3.

1 Time Response for First Order System

Example of a First Order system is spring-damper system

The transfer function for this system is;
x0 1 1
 
c
xi 1  ( ) s 1  Ts
k
This is the general representation for First Order system. Parameter T is
called Time Constant.
Time constant is the parameter that characterize a First Order system.
Fast or sluggish response for this system depends on value of T.
It is also a parameter needed in the design specification for designing a
First Order system.
The transfer function for spring-damper system can be written in the
form of ODE as;

dx0
T  x0  xi
dt
Response of First Order System to Unit Step Input

We define a unit step function of

1, t  0 x0 ( 0 )  0
xi (t )  {
0, t  0
Use Laplace transformation to get
Tsx 0 ( s )  x0 ( s )  1
s
Solve for x0 ( s ) to get
1
x0 ( s ) 
s Ts  1
Using Partial Fraction method to obtain
1 1
x0 ( s )  
s s 1
T
 
Response for this system is

 
 1 .t
T
x0 (t )  1  e
At t=T, then the response becomes
 T T
 1
x0 (T )  1  e  0.632
By knowing the response of the system, can we manipulate the system?
How about if we would like to make the response faster, instead of at time
t=2s, the response is at 0.85, make it at t=2s , the response becomes 1.2
In the physical meaning to the system, what parameter have to be changed?

In order to increase the response, reduce the time constant, T by

physically increase the spring stiffness or reduce the damper coefficient.

Thus in general, transfer function for GENERAL FIRST ORDER

SYSTEM can be written in the form of

y s  K

u s  1  Ts

K =system gain y (s ) =output u (s ) =input T =time constant

QUIZ:

A control system is said to behave in First Order system. If the time constant
is 0.5s, and system gain is 10, find the transfer function of the system. If unit
step input is the input, and initial condition are zero, find the time response
for this system. Sketch the response.
3.1 Time Response for Second Order system

Example of a Second Order system is spring-mass-damper system

The transfer function for this system can be written in the form below if the
initial condition are zero.

x0
 2
k
m
 
m
   
xi s  c s  k
m

The general transfer function for 2nd Order system is

y(s) K n2
 2
u ( s ) s  2 n s   n2
K =system gain   Damping ratio  n =natural frequency

Response for 2nd order system can be shown as;

1
y (t )  1  e  n t sin  d t   
1 2
Where the Damped Natural frequency is;

d  n 1   2
And phase shift is given by;
 1   2 
  tan 1   
  
 
There are 3 possible types of response that depends on the value of 
a) Response without damping,  0
2
The general T.F becomes y K 
 2 n2
u s  n
Example 1
y 4
A system is given by  2
u s 4
The system is excited with unit step input with zero initial condition, find the
response and sketch the response
Solution ;
4 A Bs  C
y( s)    2
 2
s s 4 
s s 4

As 2
 4   Bs  Cs  A  B s
2 2
 Cs  4 A
y( s)  
s s  4 
2
s s 2
4 
Comparing coefficient of s in the denominator
4A  4 A B  0 C0
A 1 B  1
Thus,
1 s
y(s)   2
s s 4
Inverse Laplace to get the time response;

y (t )  1  cos 2t
b) Underdamped Response, 0   1
The response of 2nd Order system ALSO depends on values of poles.
The characteristics equation for 2nd order system is given by;
s 2  2 n s   n2
Thus the value of the poles are;

 2 n  2 n 2  4n2

s1, 2 
2
If 0    1 the term under the square root
2   4
2
n
2
n

Thus the value becomes negative. Therefore the poles are a pair of
complex conjugate.
Example 2
2
Find the response for this system; G (s) 
s 2  2s  2
The values of the poles are ; 1  j and  n2  2
2 n2  2
2 1
  Thus  1
2 2 2
Let say the system is excited with unit step input with zero initial condition, then

2u ( s ) 2 A Bs  C
y( s)    

s 2  2 s  2 s s 2  2s  2  s s 2  2s  2

As 2  2 As  2 A  Bs 2  Cs  A  B s 2  2 A  C s  2 A
y( s)  

2
s s  2s  2  
s s 2  2s  2 
Comparing the coefficient of s;
A B  0 2A  C  0 2A  2
B  1 C  2 A 1
Thus;
1 s2
y( s)   2
s s  2s  2
From Laplace table, we have the following pairs;
1 1   at
s  e sin t
sa
s  a   
2 2

 at
 e cos t
s  a   
2 2

Comparing the denominator of the second terms with L.T pairs,

s  a 2   2  s 2  2as  a 2   2  s 2  2 s  2
Thus;
2a  2 a2   2  2
a 1  1
Therefore equation y(s) becomes;

y( s) 
1

s  1  1  1  s  1  1
s s  12  12 s s  12  1 s  12  1

Taking inverse laplace to obtain the time response of the system

y (t )  1  e  t cos t  e  t sin t
Sample response of the system is
 c) Overdamped Response,  1
If   1 we will find that the roots of the denominator or poles are real numbers.
Then it states that the terms under the square root is positive.
Example 3
y(s) 2
Find the response for system  2
u ( s ) s  3s  2
The value of the poles are -1 and -2

Compare with general T.F for 2nd order system,

 n2  2 2 n  3
3
n  2 rad/s  1
2 2
If this system is excited with unit step input with zero i.c, then
2 2 A B C
y( s)     
 
s s 2  3s  2 s s  1s  2  s s  1 s  2
Using partial fraction and inverse laplace method, we obtain

y (t )  A  Be  t  Ce 2 t

Example response for  1

The output is slow sluggish without overshoot. Larger values of  the slower
the response is.

 1 condition is called critical damping