Control engineering

(2151908)

Time response of first order system

PREPARED BY:

140113119007 Patel Ravindra

 introduction
Time response of a system is defined as the output
of a system when subjected to an input which is a
function of time.

Time response analysis means subjecting the

control system to inputs that are function of time
and their outputs which are also function of time.
The order of a system is defined as being the
highest power of derivative in the differential
equation, or being the highest power of s in the
denominator of the transfer function.

A first-order system only has s to the power one

in the denominator, while a second-order system has
the highest power of s in the denominator being two
types of the input functions (or test input signals)
commonly used are:

Impulse function: In the time domain, u(t) = cd(t).

In the s domain, U(s) = c.
 Step function: In the time domain, u(t) = c. In
the s domain, U(s) = c/s.

Ramp function: In the time domain, u(t) = ct. In

the s domain, U(s) = c/s2.

Sinusoidal function: In the time domain, u(t) =

csin(wt). In the s domain, U(s) = cw/(s2+ w2).

where c is a constant in all the above.

With these test signals, mathematical and
experimental analyses of control systems can be
carried out easily since the signals are very
simple functions of time.

Which of these typical signals to use for

analysing system characteristics may be
determined by the form of the input that the
system will be subjected to most frequently
under normal operation.

If the inputs to a control system are gradually

changing functions of time, then a ramp function
of time may be a good test signal.
Similarly,if a system is subjected to sudden
disturbances, a step function of time may be a
good test signal, and for a system subjected to a
shock input, a pulse or an impulse function may be
best.

The time response of a control system consists of

two parts: the transient response and the steady
state response.

The transient response is defined as the part of

the time response which goes from the initial state
to the final state and reduces to zero as time
becomes very large.
 The steady-state response is defined as the
behaviour of the system as t approaches infinity
after the transients have died out.

Thus the system response y(t) may be written as:

y(t) = yt(t) + ys(t)

where yt(t) denotes the transient response,

and ys(t) denotes the steady-state response.
Roadmap (Time Responses)
 Why Study Time Responses??

Modelling:
Some parameters in the system can be estimated or
identified by time responses.

Analysis:
Evaluate transient and steady-state responses to see
if they meets performance requirement.

Design:
Given design specifications in terms of transient and
steady state responses, design controllers satisfying
all the design specification.
 First-Order System
General form:
C ( s) K
G( s)
R( s ) s 1

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

s s 1

B
c(t ) A e t

Transient Response: Gradual change of output
from initial to the desired condition.

Block diagram representation:

K : Gain
: Time constant

By definition itself, the input to the system

should be a step function which is given by the
following:
 Response Analysis of First-Order
Systems

Many systems are approximately first-order. The

important feature is that the storage of mass,
momentum and energy can be captured by one
parameter.

Examples of first-order systems are

velocity of a car on the road, control of the velocity
of a rotating system, electric systems where
energy storage is essentially in one capacitor or one
inductor, incompressible fluid flow in a pipe,
level control of a tank, pressure control in a gas tank,
temperature in a body with essentially
uniform temperature distribution (e.g. steam filled
vessel).
 Standard test signal

The characteristics of actual input signals are a

sudden shock, a sudden change, a constant velocity,
and constant acceleration.

The dynamic behavior of a system is therefore

judged and compared under application of standard
test signals an impulse, a step, a constant velocity,
and constant acceleration.

Another standard signal of great importance is a

sinusoidal signal
 Unit Impulse input

The impulse signal imitate the sudden shock characteristic

of actual input signal.

If A=1, the impulse signal is called unit impulse signal.

The unit impulse is defined as a function of time
that is zero everywhere, except for an
infinitesimally small neighborhood around the origin,
in which the function attains unbounded values.

However, its time integral from to + is exactly

+1.Thus, if we denote by 0 and 0+ the instants just
before and just after 0, respectively.

As a consequence, the unit-impulse function has

units of s1, i.e., of frequency. This function is also
called the delta function or the Dirac function, and is
represented as a vertical arrow at the origin, as in
Fig. of unit length in the scale adopted.
Note that, if the unit-impulse function is multiplied
by a constant A to obtain A (t), it follows from Eq.
2.31 that its time integral from to + is equal to
A. We then say that A (t) is an impulse function of
magnitude A, the magnitude being, in fact, the area
under the impulse.

Such a non-unit impulse is thus represented as an

arrow of height A in the scale adopted. The height of
the arrow, then, denotes the time integral of the
associated impulse function on the whole real axis.
 Unit Step input

The step signal imitate the sudden change characteristic of

actual input signal.

If A=1, the step signal is called unit step signal

Note that the unit-step function is undefined in the
interval 0 <t <0+.
This does not bother us, because the values of this
function in that interval are never needed, except for
the basic assumption that this function remains
bounded everywhere, including that interval.
The unit-step function is needed to represent abrupt
changes of variables upon which a function jumps
instantaneously from one value to another by a finite
amount.
This corresponds to physical situations such as a
constant, finite force applied suddenly onto a mass,
the sudden closing of a switch in a circuit driven by a
battery, the sudden exposure of a body at a given
temperature to a constant, finite temperature,
different from that of the body, and so on.
 Unit Ramp input
r(t)

0 t

The ramp signal imitate the constant velocity

characteristic of actual input signal.

At t0
r(t )
0 t0

If A=1, the ramp signal is called unit ramp signal

The ramp signal is the integral of the step input,
and the parabola is the integral of the ramp input.
The unit impulse function is also useful for test
signal purposes.

The responses due to these inputs allow the

prediction of the systems performance to other
more complex inputs.

Ramp- for track a constant angular position (first

derivatives are constant).