B2

First order systems

C (s) 1 R(s) E(s)

1 C(s)
= +
R ( s ) Ts + 1 -
Ts

Unit step response:

1 1 1 T
C (s) = ⋅ = −
Ts + 1 s s sT + 1
− t T
c (t ) = 1 − e t •
−t T
e(t ) = r(t) − c(t ) = e e(’ 
c(T) = 1 – e-1 = 0.632
− t T
e
dc ( t ) 1 1
t= 0 = t= 0 =
dt T T