Unit Step Response of First Order System t T

(𝐶 (𝑠))/(𝑅 (𝑠)) = 1/(𝑇𝑠+1)

C (s) = R (s) 1/(��+1) 0 2
1 2
Laplace transform untuk unit step adalah 1/s
C (s) = 1/𝑠 1/(��+1) 2 2
3 2
Partial Fractions 4 2
C (s) = 1/� 1/(��+1) = 𝑎_1/𝑠 + 𝑎_2/(𝑇𝑠+1)
�_1 = [𝑠 1/(𝑠 (𝑇𝑠+1))] 𝑢𝑛𝑡𝑢𝑘 𝑠=0 → 1/(𝑇 (0)+1)=1 5 2
�_2 = [𝑇𝑠+1 1/(� (��+1))] untuk s = −1/(𝑇 ) → 1/(−1/𝑇)=−𝑇 6 2
Jadi C(s) = 1/� − 𝑇/(��+1) 7 2
= 1/� − 1/(�+1/𝑇)
Maka 8 2
C (t) = 1 - 𝑒^((−𝑡)/𝑇) 9 2
10 2
11 2
12 2
13 2
14 2
15 2
16 2

Unit Ramp Response of First Order System

(𝐶 (𝑠))/(𝑅 (𝑠)) = 1/(𝑇𝑠+1) t T
C (s) = R (s) 1/(��+1) 0 2
1 2
Laplace transform untuk unit ramp adalah 1/𝑠^2
C (s) = 1/𝑠^2 1/(��+1) 2 2
3 2
Partial Fractions 4 2
C (s) = 1/�^2 1/(��+1)
= (− 𝑇𝑠+1 )/𝑠^2 + 𝑇^2/(𝑇𝑠+1) 5 2
= -𝑇/𝑠+ 1/𝑠^2 + 𝑇^2/(𝑇𝑠+1) 6 2
= 1/�^2 - T (1/�) + �^2/(��+1)
7 2
C (t) = t - T + T �^((−�)/�) 8 2
9 2
error signal = input - output
e (t) = r(t) - c(t) 10 2
= t - (t - T + T �^((−�)/�)) 11 2
= T - T �^((−�)/�) 12 2
= T (1 - �^((−�)/�)) 13 2
14 2
15 2
16 2
Unit Impulse Response of First Order System t T C(t)
(𝐶 (𝑠))/(𝑅 (𝑠)) = 1/(𝑇𝑠+1)
C (s) = R (s) 1/(��+1) 0 2 0.5
1 2 0.303265
Laplace transform untuk unit impulse adalah 1
C (s) = 1/(��+1) 2 2 0.18394
C (s) = (1⁄𝑇)/(𝑇𝑠⁄(𝑇 )+ 1⁄𝑇) = (1⁄𝑇)/(�+ 1⁄𝑇) 3 2 0.111565
Maka 4 2 0.067668
C (t) = 1/𝑇 𝑒^((−𝑡)/𝑇)
5 2 0.041042
6 2 0.024894
7 2 0.015099
8 2 0.009158
9 2 0.005554
10 2 0.003369
 C(t) c(t)
0 1.2
0.393469
0.632121 1
0.77687
0.8
0.864665
0.917915
0.6
0.950213
0.969803 0.4
0.981684
0.988891 0.2
0.993262
0
0.995913 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
0.997521
0.998497
0.999088
0.999447
0.999665

C(t)
0
0.213061 c(t)
0.735759 16
1.44626
14
2.270671
3.16417 12
4.099574 10
5.060395
8
6.036631
7.022218 6
8.013476 4
9.008174
2
10.00496
11.00301 0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
12.00182
13.00111
14.00067
 C(t)
0.6

0.5

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
C(t)