Assignment 03: 1 Explain Unit Step Response of First Order Linear Time Invariant Systems

Syed M.
Afzal, 180401046
Assignment 03
1 Explain unit step response of first order linear time invariant systems.
Unit step signal in time domain is:

𝑟(𝑡) = 𝑢(𝑡)
Unit step signal in frequency domain is:
1
𝑅(𝑠) =
𝑠
Consider first order system in “s” domain:
1
𝐺(𝑠) =
𝑠𝜏 + 1
In order to find step response of above system multiply step signal to the above system:
1 1
𝐻(𝑠) =
𝑠 𝑠𝜏 + 1
By using partial fraction:
1 1 𝐴 𝐵
= +
𝑠 𝑠𝜏 + 1 𝑠 𝑠𝜏 + 1
𝐴=1
𝐵 = −𝜏
So,
1 𝜏
𝐻(𝑠) = −
𝑠 𝑠𝜏 + 1
By simplifying we get:
1 1
𝐻(𝑠) = −
𝑠 𝑠+1
𝜏
To get above equation in time domain apply inverse Laplace Transform
−𝑡
ℎ(𝑡) = 𝑢(𝑡) − 𝑒 𝜏 𝑢(𝑡)
−𝑡
ℎ(𝑡) = (1 − 𝑒 𝜏 )𝑢(𝑡)
2 Define transient resposne specifications of second order systems using

neat sketch.
2.1 Transient Response Specifications

2.1.1 Delay Time
The time taken by the system to reach 50 percent of the final value is called delay time
Syed M. Afzal, 180401046
2.1.2 Rise Time

The time taken by the system to respond to a change in its final value from 10 percent to 90
percent for an over-damped system and 0 percent to 100 percent for an underdamped system
.
2.1.3 Peak Time
The time taken by the system to reach first highest value of the time response is called peak
time.
2.1.4 Maximum Overshoot

The maximum overshoot is the difference between the height of the first period and steady
production.
2.1.5 Settling Time

The time taken by the system to reach within the range of 2 percent to 5 percent of its final
value.
2.1.6 Steady State Error

The difference between real and desired value of output at the end time ‘t’ is called steady state
error.
Figure 1 Transition response specifications

3 Explain the performance indices of second order system.

The second order system's transfer function has the form of:
𝑘𝑤 2
𝐺(𝑠) = 2
𝑠 + 2𝑧𝑤𝑠 + 𝑤 2
𝑘 = 𝑔𝑎𝑖𝑛
𝑧 = 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑟𝑎𝑡𝑖𝑜
𝑤 = 𝑛𝑎𝑡𝑢𝑟𝑎𝑙 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
Poles of this system can be found by using equation:

𝑠𝑝 = −𝑧𝑤 ± 𝑗𝑤 √1 − 𝑧 2
According to the value of damping ratio and poles location the second order systems are of four types:
3.1 Underdamped Systems:

The damping ratio must be smaller than one, and the poles must be complex conjugate.
Figure 2 underdamped system

3.2 Critically damped:

The damping ratio is one in this case, and the poles are actual and identical.
Figure 3 critically damped system
3.3 Over-damped Systems:

The damping ratio is one in this case, and the poles are actual and different.
Figure 4 overdamped system
3.4 Undamped System:

The damping ratio is 0 in this case, and the poles are on the imaginary axis.
Figure 5 undamped system
4 Explain in detail P-I, P-D and P-I-D control action.

4.1 P-I Controller:
PI control is a type of feedback control. It contains a speedier response time than an integral controller
since of the ‘P’ operation. PI monitoring keeps the gadget stable and can indeed return it to its unique
state. Although PI-control has a quicker reaction time than an Integral controller, it is still up to 50%
slower than a Proportional controller. As a result, to upgrade response time, PI control is frequently
combined with a Derivative controller.
It:
• Reduces maximum overshoot and improves damping.
• Increases the time it takes for you to rise.
• Reduces Bandwidth
• Gain Margin, Phase Margin, and Peak Resonance are all improved.
• Remove high-frequency noise with a filter.
4.2 P-D Controller:

Since it works on both current and expected process conditions, PD controller is a hybrid of feed-forward
and input control. The control yield in PD controller could be a of the error signal and its subordinate.
The added substance control hoses the variance and its subordinate control predicts handle mistake in
PD controller.
It:
• Increases overall overshoot and damping.
• Reduces the time it takes to climb and settle.
• Broadens Bandwidth
• Improves gain and phase margins, which can help to reduce high-frequency noise.
4.3 PID Controller:

PID-control is the foremost broadly utilized since it combines the preferences of each sort of control.
Because of the proportional controller, this necessitates a faster reaction time and a lower/zero offset
owing to the combined derivative and integral controls. To eliminate it, the Integral controller was
utilized in conjunction with the offset. Because it identifies device disturbances by computing the
difference in error, the Derivative controller considerably enhances the controller's responsiveness when
used in tandem.
• Its goal is to increase stability while lowering Steady State Error.

• It adds a pole at the origin, which increases the form of system and reduces steady state error.
• It applies two zeroes to the LHP, one finite to prevent effects on consistency and the other to increase device
stability.

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Syed M.

Unit step signal in time domain is:

2 Define transient resposne specifications of second order systems using

2.1 Transient Response Specifications

2.1.2 Rise Time

2.1.4 Maximum Overshoot

2.1.5 Settling Time

2.1.6 Steady State Error

Figure 1 Transition response specifications

3 Explain the performance indices of second order system.

Poles of this system can be found by using equation:

3.1 Underdamped Systems:

Figure 2 underdamped system

3.2 Critically damped:

Figure 3 critically damped system

3.3 Over-damped Systems:

Figure 4 overdamped system

3.4 Undamped System:

Figure 5 undamped system

4 Explain in detail P-I, P-D and P-I-D control action.

4.2 P-D Controller:

4.3 PID Controller:

• Its goal is to increase stability while lowering Steady State Error.

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