Time Response Analysis

Ankit K. Shah
IC Dept., LDCE,
Ahmedabad
Zeros and poles of a transfer function
• Let G(s)=N(s)/D(s), then
– Zeros of G(s) are the roots of N(s)=0
– Poles of G(s) are the roots of D(s)=0

Im(s)

Re(s)
Theorems
• Initial Value Theorem

• Final Value Theorem

– If all poles of sX(s) are in the left half plane (LHP),
then
DC gain or static gain of a stable system

1.4

1.2

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
DC Gain of a stable transfer function
• DC gain (static gain) : the ratio of the steady state output
of a system to its constant input, i.e., steady state of the
unit step response
• Use final value theorem to compute the steady state of
the unit step response
Pure integrator

• ODE :

• Impulse response :

• Step response :

• If the initial condition is not zero, then :

Physical meaning of the impulse response

First order system

+ Ku(t)

+
y(t)
-
-
• ODE :

• Impulse response :

• Step response :

• DC gain: (Use the final value theorem)

First order system
• If the initial condition was not zero, then

Physical meaning of the impulse response

Matlab Simulation
• G=tf([0 5],[1 2]);
Impulse Response
• impulse(G) 5
4.5
4
3.5

Amplitude
3
2.5
2
1.5
1
0.5
0
0 0.5 1 1.5 2 2.5 3
Time (sec)

Step Response
• step(G) 2.5

2
Amplitude

1.5

1
• Time constant
0.5

0
0 0.5 1 1.5 2 2.5 3
Time (sec)
First order system response

System transfer function :

First order system response

System transfer function :

Impulse response :
First order system response

System transfer function :

Impulse response :
First order system response

System transfer function :

Impulse response :

Step response :

Step Response
100
90
80
70
60
Amplitude

50
40
30
20
10
0
0 100 200 300 400 500 600
Time (sec)
First order system response
Im(s)

Re(s)
First order system response
Im(s)

Unstable

Re(s)
First order system response
Im(s)

Unstable

Re(s)
-1
First order system response
Im(s)

Unstable

Re(s)
-2
First order system response
Im(s)

Unstable
faster response slower response

Re(s)

constant
First order system – Time specifications.
First order system – Time specifications.

Time specs:

Steady state value :

Time constant :

Rise time : Time to go from to

Settling time :
First order system – Simple behavior.

No overshoot
No oscillations
Second order system (mass-spring-damper
system)

• ODE :

• Transfer function :
Polar vs. Cartesian representations.
Cartesian representation :
… Imaginary part (frequency)
… Real part (rate of decay)
Polar vs. Cartesian representations.
Cartesian representation :
… Imaginary part (frequency)
… Real part (rate of decay)

Polar representation :
… natural frequency
… damping ratio
Polar vs. Cartesian representations.
Cartesian representation :
… Imaginary part (frequency)
… Real part (rate of decay)

Polar representation :
… natural frequency
… damping ratio
Polar vs. Cartesian representations.
Cartesian representation :
… Imaginary part (frequency)
… Real part (rate of decay)

Polar representation :
… natural frequency
… damping ratio

Unless overdamped
Polar vs. Cartesian representations.
System transfer function :

Significance of the damping ratio :

… Overdamped
… Critically damped
… Underdamped

… Undamped
Polar vs. Cartesian representations.
System transfer function :

Significance of the damping ratio :

… Overdamped
… Critically damped
… Underdamped

… Undamped
Polar vs. Cartesian representations.
System transfer function :

Significance of the damping ratio :

… Overdamped
… Critically damped
… Underdamped

… Undamped
Polar vs. Cartesian representations.
System transfer function :

All 4 cases Unless overdamped

Significance of the damping ratio :

… Overdamped
… Critically damped
… Underdamped

… Undamped
Underdamped second order system
• Underdamped

• Two complex poles:

Underdamped second order system
Impulse response of the second order
system
Matlab Simulation
• zeta = 0.3; wn=1;
• G=tf([wn],[1 2*zeta*wn wn^2]);
• impulse(G)

Impulse Response
0.7
0.6
0.5
0.4
Amplitude

0.3
0.2
0.1
0
-0.1
-0.2
-0.3
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
Unit step response of undamped systems
• Unit step response :

• DC gain :
Unit step response of undamped system
Matlab Simulation
• zeta = 0.3; wn=1; G=tf([wn],[1 2*zeta*wn wn^2]);
• step(G)
Step Response
1.4
1.2
1
Amplitude

0.8
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
Second order system response.
Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
A pair of complex poles
Im(s)

Unstable

Re(s)
Second order system response.
Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
A pair of complex poles
Im(s)

Unstable

Re(s)
Second order system response.
Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
A pair of complex poles
Im(s)

Unstable

Re(s)
Second order system response.
Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
negative real part
A pair of complex poles
zero real part
Im(s)

Unstable

Re(s)
Second order system response.
Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
negative real part
A pair of complex poles
zero real part
Im(s)

Unstable

Re(s)
Second order system response.
Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
negative real part
A pair of complex poles
zero real part
Im(s)

Unstable

Re(s)
Second order system response.
Im(s)

2 distinct real poles = Overdamped

Unstable

Re(s)
Second order system response.
Im(s)

Repeated real poles = Critically damped

Unstable

Re(s)
Second order system response.
Im(s)

Complex poles negative real part =

Underdamped
Unstable

Re(s)
Second order system response.
Im(s)

Complex poles zero real part =

Undamped
Unstable

Re(s)
Second order system response.
Im(s)

Underdamped
Unstable

Undamped
Overdamped or Critically damped
Re(s)

Underdamped
Overdamped system response

System transfer function :

Impulse response :

Step response :
Overdamped and critically damped system response.
Overdamped and critically damped system response.

Overdamped
Overdamped and critically damped system response.

Overdamped
Overdamped and critically damped system response.

Critically damped
Polar vs. Cartesian representations.
Polar vs. Cartesian representations.
System transfer function :

All 4 cases Unless overdamped

… Cartesian overdamped

Significance of the damping ratio :

… Overdamped
… Critically damped
… Underdamped

… Undamped
Polar vs. Cartesian representations.
System transfer function :

All 4 cases Unless overdamped

… Cartesian overdamped

Significance of the damping ratio :

… Overdamped
… Critically damped
… Underdamped

… Undamped
Polar vs. Cartesian representations.
System transfer function :

All 4 cases Unless overdamped

… Cartesian overdamped

Significance of the damping ratio :

… Overdamped Overdamped case:

… Critically damped
… Underdamped

… Undamped
Second order impulse response – Underdamped and
Undamped

Impulse response :
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
1

0.8

0.6

0.4
Amplitude

0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
1

0.8

0.6

0.4
Amplitude

0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
1

0.8

0.6

0.4
Amplitude

0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
1

0.8

0.6

0.4
Amplitude

0.2

-0.2

-0.4
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
0.1

0.08

0.06

0.04

0.02
Amplitude

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
0.1

0.08

0.06

0.04

0.02
Amplitude

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
0.1

0.08

0.06

0.04

0.02
Amplitude

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
0.1

0.08

0.06

0.04

0.02
Amplitude

-0.02

-0.04

-0.06

-0.08

-0.1
0 0.5 1 1.5 2 2.5 3
Time (sec)
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
6

3
Amplitude

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
6

3
Amplitude

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
6

3
Amplitude

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
6

3
Amplitude

-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

10

-5

-10
-6 -4 -2 0 2
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
5

1
Amplitude

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4

0
-2
-4

-6
-5 0 5
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
5

1
Amplitude

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4

0
-2
-4

-6
-5 0 5
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
5

1
Amplitude

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4

0
-2
-4

-6
-5 0 5
Second order impulse response – Underdamped and
Undamped
Increasing / Fixed

Impulse Response
5

1
Amplitude

-1

-2

-3

-4
0 2 4 6 8 10 12
6
Time (sec)
4

0
-2
-4

-6
-5 0 5
Second order step response – Underdamped and
Undamped
Second order impulse response – Underdamped and
Undamped

Higher frequency oscillations

Faster response Slower response

Unstable
Lower frequency oscillations
Second order impulse response – Underdamped and
Undamped

Less damping

Unstable
More damping
Second order step response – Time specifications.

1.4

1.2

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
Second order step response – Time specifications.

… Steady state value.

… Time to reach first peak (undamped or underdamped only).
… % of in excess of .
… Time to reach and stay within 2% of .

1.4

1.2

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
Second order step response – Time specifications.

… Steady state value.

More generally, if the numerator is not , but some :

Second order step response – Time specifications.
… Peak time.

Therefore,

is the time of the occurrence of the first peak :

Second order step response – Time specifications.
… Percent overshoot.

Evaluating at ,

is defined as:

Substituting our expressions for and :

Second order step response – Time specifications.

… Settling time.

Defining with , the previous expression for can be re-written as:

As an approximation, we find the time it takes for the

exponential envelope to reach 2% of .

when
Typical specifications for second order systems.

How many independent parameters can we specify?