Basra University of Oil and Gas

Department of Polymers and Petrochemicals Engineering

Process Dynamic & Control

Lecture 3: Transfer Function & Response

4th Stage

Dr. Mohammed Salah Al-Radhi

dr.malradhi@gmail.com
11 November 2021
 Standard Test Signals
• Impulse signal
– The impulse signal imitate the
sudden shock characteristic of
actual input signal. δ(t)

A
A t0
 (t )  
0 t0
0 t

– If A=1, the impulse signal is

called unit impulse signal.
 Standard Test Signals
• Step signal
– The step signal imitate
the sudden change u(t)

characteristic of actual
A
input signal.

A t0 t
u( t )   0
0 t0

– If A=1, the step signal is

called unit step signal
 Standard Test Signals
• Ramp signal r(t)

– The ramp signal imitate

the constant velocity
characteristic of actual
input signal.
0 t

 At t0
r(t )  
r(t)

0 t0
ramp signal with slope A

– If A=1, the ramp signal r(t)

is called unit ramp
signal unit ramp signal
 Relation between standard Test Signals

A t0
• Impulse  (t )  
0 t0
d
 dt
A t0
• Step u( t )  
0 t0 d
 dt
 At t0
• Ramp r(t )  
t0
0
 Laplace Transform of Test Signals

• Impulse
A t0
 (t )  
0 t0

L{ (t )}   ( s )  A

• Step
A t0
u( t )  
0 t0

A
L{u(t )}  U ( s ) 
S
 Laplace Transform of Test Signals

• Ramp  At t0
r(t )  
0 t0

A
L{ r(t )}  R( s ) 
s2
Time Response of Physical Systems:
 First Oder System
• The first order system has only one pole.
C( s ) K

R( s ) Ts  1
• Where K is the D.C gain and T is the time constant
of the system.

• Time constant is a measure of how quickly a 1st

order system responds to a unit step input.

• D.C Gain of the system is ratio between the input

signal and the steady state value of output.
 First Oder System
• The first order system given below.
10
G( s ) 
3s  1
• D.C gain is 10 and time constant is 3 seconds.

• And for following system

3 3/ 5
G( s )  
s  5 1 / 5s  1

• D.C Gain of the system is 3/5 and time constant is 1/5

seconds.
 Impulse Response of 1st Order System
• Consider the following 1st order system
δ(t)

K
R(s ) C(s )
1

Ts  1
t
0

R( s )   ( s )  1

K
C( s ) 
Ts  1
 Impulse Response of 1st Order System
K
C( s ) 
Ts  1
• Re-arrange above equation as

K /T
C( s ) 
s  1/ T

• In order represent the response of the system in time domain

we need to compute inverse Laplace transform of the above
equation.
1 
C  K t / T
L    Ce  at c(t )  e
sa T
 Impulse Response of 1st Order System
K t / T
• If K=3 and T=2s then c(t )  e
T
K/T*exp(-t/T)
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
Time
 Step Response of 1st Order System
• Consider the following 1st order system

K
R(s ) C(s )
Ts  1

1
R( s )  U ( s ) 
s
K
C( s ) 
sTs  1
• In order to find out the inverse Laplace of the above equation, we
need to break it into partial fraction expansion
Forced Response Natural Response
K KT
C( s )  
s Ts  1
 Step Response of 1st Order System
1 T 
C( s )  K   
 s Ts  1 
• Taking Inverse Laplace of above equation


c(t )  K u(t )  e t / T 
 
• Where u(t)=1
c(t )  K 1  e t / T
• When t=T

 
c(t )  K 1  e 1  0.632K
 Step Response of 1st Order System
• If K=10 and T=1.5s then 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11

10

9 Step Response

8
steady state output 10
7 D.C Gain  K  
Input 1
6
63%
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time
 Relation Between Step and impulse
response
• The step response of the first order system is

 
c(t )  K 1  e t / T  K  Ke t / T

• Differentiating c(t) with respect to t yields

dc(t ) d
dt

dt

K  Ke t / T 
dc(t ) K t / T
 e
dt T
 Example#1
• Impulse response of a 1st order system is given below.

c(t )  3e 0.5t

• Find out
– Time constant T
– D.C Gain K
– Transfer Function
– Step Response
 Example#1
• The Laplace Transform of Impulse response of a
system is actually the transfer function of the system.
• Therefore taking Laplace Transform of the impulse
response given by following equation.
c(t )  3e 0.5t
3 3
C( s )  1    (s)
S  0.5 S  0.5
C( s ) C( s ) 3
 
 ( s ) R( s ) S  0.5
C( s ) 6

R( s ) 2S  1
 Example#1
• Impulse response of a 1st order system is given below.

c(t )  3e 0.5t

• Find out
– Time constant T=2
– D.C Gain K=6
– Transfer Function C( s )  6
R( s ) 2S  1
– Step Response
 Example#1
• For step response integrate impulse response

c(t )  3e 0.5t

0.5t
 c( t )dt  3 e dt

cs (t )  6e 0.5t  C

• We can find out C if initial condition is known e.g. cs(0)=0

0  6e 0.50  C
C6
c s (t )  6  6e 0.5t
 Ramp Response of 1st Order System
• Consider the following 1st order system

K
R(s ) C(s )
Ts  1

1
R( s ) 
s2
K
C( s ) 
s 2 Ts  1
• The ramp response is given as


c(t )  K t  T  Te t / T 
 Ramp Response of 1st Order System
• If K=1 and T=1

c(t )  K t  T  Te t / T 
Unit Ramp Response

10
Unit Ramp
Ramp Response
8

6
c(t)

4
error

0
0 5 10 15
Time
 Ramp Response of 1st Order System
• If K=1 and T=3

c(t )  K t  T  Te t / T 
Unit Ramp Response

10 Unit Ramp
Ramp Response
8

6
c(t)

2 error

0
0 5 10 15
Time
 Practical Determination of Transfer
Function of 1st Order Systems
• If we can identify T and K from laboratory testing we can
obtain the transfer function of the system.

C( s ) K

R( s ) Ts  1
 Practical Determination of Transfer Function
of 1st Order Systems
• For example, assume the unit
step response given in figure. K=0.72
• From the response, we can
measure the time constant, that
is, the time for the amplitude to
reach 63% of its final value.
• Since the final value is about T=0.13s

0.72 the time constant is

evaluated where the curve
reaches 0.63 x 0.72 = 0.45, or • Thus transfer function is
about 0.13 second. obtained as:
• K is simply steady state value. C( s ) 0.72 5.5
 
R( s ) 0.13s  1 s  7.7
 1st Order System with & W/O Zero

C( s ) K C( s ) K (1  s )
 
R( s ) Ts  1 R( s ) Ts  1


c(t )  K 1  e t / T
 K
c(t )  K  (  T )e t / T
T