Time Response of First Order Systems
Standard Test Inputs
Response to different inputs
Response in Matlab and Simulink
Introduction
In time-domain analysis the response of a dynamic
system to an input is expressed as a function of
time.
It is possible to compute the time response of a
system if the nature of input and the mathematical
model of the system are known.
Usually, the input signals to control systems are not
known fully ahead of time.
For example, in a radar tracking system, the
position and the speed of the target to be tracked
may vary in a random fashion.
It is therefore difficult to express the actual input
signals mathematically by simple equations.
Standard Test Signals
The characteristics of actual input signals are
a sudden shock, a sudden change, a constant
velocity, and constant acceleration.
The dynamic behavior of a system is therefore
judged and compared under application of
standard test signals an impulse, a step, a
constant velocity, and constant acceleration.
Another standard signal of great importance
is a sinusoidal signal.
Standard Test Signals
Impulse signal
The impulse signal imitate
the
sudden
shock
characteristic
of
actual
input signal.
A
(t )
0
t0
t0
(t)
If A=1, the impulse signal is
called unit impulse signal.
Sudden shocks i e., HV due lightening or
short circuit.
Standard Test Signals
Impulse signal
Standard Test Signals
Step signal
The
step
signal
imitate the sudden
change characteristic
of actual input signal.
A
u(t )
0
t0
t0
If A=1, the step
signal is called unit
step signal
u(t)
A
Switching on a constant
voltage in an electrical
circuit.
Sudden opening or closing a
valve.
Standard Test Signals
Ramp signal
The
ramp
signal
imitate the constant
velocity
characteristic
of
actual input signal.
At
r (t )
0
t0
t0
If A=1, the ramp
signal is called unit
ramp signal
r(t)
0
r(t)
ramp signal with slope A
Altitude Control of a
Missile
Standard Test Signals
p(t)
Parabolic signal
The parabolic signal
imitate the constant
acceleration
characteristic
of
actual input signal.
At 2
p(t ) 2
0
0
p(t)
t0
t0
parabolic signal with slope A
If A=1, the parabolic
signal is called unit
parabolic signal.
Relation between standard Test
Signals
Impulse
Step
Ramp
Parabolic
A
(t )
0
A
u(t )
0
At
r (t )
0
At 2
p(t ) 2
0
t0
t0
d
dt
t0
t0
d
dt
t0
t0
t0
t0
d
dt
Laplace Transform of Test
Signals
Impulse
A
(t )
0
t0
t0
L{ (t )} (s ) A
Step
A
u(t )
0
t0
t0
A
L{u(t )} U (s )
S
Laplace Transform of Test
Signals
Ramp
At
r (t )
0
t0
t0
L{r (t )} R(s )
Parabolic
At 2
p(t ) 2
0
A
s2
t0
t0
L{p(t )} P(s )
2A
S3
Time Response of Control
Systems
Time response of a dynamic system response to an
input expressed as a function of time.
System
The
time
response
of
components
Transient response
Steady-state response.
any
system
has
two
Time Response of Control
Systems
When the response of the system is changed form
rest or equilibrium it takes some time to settle down.
Transient responseis the response of a system from
rest or equilibrium to steady state.
-3
Step Input
5
4
Amplitude
The response of the
system
after
the
transient responseis
called steady state
response.
Step Response
x 10
Response
3
Transient Response
2
1
0
10
Time (sec)
12
14
16
18
20
Time Response of Control
Systems
Transient response is dependent upon the system
poles only and not on the type of input.
It is therefore sufficient to analyze the transient
response using a step input.
The steady-state response depends on system
dynamics and the input quantity.
It is then examined using different test signals by
final value theorem.
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
(t)
K
Ts 1
R(s )
0
R(s ) (s ) 1
K
C (s )
Ts 1
C (s )
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.
1
C
at
L
Ce
sa
K t / T
c(t ) e
T
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
c(t)
0.5
Time
10
Step Response of 1st Order
System
Consider the following 1st order system
R(s )
K
Ts 1
C (s )
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
Forced Response
Natural Response
expansion
K
KT
C (s )
Ts 1
Step Response of 1st Order
System
T
1
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 t / T
If K=10 and T=1.5s then
c(t ) K 1 e
K*(1-exp(-t/T))
11
10
Step Response
9
8
D.C Gain K
c(t)
63%
steady state output 10
Input
1
5
4
3
2
Unit Step Input
1
0
5
Time
10
Step Response of 1st Order
System t / T
If K=10 and T=1, 3, 5, c7(t ) K 1 e
K*(1-exp(-t/T))
11
10
T=1s
9
8
T=3s
7
c(t)
T=5s
T=7s
5
4
3
2
1
0
Time
10
15
Step Response of 1st order
System
System takes five time constants to
reach its final value.
Step Response of 1st Order
System t / T
If K=1, 3, 5, 10 and T=1
c(t ) K 1 e
K*(1-exp(-t/T))
11
10
K=10
9
8
c(t)
7
6
K=5
5
4
K=3
3
2
K=1
1
0
Time
10
15
Partial Fraction Expansion in
Matlab
If you want to expand a polynomial into partial
fractions use residue command.
rn
r1
r2
y( s )
k
x(s ) s p1 s p 2
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
Y=[-4
8];
X=[1
6
8];
[r p k]=residue(Y, X)
s 2 6s 8
4 s 8
r =[-12
p =[-4
k = []
8]
-2]
r1
r2
2
s 6 s 8 s p1 s p 2
4 s 8
12
8
2
s 6s 8 s 4 s 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)
r =[ -6
p =[-0.5
k = []
6]
0]
6
6
6
s 2 s 1 s 0.5 s
Ramp Response of 1st Order
System
Consider the following 1st order system
K
Ts 1
R(s )
R(s )
C (s )
C (s )
1
s2
K
s 2 Ts 1
The ramp response is given as
c(t ) K t T Te t / T
Ramp Response of 1st Order
System
If K=1 and T=1
c(t ) K t T Te t / T
Unit Ramp Response
10
Unit Ramp
Ramp Response
c(t)
8
6
4
error
2
0
Time
10
15
Ramp Response of 1st Order
System
If K=1 and T=3
c(t ) K t T Te t / T
Unit Ramp Response
10
Unit Ramp
Ramp Response
c(t)
8
6
4
error
2
0
Time
10
15
Parabolic Response of 1st Order
System
Consider the following 1st order system
K
Ts 1
R(s )
R( s )
Do it yourself
1
s
Therefore,
C (s )
C (s )
s 3 Ts 1
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.
From the response, we
can measure the time
constant, that is, the time
for the amplitude to reach
its final
63%
Sinceof the
finalvalue.
value is
about 0.72 the time
constant
is
evaluated
where the curve reaches
0.63 x 0.72 = 0.45, or
0.13 second.
about
K is simply
steady state
value.
K=0.72
C (s )
5
R(s ) s 7
T=0.13s
Thus transfer function
is obtained as:
C (s )
0.72
5.5
R(s ) 0.13s 1 s 7.7
Examples of First Order
Systems
Armature Controlled D.C Motor
(La=0)
R
L
a
ia
B
eb
ta
s
on
c
=
Vf
K t Ra
(s)
U(s) Js B K t K b Ra
nt
Examples of First Order
Systems
Liquid Level System
H (s )
R
Qi (s ) ( RCs 1)
Examples of First Order
Systems
Electrical System
E o (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
