06/03/2017

UWE Bristol Today’s Lecture

Industrial Control • Inputs: Step, Ramp and Pulse
UFMF6W-20-2

Control Systems Engineering • Response in the Time Domain (First order)

UFMEUY-20-3
– Step
Lecture 3: Modelling Systems – Ramp
Time Response • Final Value Theorem

© 2017 University of the West of © 2017 University of the West of

England, Bristol. England, Bristol.

Step Input Ramp Input

ì At t³0
• Consider: f (t ) = í for
î0 t<0
ìA t³0 ¥ ¥
f (t ) = í for F (s ) = ò Ate - st dt = Aò t e - st dt
î0 t<0 0 0
u dv

remember : ò u × dv = u × v - ò v × du
u = t ® du = dt
¥ ¥
Ae - st Ae -¥ æ Ae -0 ö A e -st
F (s ) = ò Ae - st dt = -
- st
=- - çç - ÷= dv = e dt ® v = -
s ÷ø s
s
s s è
0 0
é te - st ¥ ¥
e - st ù A
¥
A
F ( s ) = Aê - +ò dt ú = 0 + ò e - st dt = 2
s s s s
ëê ûú
If A = 1, it is called a unit step function
0 0 0
© 2017 University of the West of © 2017 University of the West ofunit step
England, Bristol. England, Bristol.

Pulse Input Pulse Input

ìA t 0 £ t £ t0 ìA t 0 £ t £ t0
f (t ) = í 0 for f (t ) = í 0 for
î 0 t < 0 and t > t0 î 0 t < 0 and t > t0
t t0
- A - st
( )
• Area under function, A 0
A A
• If t0 approaches zero à impulse
F ( s ) = ò e - st dt = e = 1 - e - st0
t
0 0
st0 t =0
st0
• If A=1:
Area = A For an impulse, set t0 à 0
( )ùú
• Unit pulse or é d - st 0
• Unit impulse δ(t) é1 - e - st0 ù ê dt 1 - e é se - st0 ù
F ( s ) = A lim ê ú = A lim ê 0
ú = A lim ê ú=A
• Example: t 0 ®0
ë st0 û t 0 ®0
ê d ú t 0 ®0
ë s û
st
• Physiology: shot of drug t0 êë dt0 0 úû
• Hydraulics: dumping of fluid For a unit impulse, L[δ(t)] = 1
© 2017 University of the West of
England, Bristol.
© 2017 University of the West of
England, Bristol.
L’Hôpital’s Rule

© 2017 University of the West of

England, Bristol. 1
 06/03/2017

Inputs Applying Inputs

• Step Input: A • Transfer function:
F (s ) =
s R(s) C(s)
• Ramp Input: G(s)
A
F (s ) = • R(s) is input
s2 A
• Impulse: • Step input: C ( s) = G( s)
s
F (s ) = A • Ramp input:
A
C ( s) = 2 G( s)
s
• For unit response, replace A with 1 • Impulse: C ( s) = AG ( s)

© 2017 University of the West of © 2017 University of the West of

England, Bristol. England, Bristol.

Time Response First Order: Unit Step

• Determine Time Response • Unit Step Input: R(s) = 1/s
– 1. Apply Input to Transfer Function • Transfer Function: G(s) = g 1t g t A
´ = =
– 2. Simplify (if possible) 1 + ts 1 t s + 1 t s + a

– 3. Use Inverse Laplace Transform Tables to g 1

where A = and a =
convert from the s-domain back to the time- t t
1 A 1
domain • Output: C (s) = s ´ s + a = A s(s + a)
• Not listed on Inverse LT tables!

© 2017 University of the West of © 2017 University of the West of

England, Bristol. England, Bristol.

Partial Fraction Expansion First Order: Unit Step

C ( s) =
A A A
= A0 + 1 + 2 • We can use equation to estimate response
s( s + a) s s+a
g æ t
ö
( )
A 1 -
• A0 = 0 (numerator and denominator have different orders) c(t ) = 1 - e - at where A = and a = c(t ) = g çç1 - e t ÷
÷
a t t è ø
A A A
C (s) = = 1 + 2 ® A = A1 (s + a ) + A2 s
s( s + a) s s + a
A time Output
A = A1s + A1a + A2 s group A = A1a ® A1 =
a 0 0
A = s( A1 + A2 ) + A1a common terms
0 = A1 + A2 ® A2 = -
A
τ 0.632%
a
3τ 0.95%
C ( s) =
A
=
A1 A 1
-
s( s + a) a s a s + a
A A
a a
A
® c(t ) = - e -at = 1 - e -at
a
( ) 5τ 0.99%
10τ 0.999%
© 2017 University of the West of © 2017 University of the West of
England, Bristol. England, Bristol.

© 2017 University of the West of

England, Bristol. 2
 06/03/2017

Example: Unit Step First Order: Unit Step

• Unit Step • Any first order system represented by:
æ -
t
ö
g æ -
t
ö c(t ) = K çç1 - e t ÷
÷
c(t ) = ç1 - e t ÷
t ç ÷ è ø
è ø 95%
reaches 95% of final value after three time
g =1 t =1 63.2% constants
• The time constant, τ, must be small for a
fast response
• First order lag

© 2017 University of the West of © 2017 University of the West of

England, Bristol. England, Bristol.

First Order: Unit Ramp Partial Fraction Expansion

• Unit Ramp Input: R(s) = 1/s2 C ( s) =
A A A A
= A0 + 21 + 2 + 3
s 2 ( s + a) s s s+a
• Transfer Function: G(s) = g ´ 1 t =
g t
=
A
1 + ts 1 t s +1 t s+a
• A0 = 0 (numerator and denominator have
g 1
where A = and a =
t t
different orders)
1 A 1
• Output: C ( s) = 2 ´
s s+a
=A 2
s ( s + a)
• Solution with: g = 1 t = 1
• Not listed on Inverse LT tables! æ -
t
ö
c(t ) = t - t çç1 - e t ÷
÷
è ø

© 2017 University of the West of © 2017 University of the West of

England, Bristol. England, Bristol.

Example: Unit Ramp Example: First Order

• Unit Ramp • Unit Impulse Input: R(s) = 1
• Transfer Function: G(s) = g ´ 1 t =
g t
=
A
æ -
t
ö 1 + ts 1 t s +1 t s+a
c(t ) = t - t çç1 - e t ÷
÷ τ
è ø g 1
where A = and a =
t t
A
• Output: C ( s ) = 1´
s+a
4τ • Inverse LT:
A g - t
C ( s) = ® c(t ) = Ae -at = e t
s+a t
© 2017 University of the West of © 2017 University of the West of
England, Bristol. England, Bristol.

© 2017 University of the West of

England, Bristol. 3
 06/03/2017

Example: First Order Final Value Theorem

• Unit Impulse with g = 1 t = 1 • To find the final steady state value
g -tt lim f (t ) = lim sF (s)
c(t ) = e t ®¥ s ®0
t
• Example: X ( s) 5 3
= G( s) = ; input F(s) =
F ( s) s+3 s
5 3
X ( s) =
s+3 s
x(¥) = lim sX ( s) = 5
© 2017 University of the West of © 2017 University of the West of
England, Bristol. England, Bristol.

Today’s lecture
• Inputs: Pulse (impulse), Step, Ramp
• To determine time response: get transfer
function in s-domain, apply input, then go back
to time domain using:
– Inverse Laplace transforms
– Partial Fraction technique then ILT
• Step response
• Ramp response
• Final Value Theorem

© 2017 University of the West of

England, Bristol.

© 2017 University of the West of

England, Bristol. 4