HORMUUD UNIVERSITY

FACULTY OF MECHANICAL ENGINEERING

CHAPTER 4
Time Response

CONTROL SYSTEMS
ENGINEERING 1
3.1` Introduction

• Poles:

• Zeros:

2
3.2 Poles and Zeros and System Response.
 Find the poles and
the zeros the
system and plot
G

For zeros

S+5=0;
S=-5

For poles:
S+2=0;
Figure 3.1: System showing Pole-zero plot of the
S=-2 system
3
 3.3 First Order System.
  The transfer function,
  𝑪 (𝒔) 𝑲
𝑮 ( 𝒔)= =
𝑹 (𝒔) 𝝉 𝒔+𝟏
 For a unit step input; 1/s,

1 K A B
C ( s)   
s s  1 s s  1
 Its response,

 𝒄 (𝒕)= 𝑨 +𝑩 𝒆−𝒕 /𝝉
A and B are constant. For K=1 and t=1/a then,

c(t )  1  e  at
 Time constant is (1/a).

4
 Cont’d…
 Step response,
K
C ( s) 
s( s  a)

c(t )  K1  K 2e  at

Figure 3.2: (a) First Order Response to

a Unit Step.

5
 Cont’d…
 The pole of the transfer function is at –a, the farther the
pole from the imaginary axis, the faster the transient
response.
 Rise time (Tr), the time the response to go from the 0.1 to 0.9
of its final value. Tr=2.2/a.
 Settling time (Ts), time range when the response to reach
and stay within 2% of its final value. Let c(t) = 0.98 then
the Ts=4/a.

6
 3.4 Second Order System.
 The transfer function, C ( s) a0

R ( s ) s 2  b1 s  b0
 For Impulse response,
 Where, 1 2
C ( s)  
s  1 s   2

 Standard Form,
C ( s) K n2

R ( s ) s 2  2 n s   n2
Where K is the dc gain,
 is the damping ratio, n is the undammped natural frequency.

s 2  2 n s   n2  0
Where

s1, 2  n  n  2  1 7
 Cont’d…
 Example of 2nd order system responses.

8
Figure 3.3: Second Order System, pole plots and Step Response.
 Cont’d…
General 2nd Order System.
C ( s )  R( s )G ( s )  n2
G ( s)  2
s  2 n s   n2
b
C (s)  b   n2
s ( s 2  as  b)
a  2 n
Natural Frequency (wn), n  b
a
 
Damping Ratio (), 2 n
Example 3.1: Find the Natural Frequency (wn) and Damping
Ratio (),
36
G( s) 
( s 2  4.2 s  36)
Solution:
wn = 6 and =0.35.

9
 Cont’d…
 From previous page,
b  n2
G(s)  2 
  cos 1  s  as  b s 2  2 n s   n2
C ( s )  R( s )G ( s )
b
C (s) 
s ( s 2  as  b)

Figure 3.4: Left; Plot for an underdamped 2nd Order System.

Right; Step Response for 2nd Order System Damping Cases. 10
 Cont’d…
 From previous page,

Figure 3.5: Second Order Response as a Function of Damping Ratio.

11
 3.4.1 Over Damped Response.
 The transfer function, 9 9
C (s)  
s ( s 2  9s  9) s ( s  7.854)( s  1.146))
 Poles at the origin from the unit step and two real poles
from the system.
 Constant force response and natural responses.

c(t )  K 1  K 2 e 7.854t  K 3 e 1.146t

12
Example 3.1: Over Damped Response.
Find the step response of the system.

Solution:
Expand the partial fraction.

Take the inverse Laplace Transform.

13
 3.4.2 Under Damped Response.
 Under Damped transfer function, C ( s) 
9
s ( s 2  2 s  9)

 When 0 < < 1 The transfer function is,

 The Pole position is, C ( s) K n2

R( s )  s   n  j d  s   n  j d 
 2
G ( s)  n
d  n 1  2
s 2  2 n s   n2
K K*
 
s   d  j d s   d  j d

14
 Cont’d…
 From previous page,

Figure 3.6: Second Order Response as a Function of Damping Ratio.

15
 Cont’d…
 Performance Measures. Peak Time

Tp 
n 1   2

Settling Time
4
Ts 
 n

Overshoot

c  t p   c  
%OS   100%
c  
 
  1 2 
 
1 e  
 1
  100%
 1 

 

Figure 3.7: (Top) The 2nd Order Underdamped
Response Specification. (bottom) Percent overshoot 16
versus damping factor
 Cont’d…
 Performance Measures.
 
Tp  
n 1   2 d

4 4
Ts  
 n  d



1 2
%OS  100e
 Poles position

 n2
G ( s)  2
s  2 n s   n2
K K*
  Figure 3.8: Lines of constant peak time,
s   d  j d s   d  j d Tp , settling time, Ts , and percent
overshoot, %OS Note: Ts2 < Ts1 ; Tp2 <
Tp1; %OS1 < %OS2
17
 Cont’d…
 Pole Placement.

 d  PO 

Figure 3.9: Step  d  PO  Ts 

responses of second-
order underdamped
systems as poles move:
(a) with constant real
part; (b) with constant
imaginary part;
(c) with constant  d  Ts 
18
damping ratio
 3.4.3 Critically Damped.
 The transfer function,
C ( s)  n2

R( s)  s   n  2

19
Example 3.3: Critically Damped Response.
Find the step response of the system.
Solution:
Expand the partial fraction.

20
 3.5 Stability.
(i) Stable system.
 Natural response approaches
zero.
 Poles in LHP.

(ii) Unstable system.

 Natural response grows.
 Poles in RHP.

(iii) Marginally stable system.

 Natural response neither
grows/approaches zero.
 Poles on j axis.
Figure 3.12: Closed-loop poles and
response: a. stable system; b. unstable
system 21
END
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