TIME RESPONSE

FIRST ORDER SYSTEM & SECOND ORDER SYSTEM

TIME RESPONSE

 𝑪 𝒔 =𝑹 𝒔 𝑮 𝒔 → transform response
 𝒄 𝒕 = 𝒄𝒇 𝒕 + 𝒄𝒏 𝒕 → time response
 Time response = Forced response + Natural response
 Let’s say we have a step function
1 𝐺(𝑠)
𝑅 𝑠 = 𝐶(𝑠)
𝑠 𝑎
𝑠+𝑎
 It’s time response is called a step response
𝟏 𝒂 𝒂
 𝑪 𝒔 = × =
𝒔 𝒔 𝒂 𝒔(𝒔 𝒂)
𝒂𝒕
 𝒄 𝒕 =𝟏 −𝒆
TIME RESPONSE USING SYSTEM POLES & INPUT POLES

 For example,
1 𝐺(𝑠)
 𝐶 𝑠 =  Conclusions:
( ) 𝑅 𝑠 = 𝐶(𝑠)
𝑠 𝑠+2  Input Pole generates Forced Response
 Poles: −5 𝑠+5
 System Pole generates Natural Response
 Zeros: −2
 Zeros & Poles generates the amplitudes of the
 Input Pole (from your unit step): 0
component parts of total response
 Time response: 𝑐 𝑡 = 𝐾 𝑒 +𝐾 𝑒  Poles on the Real Axis generates an exponential
 Time response: 𝑐 𝑡 = 𝐾 + 𝐾 𝑒 response
(forced response) + (natural response)
TRANSIENT RESPONSE OF A FIRST ORDER SYSTEM

Transient Response Specifications Formula Units

Time Constant 𝑇 1 seconds (s)
𝑇 =
𝑎
Rise Time 𝑇 2.2 seconds (s)
𝑇 =
𝑎
Settling Time 𝑇 4 seconds (s)
𝑇 =
𝑎

Note: ‘a’ is the significant parameter used to describe the transient response specification
it is called the exponential frequency and the initial slope of the Time Constant
it’s units is in Hz

For those who were unable to attend yesterday’s class, refer to Nise’s Control System Engineering Chapter 4,
Section 3 pages 166 to 168 for the definitions and derivations of the Transient Response specifications
TRANSIENT RESPONSE OF A SECOND ORDER SYSTEM
 Take note that in the First Order System, parameters can simply change/describe the speed of a response to a
step input
 Meanwhile, in the Second Order Systems, parameters can change/describe the form of a response

1 𝐺(𝑠)
𝑅 𝑠 = 𝐶(𝑠)
𝑠 𝑏
𝑠 + 𝑎𝑠 + 𝑏
 𝑪 𝒔 =𝑹 𝒔 𝑮 𝒔
𝟏 𝒃 𝒃
 𝑪 𝒔 = × =
𝒔
TRANSIENT RESPONSE OF A SECOND ORDER SYSTEM

Example 1 Overdamped Response

 Let a=9 b=9  Input Pole: at the origin (0)
1 𝐺(𝑠)
𝑅 𝑠 = 𝐶(𝑠)  System Pole: 2 real numbers at −𝜎 , −𝜎
𝑠 9
 Time response: 𝑐 𝑡 = 𝐾 + 𝐾 𝑒 +𝐾 𝑒
𝑠 + 9𝑠 + 9
 Zeros: 𝑛𝑜𝑛𝑒
‘Overdamped’ refers to the large
 Poles: −1.146, −7.854 (use MODE 5:3 to find amount of energy absorption
roots) which inhibits the transient
response from overshooting or
 Step Response: 𝑐 𝑡 = 𝐾 + 𝐾 𝑒 . +𝐾 𝑒 .
oscillating about the steady state
for a step input
(forced response)+(natural response)
TRANSIENT RESPONSE OF A SECOND ORDER SYSTEM

Example 1I Underdamped Response

 Let a=2 b=9  Input Pole: at the origin (0)
1 𝐺(𝑠)
𝑅 𝑠 = 𝐶(𝑠)  System Pole: 2 complex numbers at −𝜎 ± 𝑗𝜔
𝑠 9
 Time response: 𝑐 𝑡 = 𝐾 + 𝐾 𝑒 cos 𝜔𝑡 − ∅
𝑠 + 2𝑠 + 9
 Zeros: 𝑛𝑜𝑛𝑒
 Poles: −1 + 3𝑗, −1 − 3𝑗 (use MODE 5:3 to find
roots)
 Step Response: 𝑐 𝑡 = 𝐾 + 𝐾 𝑒 cos 3𝑡 − ∅
(forced response)+(natural response)
TRANSIENT RESPONSE OF A SECOND ORDER SYSTEM

Example III Undamped Response

 Let a=0 b=9  Input Pole: at the origin (0)
1 𝐺(𝑠)
𝑅 𝑠 = 𝐶(𝑠)  System Pole: 2 imaginary numbers at ±𝑗𝜔
𝑠 9
 Time response: 𝑐 𝑡 = 𝐾 + 𝐾 cos 𝜔𝑡 − ∅
𝑠 +9
 Zeros: 𝑛𝑜𝑛𝑒
 Poles: ±3𝑗 (use MODE 5:3 to find roots) Note that the absence of a
real part in the pole pair
 Step Response: 𝑐 𝑡 = 𝐾 + 𝐾 cos 3𝑡 − ∅ corresponds to an exponential
that does not decay
(forced response)+(natural response)
TRANSIENT RESPONSE OF A SECOND ORDER SYSTEM

Example IV Critically Damped Response

 Let a=6 b=9  Input Pole: at the origin (0)
1 𝐺(𝑠)
𝑅 𝑠 = 𝐶(𝑠)  System Pole: repeating real numbers at −𝜎 − 𝜎,
𝑠 9
 Time response: 𝑐 𝑡 = 𝐾 + 𝐾 𝑒 + 𝐾 𝑡𝑒
𝑠 + 6𝑠 + 9
 Zeros: 𝑛𝑜𝑛𝑒
Critically damped responses
 Poles: −3, −3 (use MODE 5:3 to find roots) are the fastest
 Step Response: 𝑐 𝑡 = 𝐾 + 𝐾 𝑒 + 𝐾 𝑡𝑒 possible without the
overshoot that is
(forced response)+(natural response) characteristic of the
underdamped response.
SAMPLE PROBLEMS: WRITE, BY INSPECTION, THE
GENERAL FORM OF THE STEP RESPONSE:

 1. 𝐺 𝑠 =  2. 𝐺 𝑠 =

System Poles: System Poles:

−6 + 19𝑖, −6 − 19𝑖 −11.459, −78.541
Output Transform Response: Output Transform Response:
400 900
𝐶 𝑠 = 𝐶 𝑠 =
𝑠 𝑠 + 12𝑠 + 400 𝑠 𝑠 + 90𝑠 + 900
Output Time Response: Output Time Response:
. .
𝑐 𝑡 = 𝐴 + 𝐵𝑒 cos 19𝑡 − ∅ 𝑐 𝑡 = 𝐴 + 𝐵𝑒 + 𝐶𝑒
Type of response: Type of response:
Underdamped Response Overdamped Response
SAMPLE PROBLEMS: WRITE, BY INSPECTION, THE
GENERAL FORM OF THE STEP RESPONSE:

 1. 𝐺 𝑠 =  2. 𝐺 𝑠 =

System Poles: System Poles:

−15, −15 ±25𝑖
Output Transform Response: Output Transform Response:
225 625
𝐶 𝑠 = 𝐶 𝑠 =
𝑠 𝑠 + 30𝑠 + 225 𝑠 𝑠 + 625
Output Time Response: Output Time Response:
𝑐 𝑡 = 𝐴 + 𝐵𝑒 + 𝐶𝑡𝑒 𝑐 𝑡 = 𝐴 + 𝐵 cos 25𝑡 − ∅
Type of response: Type of response:
Critically Damped Response Undamped Response
GENERAL SECOND ORDER SYSTEM: SPECIFICATIONS

Natural Frequency,
 From G s =
 frequency of oscillation of the system without
damping.  Our General Second Order System can be
expressed as
Damping Ratio,

 Where 𝒂 = 𝟐𝝎𝒏 𝜻
 A viable definition for this quantity is one that
𝒃 = 𝝎𝒏 𝟐
compares the exponential decay frequency of the
envelope to the natural frequency. This ratio is
constant regardless of the time scale of the
response.
GENERAL SECOND ORDER SYSTEM: SECOND ORDER SYSTEM SPECIFICATIONS

 Damping ratio and Natural

Frequency Relation to System
Pole Locations
UNDERDAMPED SECOND ORDER SYSTEM
 a common model for physical problems, displays
unique behavior that must be itemized; a detailed
description of the underdamped response is
necessary for both analysis and design.
 Time response can be solved as
 Relationship between the value of the Damping
Ratio and the type of response obtained:
 The lower the value of z, the more oscillatory the
response.
UNDERDAMPED SECOND ORDER SYSTEM: OTHER PARAMETERS
Settling Time Peak Time
 The time required for the transient’s damped  The time required to reach the first, or maximum,
oscillations to reach and stay within 2% of the peak.
steady-state value. 𝑇 =
4
𝜔 𝜁
P
Rise Time
 The amount that the waveform overshoots the
 The time required for steady state, or final, value at the peak time,
the waveform to go expressed as a percentage of the steady-state value
from 0.1 of the final
value to 0.9 of the
final value.
UNDERDAMPED SECOND ORDER SYSTEM: OTHER PARAMETERS