0.5t
 Example#1
• If initial Conditions are not known then partial fraction
expansion is a better choice
C( s ) 6

R( s ) 2 S  1
1
since R( s ) is a step input , R( s ) 
s
6
C( s ) 
s 2 S  1

6 A B
 
s 2 S  1 s 2 s  1

6 6 6
 
s 2 S  1 s s  0. 5

c(t )  6  6e 0.5t
 Partial Fraction Expansion in Matlab
• If you want to expand a polynomial into partial fractions use
residue command.

y( s ) r1 r2 rn
   k
x( s ) s  p1 s  p2 s  pn

Y=[y1 y2 .... yn];

X=[x1 x2 .... xn];
[r p k]=residue(Y, X)
 Partial Fraction Expansion in Matlab
• If we want to expand following polynomial into partial fractions
4 s  8
s 2  6s  8
Y=[-4 8];
X=[1 6 8];
[r p k]=residue(Y, X)

4s  8 r1 r2
 
r =[-12 8] s  6s  8 s  p1 s  p2
2

p =[-4 -2]
k = []
4 s  8
12 8
 
s  6s  8 s  4 s  2
2
 Partial Fraction Expansion in Matlab
• If you want to expand a polynomial into partial fractions use
residue command.
6
C( s ) 
s 2 S  1
Y=6;
X=[2 1 0];
[r p k]=residue(Y, X)
6 6 6
 
r =[ -6 6] s 2 s  1 s  0. 5 s
p =[-0.5 0]
k = []
 Ramp Response of 1 Order System st

• Consider the following 1st order system

K
R(s ) C (s )
Ts  1

1
R( s ) 
s2
K
C( s ) 
s 2 Ts  1
• The ramp response is given as


c(t )  K t  T  Te t / T 
 Ramp Response of 1 Order System st

• If K=1 and T=1


c(t )  K t  T  Te t / T 
Unit Ramp Response

10
Unit Ramp
Ramp Response
8

6
c(t)

4
error
2

0
0 5 10 15
Time
 Ramp Response of 1 Order System st

• If K=1 and T=3


c(t )  K t  T  Te t / T 
Unit Ramp Response

10 Unit Ramp
Ramp Response
8

6
c(t)

2 error

0
0 5 10 15
Time
 Parabolic Response of 1st Order System
• Consider the following 1st order system

K
R(s ) C (s )
Ts  1

1 K
R( s )  Therefore, C( s ) 
s 3
s 3 Ts  1

• Do it yourself
 Practical Determination of Transfer
Function of 1st Order Systems
• Often it is not possible or practical to obtain a system's
transfer function analytically.
• Perhaps the system is closed, and the component parts are
not easily identifiable.
• The system's step response can lead to a representation even
though the inner construction is not known.
• With a step input, we can measure the time constant and the
steady-state value, from which the transfer function can be
calculated.
 Practical Determination of Transfer
Function of 1st Order Systems
• If we can identify T and K from laboratory testing we can
obtain the transfer function of the system.

C( s ) K

R( s ) Ts  1
 Practical Determination of Transfer Function
of 1st Order Systems
• For example, assume the unit
step response given in figure. K=0.72
• From the response, we can
measure the time constant, that C( s ) 5

is, the time for the amplitude to R( s ) s  7
reach 63% of its final value.
• Since the final value is about T=0.13s

0.72 the time constant is

evaluated where the curve
reaches 0.63 x 0.72 = 0.45, or • Thus transfer function is
about 0.13 second. obtained as:
• K is simply steady state value. C( s ) 0. 72 5. 5
 
R( s ) 0. 13s  1 s  7. 7
 1st Order System with a Zero
C ( s ) K (1  s )

R( s ) Ts  1
• Zero of the system lie at -1/α and pole at -1/T.

• Step response of the system would be:

K (1  s )
C( s ) 
s Ts  1
K K (  T )
C( s )  
s Ts  1
 
K
c(t )  K 1  e t / T c(t )  K  (  T )e t / T
T
 1st Order System with & W/O Zero

C( s ) K C ( s ) K (1  s )
 
R( s ) Ts  1 R( s ) Ts  1


c(t )  K 1  e t / T
 K
c(t )  K  (  T )e t / T
T

• If T>α the response will be same

K
c(t )  K  (  n )e t / T
T
 Kn t / T 
c(t )  K 1  e 
 T 
 1st Order System with & W/O Zero
• If T>α the response of the system would look like
Unit Step Response
10

9.5
C ( s ) 10(1  2 s )
 9
R( s ) 3s  1
8.5
c(t)

7.5
10
c(t )  10  ( 2  3)e t / 3 7
3
6.5
0 5 10 15
Time
 1st Order System with & W/O Zero
• If T<α the response of the system would look like

Unit Step Response of 1st Order Systems with Zeros

14

C ( s ) 10(1  2 s ) 13

R( s ) 1. 5s  1

Unit Step Response

12

11

10
c(t )  10  ( 2  1)e t / 1.5 10
1. 5
9
0 5 10 15
Time
 1st Order System with a Zero
Unit Step Response of 1st Order Systems with Zeros
14

13

12
Unit Step Response

11
T 
10

9 T 
8

6
0 5 10 15
Time
 1st Order System with & W/O Zero
Unit Step Response of 1st Order Systems with Zeros
14

12
T 
10
Unit Step Response

T 
8

1st Order System Without Zero

4

0
0 2 4 6 8 10
Time
 Home Work
• Find out the impulse, ramp and parabolic
response of the system given below.

C ( s ) K (1  s )

R( s ) Ts  1
 Example#2
• A thermometer requires 1 min to indicate 98% of the
response to a step input. Assuming the thermometer
to be a first-order system, find the time constant.

• If the thermometer is placed in a bath, the

temperature of which is changing linearly at a rate of
10°min, how much error does the thermometer
show?
 PZ-map and Step Response
jω
C( s ) K

R( s ) Ts  1

T  1s
C( s ) 10
 δ
R( s ) s  1 -3 -2 -1
 PZ-map and Step Response
jω
C( s ) K

R( s ) Ts  1

T  0. 5s
C( s ) 10
 δ
R( s ) s  2 -3 -2 -1

C( s ) 5

R( s ) 0. 5s  1
 PZ-map and Step Response
jω
C( s ) K

R( s ) Ts  1

T  0. 33s
C( s ) 10
 δ
R( s ) s  3 -3 -2 -1

C( s ) 3. 3

R( s ) 0. 33s  1
 Comparison
C( s ) 1 C( s ) 1
 
R( s ) s  1 R( s ) s  10

Step Response
Step Response
1
0.1

0.8 0.08

0.6 0.06
Amplitude

Amplitude
0.4 0.04

0.2 0.02

0 0
0 1 2 3 4 5 6 0 0.1 0.2 0.3 0.4 0.5 0.6
Time (sec) Time (sec)
 First Order System With Delays
• Following transfer function is the generic
representation of 1st order system with time
lag.
C( s ) K
 e  st d
R( s ) Ts  1
• Where td is the delay time.
First Order System With Delays
C( s ) K  st d
 e
R( s ) Ts  1

Unit Step
Step Response

t
td
 First Order System With Delays
Step Response

10
K  10
8

6
Amplitude

C( s ) 10  2 s
 e
R( s ) 3 s  1 4

t d  2s
T  3s
0

0 5 10 15
Time (sec)
 Examples of First Order Systems
• Armature Controlled D.C Motor (La=0)
Ra La
B
ia
u eb T J


tant
cons
V f=

Ω(s)

K t Ra 
U(s) Js  B  K t K b Ra 
 Examples of First Order Systems
• Liquid Level System

H (s) R

Qi ( s ) ( RCs  1)
 Examples of First Order Systems
• Electrical System

Eo ( s ) 1

Ei ( s ) RCs  1
 Examples of First Order Systems
• Mechanical System

X o (s) 1

X i (s) b
s 1
k
 Examples of First Order Systems
• Cruise Control of vehicle

V (s) 1

U ( s ) ms  b