KIG 4001

Control Engineering
(Group 4)

Time Response Analysis

Assoc. Prof. Dr. Yap Hwa Jen

Control Systems Design Process

Modeling / Verification
Design
System Analysis of control
(Controller)
Identification systems

To meet some Simulation,

Time response specifications real-time
such as time
Steady-state error response, steady-
simulation or
state error and experiment
Stability
stability

1
 Control Systems Analysis

Time Steady- Stability

response state error analysis
analysis analysis

Poles and Zeros

:
Zeros of a transfer function
The values of the Laplace transform variable, s that cause the transfer
function to become zero

n-order transfer function

Poles of a transfer function

The values of the Laplace transform variable, s that cause the transfer
function to become infinite
4

2
 a) System showing input and
output.
b) pole-zero plot of the system. Rls) a- %
c) evolution of a system response. ✓ /

➢ Follow blue arrows to see the

evolution of the response
component generated by the
pole or zero.

steady
transient + state

µ response response

change is small ,

can be ignored

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004) 5

Transient and steady-state response

y(t) = ytr (t) + yss (t)
transient steady state

3
 Steady-state response
• The final value of the system, should the system is stable
• Can also be found by Final Value Theorem
lim f (t) = lim sF(s);
t®¥ s®0

only if lim f (t) is finite

t®¥

• When is the FVT applicable?

➢ F(s) should have no poles in the right half of the complex plane (Real part should not be +v).
➢ F(s) should have no poles on the imaginary axis, except at most one pole at s=0.
• E.g. A
F (s) =  yes
s
A
F (s) = 2  no
s
7

System Categories

1) 1st order 3) Higher order

a b
G( s) = G (s) =
s+a an s + an −1s n −1 + .... + a0
n

2) 2nd order 4) 2nd order with zero

b (s + z)
G( s) = 2 G (s) =
s + as + b ( s + p1 )(s + p2 )

4
 a. First-order system; b. pole plot

Transient response a
G( s) =
First-order systems
performance specifications: s+a
Time Constant, T
The time constant is the time it takes for the step response to rise to 63% of its final
value. 1
T =
a
Rise Time, Tr
Time for the response to go from 0.1 to 0.9 of its final value.
2.2
Tr =
a
Settling time, Ts
Time for the response to reach, and stay within, 2% of its final value.
4
Ts =
a
10

10

5
 eg.
First-order
system
response to a
unit step

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

11

11

1st order systems: unit step response 1

a T 1
G(s) = = =
s+a 1 Ts + 1
s+
C (s) 1 T
=
R ( s ) Ts + 1
1 1
C (s) = 
Ts + 1 s
  
c(t ) = 1 − e −t / T

Slope (t = 0) :
dc 1 −t / T 1
t =0 = e t =0 =
dt T T
12

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6
 1st order systems: unit ramp response

1 1
C (s) =
Ts + 1 s 2
  
c(t ) = (t − T ) + Te −t / T

The error signal, e(t ), is then

e(t ) = r (t ) − c(t )
e(t ) = T (1 − e −t / T )
and
e( ) = T

13

13

1st order systems: unit impulse response

1
C(s) = 1
Ts +1

1 - t/T
c(t) = e
T

14

14

7
 **→
Skill-Assessment Exercise 4.2
50
A system has a transfer function, 𝐺 𝑠 = 𝑠+50.

Find the time constant, T, settling time, Ts, and rise time, Tr.

method-1 What is the final value (𝑇 = ∞), for

𝑎
Since 𝐺 𝑠 = , thus 𝑎 = 50 unit step input?
𝑠+𝑎 50 1 𝐴 𝐵
4
➢ settling time, 𝑇𝑠 = 𝑎 = 50 = 0.08 s
4 ➢ 𝑐 𝑡 = 𝑠+50 ∙ 𝑠 = 𝑠+50 + 𝑠
𝐴 𝐵 1 1
➢ rise time, 𝑇𝑟 =
2.2
=
2.2
= 0.044 s = 𝑠+50 + 𝑠 = 𝑠 − 𝑠+50
𝑎 50
= 1 − 𝑒 −50𝑡
➢ 𝑇 = ∞, 𝑐 𝑡 = 1
method-2
50 1
Since 𝐺 𝑠 = 𝑠+50 = 0.02𝑠+1, 𝑇 = 0.02 s
➢ settling time, 𝑇𝑠 = 4𝑇 = 0.08 s
➢ rise time, 𝑇𝑟 = 2.2𝑇 = 0.044 s
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15

Second-order systems: Introduction

a
G( s) =
s+a
First-order Speed of the
systems response
Varying
system’s
parameter
Speed & form
Second-order
of the
systems
response
b
Poles and G(s) =
zeros s + as + b
2

location in
the s-plane
16

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8
 (Cont.)

b Poles
G(s) =
s + as + b
2
location

n 2 Speed & form

G( s) = 2 of the
s + 2n s + n
2
response

f ( , n ) Characteristic equation : s 2 + 2 n s +  n2 = 0

damping ratio, 
natural frequency,  n

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17

Second-order
systems, pole plots,
and step responses

a = 2 n , b =  n2

18

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9
 In general, the output response with a unit step
input & zic:
1
𝑦 𝑡 =1− 𝑒 −ζ𝜔𝑛 𝑡 sin 𝜔𝑑 𝑡 + 𝛽
1 − ζ2
where,
➢ damped natural frequency, 𝜔𝑑 = 𝜔𝑛 1 − ζ2
1−ζ2
➢ phase shift, 𝛽 = tan−1 −
ζ

19

19

Example: Elavator
4th

1 2
3rd
3 4
2nd

Input command 1st

4
Floor

Time
20

20

10
 Example: Elavator

21

21

Step responses
for second-order
system
damping cases

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

22

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11
 Second-order systems: General Form

n 2
G( s) = 2
s + 2 n s +  n
2

Damping ratio Natural frequency

The poles of the transfer function

s1, 2 = −n  n  2 − 1

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23

Second-order
response as a
function of
damping ratio

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004) 24

24

12
 AA
Example 4.4
For each of the systems shown, find the value of ζ and report the
kind of response expected

4
For all 3-cases: 2ζ𝜔𝑛 = 8, ζ =
𝜔𝑛
2 4
a) ωn = 12, ζ = = 1.155 (> 1) (overdamped)
12
4
b) ωn 2 = 16, ζ = 16
= 1 (= 1) (critically damped)
4
c) ωn 2 = 20, ζ = 20
= 0.894 (< 1) (underdamped)
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25

Second-order systems: Underdamped

1) Common model for physical problems
2) Damping ratio between zero and one
3) Complex poles

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

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13
 Percent
overshoot vs.
damping ratio

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

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27

Second-order
underdamped
response
specifications

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

28

28

14
 Second order underdamped n 2
G( s) = d = n 1 −  2 )
performance specifications: s 2 + 2 n s +  n
2

Peak Time, Tp 
➢ The time required to reach the first, or maximum, peak. Tp =
n 1 −  2
Percent overshoot, %OS
➢ The amount that the waveform overshoots the steady-state, or,   
− 
final, value at the peak time, expressed as a percentage of the 
1− 2 

steady-state value. %OS = e  

 100

Settling time, Ts
➢ Time for the response to reach, and stay within, 2% of the
steady-state value. 4
Ts =
 n
Rise Time, Tr
➢ Time for the response to go from 0.1 to 0.9 of its final value.
 −
Tr =
d 29

29

Underdamped second-order systems: Pole Plot

time settling

&peak
time
B
T , %OS, T , T
p s r
f ( , n )
percentage
overshoot
S G rise
Location of the poles
time

s1, 2 = − n   n  2 − 1
= − n  j n 1 −  2
For underdamped case, damping ratio between 0 and 1, and also
s is always complex poles
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15
 Underdamped second-order systems: Pole Plot

Pole plot for an

underdamped
second-order
system

Pythagorean theorem

n cos = 
1 / (Time constant )

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31

Underdamped second-order systems: Pole Plot

 
Tp = = (Inversely proportional to the imaginary part)
n 1 −  2 d

4 4
Ts = = (Inversely proportional to the real part)
 n d

cos  =  (damping ratio is constant along radial line)

%OS = f ( )  (%OS is also constant

along radial line)
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16
 Underdamped second-order systems: Pole Plot

Lines of constant peak time, Tp ,

settling time, Ts , and percent
overshoot, %OS.
Note: 𝑇𝑠2 < 𝑇𝑠1
𝑇𝑝2 < 𝑇𝑝1
%OS1 < %OS2

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

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33

Underdamped second-order systems: Pole Plot

Step responses of
second-order
underdamped
systems
as poles move: Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

a) with constant real

part;
b) with constant
imaginary part;
c) with constant
damping ratio

34

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17
 Various damping ratios

35

35

Time function vs pole location

36

36

18
 Example 4.6 (Analysis)
Find the ζ , 𝜔𝑛 , 𝑇𝑝 , %𝑂𝑆 and 𝑇𝑠

Solution
damping 7
ra+i0 ζ = cos θ = cos tan−1 = 0.394
3
𝜔𝑛 = 72 + 32 = 7.616
𝜋 𝜋
𝑇𝑝 = = = 0.449 seconds
𝜔𝑑 7

ζ
− 𝜋
%𝑂𝑆 = 𝑒 1−ζ2 × 100 = 26%

4 4
𝑇𝑠 = = = 1.333 seconds
𝜎𝑑 3

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

37

37

Example 4.7 (Design)

Find J and D to yield 20% overshoot and a settling time

of 2 seconds for a step input of torque T(t).

38

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19
 n 2
G( s) =
Example 4.7: Solution s 2 + 2 n s +  n
2

Modeling, 1-DOF & FOD Overshoot 20%,

T (s ) = Js 2 (s ) + Ds (s ) + K (s )  
−




 (s )
2
 1−
1 1J 20% = e 
 100
G ( s) = = =
T (s ) Js 2 + Ds + K D K  = 0.456
s + s+
2

J J

settling time of 2 seconds Also, from (1) and (2)

 K  J
Ts = 2 =
4
  n = 2........(1) (0.456)  = 2  0.456 = 2
 .
 n  J  K
J
= 0.052 .......(4)
K
Compare to equation:
K
n = .......(2) Given K = 5 Nm/rad
J
D D
➢ From (4), 𝐽 = 0.052 5 = 0.26 kg-m2
2 n =  2(2) = .......(3) ➢ From (3), 𝐷 = 0.26 4 = 1.04 N-m-s/rad
J J
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39

System Response with Additional Poles

➢ If a system has more than two poles or has zeros, we cannot

use the formulae that we have derived for second order
systems to calculate the performance specifications
➢ However, under certain conditions, a system with more than
two poles or with zeros can be approximated as a second-
order system that has just two complex dominant poles.

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40

20
 System Response with Additional Poles
n 2
G( s) =
( s +  r )(s 2 + 2n s + n )
2

s3 = − r s1, 2 = −n  n  2 − 1
(Non-dominant pole) (Dominant poles)
The step response of the system:
A B( s +  n ) + C d D
C ( s) = + +
s ( s +  n ) 2 +  d 2 s +r
c(t ) = Au (t ) + e −nt ( B cos  d t + C sin  d t ) + De − r t
41

41

System Response with Additional Poles

Insignificant poles in the s-plane

 r  5n

Second order approximation is valid

42

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21
 System Response with Additional Poles
Component responses of a
three-pole system:
a) pole plot;
b) Component responses:
nondominant pole is
o near dominant
second-order pair
(Case I)
o far from the pair
(Case II), and
o at infinity (Case III)

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

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43

Example 4.8
24.542
G1 ( s ) =
s 2 + 4s + 24.542
24.542
There are three transfer functions G2 ( s) =
(
(s + 10) s 2 + 4s + 24.542 )
24.542
G3 ( s ) =
(
(s + 3) s + 4s + 24.542
2
)

Unit input, partial-fraction & inverse Laplace transform to find

the time response

c1 (t ) = 1 − 1.09e −2t cos(4.532t − 23.8)

c 2 (t ) = 1 − 0.29e −10t − 1.189e − 2t cos(4.532t − 53.34)
c3 (t ) = 1 − 1.14e −3t + 0.707e − 2t cos(4.532t + 78.63)

44

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22
 Example 4.8 – Solution

Step responses
of system T1(s),
c1 (t ) = 1 − 1.09e −2t cos(4.532t − 23.8)
system T2(s), and c 2 (t ) = 1 − 0.29e −10t − 1.189e − 2t cos(4.532t − 53.34)
system T3(s) c3 (t ) = 1 − 1.14e −3t + 0.707e − 2t cos(4.532t + 78.63)

Notice that 𝑐2 𝑡 , with its third pole at -10 and farthest from the dominant poles, is
the better approximation of 𝑐1 𝑡
45

45

System Response with Zeros

Additional poles:
Affect the form and amplitude of the response

Additional zeros (negative zeros i.e. zeros in the lhp):

Affect the amplitude of the response

46

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23
 System Response with Zeros

Example :
(s + a ) = A + B
Zero move away G (s ) =
(s + b )(s + c ) (s + b ) (s + c )
Effect of adding
from the dominant a zero to a
(− b + a )
(− b + c ) +
(− c + a )
(− c + b )
G( s) =
poles two-pole system (s + b ) (s + c )
if the zero is far from the poles, the a is
larger compare to b and c
1 1 
G( s)  a 
(− b + c ) + (− c + b )
 (s + b ) (s + c ) 
 
Second order G( s) 
a
(s + b )(s + c )
approximation is
valid

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

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47

System Response with Zeros

Additional zeros (positive zeros i.e. zeros in the rhp):

Step response of a
nonminimum-phase
system
➢ If a motorcycle or airplane was a
nonminimum-phase system, it
would initially veer left when
commanded to steer right.

Adapted from N. S. Nise Control Systems Engineering (John Wiley, 2004)

48

48

24
 System Response with Zeros

Insignificant zeros in the s-plane

K (s + z)
G( s) =
s 2 + 2 n s +  n
2

if z  5n 2nd-order approximation is valid

Pole-Zero cancellation
K (s + z)
G( s) =
( s + p3 )( s 2 + as + b)

if z  p3 2nd-order approximation is valid

(see Example 4.10 and skill-assessment 4.7)

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49

Example 4.10

For each of the response functions in Eqs. (4.86) and (4.87),

determine whether there is cancellation between the zero and the
pole closest to the zero. For any function for which pole-zero
cancellation is valid, find the approximate response

26.25( s + 4)
C1 ( s ) =
s(s + 3.5)(s + 5)(s + 6 )
26.25( s + 4)
C 2 ( s) =
s(s + 4.01)(s + 5)(s + 6 )

50

50

25
 Example 4.10 – Solution
Partial-fraction expansion, Partial-fraction expansion,
26.25( s + 4) 26.25( s + 4)
C1 ( s) = C 2 ( s) =
s(s + 3.5)(s + 5)(s + 6) s(s + 4.01)(s + 5)(s + 6)
1 1 3.5 3.5 0.87 0.033 5.3 4.4
C1 ( s) = − − + C 2 ( s) = + − +
s s + 3.5 s + 5 s + 6 s s + 4.01 s + 5 s + 6

all poles (0,-3.5,-5,-6) The pole (-4.01) ≈ zero (-4)

are ≉ zero (-4) 0.87 5.3 4.4
C 2 (s)  − +
s s+5 s+6
c 2 (t )  0.87 − 5.3e −5t + 4.4e −6t

Evaluating Pole-Zero Cancellation using Residues

➢ For C1, the residue (if pose at -3.5) is equal to “1” and is not negligible compare to other residues.
➢ For C2, the residue (pose at -4.01) is equal to “0.033”, which the generated response can be neglected.

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51

Skill-Assessment Exercise 4.7

Determine the validity of a second-order step-response

approximation for each transfer function shown below.

185.71( s + 7)
G1 ( s ) =
S (s + 6.5)(s + 10 )(s + 20 )

197.14( s + 7)
G2 ( s) =
S (s + 6.9 )(s + 10 )(s + 20 )

Answer
1 0.8942 1.5918 0.3023
C1 ( s ) = + − − ... NOT VALID, pole (-6.5) is far from zero (-7), and residues is big (0.3023)
s s + 20 s + 10 s + 6.5
1 0.9782 1.9078 0.0704
C 2 ( s) = + − − ... VALID, pole (-6.9) is near to zero (-7), and residues is small (0.0704)
s s + 20 s + 10 s + 6.9
52

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26
 BMFF

·e
B c I
A
G(s) =

t T +
5 6.5 S + 10 S 20
S
+
+

A(s +6.5)(s+ 10)(s 20)Bs(s

+ 10)(s + 20)
+
+

+
185.71s+1300 I
(s(s + 6.5)(6 20) Ds(s + 6.5)(s
+

+ 10)
+

s(s + 6.5)(s
10)(s + 20) +

s(s + 6.5)(s
10)(s + 20)
+

At s 0 =

6.5
A s =
+ -

1300 A(6.5)(10)(20)185.71( 6.5)

=
-
+ 1300
=
B(-6.5)(3.5)(13.5)
A 1
=
B = -
0.3024

At s
=
- 10

185.71( 10) - + 1300 c( 10)) 3.5)(10)

= - -

C = -
1.5929

At s = -
20

185.71( 20) -
+ 1300
D(
=
-
20)( 13.5)( 10)
-
-

D =
0.8941

1 0.3024 1.5929 0.8941

G(s) =

-
-

t
S + 20
-s + 6.5 S + 10

·
not valid
(-6.5) is far from zero (-7)
pole
·

·residue is big (0.3024)

 A B C D
Gc(s) =
+ +
* + 10
t

S 8+ 6.9 s 20
+

A(s + 6.9)(6 + 10)(s + 20) + Bs(s+ 10)(s + 20)

197.14s + 1380 =

+ cs(s + 6.9)(s + 20)+ Ds(s + 6.9)(s + 10)

s(s6.9)(s10)(s 20)
+ +
+
s(s6.9)(s10)(s 20)
+ +
+

At s = 0

1380 A(6.9)(10)(20)
=

-
I

At s = -
6.9

197.14) 6.9)
1380 -
+
B( 6.9)(3.1)(13.1)
=
-

B =
-
0.07043

At s -
= 10
o
valid

197.14( -

10) + 1380 =
c( 1)(
- -

3.1)(1) ·
pole( 6.9)
-
is

near to zero
c = -
1.9077
( 7)
-

At s = -
20
· residue (0.07043)
is small

197.14) 20) x( 20)( 13.1)( 10)

-

1380
- -
=

+
-

D
=
0.9782

0.07043 1.9077 0.9782

G(s) '
=
-

s + 6.9s+
-

10+ 520
 Conclusion
For the dominance condition to be satisfied,
all the closed-loop poles other than the two
corresponding to specified 𝜁 and 𝜔𝑛 , should
either lie in the insignificant region or have
zeros nearby.

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