ECEN 315

Fundamentals of Control
Lecture #4: First Order System Response

By

Mohamed Saeed Darweesh

Associate Professor
Electronics and Computer Engineering Program
School of Engineering and Applied Sciences
Nile University
IEEE R8 Young Professionals Chairman
IEEE Egypt Section Secretary ْ َ
‫ِبحم ِد ِه تعالى‬
This Lecture Logistics

❑ Chapter 5

❑ K. Ogata, “Modern Control Engineering,” 5th Edition, 2010

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Agenda

❑ Time Domain Analysis

❑ First Order Systems

❑ First Order Systems Response

❑ Identication of the 1st Order Transfer Function

❑ First Order System with a Zero

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Introduction

❑ The first step in analyzing a control system was to derive a

mathematical model of the system.

❑ Once such a model is obtained, various methods are available

for the analysis of system performance.

❑ In practice, the input signal to a control system is not known

ahead of time but is random in nature, then the instantaneous
input cannot be expressed analytically.

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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.

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Standard Test Signals

❑ The characteristics of actual input signals are a sudden shock,

a sudden change, a constant velocity, and constant
acceleration.

❑ The performance of a dynamic system is therefore judged and

compared under applying of standard test signals:

an impulse, a step, a ramp, and parabolic signals

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Standard Test Signals

Impulse Signal
δ(t)
The impulse signal imitate the sudden
shock characteristic of actual input
signal. A

𝐴 𝑡=0
𝛿(𝑡) = ቊ
0 𝑡≠0 t
0

If 𝐴 = 1, the impulse signal is called unit

impulse signal.

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Standard Test Signals

Step Signal

u(t)
The step signal imitate the sudden
change characteristic of actual input
signal. A

𝐴 𝑡≥0
𝑢(𝑡) = ቊ
0 𝑡<0 t
0

If 𝐴 = 1 , the step signal is called unit

step signal.

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Standard Test Signals
r(t)

Ramp Signal

The ramp signal imitate the constant

velocity characteristic of actual input
signal. t
0

𝐴𝑡 𝑡 ≥ 0
𝑟(𝑡) = ቊ
0 𝑡<0

If 𝐴 = 1 , the step signal is called unit Ramp signal with slope A

ramp signal.

Unit ramp signal

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Standard Test Signals
p(t)

Parabolic Signal

The parabolic signal imitate the

constant acceleration characteristic of
actual input signal. t
0

𝐴𝑡 2
𝑝(𝑡) = ቐ 2 𝑡≥0
0 𝑡<0
If 𝐴 = 1 , the step signal is called unit
parabolic signal.
Unit parabolic signal

Parabolic signal with slope A

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Relation between Standard Test Signals
A t=0
❑ Impulse  (t ) =  d
0 t0
 dt
A t0
❑ Step u( t ) = 
0 t0 d
 dt
❑ Ramp  At t0
r(t ) = 
0 t0 d
  At 2
dt
 t0
❑ Parabolic p( t ) =  2
0 t0

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Laplace Transform of Test Signals

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Time Domain Analysis

❑ It is a method to analyze a certain system’s performance.

❑ It measures the response of a dynamic system to an input as a

function of time.

❑ To perform a time-domain analysis we need:

❑ The mathematical model for the physical system to be analyze.

❑ An analytical expression for the input signal in time domain.

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Time Response of Control Systems

To find the time-response, 𝒚(𝒕):

❑ Write the system TF:

❑ Find 𝑌(𝑠):

❑ Apply a test input 𝑈(𝑠).

❑ Find 𝑦(𝑡):

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Time Response of Control Systems

❑ It measures the response (output) of the physical system in

time-domain when subjected to one of the standard test
signals as an (input).

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Time Response of Control Systems

❑ When the response of the system is changed form rest or

equilibrium it takes some time to settle down.

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Time Response of Control Systems

The time response of a system consists of two parts:

❑ Transient response:

❑ The response of a system from rest or equilibrium to settle down

at steady state.
❑ Depends upon the system poles only and not on the type of input.
❑ It is sufficient to analyze the transient response using a step
input.

❑ Steady-State response:

❑ The response of the system after the transient response.

❑ Depends on system dynamics and the input quantity.
❑ Examined using different test signals by final value theorem.

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Time Response of Control Systems

Proof of Final Value Theorem of Laplace Transform

We know differentiation property of Laplace Transformation:

The limit 0− is taken to take care of the impulses present at 𝑡 = 0.

Now we take limit as 𝑠 → 0. Then 𝑒 −𝑠𝑡 → 1 and the whole equation

looks like:

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Time Response of 1st Order Systems

❑ The first order system has only one pole.

❑ Where K is the DC gain and T is the time constant of the

system.

❑ Time constant, T, is a measure of how quickly a 1st order

system responds to a unit step input.

❑ DC Gain, K, of the system is ratio between the input signal and

the steady state value of output (i.e., 𝑠 = 0 or 𝑡 = ∞).

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Time Response of 1st Order Systems

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Impulse Response of 1st Order Systems

Transfer Function

For Unit Impulse

Find 𝒚(𝒕)

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Impulse Response of 1st Order Systems

Example

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Impulse Response of 1st Order Systems

Example

OR

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Impulse Response of 1st Order Systems

System transfer function:

Impulse response:

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Step Response of 1st Order Systems

Transfer Function

For Unit Step

Find 𝒚(𝒕)

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Step Response of 1st Order Systems

Example

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Step Response of 1st Order Systems

Example

OR

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Step Response of 1st Order Systems

Example

If K=10 and T=1.5s then

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Step Response of 1st Order Systems

System takes five-time constants (i.e. 𝑡 = 5𝑇) to reach its final

value.

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Step Response of 1st Order Systems

Effect of changing Gain

❑ If K=1, 3, 5, 10

❑ T=1

❑ K controls the offset

value

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Step Response of 1st Order Systems

Effect of changing Time Constant

❑ If K=10

❑ T=1, 3, 5, 7

❑ The smaller the time

constant T, the faster
the system response.

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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
= 𝐾 − 𝐾𝑒 −𝑡/𝑇
𝑑𝑡 𝑑𝑡

𝑑𝑐(𝑡) 𝐾 −𝑡/𝑇 Impulse

= 𝑒 response
𝑑𝑡 𝑇

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Relation between Step and Impulse Response

❑ The impulse response of the first order system is:

𝐾 −𝑡/𝑇
𝑐(𝑡) = 𝑒
𝑇
❑ Integrating 𝑐(𝑡) with respect to 𝑡 yields:

𝐾 −𝑡/𝑇
න 𝑐 𝑡 𝑑𝑡 = න 𝑒 𝑑𝑡
𝑇

𝑡
−𝑇 Step
න 𝑐 𝑡 𝑑𝑡 = −𝐾𝑒 +𝐶 response

𝐶 is constant and could be found by the initial condition 𝑦(𝑡 = 0) = 0

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Example 1

Impulse response of a 1st order system is given below.

𝑐(𝑡) = 3𝑒 −0.5𝑡

Find:

◼ Time constant 𝑇

◼ DC Gain 𝐾

◼ Transfer Function

◼ Step Response

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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= × 𝛿(𝑠)
𝑆 + 0.5 𝑆 + 0.5

𝐶(𝑠) 𝐶(𝑠) 3
= =
𝛿(𝑠) 𝑅(𝑠) 𝑆 + 0.5

𝐶(𝑠) 6
=
𝑅(𝑠) 2𝑆 + 1
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Example 1

Time constant 𝑇

𝑇=2
DC Gain 𝐾

𝐾=6
Transfer Function

𝐶(𝑠) 6
=
𝑅(𝑠) 2𝑆 + 1

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Example 1

For step response integrate impulse response:

𝑐(𝑡) = 3𝑒 −0.5𝑡

න𝑐(𝑡) 𝑑𝑡 = 3 න𝑒 −0.5𝑡 𝑑𝑡

𝑐𝑠 (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

𝑐𝑠 (𝑡) = 6 − 6𝑒 −0.5𝑡
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Example 1

If initial conditions are not known, then partial fraction expansion is

a better choice.
𝐶(𝑠) 6
=
𝑅(𝑠) 2𝑆 + 1
1
Since 𝑅(𝑠) is a step input, 𝑅(𝑠) =
𝑠
6
𝐶(𝑠) =
𝑠 2𝑆 + 1

6 𝐴 𝐵
= +
𝑠 2𝑆 + 1 𝑠 2𝑠 + 1

6 6 6
𝑠 2𝑆 + 1
= −
𝑠 𝑠 + 0.5 𝑐(𝑡) = 6 − 6𝑒 −0.5𝑡
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1st Order System Response
Im(s)

Re(s)

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1st Order System Response
Im(s)

Re(s)
-1

No overshoot

No oscillations
40
1st Order System Response
Im(s)

Re(s)
-2

No overshoot

No oscillations
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1st Order System Response
Im(s)

faster response slower response

Re(s)

42
Ramp Response of 1st Order Systems

Transfer Function

For Unit Ramp

Find 𝒚(𝒕)

43
Ramp Response of 1st Order Systems

Example

44
Ramp Response of 1st Order Systems

❑ Effect of changing T=1, K=1

45
Ramp Response of 1st Order Systems

❑ Effect of changing T=3, K=1

46
Identication of the 1st Order Transfer Function

❑ Often the system transfer function could not be available

analytically.
❑ With the step response of the system, we can identify the D.C.
gain and the time constant.

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Identication of the 1st Order Transfer Function

❑ The first order transfer function can be written as:

𝐾
𝐺 𝑠 =
𝑇𝑠 + 1
From the response, we can find:

❑ Steady state value: 𝐾 = 0.72

❑ Time constant: 𝑇 = 0.13 sec.

Finally, the transfer function is:

0.72
𝐺 𝑠 =
0.13𝑠 + 1

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First Order System with a Zero
Consider the first order system with a zero in the numerator:
𝐾(1 + 𝛼𝑠)
𝐺 𝑠 =
𝑇𝑠 + 1
1 1
This system has a zero at − and a pole at −
𝛼 𝑇

Studying the Step response

𝐾(1 + 𝛼𝑠)
𝐺 𝑠 =
𝑠(𝑇𝑠 + 1)
𝐾 𝐾(𝛼 − 𝑇)
𝐺 𝑠 = +
𝑠 𝑇𝑠 + 1
𝐾 −𝑡ൗ𝑇
𝐺 𝑠 = 𝐾 + (𝛼 − 𝑇)𝑒
𝑇
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First Order System with a Zero

𝐾 𝑡
𝐺 𝑠 = 𝐾 + (𝛼 − 𝑇)𝑒 − ൗ𝑇
𝑇

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Where to find me?

❑ My Office at UB2-S09-B

❑ Email: [email protected]

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