Linear Control Systems (EE-333)

Lecture-9
Time Domain Analysis of 1st Order Systems

Dr. Imtiaz Hussain

Associate Professor (Control Systems),
Department of Electrical Engineering
DHA Suffa University, Karachi, Pakistan
email: [Link]@[Link]

5th Semester (BE-EE-5A)

Fall 2020

Note: I do not claim any originality in these lectures. The contents of this presentation are
mostly taken from the book of Ogata, Norman S Nise and various other internet sources. 1
 Introduction
• 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.

• 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.
 Standard Test Signals
δ(t)
• Impulse signal
A
A t0
 (t )   L{ (t )}   ( s )  A
0 t0

0 t

• Step signal
u(t)

A
A t0 A
u(t )   L{u(t )}  U ( s ) 
0 t0 S
0 t
 Standard Test Signals
r(t)
• Ramp signal
 At t0 A
r(t )   L{r (t )}  R( s ) 
0 t0 s2
0 t

• Parabolic signal p(t)

 At 2
 t0
p( t )   2 2A
0 t0 L{ p(t )}  P( s ) 
 S3 t
0
 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 any system has two components

• Transient response
• Steady-state response.
 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 response is the response of a system from rest or

equilibrium to steady state. 
-3
x 10 Step Response
6

• The response of the Step Input

Steady State Response

5

system after the transient 4

response is called steady Response
Amplitude

3
state response.
2
Transient Response

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 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
• In following first order system
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)

K
C (s )
1
R(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  c(t )  e
L    Ce  at 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 1st Order System
• 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
K KT Natural Response
C( s )  
s Ts  1
 Step Response of 1st Order System
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 if (𝑡
  ≥ 0)


c(t )  K 1  e t / T 
• When t=T

 
c(t )  K 1  e 1  0.632K
 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

7
6
K=5
c(t)

5
4
K=3
3
2
K=1
1

0
0 5 10 15
Time
 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 ) 2S  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  2S  1 s 2s  1

6 6 6
 
s  2 S  1 s s  0. 5

c(t )  6  6e 0.5t
 Ramp Response of 1st Order System
• 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 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
8

6
c(t)

4
error
2

0
0 5 10 15
Time
 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
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
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END OF LECTURE-9