Time Response

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 1 Time Response
• The mathematical representation of a system (Transfer function or State space) is used to
analyze its transient and steady-state responses to see if these characteristics yield the
desired behavior.

• Performance of controlled systems can be tested and compared by their responses to

certain test signals (Step functions, impulse functions, ramp functions, sinusoidal
functions, etc.).

• A response of a dynamic system can be analyzed in two parts:

o Steady-state response: The behavior of the output as
o Transient response: The behavior of the output as it goes from an initial state to a final state.

• This chapter is devoted to the analysis of system transient response.

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 Time Response
Poles, Zeros, and System Response
• The output response of a system is the sum of two responses:
1. the forced response (steady-state response or particular solution),
2. the natural response (the homogeneous solution).

Output response = forced response (e.g. constant) + natural response (e.g. exponential)
roots of the denominator (characteristic
• Poles of a Transfer Function (TF): The values of s that cause polynomial) of the transfer function

• Zeros of a TF: the values of s that cause TF = 0. roots of the numerator of the transfer function

Example: Poles and Zeros of a First-Order System

System Output (unit step response)

where and
System showing input and output

System Output in time

Inverse Laplace transform: domain (time response)
pole-zero plot of the system

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 Example: Poles and Zeros of First Order System

Input function

generates
Input poles Forced response
(pole at the origin generated a step function at the output)

generates
System poles Natural response
Transfer function

(A pole on the real axis generates an exponential response of

the form that will decay to zero).

System poles generates Amplitudes for both the

And zeros forced and natural
responses

Evolution of a system response.

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 Evaluating Response using Poles

Problem:
Given the following system, write the output, c(t), in general terms.
Specify the forced and natural parts of the solution.
Solution:

Forced Natural
response response
Taking inverse Laplace
transform,
• Each system pole generates an exponential as part of
the natural response.

• The input's pole generates the forced response.

Poles of the system produce the

Natural response that Will decay to zero

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 First-Order System: Time Constant
• A first-order system without zero:

• If the input is a unit step: then the Laplace

transform of the step response is :

the input pole at the

origin generated the
• Taking the inverse transform forced response

The system pole at

• Significance of parameter a (system pole) –a generated the
natural response
(only parameter needed to describe the
transient response),

When

Hence, 6
 Some Terminology
(three transient response performance specifications).

1. Time constant : Time it takes for the step response to rise to 63% of its final value. 1
𝑇 𝑐=
𝑎
• we can call the parameter (system pole) the exponential frequency (The reciprocal of the time constant)
• is related to the speed at which the system responds to a step input.

2. Rise Time : Rise time is defined as the time for the response to go from 0.1 to 0.9 of its final value.
found by solving for the difference in time at c() = 0.9 and c() = 0.1
𝑡𝑖𝑚𝑒 𝑓𝑜𝑟 𝐶(𝑡)=0.1
ln ( 0.1 ) 2.31
𝐶 ( 𝑡 2 ) =0.9 =1− 𝑒
− 𝑎 𝑡2
𝑡 2 =− = 2.13 0.11 2.2 2.2
𝑎 𝑎 𝑇 𝑟 =𝑡 2 −𝑡 1 = − = 𝑇 =
− 𝑎𝑡 1 ln (0.9) 0.11 𝑎 𝑎 𝑎 Rise time: 𝑟
𝑎
𝐶 ( 𝑡 1 )= 0.1=1 − 𝑒 𝑡 1=− = 𝑡𝑖𝑚𝑒 𝑓𝑜𝑟 𝐶(𝑡)=0.9
𝑎 𝑎
3. Settling time : The time for the response to reach, and stay within, 2% of its final value.
Lettingand solving for time, , we find the settling time to be
ln ( 0. 98 ) 4 4
𝐶 ( 𝑇 𝑠 )=0.98=1− 𝑒 −𝑎𝑇𝑠 𝑇 𝑠=− = 𝑇 𝑠=
𝑎 𝑎 𝑎

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 First-Order Transfer Function via Testing
• With a step input, we can measure the time constant and the steady-state value, from which the transfer function can
be calculated.
• A simple first order system 𝑓𝑖𝑛𝑎𝑙𝑣𝑎𝑙𝑢𝑒𝑎𝑏𝑜𝑢𝑡 0.72
has :
and step response is:

In the time domain (ILT): 𝑐 ( 𝑡 )= 𝐾 − 𝐾 𝑒− 𝑎𝑡 (𝑒𝑞 .1) 63 %  𝑜𝑓 0.72=0.45

𝑎 𝑎
• From the response, we identify K and a to obtain the
transfer function.
63 % 𝑓𝑖𝑛𝑎𝑙 𝑣𝑎𝑙𝑢𝑒𝑎𝑏𝑜𝑢𝑡 0.72
To find a:
𝑇𝑖𝑚𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡=𝑇𝑖𝑚𝑒(0.63 ×0.72) 𝑓𝑟𝑜𝑚 𝑡h𝑒 𝑔𝑟𝑎𝑝h
¿ 𝑇𝑖𝑚𝑒 ( 0.45 )=0.13 𝑠𝑒𝑐𝑜𝑛𝑑 𝑡𝑖𝑚𝑒 ( 𝑎𝑚𝑝𝑙𝑖𝑡𝑢𝑑𝑒= 0.45 ) =0.13 𝑠

1
𝑎= =7.7
0.13

To find K: From , the forced response reaches a steady-state value

of

𝐾 =5.54 𝐺 ( 𝑠 )=
𝐾 Transfer function,
and 𝑠+𝑎
𝑎=7.7 8
 Second-Order System1
• Parameters of First-order system determine the speed of the system.
• Parameters of Second-order system determine the form (shape) of the system.
𝑎 √ 𝑎 −4 𝑏
2
System poles
Consider the general 𝑠 1,2=− ∓ General case of second order system
system, 2 2
• For un-damped(without damping) system, , and the poles are on at ,
Natural Frequency
Hence un-damped system
• For an under-damped system, poles have real part (exponential decay ),
Exponential decay frequency
D

Natural frequency
( 𝛏=
exponential   decay
𝑛𝑎𝑡𝑢𝑟𝑎𝑙 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 )
: (Natural Frequency ) the frequency of oscillation of the system without damping.
(D) dimensionless measure describing how oscillations in a system decay.
exponential decay , real part of the pole

Poles
𝑏=𝝎 𝒏2
𝑎=2 ξ 𝜔 𝑛
Canonical form
(two finite poles and no zeros) 9
 Second-Order System2
The sign of the discriminant of the denominator polynomial depends on the damping ratio , three cases.
𝑎 √ 𝑎 2
−4 𝑏 𝑎=2 ξ 𝜔 𝑛
System poles 𝑠 =− ∓
1,2
2 2 2
𝑏=𝝎 𝒏
Case 1: Overdamped system: () Two real poles
𝑎=9 𝑎𝑛𝑑 𝑏=9 the general case
(two finite poles and no zeros)

1 0.171 1 .171
𝐶 ( 𝑠 )= + −
𝑠 𝑠+7.854 𝑠 +1.146

𝑐 ( 𝑡 )=1+0.171 𝑒 −7.854 𝑡 − 0 1.171 𝑒 −1.146 𝑡

Overdamped system

𝑇𝑤𝑜 𝑟𝑒𝑎𝑙 𝑝𝑜𝑙𝑒𝑠

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 Second-Order System
Case 2: Under-damped Response () : (Two complex poles that come from the system).

Poles from the system:

exponential decay frequency of the
sinusoidal oscillation.

𝑎=2𝑎𝑛𝑑 𝑏=9

𝑇𝑤𝑜 𝑐𝑜𝑚𝑝𝑙𝑒𝑥 𝑝𝑜𝑙𝑒𝑠

From, 𝐾 4 cos ( 𝛼+ 𝛽 )=𝐾 4 𝑐𝑜𝑠 𝛼 𝑐𝑜𝑠 𝛽 − 𝐾 4 𝑠𝑖𝑛𝛼 𝑠𝑖𝑛 𝛽

¿ 𝐾 2 cos ( √ 8 𝑡 ) + 𝐾 3 si s ( √ 8 𝑡 )
Second-order
step response
components
Where, generated by
complex
poles
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 Second-Order System
Case 3: Un-damped Response (: pole at the origin Case 4: Critically Damped Response ( : pole at the origin that comes
that comes from the input and two imaginary poles from the input and two multiple real poles that come from the system.
that come from the system.
3

𝑎=6 𝑎𝑛𝑑𝑏=9
𝑎=0𝑎𝑛𝑑𝑏=9 two system   poles  on the imaginary  axis 𝑖𝑛𝑝𝑢𝑡 𝑝𝑜𝑙𝑒 𝑠𝑦𝑠𝑡𝑒𝑚𝑝𝑜𝑙𝑒𝑠

There is no exponential term, so no decay.

There is no sinusoidal term, so no oscillation.

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 Over-damped responses Second-Order System
Two realTwo
poles at All Together

𝛏>1
Under-damped responses
Two complex
Two poles at
0< 𝛏<1

Un-damped responses
Two imaginary
Two poles at 𝛏=0

Critically damped responses 𝛏=1

Two real poles
Twoat

Step responses for second-order system damping cases

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 Second-Order System As a Function of Damping Ratio
• Relationship between the quantities and the pole location.

Solving for the poles of the transfer function

Example

For the system find the value of and report the kind of response
expected.

𝜔2𝑛 12
We have 𝐺 ( 𝑠 )= 2 2
= 2
𝑠 +2 𝛏 𝜔𝑛 𝑠+ 𝜔 𝑛 𝑠 +8 𝑠+12

𝜔 2𝑛=12 𝜔 𝑛= √ 12
and 2 𝛏 𝜔𝑛 =8 8 2
𝛏= = >1
2 √ 12 √ 3

System is over-damped.

Second-order response as a function of damping ratio

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 Underdamped Second-Order Systems
• The nature of the response obtained is related to the value of the damping ratio (over-damped, critically damped, underdamped, and
un-damped responses.).

• Step response for the general second-order system,

1 𝜔𝑛2
𝐶 ( 𝑠 )=𝑅 ( 𝑠 ) 𝐺 ( 𝑠 ) =
𝑠 𝑠 2+2 𝛏 𝜔 𝑛 𝑠+ 𝜔𝑛2

Expanding by partial fractions, (< 1 the underdamped case )

The lower the value of ζ, the more

oscillatory the response is.
inverse
Laplace
transform

Where,

Second-order underdamped responses for damping ratio values

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 Underdamped Second-Order Systems
Specifications
• Other parameters associated with the underdamped response are rise time, peak time, percent overshoot, and settling time.

The time required for the waveform to

Rise time
go from 0.1 of the final value to 0.9 of
𝑇𝑟 the final value. Second-order underdamped response
specifications

The time required to reach the first, or

Peak time maximum, peak.
𝑇𝑝

The amount that the waveform overshoots the steady-

percent state, or final, value at the peak time, expressed as a
overshoot percentage of the steady-state value.

% 𝑂𝑆
and ( 𝛏𝜋
)
−
% 𝑂𝑆=𝑒 √ 1 −𝛏 × 100
2

The time required for the transient's damped

settling time oscillations to reach and stay within ±2% of the
𝑇𝑠 steady-state value.
Derivation: self study.

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 Under-damped Second-Order Systems
Specifications (continued)
from the Pythagorean theorem
Damped frequency of oscillation
2 2 2
𝜔 + 𝜎 =𝜔
𝜔 𝑑 =√ 𝜔 −𝜎 =√ 𝜔 −𝛏   𝜔 → 𝜔𝑑 =𝜔𝑛 √ 1−𝛏  
2 2 2 2 2 2
𝑑 𝑑 𝑛

𝜎 𝑑=𝛏 𝜔𝑛 𝑛 𝑑 𝑛 𝑛
Damping Ratio
damped frequency of oscillation,
𝜎 𝛏 𝜔𝑛
cos ( 𝜃 ) = 𝑑 = =𝛏 Natural frequency
𝜔𝑛 𝜔𝑛
inversely proportional to the
imaginary part of the pole.

inversely proportional to the real

part of the pole.

exponential damping
frequency.

CEN455: DR. NASSIM AMMOUR 17

 Under-damped Second-Order Systems
Step Response as Pole moves

poles move in a • frequency increases

vertical direction • envelope remains the same (constant real part )
(with constant real • settling time is virtually the same
part)
• overshoot increases, the rise time
decreases

poles move in a • As the poles move to the left, response

horizontal direction damps out more rapidly.
(with constant
imaginary part) • peak time is the same for all waveforms
(constant imaginary part )

poles move in along • The percent overshoot remains the same.

a constant radial line
direction • The farther the poles are from the origin, the
more rapid the response.

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 Finding TP, %OS, and TS From Pole Location

Problem: Given the pole plot find , , , %OS, and .

Solution:

Damping ration,

𝜔 𝑛= √ 𝜔 +𝜎 = √ 7 +3   =7.616
2 2 2 2 2 2 2
Natural frequency,𝜔 𝑛=𝜔 𝑑 +𝜎 𝑑 𝑑 𝑑

Peak time,

Percent overshoot, % 𝑂𝑆=𝑒

−
( √ 1𝛏−𝛏𝜋 )× 100=26 %
2

The approximate settling time,

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 System Response with Additional Poles
• If a system has more than two poles or has zeros, we cannot use the formulas to calculate the performance
specifications that we derived.

• We need to approximate that system to a second-order system that has just two dominant complex poles.

Assuming two complex poles at And the real pole at

Time domain step response,

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Comparing Responses of Three-Pole Systems

if the real pole is five times system is represented

farther to the left than the by its dominant
dominant poles second-order pair of
poles.

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 Evaluating Pole-Zero Cancellation
Effect of a zero on the system: A system with a zero consists of the derivative of the original response and the scaled version of the original response. If the
zero is very large, the Laplace transform of the response is approximately the scaled version of the original response. As the zero becomes smaller, the
derivative term contributes more to the response and has a greater effect.
( 𝑠 +𝑎 ) 𝐶 ( 𝑠 ) =𝑠𝐶 ( 𝑠 ) +𝑎𝐶 (𝑠)
derivative scaled
pole-zero cancellation response response

Problem: For any function for which pole-zero cancellation is valid, find the approximate response.

Effect of adding a zero

to a two-pole system

Solution:

The partial-fraction expansion of is

That residue (1) is not negligible. So a 2 nd-order step response

approximation cannot be made for .

The partial-fraction expansion of is

That residue (0.033) is negligible, so cancel zero and that pole.

Hence, the approximate response,

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