Time Response

First Order System

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Performance of Control Systems

 Specifications (time domain)

 Standard input signals used in design
 actual signals unknown
 standard test signals
 step, ramp, parabola, impulse, etc.
 sinusoid (study freq. response later)
 Transient response
 Steady-state response
 Relate to locations of poles and zeros
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Poles, Zeros, and System Response
 Output response of systems = forced response +
natural responses. Poles and zeros can describe
that response.
 Poles :
 The value of the Laplace transform variable, s, that cause
the transfer function to become infinite.
 Any roots of the denominator of the transfer function that
are common to roots of the numerator.
 Zeros :
 The value of the Laplace transform variable, s, that cause
the transfer function to become zero.
 Any roots of the numerator of the transfer function that are
common to roots of the denominator.

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Poles, Zeros, and System Response
s-Plane

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Poles, Zeros, and System Response
s-Plane : complex root

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Poles, Zeros, and System Response
s-Plane : complex conjugate root

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Poles, Zeros, and System Response
s-Plane : Magnitude-Angle Alternative

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Pole and Zero of a 1st order system
An example

Pole → s=-5
Zero → s=-2

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Pole and Zero of a 1st order system
An example

 The unit step response of the system:

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Pole and Zero of a 1st order system
An example

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Pole and Zero of a 1st order system
An example

 A pole of the input generates the form of the forced

response.
 A pole of the transfer function generates the form of
the natural response.
 A pole on the real axis generates an exponential
responses. The farther to the left a pole is on the
negative real axis, the faster the exponential
transient response will decay to zero.
 The zeros and poles generates the amplitudes for
both the forced and natural responses.

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First-Order System

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First-Order System

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First-Order System
Transient response specifications

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First-Order System
Transient response specifications
 Rise time, Tr
is defined as the time for the waveform to go from 0.1 to
0.9 of its final value.

 Settling time, Ts
is defined as the time for the response to reach, and
stay within, 2% of its final value.

where

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