8.2. THE PURE TIME-DELAY PROCESS ‘The process whose transfer function is given by: ae = em 8.15) is known as a pure time-delay process because its response to any input is merely a delayed version of the input. It is important to note that the processes we have considered up until now have all had transfer functions that are ratios of (finite-order) polynomials in 8. Obviously, this is not the case with the pure time-delay process whose transfer function, as indicated in Bq, (6.15), is a transcendental function. An attempt to obtain a rational version of the transfer function in Eq. (8.15) by recasting it as: a 868) = Jar and carrying outa Taylor series expansion for e® results in: @.16) with an infinite-order denominator polynomial. In accordance with our classification of stem gues therefore, Eq, (8.16) identifies the PROCESS DY? & ve] yo y(t) 0 0 oa t og t a) Step Response 1b) Rectangular Pulse Response Slope =. ity vt) vest ot o o & t 0 & ° ¢) Impulee Response a) Ramp Rexponae Figure 83. Response of the pure time-delay process to various inputs.8.2.2. Limiting Behavior of First-Order Systems in Series In Section 6.4.2 of Chapter 6, we considered a special case of N first-order systems in series in which the individual time constants were all equal to @/N, and the steady-state gains were all unity. Recall from Eq. (6.78) that the transfer function for this process is given by: 88) = (6.78) gen} If we now let N= om, we have: 1 = tim —*+ (8.21) wef a N. (8.22) which is exactly the same as the transfer function given for the pure time- delay process given in Eq, (8.15). We now have the following result:yo) ‘Comparison of step responses of a high-order system with that of a first- order-plus-time-delay system. 600 t at Figure 813. Frequency response of« pure time delay and the first second, and third order Padé approximations.Figure 8:15. Frequency response of a pure time-delay using the N firstorder system approximation. 93 LOW-ORDER SYSTEMS 9.3.1 First-Order System As shown earlier, the frequency-response characteristics of a first-order system are given by: AR = —— 34s Vi+ ofr os = tan“! Cor) (9.340) ‘Taking logarithms in Bq. (9.34) we have: Jog AE = —Hog(t + wo?) 035) and for purposes of the Bode diagram, we shall retain K as a scaling factor for AR, and use the magnitude ratio, MR = AR/K, as a scaled amplitude ratio. We will also use wras the abscissa (ie, use + as a scaling factor for the frequency axis),. wae MB + oot wt oo 001 oO 1 10 100 oo eo. +o 100 =| 0 done Teo a . Yreuney(danatin) Figure 26. Bodedigramforapuregainsysiem Figure 9.7, Bode diagram fora pure capacity system. 4 x wah el eee vm a ae ‘| Figue 98, Qodedingamfors atorderlesyston 9. Bode diagram forthe lead/lag system when £< 1;(E=05,Jee] Niet a a 0000 ‘x0. Bode diagram forthe lae/lng system $> (6 =2,¢=1)..€ 9.1 4-200: ea om Od Hoo Bode diagram fortwo first-order systems in erie. 4-100 gure 912, ode diagram for the second ordersystem. °° oon yo eo ode dlagram or the 22} nderaytem With <<