TIME RESPONSE

First-Order System

Objectives
How to find the time response from the
transfer function
How to use poles and zeros to determine
the response of a control system
How to describe quantitatively the
transient response of first-order systems

System Response
The output response of a linear system is the
sum of the forced response and the natural
response

c(t)
c(t) == ccff (t)
(t) ++ ccnn (t)
(t)

Poles and Zeros

Poles of a Transfer Function: The poles of
a transfer function are those values of the
transfer function variables that cause the
transfer function to become infinite.
Zeros of a Transfer Function: The zeros of
a transfer function are those values of the
transfer function variables that cause the
transfer function to become zero.

Example 1
Example 1 Determine the step response
of the transfer function, G(s) = (s+2)/
(s+5). Determine also the poles and
zeros.
Answer:

Example 1
a.
b.
c.

System showing
input and output;
pole-zero plot
of the system;
evolution of a
system response.
Follow blue arrows
to see the evolution
of the response
component generated
by the pole or zero.

Time Response

Example 2
Use poles to evaluate the system response of the
system shown in Figure by inspection.

First-Order System
A first-order system is illustrated in figure. It has the transfer
function which is also called a first-order lag.
The system has one pole at s = -a as shown in the pole-zero
diagram.

First Order Systems

In the time domain the step response is:

The parameter a is very important for specifying the

performance of a first-order system. It is significant
because

Or, alternatively, the step response

System Response of Unit Step

First-order system response to a unit step

1st Order System

Specification
Time Constant,
Rise Time, Tr
Settling Time, Ts

Ts
Tr

Rise Time, Tr and Settling Time, Ts

The rise-time (symbol Tr, units in sec) is defined as the
time taken for the step response to go from 10% to
90% of the final value.

The settling-time (symbol Ts units in sec) is the to be

taken for the step response to come to within 2% of the
final value of the step response.

Example 3
Given the transfer function G(s), in figure below,
obtain the following if the input is a unit step.
the pole and zero of the system and draw it
in s-plane.
obtain the system response

R(s)

s1
s6

C(s)

Example 4
From the given RC circuit (a first order system)
determine the system transfer function, G(s)
= VC(s) / Vi(s) and the voltage across the
capacitor if the input voltage is a unit step with
value of 1V.
3
1F

Example 5
Find the output unit step response, c(t), for
each of the systems shown in figure below. Also
find the time constant, rise time, and settling
time for each case.
R(s)

5
s5

C(s)

R(s)

20
s 20

C(s)

Example 6
Find the capacitor voltage in the network shown
below if the switch closes at t = 0. assume zero
initial conditions. Also find the time constant,
rise time, and settling time.

1
1/2 F
5V

Thank You
The only reason for time is so that
everything doesn't happen at
once.
-Albert Einstein
You can't change the past, but
you can ruin the present by
worrying about the future