Time Response Analysis

) (
 Introduction
Influence of Poles on Time Response
Transient Response of First-Order
System
Transient Response of Second-Order
System
 The concept of poles and zeros, fundamental to the
analysis of and design of control system, simplifies
the evaluation of system response.
The poles of a transfer function are:
i. Values of the Laplace Transform variables s, that
cause the transfer function to become infinite.
ii. Any roots of the denominator of the transfer function
that are common to roots of the numerator.
The zeros of a transfer function are:
i. The values of the Laplace Transform variable s, that
cause the transfer function to become zero.
ii. Any roots of the numerator of the transfer function
that are common to roots of the denominator.
 The output response of a system is a sum of
i. Forced response
ii. Natural response

a) System showing an input and an

output
b) Pole-zero plot of the system
c) Evolution of a system response. Follow
the blue arrows to see the evolution of
system component generated by the
pole or zero
Effect of a real-axis pole upon transient
response

a) First-order system
b) Pole plot of the
system
 General form:
C ( s) K
G( s)
R( s ) s 1

Problem: Derive the transfer function for the

following circuit

1
G( s)
RCs 1
 Transient Response: Gradual change of output from
initial to the desired condition.
Block diagram representation:
K Where,
R(s) C(s) K : Gain
s 1 : Time constant

By definition itself, the input to the system should be

a step function which is given by the following:

1
R(s)
s
 General form:
C ( s) K
G( s) C (s) G (s) R(s)
R( s ) s 1

Output response:
1 K
C ( s)
s s 1
A B

s s 1
B t
c(t ) A e

 Problem: Find the forced and natural responses for
the following systems
First-order system response to a unit step
 Time constant,
The time for e-at to decay 37% of its 1

initial value. a

Rise time, tr
The time for the waveform to go 2.2
tr
from 0.1 to 0.9 of its final value. a

Settling time, ts
The time for the response to reach, 4
ts
and stay within 2% of its final value. a
 Problem: For a system with the transfer function
shown below, find the relevant response
specifications
50
G (s)
s 50

i. Time constant,
ii. Settling time, ts
iii. Rise time, tr
 General form:
Kn2
G s 2
s 2n s n2
Where,
K : Gain
: Damping ratio
n : Undamped natural
frequency
Roots of denominator:
s 2 2n s n2 0

s1, 2 n n 2 1
 Natural frequency, n
Frequency of oscillation of the system without
damping.

Damping ratio,
Quantity that compares the exponential decay
frequency of the envelope to the natural frequency.
Exponential decay frequency

Natural frequency (rad/s)
 Problem: Find the step response for the following
transfer function
225
G s 2
s 30 s 225
Answer:
c t 1 e 15t 15te 15t
 Problem: For each of the transfer function, find the
values of and n, as well as characterize the nature
of the response.
400
G s 2
a)
s 12 s 400
900
G s 2
s 90s 900
b)
225
G s 2
s 30 s 225
c)
625
G s 2
d)
s 625
 Step responses for second-order system damping
cases
 Pole plot for the underdamped second-order system
 Second-order response as a function of damping
ratio
 Second-order response as a function of damping
ratio
 When 0 < < 1, the transfer function is given by the
following.
Kn2 Where,
G s 1 2
s n jd s n jd d n

Pole position:
 Second-order response components generated by
complex poles
 Second-order underdamped responses for damping
ratio value
 Second-order underdamped response specifications
 Rise time, Tr
The time for the waveform to go from 0.1 to 0.9 of its
final value.

Peak time, Tp
Tp 2
The time required to reach the first n 1
or maximum peak.

Settling time, Ts
4
Ts
The time required for the transients
n
damped oscillation to reach and stay
within 2% of the steady-state value.
 Percent overshoot, %OS
The amount that the waveform overshoots the steady-
state, or final value at peak time, expressed as a
percentage of the steady-state value.

( / 1 2 )
%OS e 100%

ln(%OS / 100)

2 ln 2 (%OS / 100)
 Percent overshoot versus damping ratio
 Lines of constant peak time Tp, settling time Ts and
percent overshoot %OS

Ts2 < Ts1

Tp2 < Tp1
%OS1 < %OS2
 Step responses of second-order underdamped
systems as poles move

a) With constant
real part
b) With constant
imaginary
part
 Step responses of second-order underdamped
systems as poles move

c) With constant damping

ratio
How poles and zeros relate to system response
Why we strive to obtain TF models?
Why control engineers prefer to use TF model?
How to use TF model to analyze and design
control systems?

we start from the relationship between the

locations of zeros and poles of TF and the
output responses of a system

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 Natural Undamped Frequency.

j
Distance from the origin of
s-plane to pole is natural
undamped frequency in n
rad/sec.

 Let us draw a circle of radius 3 in s-plane.

If a pole is located anywhere on the circumference of the

circle the natural undamped frequency would be 3 rad/sec.

-3 3

-3
 Therefore the s-plane is divided into Constant Natural
Undamped Frequency (n) Circles.

 Damping ratio.

Cosine of the angle j

between vector connecting
origin and pole and ve
real axis yields damping
ratio.


cos
 For Underdamped system 0 90 therefore,

0 1
j

 For Undamped system 90 therefore, 0

 For overdamped and critically damped systems 0
therefore, 0

 Draw a vector connecting origin of s-plane and some point
P.

j
P

45

cos45 0.707
 Therefore, s-plane is divided into sections of constant
damping ratio lines.

 Determine the natural frequency and damping ratio of the poles
from the following pz-map. Pole-Zero Map
1.5

1
Imaginary Axis (seconds-1)

0.5

-0.5

-1

-1.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
 Pole-Zero Map
3
Determine the natural
frequency and damping ratio 2
of the poles from the given
pz-map.

Imaginary Axis (seconds-1)

1
Also determine the transfer
function of the system and
0
state whether system is
underdamped, overdamped,
undamped or critically -1
damped.
-2

-3
-3 -2.5 -2 -1.5 -1 -0.5 0
 The natural frequency of closed Pole-Zero Map

loop poles of 2nd order system is 3

2 rad/sec and damping ratio is 2

0.5.
1

Imaginary Axis
Determine the location of closed 0
loop poles so that the damping
ratio remains same but the -1

natural undamped frequency is

-2
doubled.
C (s ) n2 4
2 2
2 -3
-2 -1.5 -1 -0.5 0
R(s ) s 2 n s n s 2s 4 Real Axis
Determine the location of closed loop poles so that the damping ratio remains
same but the natural undamped frequency is doubled.
Pole-Zero Map
5

1
Imaginary Axis

-1

-2

-3

-4

-5
-8 -6 -4 -2 0 2 4
 n n 2 1

n n 2 1

Transfer function Time-domain impulse
response
A
X (s) x (t ) Ae at
sa

Position of poles
and zeros
j

-a 0 i

0
49
 Time-domain
Transfer function
impulse response
A1 s B1
X ( s) x (t ) Ae at sin(bt )
( s a ) 2 b2

Position of poles and

zeros
j
b

-a 0 i
0

50
 Time-domain
Transfer function
impulse response
A1 s B1
X (s) 2 x (t ) A sin(bt )
s b2

Position of poles and

zeros
j
b
0
0 i

51
 Time-domain impulse
Transfer function
response
A
X (s) x (t ) Ae at
sa

Position of poles
and zeros
j

0 -a i

52
 Time-domain
Transfer function
dynamic response
A1 s B1
X ( s) x (t ) Ae at sin(bt )
( s a )2 b2

Position of poles and

zeros
j
b
0
-a 0 i

53
Summary of pole position & system dynamics

54
Characteristic equation

-obtained by setting the denominator polynomial of the

transfer function to zero

s n an 1s n 1 L a1s a0 0

Note: stability of linear single-input, single-output

systems is completely governed by the roots of the
characteristics equation.

55
Suppose a linear SISO system with input u(t), output
y(t), the transfer function of the system is
Y (S ) bm s m bm 1 s m 1 ... b1 s b0
G (s)
U (s) s n an 1 s n 1 ... a1 s a0

num bm , bm 1 ,..., b0
Descendin
den 1, an1 ,..., a0 g power
of s
TF in polynomial form
>> Sys = tf num den
>> [num, den] = tfdata (sys)
56
 TF in zero-pole form
>> sys = zpk z, p, k
>> [z, p,k] = tfdata (sys)

Transform TS from zero-pole form into polynomial form

>> [z, p, k] = tf2zp(num, den)

57