Time Response

Objectives
• Use pole and zeros of a transfer function to
determine time response of a control system
• Quantitatively analyze the transient response of
a first order system
• Write the general response of a second order
system given pole location
• Find damping ratio and natural frequency of a
second order system
• Find time response from state space
representation
 Introduction
• We now know to mathematically model both
in frequency and time domain
• The next step is to analyze the transient
response of each subsystem in the system
against desired behavior.
Poles, Zeros and System Response
• A valuable tool analysis and design tool
• Output response is the sum of natural
response and forced response
• Poles and zeros have direct relationship with
the time response of a system
 Poles, Zeros and System Response
• Poles: The poles of a transfer function are values
of Laplace transform variable s, that causes the
transfer function to become infinite. For example
the roots of the characteristic polynomial in the
denominator are values of s that make transfer
function infinite.
• Zeros: The zeros of a transfer function are values
of Laplace transform variable s, that causes the
transfer function to become zero. For example the
roots of the numerator are values of s that make
transfer function zero and thus called zeros.
Example: Poles and Zeros of First Order System

Zero at s = -2

Pole at s = -5
 Example: Poles and Zeros of First Order System
• To show the properties of poles and zeros, let us
find unit step response of the system
Example: Poles and Zeros of First Order System
Example: Poles and Zeros of First Order System
 Summary
• Each pole of the system transfer function on
real axis generates an exponential response
that is a component of natural response
• The input poles generate the forced response
 Example
For the given system, write the output c(t) in general terms. Specify forced
and natural parts of the solution.

By inspection, each system pole generates an exponential as part of natural

response

Taking inverse Laplace transform

 First Order Systems
• We focus on first-order systems without zeros

With step input i.e. R(s)=1/s, the step response is C(s)

Taking inverse Laplace transform, the step response is given by

Input pole at the origin is responsible for forced response Cf(t)=1 and system
pole at –a generated the natural response Cn(t) = -e-at
 First Order Systems
• The only parameter needed to describe transient response is a

Input pole at the origin is responsible for forced response Cf(t)=1 and system
pole at –a generated the natural response Cn(t) = -e-at ,when t = 1/a
 First Order Systems
Time Constant: 1/a is the time constant of the response and defined
as the time for e-at to decay to 37% of its initial value or time it takes
for step response to rise to 63% of its final value.

First order system response to a unit step

 First Order Systems
• Reciprocal of time constant has units (1/seconds),
or frequency and known as exponential
frequency
• Time constant is considered a transient response
specification of first order system. The farther the
pole is towards the left, the faster the transient
response.
 First Order Systems
Other System Specifications:
• Rise Time: Time for the waveform to go from 0.1
to 0.9 of its final value.

• Settling Time: Time for the waveform to reach

and stay within 2% of its final value. Let c(t) =
0.98 then
 First-Order Transfer Functions via testing
• Sometimes it is not possible to obtain transfer
function analytically of a system. Maybe the
system is closed and components are not clearly
identifiable.
• Using the fact that transfer function related input
and output, we can use step input to see the
system’s response. This can help us to find time
constant and steady-state value from which
transfer function can be calculated without
knowing the internal representation of the
system.
 First-Order Transfer Functions via testing

• Consider a simple first order system

• The step response is

• If we can identify K and a, we can obtain the

transfer function of the system
• Lets perform step input and see the response
 First-Order Transfer Functions via testing

• First order characteristics, no overshoot.

• Using response, we measure time constant i.e. time for amplitude to reach 63%
of its final value. Final value here is 0.72. Time constant is 0.63 x 0.72 = 0.4536 i.e.
about 0.13 seconds. Hence time constant (a) = 1/0.13 = 7.7 seconds
 First-Order Transfer Functions via testing

• To find K, we know the forced response reached a steady-state value K/a of

0.72. Substitute a= 7.7 to get K= 5.54. The transfer function is therefore