Lecture 8 - Time Response

UCSI University Faculty of Engineering
Kuala Lumpur, Malaysia Department of Mechatronics
Lecture 8
Time Response
Mohd Sulhi bin Azman

Lecturer
Department of Mechatronics
UCSI University
sulhi@ucsi.edu.my
1 August 2011
EE406 Control Systems Lecture 8 : Time Response Page : 1
Watch Out!
Dont get sleepy, people!
1
Contents
Test input signals
Initial and final value theorem
Time response
First order system response
Second order system response
Effect of additional poles and zeros
Time Response
A time response is the response (output) of a
system with respect to time, given certain type
of inputs.
There are generally four (4) types of input:

Step input
Ramp input
Parabolic input
Impulse input
2
How to Choose Input Signals?
We always choose the typical signal as the input when
analyzing the transient response of a system because of
the following advantages:
1. It simplifies mathematical calculations. The performance

indices under the given typical signal are convenient for system
analysis and synthesis.
2. The response to a typical input can often be used as the basis

for analyzing the performance of a system under very complex
inputs.
3. It is easier to determine the transfer function of an unknown

system.
Types of Input : Step Input

The most common type of input. Also known as Heaviside unit-step
function.
0; t<0
u (t ) =
1; t0
Delayed unit-step:
0; t <
u (t ) =
1; t
Example of step input:

Turning on a switch in a circuit
Actuating a valve in a fluid system
Driving over a curb
3
Types of Input : Ramp Input
A steadily rising signal.
Definition
0; t<0
u (t ) =
t ; t0
Examples:
Machine tool cutting metal
Robot lifting a box
Telescope tracking a star across the sky
Types of Input : Parabolic Input

Also known as quadratic input.
The input changes (proportional) with time.
Definition:
0; t<0
u (t ) = 1 2
2 t ; t0
4
Types of Input : Impulse Function
This function is also called Dirac, needle, , or
pulse function.
The impulse function consists of a brief pulse,

i. e., at the time t = t0 the input value rises to
a high value A for a short time (impulse
duration t) and then immediately drops back
to its original value.
1, t = 0
Definition: (t ) =
0, t 0
1, t =
Delayed pulse: (t ) =
0, t Delayed Pulse
The impulse function is the derivative of unit
step function
In short
5
Behaviour of System at t=0 and t=
We can predict the behaviour of a system at two
different time, namely the initial time ti, and also the
final time tf.
The initial time, sometimes written t(0), is the time t=0

at which the system receives the excitation input.
The final time, sometimes written t() is the time when

the system have reached the steady state.
We can determine the behaviour of a system at these

two times by using the initial and final value theorems.
Initial Value Theorem

The initial value theorem predict or describes
the initial behaviour of a particular system.
In time domain:
f (0) = lim f (t )
t 0
In Laplace domain:
f (0) = lim s F ( s )
s
6
Final Value Theorem
The final value theorem predict or describe the
behaviour of the system at steady state.
In time domain:
f () = lim f (t )
t
In Laplace domain:
f () = lim s F ( s )
s 0
Response of 1st and 2nd order system

We can also determine and observe the output of a first
and second order systems.
Recall that the first and second order system is

described by a first and second order differential
equations, respectively.
To find the output response of these systems, we simply

solve the differential equations either by using the
classical method or Laplace transform.
Once we are able to solve the differential equations, we

will use MATLAB to plot the output response.
7
Response of 1st Order Systems
General block diagram:
General transfer function:

C ( s)
G ( s) =
R( s )
Response of 1st Order Systems

Recall that R(s) is the input of the system. We
can actually gives many type of input to our
system be it impulse, step, ramp or even
parabolic inputs.
We can perform the analysis of a 1st order

system by using the initial and final value
theorems or by using the Laplace transform
method.
8
Example 1
Given the following system. Find the response of
the system subjected to step, ramp and
parabolic input by using the initial and final value
theorems:
Solution to Example 1
For a step input:
1 1
f (0+) = lim sF ( s) = lim s = lim =0
s s s ( s + 1) s ( s + 1)
1
G(s) =
s ( s + 1) f () = lim sF ( s ) = lim s
1
=1
s 0 s 0 s ( s + 1)
For a ramp input:
1 1
f (0+ ) = lim sF ( s ) = lim s = lim =0
1 s s s 2 ( s + 1) s s ( s + 1)
G(s) = 2
s ( s + 1) f () = lim sF ( s ) = lim s 2
1
= lim
1
=
s 0 s 0 s ( s + 1) s 0 s ( s + 1)
For a parabolic input:
1 1
f (0+ ) = lim sF ( s ) = lim s = lim 2 =0
1 s s s ( s + 1)
3 s s ( s + 1)
G ( s) =
s 3 ( s + 1) f () = lim sF ( s ) = lim s 3
1
= lim 2
1
=
s 0 s 0 s ( s + 1) s 0 s ( s + 1)
9
Example 2
Find the system response of a first order
system given that a=1 and the input is of the
step, ramp and parabolic nature.
For step input:
C ( s) 1
G(s) = =
R( s) s ( s + 1)
Expanding the partial fractions:

1 A B
G(s) = = +
s ( s + 1) s s + 1
1 1
A= =1 & B= = 1
s + 1 s =0 s s =1
1 1
G(s) =
s s +1
Taking the inverse Laplace transform and we find that
t
the response is: g (t ) = 1 e
10
For ramp input:
C ( s) 1
G(s) = = 2
R( s ) s ( s + 1)
Finding the partial fraction expansion:
1 A B C 1 1 1
G ( s) = = + 2+ = + 2 +
s ( s + 1) s s
2
s +1 s s s +1
Hence, the response is:
g (t ) = 1 + t + e t
For a parabolic input:
C ( s) 1
G ( s) = = 3
R ( s ) s ( s + 1)
Finding the partial fraction expansion gives:
1 A B C D 1 1 1 1
G (s) = = + 2+ 3+ = 2+ 3
s ( s + 1) s s
3
s s +1 s s s s +1
Taking the inverse Laplace transform gives:

1 2
g (t ) = 1 t + t et
2
11
First Order Transient Response
What is a transient response?
It is the temporary response of the system, just
before it settles down to a value.
What do we usually analyze in 1st order systems?

Time constant,
Rise time
Settling time
Time constant (from differential equation)

Every first order differential equation can be
represented in the following general form:
dy 1
+ y = f (t )
dt
The letter signify the time constant.
The value indicates the stability of the system. If:

> 0, then the system is stable.
< 0, then the system is unstable.
, then the system is marginally stable.
12
Time constant and stability
First Order System

System transfer function (subject to step input):

a
G(s) =
s ( s + a)
Time response (take the inverse Laplace transforms)
g (t ) = 1 e at = 1 et
The tern is the time constant of a system
13
Time Constant
Denoted by the symbol (tau), where:
1
=
a
Plugging it in the given equation, we obtain:
g (t ) = 1 e 1 = 1 0.37 = 0.63
This simply means that this the time constant, , is the

time taken for the step response to rise to 63% of its
final value.
Step Response of 1st Order System
14
Rise Time, Tr
The time for the response (graph) to go from
0.1 to 0.9 of its final value.
at
It is found by solving g (t ) = 1 e for the time,
t, when g(t)=0.1 and g(t)=0.9:
1 e at = 0.1 t = 0.11 10% from the final value
1 e at = 0.9 t = 2.31 90% from the final value
And then, we take the difference between the

two to yield: T =
2.31 0.11 2.2
=
r
a a a
Settling Time, Ts
The time for the system to settle-down and stay within
2% of its final value. (some books use 5%, but for our
case, well stick to 2%).
If we assume that the final value of our system is 100%,

then a 2% would constitute 98% or simply 0.98.
Hence, for a first-order system to settle down:

1 e at = 0.98
e at = 0.02
ln 0.02 4
t= =
a a
15
Response of 2nd Order System
General transfer function:

b n2
G(s) = =
s 2 + as + b s 2 + 2n s + n2
Important Parameters in 2nd Order System

There are two very important parameters in a
second order system:
Natural frequency, n.
Damping ratio, (zeta).
16
Natural Frequency, n
By definition, natural frequency is the frequency at
which a system naturally vibrates once it has been set
into motion.
In other words, natural frequency is the number of

times a system will oscillate (move back and forth)
between its original position and its displaced position, if
there is no outside interference.
Sometimes, the natural frequency is also known as the

undamped natural frequency.
Damping Ratio,
Source : Wikipedia, 2010.
17
Analogy to Understand Damping Ratio
We consider a spring-mass system:
In the above diagram, if we supply a test force F to the mass, we

will see that the spring will oscillate (vibrate, fluctuate)
continuously as the time approaches infinity.
To reduce oscillations, we an energy (or shock-absorbing material)

known as a damper. If the value of the damper c is higher than
the value of the spring k, then there will be less oscillation.
Types of Damping
If there are dampers or frictional losses, then
there will be more damping.
There are generally four (4) types of damping:

Overdamped system
Underdamped system
Critically damped system
Undamped system
18
Damping in 2nd Order System
Overdamped System
In general, for overdamped case :

We have two real and distinct poles
>1
19
Underdamped System
In general, for an underdamped system :

We have two complex conjugate poles
0<<1
Critically Damped System
In general, for an critically damped system :

We have two real and repeated poles
=1
20
Undamped
In an undamped system, there exists no first order terms in a
second order differential equation of motion, meaning to say, there
is no dampers or dashpot present in the system. Hence, the system
will continue to oscillate.
In general, for undamped case :

We have two pure imaginary and complex conjugate.
=0
In Short
21
Damping Response of a 2nd Order System
Bigger values of = more damping
Response of a Second Order System

Analogy: aircraft trajectory motion.
Source:
http://www.facstaff.bucknell.edu/mastascu/econtrolht
ml/SysDyn/SysDyn2.html
22
Critical Examination : Poles & Damping Ratio
Pole location is a function of damping ratio. A change in
damping ratio means that the pole location has changed.
The pole location is important for predicting responses

to all kinds of inputs. Consider the following second
order transfer function:
n2
G(s) =
s 2 + 2n s + n2
The pole can be computed by letting the denominator

equal zero, and the solve the quadratic equation:
s 2 + 2n s + n2 = 0

This then gives: s1,2 = n n 2 1
Since s is a frequency (complex domain), then it is only

sensible to convert the above equation into the complex
domain. This can be done by factorising the term under the
square root, hence yielding:
s1,2 = n jn 1 2
Real Imaginary
Part Part
Sometimes, the term n 1 is also known as the damped

2
natural frequency, d . Rewriting the above equation gives:

s1,2 = n jd
23
Plotting the previous equation on the s-plane gives:
Imaginary (Im)
d = n 1 2 n

Real (Re)
n
The hypotenuse side can be found by using Pythagoras theorem,

giving (also reflected in the above graph):
2
[ n ] + n 1 2 = n
2


It is pertinent to note that, for a second order pole, the
distance from the origin of the s-plane is equal to n -
the undamped natural frequency.
And furthermore, since the distance n is constant, the

pole traverses a circular path around the origin when the
damping ratio is varied and the undamped natural
frequency is held constant. The traversal path is known
as the locus (the circular path travelled) of the pole.
The locus of the damping ratio is illustrated in the next

slide.
24
Locus of the Damping Ratio

The angle off the horizontal is also a useful parameter for this pole
and this gives the damping ratio. From the plot in Slide 44, we
establish the following triangle:
Notice that: But also:
n cos =
n
tan =
n 1 2
n 1 2
n n

1 2
tan =
n
1 2
= = cos

The larger the angle, the smaller the damping ratio, since the
cosine function gets smaller as the angle increases to 90o.
25
Other Salient Parameters
As with the same case for a 1st order system,
we are also looking at the following parameters
(besides the n and ):
Peak time
Rise time
Percent overshoot
Settling time
These parameters are related with the response

graph as shown in the next slide.
Typical Second Order Response Graph
26
Rise Time (tr)
The rise time is defined as the time taken for
the graph to reach from zero to the steady-
state value.
The general formula for calculating the rise

time is given as follows:
1 1 1
2 1
tr = tan = cos 1
n 1 2 d
Peak Time
Peak time, Tp = the time required to reach the first or
maximum peak.
The general formula for finding the peak time is:

tp =
n 1 2
But from Calculus, we also know that the peak point is
the extremum (turning point). Hence, an alternative
method of finding the peak time is to first solve the
time response g(t) and then substitute g(tp). Next,
dg (t p )
determine = 0 and solve for tp.
dt
27
Quiz For You!
An underdamped system response to a step
input is given as follows:
ent 1 2
g (t ) = 1 sin n 1 2 + tan 1
1 2 2
dg (t p )
By setting dt
=0, show that:

tp = =
d n 1 2
Percent Overshoot
Percent overshoot (%OS) is the amount that the
waveform overshoots the steady state , or final
value at the peak time, expressed as a
percentage of steady state value.
In other word, it is the difference between the

maximum peak and the steady-state value.
cmax c final ln ( %OS / 100 )

%OS = 100; =
c final 2 + ln 2 ( %OS /100 )
28
Percent Overshoot
Percentage overshoot depends entirely on the damping
ratio of the second order system.
Overshoot is important and is closely related to damping

ratio. It does not depend upon undamped natural
frequency!
We could get an analytical expression for the overshoot

by:
Step 1: Differentiating the expression for the response.
Step 2: Set the derivative to zero.
Step 3: Solve for the first non-zero time for which the
derivative is zero.
Percent Overshoot
The analytical expression for computing the percent overshoot is:

%OS = 100 exp
1 2

While it is not immediately apparent from this expression, the

percent overshoot decreases as the damping ratio increases.
If we plot the percent overshoot using this function, we get this

plot:
When the damping ratio reaches somewhere around 0.8 the

overshoot
becomes so small that you will not be able to observe it. It's still
there, but you just can't see it in typical lab data. You probably
can't see it for damping ratios larger than 0.7 for that matter.
29
Percent Overshoot and Damping Ratio
We can deduce some important relationship
between an overshoot of a system with the
damping ratio.
We observe that the larger the damping ratio,

the less overshoot the system will have.
Error Band
No system is perfect, as such there will be some errors.
The error is usually found by finding the difference of
the actual value with the predicted value.
In second-order system, the permissible range of error

band is either 5% allowance or 2% allowance. Generally,
we wanted to optimize our system so as to have the
minimum possible error.
We consider the diagram shown in the next slide. The

diagram shows an underdamped system.
30
Error Band
We take note that the general transfer function for an
underdamped system (0<<1) is given as follows:
n2
G ( s) =
s 2 + 2n s + n2
Taking the inverse Laplace transform (by first expanding
the partial fraction) yields:
n2 k1 k 2 s + k3
L1 G ( s ) = = +
s ( s 2 + 2n s + n2 ) s s + 2n s + n
2 2

( s + n ) + 2 n 1 2

n2
1 1
L1 G ( s ) = = +
s ( s 2 + 2n s + n2 ) s s 2 + 2n s + n2

Error Band
Thus, the inverse transform is given as:

g (t ) = 1 ent cos n 1 2 t + sin n 1 2 t
1 2
Simplifying the expression further gives:
e nt
g (t ) = 1 cos n 1 2 t tan 1
1 2 1 2
Envelope of the curve
The plot of this expression is shown in the next slide:
31
Error Band
Settling Time (ts)

According to Nise (2007), the settling time, ts = the time
required for the transients damped oscillations to reach and
stay within 2% of the steady state value.
However, it is also considered as the shortest time taken for

the response curve to enter and remain within the error
allowance band. As mentioned, the permissible allowance band
should not exceed 5% deviation from the actual output.
However, some authors are of the view that the error should
be fixed to be around 2%.
The graph shows on the previous slide described the

response of the function as it enters the allowable error
band. The time that the graph enters the allowable error
band is known as the settling time.
32
Settling Time (ts)
We consider the envelope function of the graph. The function is
given by the following formula:
E( envelope ) (t ) = e nt
The envelope of the graph is an exponential function, thus it will

either grow or decay to some finite value.
If we take the error allowance band to 5%, then we can solve the
envelope equation, thus giving:
e nt = 0.05
nt = ln 0.05
ln 0.05 3
t= =
n n
Settling Time (ts)

Similarly, if we wish to have the error allowance band to
be fixed at 2%, then repeating the previous step will
give you the following answer:
e nt = 0.02
nt = ln 0.02
ln 0.02 4
t= =
n n
From these equations, we note that when the damping
ratio is constant, and when the undamped natural
frequency is larger, then the time constant will be
shorter. Hence, we say that the system responds faster
to the given input.
33
Exercise
Determine the performance indices for this system:
361
G ( s) =
s + 16 s + 361
2
Answer
This example is taken from our textbook,
Chapter 4, under the heading Skill-Assessment
Exercise 4.5.
34
A note on rise time (tr)
By definition the rise time is the time taken for the
response to rise from zero to the steady-state value.
Theoretically, some systems, with no overshoots, require
infinite time to reach the stady-state value. Therefore,
the rise time is also defined as the time taken for the
response curve to raise from 10% to 90% of its steady-
state value (Dong, Zhao, Xiong & Guo, 2009).
The common formula for calculating the rise time of a

second-order system was presented in the previous
slide; however, theres a catch. The formula only works
for a second order system having a constant numerator.
A note on rise time (tr)

If a second-order system has a derivative term s on the
numerator, then determining the rise time by using the
formula may introduce large errors in the rise time and
maximum overshoots.
Therefore, the alternative (or correct) approach is to

first determine the time response of the system g(t),
and then substitute g(tr) =1 and solve for tr .
35
Example 4
Determine the unit step response and the rise
time for the following system:
0.4s + 1
G (s) =
s2 + s +1
This transfer function contains the derivative term s on
the numerator. Therefore, we proceed by first
determining the time response g(t) and hence we
substitute g(tr)=1 in further finding the rise time.
0.4s + 1
L1 G ( s ) =
s ( s 2 + s + 1)

1 ( s + 2 ) + 15
L1 G ( s ) =
1
( )
3
2
3 Expand the partial fraction
and complete the square.
s ( s + 1 )2 + ( )
2
3
2 2
(
g (t ) = 1 e t 2 cos t 23 + 3
15 sin t 23 ) Obtain the inverse Laplace
transform.
36
Now, set g(tr)=1, that is:
g (t ) = 1 e tr 2
( cos tr 3
2 + 3
15 )
sin tr 2 3 = 1
Simplifying gives:
e tr 2
( cos tr 3
2 + 3
15 )
sin tr 2 3 = 0
cos tr 2 3 + 153 sin tr 2 3 = 0
Using trigonometric identity, we find that: tan

tr 3
2 = 153
On solving, we obtain: tr 1.946 seconds
Effect of Additional Poles

So far, we have only considered the transfer function
with a maximum of two poles. What will happen when we
have a higher order poles?
The theory is that many higher order systems posses a

dominant pair of poles that makes them behave
approximately like a second order system.
Consider for example the following system:

K
G ( s) =
( s + )( s + 2n s + n2 )
2
37
The response of the system defined in the previous slide can be
approximated to the response of the second order system by simply
omitting the third pole.
However, there is a condition before omitting the third pole: the

condition is such that we can omit the third pole if the third pole is
10 times (really far away) further away to the left of the real part
of the complex second-order pole. Now, Nise (2007) was of the
opinion that the pole should really be 5 times farther away.
Mathematically: 10 n or 5 n .
And we note that this discussion is limited to a transfer function

having a constant numerator .

What effect will additional poles has on the
system performance:
Maximum overshoot
Settling time
Peak time
Consider the following transfer function:

K
G ( s) =
( s + )( s 2 + 2n s + n2 )
38
Effect of Additional Zeros
If an additional zero is added to the transfer function, then the
zero will affect the amplitude (residue) of the system; but it
doesnt affect the nature of the system (underdamped, overdamped
etc.)
Consider the transfer function below:

s+a
T (s) =
( s + b)( s + c)
Evaluating the partial fraction yield:

s+a k k
T (s) = = 1 + 2
( s + b)( s + c) s + b s + c
( b + a ) ( b + c ) ( c + a ) ( c + b )
T (s) = +
s+b s+c

If the zero is far away from the poles, then we say that
a is larger compared to b and c. Hence:
1 (b + c) 1 (c + b) a
T (s) = a + =
s+b s + c ( s + b)( s + c)
This can be reflected in the graph shown in the next

slide.
39

Now, consider another transfer function:
T ( s) =
( s n ) + 1
( s n ) 2 + 2 ( s n ) + 1
Now, the zero is at s = n = a
If the value of is large, then the zero will be far away

from the poles, hence there will be little effect of zero.
This is reflected in the graph shown in the next slide.
40

A zero in the right half plane will depress the overshoot.
A zero in the transfer function, if located too close to

the dominant poles, will affect the transient response of
the systems
The major effect of zero is to increase the overshoot

and very little effect on the settling time.
41
Next Step
Textbook reference : Chapter 4.
Homework 7 has been posted on the course

website. Attempt them. You do not have to
submit Homework 7 as it will not be graded.
Thank You.
Wise Word
Age wrinkles the body. Quitting wrinkles the soul.

Douglas MacArthur
42

Lecture 8 - Time Response

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UCSI University Faculty of Engineering

Kuala Lumpur, Malaysia Department of Mechatronics

Mohd Sulhi bin Azman

EE406 Control Systems Lecture 8 : Time Response Page : 1

EE406 Control Systems Lecture 8 : Time Response Page : 2

EE406 Control Systems Lecture 8 : Time Response Page : 3

There are generally four (4) types of input:

EE406 Control Systems Lecture 8 : Time Response Page : 4

1. It simplifies mathematical calculations. The performance

2. The response to a typical input can often be used as the basis

3. It is easier to determine the transfer function of an unknown

EE406 Control Systems Lecture 8 : Time Response Page : 5

Types of Input : Step Input

Example of step input:

EE406 Control Systems Lecture 8 : Time Response Page : 6

EE406 Control Systems Lecture 8 : Time Response Page : 7

Types of Input : Parabolic Input

The input changes (proportional) with time.

EE406 Control Systems Lecture 8 : Time Response Page : 8

The impulse function consists of a brief pulse,

EE406 Control Systems Lecture 8 : Time Response Page : 10

The initial time, sometimes written t(0), is the time t=0

The final time, sometimes written t() is the time when

We can determine the behaviour of a system at these

EE406 Control Systems Lecture 8 : Time Response Page : 11

Initial Value Theorem

EE406 Control Systems Lecture 8 : Time Response Page : 12

EE406 Control Systems Lecture 8 : Time Response Page : 13

Response of 1st and 2nd order system

Recall that the first and second order system is

To find the output response of these systems, we simply

Once we are able to solve the differential equations, we

General transfer function:

EE406 Control Systems Lecture 8 : Time Response Page : 15

Response of 1st Order Systems

We can perform the analysis of a 1st order

EE406 Control Systems Lecture 8 : Time Response Page : 16

EE406 Control Systems Lecture 8 : Time Response Page : 17

EE406 Control Systems Lecture 8 : Time Response Page : 19

Expanding the partial fractions:

EE406 Control Systems Lecture 8 : Time Response Page : 20

Finding the partial fraction expansion:

Hence, the response is:

EE406 Control Systems Lecture 8 : Time Response Page : 21

Finding the partial fraction expansion gives:

Taking the inverse Laplace transform gives:

EE406 Control Systems Lecture 8 : Time Response Page : 22

What do we usually analyze in 1st order systems?

EE406 Control Systems Lecture 8 : Time Response Page : 23

Time constant (from differential equation)

The value indicates the stability of the system. If:

EE406 Control Systems Lecture 8 : Time Response Page : 24

EE406 Control Systems Lecture 8 : Time Response Page : 25

First Order System

System transfer function (subject to step input):

The tern is the time constant of a system

EE406 Control Systems Lecture 8 : Time Response Page : 26

This simply means that this the time constant, , is the

EE406 Control Systems Lecture 8 : Time Response Page : 27

Step Response of 1st Order System

EE406 Control Systems Lecture 8 : Time Response Page : 28

And then, we take the difference between the

If we assume that the final value of our system is 100%,

Hence, for a first-order system to settle down: