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. δ(t)

A
A t0
 (t )  
0 t0
0 t

– If A=1, the impulse signal is

called unit impulse signal.
 Standard Test Signals
• Step signal
– The step signal imitate
the sudden change u(t)

characteristic of actual
A
input signal.

A t0 t
u( t )   0
0 t0

– If A=1, the step signal is

called unit step signal
 Standard Test Signals
• Ramp signal r(t)

– The ramp signal imitate

the constant velocity
characteristic of actual
input signal.
0 t

 At t0
r(t )  
r(t)

0 t0
ramp signal with slope A

– If A=1, the ramp signal r(t)

is called unit ramp
signal unit ramp signal
 Standard Test Signals
p(t)
• Parabolic signal
– The parabolic signal
imitate the constant
acceleration characteristic
of actual input signal. 0 t

 At 2 p(t)

 t0
p(t )   2
0 t0
parabolic signal with slope A
 p(t)

– If A=1, the parabolic

signal is called unit
parabolic signal. Unit parabolic signal
 Relation between standard Test Signals
A t0
• Impulse  (t )  
0 t0
d
 dt
A t0
• Step u( t )  
0 t0 d
 dt
 At t0
• Ramp r(t )  
t0
0 d
dt
  At 2
 t0
• Parabolic p(t )   2
0 t0

 Laplace Transform of Test Signals

• Impulse
A t0
 (t )  
0 t0

L{ (t )}   ( s)  A

• Step
A t0
u( t )  
0 t0

A
L{u(t )}  U ( s ) 
S
 Laplace Transform of Test Signals

• Ramp  At t0
r(t )  
0 t0

A
L{ r(t )}  R( s ) 
s2
• Parabolic  At 2
 t0
p(t )   2
0 t0

2A
L{ p(t )}  P( s ) 
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 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

Step Input
5
• The response of the

Steady State Response

system after the transient 4
Response
Amplitude

response is called steady 3

state response. 2 Transient Response

1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 Time Response of Control Systems
• Transient response depend 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
δ(t)

K
R(s ) C(s )
1

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.
1 
C  K t / T
L    Ce  at c(t )  e
sa 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

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 Natural Response
K KT
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 
c(t )  K 1  e 
• Where u(t)=1
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 1st order System
• 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

8
7
6
K=5
c(t)

5
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
R( s ) 2 S  1
– Step Response
– 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

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
 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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
 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

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
 Practical Determination (system
identification) 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 (system
identification) 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
is, the time for the amplitude to
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 ) 0.13 s  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  2s )

R( s ) 3s  1 9

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  2s ) 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 ) 0.33 s  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  std
R( s ) Ts  1

• Where td is the delay time.

First Order System With Delays
C( s ) K  std
 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 ) 3s  1 4

t d  2s
T  3s
0

0 5 10 15
Time (sec)
 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