Week 5 - System Response

Faculty of Engineering / Chemical Department
Subject: Process Control / 4th year

First Semester-Week 5
System Response
Poles & Zeros
The transfer function is given by,
Both C(s) and R(s) are polynomials in s
Where, K= system gain
Poles: The values of ‘s’, for which the transfer function magnitude |G(s)| becomes
infinite after substitution in the denominator of the system are called as “Poles” of
transfer function.
Zeros: The values of ‘s’, for which the transfer function magnitude |G(s)| becomes
zero after substitution in the numerator of the system are called as “Zeros” of
transfer function
Pole- Zero Plot
➢ The diagram obtained by locating all poles and zeros of the transfer function in
the s-plane is called as “Pole-zero plot”.
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➢ The s-plane has two axes real and imaginary. Since s = + j, the X-axis stands
for real axis and shows a value of 
➢ Similarly, Y-axis stands for j and represents the imaginary axis.
Characteristics Equation
The characteristic equation of a linear system is defined as setting the

denominator of the closed-loop transfer function to zero (0).
Example: For the given transfer function,
Find: (1) Poles, (2) Zeros, (3) Pole-zero Plot, (4) Characteristics Equation.
Solution: (1) Poles
The poles are s = 0, -2, -3, -4, -5
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(2) Zeros:
The poles are s = -6
(3) Poles-Zeros Plot:
(4) Characteristics Equation:
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Absolute Stability, Relative Stability, and Steady-State Error.
If a system has the property that it will get back into the equilibrium state again
after moving away from its equilibrium state, then it is stable.
The most important characteristic of the dynamic behavior of a control system is

absolute stability—that is, whether the system is stable or unstable.
 A control system is in equilibrium if, in the absence of any disturbance or

input, the output stays in the same state.
 A linear time-invariant control system is stable if the output eventually comes
back to its equilibrium state when the system is subjected to an initial condition.
 A linear time-invariant control system is critically stable if oscillations of the
output continue forever.
 It is unstable if the output diverges without bound from its equilibrium state
when the system is subjected to an initial condition.
 If the output of a system at steady state does not exactly agree with the input,
the system is said to have steady-state error. This error is indicative of the
accuracy of the system.
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Transient Response and Steady-State Response.
The time response of a control system consists of two parts: the transient
response and the steady-state response. By transient response, we mean that
which goes from the initial state to the final state.
By steady-state response, we mean the manner in which the system output behaves
as t approaches infinity. Thus the system response c(t) may be written as
where the first term on the right-hand side of the equation is the transient response
and the second term is the steady-state response.
Example:
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 From the transient response we can know;

✓ When system begins to respond after an input is given.
✓ How much time it takes to reach the output for the first time.
✓ Whether the output shoots beyond the desired value & how much.
✓ Whether the output oscillates about its final value.
✓ When does it settle to the final value.
 From the steady state we can know;

✓ How long it took before steady state was reached.
✓ Whether there is any error between the desired and actual values.
✓ Whether this error is constant, zero or infinite i.e. unable to track the input.
Steady-state error is the difference between the input and the output for a
prescribed test input as 𝒕 → ∞. Test inputs used for steady-state error analysis and
design are summarized below.
Unit Impulse Signal
An impulse signal δ(t) is a tall and narrow signal which is obtained as shown
The Laplace transformation of unit impulse function is 1, and as shown

below.
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As a becomes very small (almost zero), 1/a becomes infinitely tall. This means that
the width of the above shown rectangle becomes essentially 0 and the height
becomes infinite yet their area remains equal to 1.
Hence the impulse signal or the impulse function takes zero value for all values of
time except for t = 0. As the area remains equal to 1, we can define the impulse
signal mathematically as
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and
The Laplace transform of the impulse signal will be
The impulse signal represents a sudden shock to the system.
Unit Step Signal
In the time domain it is represented by u(t). The Laplace transformation of

unit step function is 1/s and
Unit Ramp Signal:
In the time domain it is represented by r(t). The Laplace transformation of

unit ramp function is 1/s2 and the corresponding waveform associated with
the unit ramp function is shown below.
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Partial fractions
A technique that is often required to put an s function in terms which identify with
forms, so enabling the corresponding time function to be obtained
There are basically three types of partial fractions:
1- The numerator is some function of s and the denominator contains factors

which are only of the form (s + a), (s + b), (s + c), etc. and so is of the form:
and has the partial fractions of
There is a partial fraction term for each bracketed term in the denominator.
Thus, if we have 1/(s + a)(s + b) there will be two partial fraction terms.
2- There are repeated (s + a) factors in the denominator and the expression is of

the form:
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and has the partial fractions of:
3- The denominator contains quadratic factors and the quadratic does not
factorise, being of the form:
and has the partial fractions of:
The values of the constants A, B, C, etc. can be found by either making use of the
fact that the equality between the expression and the partial fractions must be true
for all values of s and so considering particular values of s that make calculations
easy or that the coefficients of 𝒔𝒏 in the expression must equal those of 𝒔𝒏 in the
partial fraction expansion.
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Example:
Determine the partial fractions of:
The partial fractions are of the form:
Then, for the partial fraction expression to equal the original fraction, we must
have:
and consequently:
This must be true for all values of s. The procedure is then to pick values of s that
will enable some of the terms involving constants to become zero and so enable
other constants to be determined. Thus if we let s = -2 then we have
and so B = -2.
If we now let s = -1 then
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and so A = 3. Thus
Example:
This has partial fractions of:
Then, for the partial fraction expression to equal the original fraction, we must
have:
and so consequently have:
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Equating 𝒔𝟐 terms gives A = 0. Equating s terms gives 3 = 2A + B, and so B = 3.

Equating the numeric terms gives 1 = A + 2B + C and so C =-5. Thus:
Example:
This will have partial fractions of:
and so:
With s = -2 then -3 = 3C and so C = -1. Equating 𝒔𝟐 terms gives 0 = A + C and so

A = 1. Equating s terms gives 2 = 2A + B + C and so B = 1. As a check, equating
numeric terms gives 1 = 2B + C. Thus:
********************************************************
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Example
A system has a transfer function of 1/ (s + 2). What will be its output as a function
of time when it is subject to a unit step input?
The step input has a Laplace transform of (l/s). Thus:
Output(s) = G(s) * Input (s)
Using partial fractions expansion, the output is:
Example
A system has a transfer function of 4/(s + 2). What will be its output as a function
of time when subject to a ramp input of 2.
𝟐
The ramp input has a Laplace transform of ( 𝟐). Thus:
𝒔
Output(s) = G(s) * Input (s)
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Unit-Step Response of First-Order Systems
Consider the first-order system shown below
the Laplace transform of the unit-step function is 1/s
Expanding C(s) into partial fractions gives
Taking the inverse Laplace transform of Equation
c(t) equation states that initially the output is zero and finally it becomes unity.
One important characteristic of such an exponential response curve c(t) is that at t

=T the value of c(t) is 0.632, or the response c(t) has reached 63.2% of its total
change. This may be easily seen by substituting t =T in c(t). That is,
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Unit-Ramp Response of First-Order Systems.
the Laplace transform of the unit-step function is 1/𝑠
Expanding C(s) into partial fractions gives
Taking the inverse Laplace transform
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The error signal e(t) is then
Unit-ramp response
Unit-Impulse Response of First-Order Systems.
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For the unit-impulse input, R(s)=1 and the output of the system is
The inverse Laplace transform
The response curve given by c(t) is shown in Figure below.
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Homework:
Dr. Goran Abdulrahman
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Faculty of Engineering / Chemical Department

Subject: Process Control / 4th year

Poles & Zeros

The transfer function is given by,

Both C(s) and R(s) are polynomials in s

Where, K= system gain

Pole- Zero Plot

➢ Similarly, Y-axis stands for j and represents the imaginary axis.

The characteristic equation of a linear system is defined as setting the

Example: For the given transfer function,

Solution: (1) Poles

The poles are s = 0, -2, -3, -4, -5

The poles are s = -6

(3) Poles-Zeros Plot:

(4) Characteristics Equation:

Absolute Stability, Relative Stability, and Steady-State Error.

The most important characteristic of the dynamic behavior of a control system is

 A control system is in equilibrium if, in the absence of any disturbance or

Transient Response and Steady-State Response.

 From the transient response we can know;

✓ Whether the output oscillates about its final value.

✓ When does it settle to the final value.

 From the steady state we can know;

Unit Impulse Signal

The Laplace transformation of unit impulse function is 1, and as shown

The Laplace transform of the impulse signal will be

The impulse signal represents a sudden shock to the system.

Unit Step Signal

In the time domain it is represented by u(t). The Laplace transformation of

Unit Ramp Signal:

In the time domain it is represented by r(t). The Laplace transformation of

There are basically three types of partial fractions:

1- The numerator is some function of s and the denominator contains factors

and has the partial fractions of

2- There are repeated (s + a) factors in the denominator and the expression is of

and has the partial fractions of:

and has the partial fractions of:

Determine the partial fractions of:

The partial fractions are of the form:

If we now let s = -1 then

Determine the partial fractions of:

This has partial fractions of:

and so consequently have:

Equating 𝒔𝟐 terms gives A = 0. Equating s terms gives 3 = 2A + B, and so B = 3.

Determine the partial fractions of:

This will have partial fractions of:

With s = -2 then -3 = 3C and so C = -1. Equating 𝒔𝟐 terms gives 0 = A + C and so

The step input has a Laplace transform of (l/s). Thus:

Output(s) = G(s) * Input (s)

Using partial fractions expansion, the output is:

Output(s) = G(s) * Input (s)

Unit-Step Response of First-Order Systems

Consider the first-order system shown below

the Laplace transform of the unit-step function is 1/s

Expanding C(s) into partial fractions gives

Taking the inverse Laplace transform of Equation

One important characteristic of such an exponential response curve c(t) is that at t

Unit-Ramp Response of First-Order Systems.

Consider the first-order system shown below

the Laplace transform of the unit-step function is 1/𝑠

Expanding C(s) into partial fractions gives

Taking the inverse Laplace transform

The error signal e(t) is then

Unit-Impulse Response of First-Order Systems.