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First Order Systems

This document discusses time response analysis of first order systems. It introduces common standard test inputs like impulse, step, ramp and parabolic signals used to analyze system response. The Laplace transforms of these signals are provided. Impulse, step, ramp and parabolic responses of a first order system are derived. Partial fraction expansion in Matlab is demonstrated. Practical determination of transfer function from step response is also explained. The summary covers the key aspects and analysis approaches for first order systems discussed in the document.

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Waqas Saghir
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366 views

First Order Systems

This document discusses time response analysis of first order systems. It introduces common standard test inputs like impulse, step, ramp and parabolic signals used to analyze system response. The Laplace transforms of these signals are provided. Impulse, step, ramp and parabolic responses of a first order system are derived. Partial fraction expansion in Matlab is demonstrated. Practical determination of transfer function from step response is also explained. The summary covers the key aspects and analysis approaches for first order systems discussed in the document.

Uploaded by

Waqas Saghir
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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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

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