Response Analysis – Part 1

References: Modern Control Engineering by

Katsushiko Ogata

Dr. Mousumi Roy, PE

 Welcome Back!
• Now that the Exam 1 is done…we might want to think about Project
grouping.

• I have created a google drive page for you to sign up for groups (link
provided here):
https://docs.google.com/spreadsheets/d/16WA9dShZ-
7zlZNZfHfwBflt296iisxWGHXp4guj7-4g/edit?usp=sharing

• We have about 60 students - I am thinking 4 to 5 max. so that we have

enough time for each group to present in 2 days.
Dynamic Systems: Learning Topics
• Transfer Function and Laplace Transform

• Block Diagram

• Response Analysis for First order and Second order Systems

 Dynamic Systems
What is the main difference between static and dynamic
systems?
ØFor a dynamic system forces and responses are functions of
time à differential equations involving time

What is a Laplace Transform?

• A Laplace transform converts the input from the time domain
[ f(t) ] to the spatial domain [ F (s) ]. f(t ) could be sin(wt) , exp
(wt), or any other complicated function.
!
For example: a unit step function defined by f(t ) = 1 àℒ [ f(t) ] = F(s) = "
 Transfer function
Transfer functions and Block diagrams provides a powerful method of representing
complex systems in a simplified way.
What is a Transfer Function?
• A Transfer Function provides a description of the input-output relation for a linear
time-invariant system.
• The output or response can be found by multiplying input with the transfer function.
It is then converted back to the time domain using an Inverse Laplace transform.

Transfer Function is the ratio of Laplace Transform of the

response function (output) to the Laplace Transform of the
driving function (input) under the assumption that all initial
conditions are zero.
Transfer
#(") '()*(+, -.(/012.3 21 245)46 F (s) X (s)
G (s) = = Function
& " '()*(+, -.(/012.3 21 7/)45
G(s)
Some common input functions

https://www.google.com/search?q=impulse+function&sxsrf=ACYBGNSIF1Y6x4nE28H
beOzCdsdvb1gDQg:1570733644320&source=lnms&tbm=isch&sa=X&ved=0ahUKEwje
4p_nrpLlAhXxmuAKHUszCSkQ_AUIEigB&biw=1237&bih=703#imgdii=l3QJQsYyxDqdP
https://www.google.com/search?q=unit+step+function&sxsrf=AC M:&imgrc=Vl2lHkffMrWHKM:
YBGNTYLLmpRT60Ng0RVn5jpDNcfKClUA:1570733470687&source= https://en.wikipedia.org/wiki/Ramp_function
lnms&tbm=isch&sa=X&ved=0ahUKEwiCjLqUrpLlAhVjk-
AKHaSgBYwQ_AUIEigB&biw=1440&bih=703#imgrc=1IbRuvWjLMfd
WM:

Unit Step Function Ramp Function Impulse Function

For a unit step function,
f(t ) = 1,
!
ℒ [ f(t) ] = F(s) =
"
 Laplace transform: how to transform differential
equations to algebraic equation

How to generate Laplace Transform?

!
1. Replace a derivative symbol with the symbol s.
!"

#
2. Replace an integral symbol, ∫…. dt , with the symbol $ .

3. Replace the symbols representing time-dependent variables, which

should be written in lowercase letters in the differential equation, with
their corresponding uppercase letters in the transformed equation.
 Spring-mass-dashpot system
x (t)
b
m F (t)

k Free Body Diagram

𝑑𝑥 𝑑8𝑥
Newton’s Law => " 𝐹𝑥 = 𝐹 𝑡 − 𝑏 − 𝑘𝑥 − 𝑚 8 =0
𝑑𝑡 𝑑𝑡
=> A second order system

With negligible mass=> A first order system

 Laplace Transform and Transfer Function

𝑑𝑥 9:
𝐹 𝑡 −𝑏 − 𝑘𝑥 = 0 à F(t) = 𝑏 96
+ x (t)
𝑑𝑡

Let’s look at a first order ODE representing a system ( examples: spring-

damper system, the flow of fluid from a tank, etc.) :
!%
f(t) = 𝑇 + x (t) , Where 𝑇 is called time constant.
!"
and, Output = x (t), Input = Force Function = f(t)
Laplace Transform and Transfer Function for First Order System
9:
So, our equation is f(t) = 𝑇 +x
96
Taking Laplace Transform :
9
• Replace a derivative symbol 96 with the symbol s.
• Replace the symbols representing time-dependent variables, which should
be written in lowercase letters in the differential equation, with their
corresponding uppercase letters in the transformed equation.
What do we get?
9:
f(t) = 𝑇 96
+ x à F(s) = 𝑇[s X(s) ] + 1 X(s)
F(s) = [𝑇s +1] X (s)
# (($)
or, =
&$ '# + $
,-".-"
= /0.-"
= G (s) = Transfer Function
 Transfer Function: Example 1
!"
Suppose + 3x = 𝑒 $%# represents a system with initial conditions = 0
!#
Find transfer function G(s).
iClicker Question: What is input function in this equation?
a. x(t) F (s) Transfer
X (s)
Function
b. 𝑒 $%# G(s)
Solution: Here, input function f(t) = 𝑒 ;<6 and output = x(t)
!
Taking Laplace transform : s X(s) + 3 X(s) = [ "=< ] F(s)
! 𝟏 𝟏
or, (s+3) X (s)= [ "=< ] F(s) à X (s) = [ 𝒔=𝟑 ] [ 𝒔=𝟓 ] F(s)

'()*(+, -.(/012.3 21 245)45B# (") ! !

So, the Transfer Function G(s) = '()*(+, -.(/012.3 21 7/)45B& (")
= X (s) / F (s) = [ "=C ] [ "=< ]

To get the system output X(s), Multiply the system input with the Transfer Function
 Transfer Function: Example 2 (Class Problem)
iClicker questions: Find the Transfer Function of the systems modelled by the
ODE as follows:
!%
5 + x = 2f(t)
!"

Taking Laplace Transform : 5s X(s) + X (s) = 2 F(s)

or (5s +1 ) X (s) = 2 F (s)
1
Rearranging, X (s) = F (s)
2$'#

3456478 9:4;<=>:? >= >@A5@AB( ($)

Hence Transfer Function, G (s) =
3456478 9:4;<=>:? >= C;5@AB+ $

F (s) 8
X (s)
1
= X (s) / F (s) = G(s) = <" =!
2$'#
 Transfer Functions for a System in General
'()*(+, -.(/012.3 21 245)45 B#(") Transfer X (s)
We know that G(s) = F (s)
'()*(+, -.(/012.3 21 7/)45B & " Function
G(s)
For a linear time-invariant (coefficients) system defined as follows:
a0 y n + a1 y n-1 + ……..+ an-1 𝑦̇ + a0 y = b0 x m + b1 x m-1 +…..+ bm-1 𝑥̇ + bm x
Where, y is output of the system and x is input.

ℒ [FG6HG6] L (")
Then the Transfer Function of the system G (s) = = = ?
ℒ [JKHG6] # (")

a0 s n +a1 s n−1+⋯….=an−1 s + an
=
b0 s m +b1 s m−1+⋯….=bm−1 s + bm
So Why Transfer Function?
• If the Transfer Function is known, the Output (response)can be studied for various forms
of inputs (Forcing Function) with a view towards understanding the nature of the system
• If the Transfer Function is unknown it may be calculated experimentally by introducing
known inputs and studying the output of the system.
Using Transfer Function to Find Output Signal: Example 3
F (s) X (s)
Suppose input signal f (t) and transfer function G(s) are 𝐺 (𝑠)
known and we want to find the output function x(t).
We can write X(s) = G(s) F(s)
1
• If f(t) = Unit Step function = 1; then Laplace Transform, F (s) =
s
1 G(s)
from X(s) = G(s) s we can find output response, x(t) = ℒ ;! s
1
• For f(t) = Unit Ramp function = t ; then Laplace Transform, F (s) = s !
G(s)
then x(t) = ℒ ;!
s2
w
• For f(t) = sin wt; Laplace Transform, F (s) = (s2+ w2) ;
G(s) w
then x(t) = ℒ ;!
(s2+ w2)
 Block Diagram of a Dynamic System
What is a Block Diagram?
• A Block Diagram of a system is a pictorial representation of the functions
performed by each component and of the flow of signals.
• The block is a symbol for the mathematical operation on the input signal that
produces the output.
&(()
• Transfer Function, G (s) = where G(s) represents Systems Dynamics
*(()

Input Output
Transfer
Signal Signal
Function
G(s)
A Block Diagram Plant
Lines represent Signals and
Boxes represent Systems Block Diagram of a closed-loop system
 Block Diagram of a closed-loop system

• When the output is fed back to the summing point for comparison with the input, it is
necessary to convert the form of the output signal to that of the input signal. For
example, in a temperature control system, the output signal is usually the controlled
temperature. The output signal, which has the dimension of temperature, must be
converted to a force or position or voltage before it can be compared with the input
signal.
• This conversion is accomplished by the feedback element whose Transfer function is
H(s), as shown in the Figure above.
• In most cases the feedback element is a sensor that measures the output of the plant,
which is then compared with the system input, and the actuating error signal is
generated.
 summing branch
point point

Block Diagram of a closed-loop system

D($) G($)
Closed-loop Transfer Function = =
F($) #'G $ H($)

Feedback C(s)
E(s) Feedforward C(s) B(s) Transfer
Transfer
Function
Function
H(s)
G(s)
Feedforward transfer function Feedback transfer function
D($) H(s) = B(s) / C (s)
G (s) =
E($)
 Transfer Functions for Series and Parallel Blocks :
Suppose that there are R(s) C(s)
(a) G1 G2
two components G1(s) and
G2(s) connected as shown
in Figure (a) in series, and For systems in series: Multiply Blocks to combine
in (b) parallel connection R(s) C(s)
Ø How to simplify block 𝐺1 𝐺2
diagrams?
C(s) = 𝐺1 𝐺2 𝑅(𝑠)

(b) Parallel Blocks:

C(s) R(s) C(s)
R(s) !"
G3 1 + G3 G#
For Parallel Blocks:
RC
G4
C(s) = 1 + G G R(s)
3 4

Rule: Forward Loop Transfer Functions/ [1 + All Transfer Functions]

 Simplification of block diagram with Feedback Loop
Use Rule: Forward Loop Transfer
Functions/ [1 + All Transfer Functions]

R e w C
1. G1 G2 R! R8
𝐶= ! = R! R8
R
C
n

R e w C
2. G1 G2

R! R8
n
C
𝐶= R
n ! = R! R8 U!
H1

Note:
e, w, n are internal signals, only variables of interests are input signal R and Output signal C
 Simplification of block diagram
3. Closed Loop System subjected to a disturbance

D (Disturbances)
R C
G1 G2

Iclicker Q: What are the values of GR?

𝐶 = 𝐺𝑅 R + ( GD) D G! G" G"
a. b.
# ' G! G" H # ' G! G" H
R" R! R
𝐶= ! = R" R! U
R + ! = R !R D
" !U

R!
𝐶= ! = R" R! U
[ G1 R + D ]
 Simplification of block diagram ?
A complicated block diagram involving many feedback loops can be simplified by a
step-by-step rearrangement as shown below (a--> b --> c--> d --> e):
 Response Analysis - First Order Systems
The First Step in analyzing a control system is to derive a mathematical
model of the system.
A few commonly used test input signal:
• step functions
• ramp functions
• impulse functions
When do you use each of those input functions?
a) For sudden disturbances, a step function may be used as a test signal.
b) For a gradually changing functions of time then a ramp function of time
may be a good test signal.
c) For shock input, an impulse function may be used as a test signal
We’ll continue…