Time Response

Ref: Ch. 5
Time Responses as captured by Transfer Function
Transients
Steady-State Error
First Order System Transient Response
• Step response
• characterization
• Examples
Second Order System Transient Response
Effect of Zeroes
Higher Order System
Steady- State Error
Effect of a real-axis pole
upon transient response

Impulse Response is an exponentially

decaying curve of ae-at

a. First-order system;
b. pole plot
 Characterization of First-order System
- based on unit step response
One Time Constant
= 1/a
- Time to reach 63% of
steady value

Rise Time Tr:

the time for the system to
go from 0.1 to 0.9 of its
final value
= 2.2/a

X% Settling Time Ts:

the time for the system to
reach and remain within
X% of its final value
= 4/a for 2%-Settling Time
 Characterizing an Unknown First Order System
G(s) = K/(s+a)

Principle?

Procedure?

Example on right
 Time Response
Ref: Ch. 5
Time Responses as captured by Transfer Function
First Order System Transient Response
Second Order System Transient Response
(Ref: Sections 5.3 and 5.5)
• Step response
• characterization
• Examples
Effect of Zeroes
Higher Order System
Steady-State Error
Characterizing a Second-order System (1)
- an impulse response analysis (Review)
b
G(s) =
s 2 + as + b 2
a
ω =   −b
2
d
s 2 + as + b = 0 2

ωn2 = b
2
a a
⇒ s1, 2 = − ±   −b
2 2

s
Characterizing a Second-order System (2)
- a step response example (review)

Pole plots and

corresponding time
response behaviour
 Characterizing a Second-order System (3)
- as a function of damping ratio
ωn2
G(s) = 2
s + 2ςωn s + ωn2
Natural Frequency ωn:
the oscillation frequency
without damping

Damping Ratio ζ:
-ratio of (Exponential
Decay Frequency) to
(Natural Frequency
measured in rad/sec)
- a normalized parameter
independent of time scale
used
Characterizing a Second-order Underdamped
System (1)
- step response as a function of various damping ratio
values
C(t)

Characterizing a Second-order Under-damped System (2)

Peak Time Tp:

The time to reach the first peak
π π
Tp = =
ω 1−ς 2 Im

X% Settling Time Ts:

the time for the system to reach
and remain within X% of its
final value,

TS =
(
− ln 0.02 1 − ξ 2 )
ξωn
4 4
TS (2%) ≈ =
ζωn Re
Percent Overshoot, %OS
The amount the waveform
overshoots the steady-state value − (ςπ / 1−ξ 2 )
%OS = e ×100
Characterizing a Second-order Under-damped System (3)
Normalized rise time vs. damping ratio
Rise Time Tr:
the time for the system to go from
0.1 to 0.9 of its final value

ζ = 0.115 (ωnTr ) − 0.883 (ωnTr ) + 2.504 (ωnTr ) − 1.738

3 2

or
2.16ζ + 0.60
ωnTr = 1.76ζ − 0.417ζ + 1.039ζ + 1
3 2 Tr ≈ for 0.3 ≤ ζ ≤ 0.8
ωn
has <5% max error for 0.1<ζ <0.9
 2 in class examples

1) For T(s) = 1.05x10^7/[s^2+1.6x10^3 s +

1.05x10^7]
Determine the %OS, Tp, Ts, Tr ..etc

2) For a system with %OS=12% and Ts=0.6sec,

approximate it with a second order system
More Exercise
 Characterizing an Unknown 2nd Order System
G(s) = b/(s+as+b)

Principle?

Procedure?
Exercise
Determine the transfer function of the
system from the time response
Characterizing a Second-order Underdamped System (4)
- relationship to pole placement

a.with constant real part;

b. with constant imaginary part;
c. with constant damping ratio
Characterizing a Second-order Underdamped System (5)
- “physical” interpretation

ζ = cos θ
and
OS% is a function of ζ only
ωn is the radius
Characterizing a Second-order Underdamped System (5)
- relationship of OS, Tp and Ts

Lines of
- constant peak time,Tp
- constant settling time,Ts -
constant percent overshoot,
%OS

Note:
Ts < Ts ; Tp < Tp ; %OS1 < %OS2
2 1 2 1
 More in class examples
Can you find the peak time, settling time and
percentage overshoot that can be
approximated by a second order system
C(t) = 0.009804 – 0.0001857exp(-5.1t)
– 0.009990exp(-2t) cos(9.796t)-
0.001942exp(-2t)sin(9.796t)
 Example

For the circuit shown,

Find the values of R2 and
C to yield 15% overshoot with
A settling time of 1ms across
The capacitor,
With Vi(t) as a step input
 Example
Can you find the peak time, settling time and percentage overshoot
that can be approximated by a second order system
C(t) = 0.003500 – 0.001524exp(-4t)- 0.001976exp(-3t)cos(22.16t)
– 0.0005427exp(-3t)sin(22.16t)
 Time Response
Ref: Ch. 5
Time Responses as captured by Transfer Function
First Order System Transient Response
Second Order System Transient Response
Effect of Zeroes
Higher Order System (Ref: Section 5.4)
Steady-State Error
 System Response of Additional Zeroes
in First-Order System

Example of Step response of a

First order System
a. System showing input and
output;
b. pole-zero plot of the system;
c. evolution of a system
response.
Follow blue arrows to see the
evolution of the response
component generated by the
pole or zero.
 System Response of Additional Zeroes
in First-Order System

Consider C(s)/R(s)=(s+a)/(s+5)
Determine the step response
 System Response of Additional Zeroes
in Second-Order System

Example of adding a
zero to a two-pole
system C(s)
1
C (s) = C1(s) =
s + 3
s 2
+ 2s + 9 (s 2
+ 2s + 9)
s + 5
Effect of (s+a)C(s)?? C (s) =
+ 2s + 9)
2 2
(s
s + 10
C 3(s) =
(s 2
+ 2s + 9)

Figure 4.25
 System Response of Additional Poles

Example of a three-pole system:

a. pole plot;
b. component responses:
non-dominant pole is near
- dominant second-order pair (Case I),
- far from the pair (Case II),
- at infinity (Case III)

Figure 4.23
 System Response of Additional Poles
Step responses

Figure 4.24
 System Response of Additional Zeroes

Example of adding a
zero to a two-pole
system C(s)
1
C (s) =
s 2
+ 2s + 9

Effect of (s+a)C(s)?? s + 3
C1(s) =
(s 2
+ 2s + 9)
s + 5
C (s) =
+ 2s + 9)
2 2
(s
s + 10
C 3(s) =
(s 2
+ 2s + 9)
 Summary:
Poles and Zeroes of a Transfer Function
Poles
• essential poles:
– roots of the denominator polynomial of the transfer function
– drives the magnitude of the system (time) response to infinity
– depict the characteristics of the system
• removable poles
– Those that can be nullified by zeroes
• dominant poles
Zeroes
• essential zeroes
– roots of the numerator polynomial of the transfer function
– drive the magnitude of the system (time) response to zero
– affect the system in less obvious way, e.g. usually affecting the phase
• removable zeroes