Automatic control Basra Technical collage
Fourth Class Hanadi Mahmood Ali
Time Response of First Order Control Systems
When the maximum power of s in the denominator of a transfer function is one,
the transfer function represents a first order control system. Commonly, the first
order control system can be represented as
Or
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Automatic control Basra Technical collage
Fourth Class Hanadi Mahmood Ali
Unit-Step Response of First-Order Systems
Since the Laplace transform of the unit-step function is 1/s, substituting R(s)=1/s
into Equation standard form, we obtain:
From the equation above states that initially the output c(t) is zero and finally it
becomes unity. One important characteristic of such an exponential response
curve c(t) is that at t=T the value of c(t) is 0.632, or the response c(t) has reached
63.2% of its total change. This may be easily seen by substituting t=T in
c(t).That is,
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Automatic control Basra Technical collage
Fourth Class Hanadi Mahmood Ali
Exponential response curve.
Note that the smaller the time constant T, the faster the system response.
Another important characteristic of the exponential response curve is that the
slope of the tangent line at t=0 is 1/T, since
The output would reach the final value at t=T if it maintained its initial speed of
response. From the last equation above we see that the slope of the response
curve c(t) decreases monotonically from 1/T at t=0 to zero at t=∞.
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Automatic control Basra Technical collage
Fourth Class Hanadi Mahmood Ali
Unit-Ramp Response of First-Order Systems
Since the Laplace transform of the unit-ramp function is 1/s2.
Expanding C(s) into partial fractions gives
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Automatic control Basra Technical collage
Fourth Class Hanadi Mahmood Ali
The error in following the unit-ramp input is equal to T for sufficiently large t.
The smaller the time constant T, the smaller the steady-state error in following
the ramp input
Unit-ramp response of the system
Unit-Impulse Response of First-Order Systems
For the unit-impulse input R(s)=1, the output of the system can be obtained as:
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Automatic control Basra Technical collage
Fourth Class Hanadi Mahmood Ali
The response curve is shown in the figure below:
Unit-impulse response of the first order system
Example 2:
Impulse response of a 1st order system is given below.
Find out:
1. Time constant T
2. D.C Gain K
3. Transfer Function
4. Step Response
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Automatic control Basra Technical collage
Fourth Class Hanadi Mahmood Ali
Solution:
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.
Time constant T=2
D.C Gain K=6
Transfer Function
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Automatic control Basra Technical collage
Fourth Class Hanadi Mahmood Ali
