System Response System Response

Chew Chee Meng

Department of Mechanical Engineering
National University of Singapore
2
Introduction
Objectives: j
Understand dynamic characteristics of system in time
domain
Order of dynamic systems: Focus on Zero first and Order of dynamic systems: Focus on Zero-, first-, and
second-order systems
Transient (unforced) of first- and second-order
t systems
Time constant of first-order systems
Natural frequency and damping ratio of second order Natural frequency and damping ratio of second order
systems
Step response of first- and second-order systems
3
Dynamic Characteristics of Systems in
Ti D i Time Domain
System
Input Output
(t) (t) q
i
(t) q
o
(t)
Assume that the system is linear and can be modelled by an
Eg. Measurement systems, control
systems, actuators, sensors, etc
a
d q
dt
a
d q
dt
a
dq
dt
a q
n
n
o
n
n
n
o
n
o
o o
+ + + + =

1
1
1
1
...
b
d q
dt
b
d q
dt
b
dq
dt
b q
m
m
i
m
m
m
i
m
i
o i
+ + + +

1
1
1
1
....
Assume that the system is linear and can be modelled by an
ordinary linear differential equation with constant coefficients:
dt dt dt
dt dt dt
m m 1
where q
o
is output variable; q
i
is input variable
a
i
and b
i
are constant coefficients
(1)
4
i i
n -- order of the system
Dynamic Characteristics of Systems in
Ti D i Time Domain
1 1
a
d q
dt
a
d q
dt
a
dq
dt
a q
n
n
o
n
n
n
o
n
o
o o
+ + + + =

1
1
1
1
...
b
d q
dt
b
d q
dt
b
dq
dt
b q
m
m
i
m
m
m
i
m
i
o i
+ + + +

1
1
1
1
....
Solution of such an ordinary linear differential equations:
Output q
o
can be written as:
q
o
= soln of homogeneous equation + particular soln
t l (t i t )
f d ( t d
natural response (transient response)
forced response (steady
state response)
d d d
n n1
Solution of:
5
a
d q
dt
a
d q
dt
a
dq
dt
a q
n
n
o
n
n
n
o
n
o
o o
+ + + + =

1
1
1
1
...
0
Dynamic Characteristics of Systems in
Ti D i Time Domain
Homogeneous solution: Homogeneous solution:
Solution of :
T l ti f f
t
h i t t ( b l )
a
d q
dt
a
d q
dt
a
dq
dt
a q
n
n
o
n
n
n
o
n
o
o o
+ + + + =

1
1
1
1
...
0
Try solution of form, e
st
, where s is a constant (can be complex)
Substitute e
st
into the homogeneous equation yields:
Hence, e
st
is a solution if :
1
1 1 0
( ) 0
n n st
n n
a s a s a s a e

+ + + + =
,
1
1 1 0
0
n n
n n
a s a s a r a

+ + + + =
(2)
6
This is known as the characteristic equation.
Dynamic Characteristics of Systems in
Ti D i Time Domain
Homogeneous solution (cont): Homogeneous solution (cont):
If n roots (s
1
, s
2
,,s
n
) of the characteristic equation are distinct,
exactly n independent solutions ( ) of the
1 2 n
s t s t s t
e e e
exactly n independent solutions ( ) of the
homogeneous equation are obtained. And the general
homogeneous solution is:
1 2
, , ,
n
e e e
1
k
n
s t
oh k
k
q C e
=
=

(3)
1 k=
C
k
s are constants determined from initial conditions.
7
Dynamic Characteristics of Systems in
Ti D i Time Domain
Homogeneous solution (cont):
If s
i
is a root of order m (meaning that (s s
i
)
m
can be factored s
i
s a oot o o de ( ea g t at (s s
i
) ca be acto ed
from the characteristic function, or s
i
is repeated m times), m
corresponding linearly independent solutions are
11
, , ,
i i i
s t s t s t m
e te t e

8
Zero-order system (n=0)
Zero-order
Input Output
Linear
System
p p
q
i
(t) q
o
(t)
i o o
q b q a =
0
i i o
kq q
a
b
q = =
0
0
or
(4)
where k = b
0
/a
0
is a constant (gain or sensitivity of the system).
9
Zero-order system
Example : Potentiometer for measurement of displacement
+
E
V
x
L
wiper
R
p
R
x
+
+
-
R x
-
x
p
R x
V E E
R L
= =
(voltage division rule)
10
First-order system (n=1)
First-order
Input Output
L t id 0
Linear
System
p p
q
i
(t) q
o
(t)
Lets consider m=0
a
dq
dt
a q b q
o
o o o i 1
+ =
or
i o
o
q
a
b
q
dt
dq
a
a
0
0
0
1
= +
Define K= b
0
/a
0
((static) sensitivity or DC gain) and t = a
1
/a
0
(time constant):
i o
o
Kq q
dt
dq
= + t
( 5 )
11
dt
Step Response of a first order system
To study dynamical systems, subject them to test
i l O t t i l i th t i t signals. One test signal is the step input.
Step response: Output of system in response to step
input.
q
i

>
<
=
0 t
0 t 0
is
i
q
q
q
is
q
i
Output equation can be obtained by one of the following
is
t
0
Output equation can be obtained by one of the following
methods:
Laplace transform
By finding homogeneous and particular solutions
12
By finding homogeneous and particular solutions
Here, latter approach is used.
Step Response of a first order system
Assume initial condition, q
o
(0) = 0 and t 0 , q
o
( )
Assume solution form: for homogeneous part of
differential equation (5), the characteristic equation is:
st
e
That is the root s = 1/ and the homogeneous
0 1 = + s t
That is, the root, s = -1/t and the homogeneous
(transient) solution :
t
t
oh
Ce q

=
where C is a constant determined by applying initial
condition to the complete solution.
13
Step Response of a first order system
Particular solution resulting from step input: g p p
Try solution of the form: Lq
is
(where L is a constant to be
determined)
Substitute into equation (5): Substitute into equation (5):
0
is is
Lq Kq + =
Hence, L = K and particular solution resulting from step input:
is op
Kq q =
14
Step Response of a first order system
Complete solution is p
S b tit t th i iti l diti t thi ti t
is
t
op oh o
Kq Ce q q q + = + =

t
( ) 0 0
Substitute the initial condition to this equation to
solve for C, yielding the step response:
q
o
( ) 0 0 =
q Kq e
o is
t
=

( )
/
1
t
(6)
15
Step Response of a first order system
i
q
Time
q
is
Speed of response depends on time
t t
t
Time
K
q
o
q
is
Small
Large
t
constant t.
Time
q Kq e
o is
t
=

( )
/
1
t
16
Step Response of a first order system
Example : Dynamic equation for RC Circuit
V input; V output
I
+
+
R
V
i
- input; V
o
- output
The dynamic equation can be derived
using KVL:
I
+
-
-
V
i
V
o
C
using KVL:
o i
IR V V + =
We know:
dV
(7)
o
q CV =
or
o
dV
I C
dt
=
Substitute into (7) yield: Substitute into (7) yield:
o
o i
dV
RC V V
dt
+ =
17
dt
- First order with time constant, t = RC
Second-order system (n=2)
Second-order
Linear
System
Input Output
System
q
i
(t) q
o
(t)
a
d q
d
a
dq
d
a q b q
o o
o o o i 2
2
2
1
+ + =
dt dt
q q
o o o i 2
2
1
19
Second-order system (n=2)
Example : An example of a second-order linear system
Mechanical spring-mass-dashpot system. Mechanical spring mass dashpot system.
m
f
ext
x
f
ext
d d
2
k
b
M
Kx b dx/dt
ext
f kx
dt
dx
b
dt
x d
m = + +
2
2
(8)
free-body diagram
where
th m= the mass
k = the spring constant
b= damping coefficient (assume viscous damping)
x = displacement of the mass measured from the equilibrium position
20
p q p
(f
ext
=0)
f
ext
= resultant of all applied external forces (inputs)
Second-order system (n=2)
Example (cont): An example of a second-order system -
Strip chart recorder p
21
Second-order system (n=2)
Unforced (natural) response of a second-order linear system:
2
0
2
2
= + + kx
dt
dx
b
dt
x d
m
st
e
Assume that the solution is of the form
Characteristic equation:
e
Assume that the solution is of the form
0
2
= + + k bs ms
Roots:
k b b | |
2
(9)
m
k
m
b
m
b
s |
.
|

\
|
+ =
1
2 2
k b b
s |
.
|

\
|
=
2
2
(9)
(10)
22
m m m
|
.

\
2
2 2
( )
Second-order system (n=2)
Special cases:
I) b = 0 (no damping):
k
j s =
k
j s = I) b = 0 (no damping):
m
j s =
1
m
j s =
2
Homogeneous solution:
1 2
1 2
( )
i
s t s t
h
x t C e C e
k k
A B
= +
| | | |
| |
Homogeneous solution:
cos sin A t B t
m m
= +
| |
| |
\ . \ .
h A d B t t (d t i d f i iti l diti
( )
Note: cos sin
jx
e x j x = +
(Eulers formula)
where A and B are constants (determined from initial conditions
x(0), dx/dt(0).
k
23
Note: is the natural frequency of the system.
m
k
n
= e
Second-order system (n=2)
Special cases:
II) b = 0 and 0
2
=
|
|

|
k b
1 2
,
b
s s =
II) b = 0 and
(Roots are double real roots)
H l ti
0
2
=
|
.

\
m m
1 2
,
2
s s
m
Homogeneous solution:
( )
t
h
n
e Bt A t x
e
+ = ) (
Remark:
Corresponds to critically damped case with damping
constant:
k b 2 2
2
| |
constant:
n c
m km b e 2 2 = =
( )
2
0
2
c
b k
m m
| |
=
|
\ .

24
Second-order system (n=2)
Definition: Damping ratio , =
km
b
b
b
c
2
=
That is, for critically damped system, , = 1
Eqs ( 9) and ( 10) can now be rewritten in terms of e
n
and
as:
1
2
+ , e ,e s 1
1
+ = , e ,e
n n
s
1
2
2
= , e ,e
n n
s
25
Second-order system (n=2)
III) b = 0 and (, < 1) (Roots are complex
conjugates)
0
2
2
<
|
.
|

\
|
m
k
m
b
j g )
Homogeneous solution:
(

|
.
|

\
|
+
|
.
|

\
|
=

t B t A e t x
n n
t
h
n
2 2
1 sin 1 cos ) ( , e , e
,e
Remark:
( )
Note: (cos sin )
a jb a jb a
e e e e b j b
+
= = +
Remark:
Underdamped (sinusoidal motion with exponentially decaying
amplitude)
Frequency of oscillation:
2
1 , e e =
26
Frequency of oscillation:
1 , e e =
n d
Second-order system (n=2)
IV) b = 0 and (, > 1) (Roots are distinct real
roots)
0
2
2
>
|
.
|

\
|
m
k
m
b
)
t t e , , e , ,
|
|

|
|
|

|
+ 1 1
2 2
Homogeneous solution:
Remark:
t t
h
n n
Be Ae t x
e , , e , ,
|
.
|

\
|

|
.
|

\
|
+
+ =
1 1
) (
Remark:
Overdamped (exponentially decaying output)
27
Second-order system (n=2)
Example : Natural responses of 2nd order linear system
Assuming initial conditions are: x(0) = 1, dx/dt(0) = 0
x
h
(t)
1
0 5
overdamped (, = 1.75)
critically damped (, = 1 0)
0.5
0
critically damped (, 1.0)
-0.5
0
1
2
ti
underdamped (, = 0.25)
28
0
1
2
time
Step Response of Second-order Systems

ext
f kx
dt
dx
b
dt
x d
m = + +
2
2
Step input: where F
o
is a constant
0 0
( )
0
ext
o
t
f t
F t
<

=

>

Particular solution:
General solution for the step response (t 0):
k
F
t x
o
p
= ) (
) ( ) ( ) ( t x t x t x + =
General solution for the step response (t 0):
Remark:
) ( ) ( ) ( t x t x t x
p h
+ =
- Constants in x
h
(t) determined by initial conditions
29
Step Response of Second-order Systems
Different types of step response (depending on the amount of
damping): p g)
x(t)
underdamped
Assume zero initial conditions, ie. x(0) = 0, dx/dt(0) = 0
x(t)
F
o
/k
underdamped
overdamped
critically damped
t
30
Step Response of Second-order Systems
Underdamped step response:
( ) ( ) | | ( ) ( ) | |
k
F
t B t A e t x
n n
t
n
0
2 2
1 sin 1 cos ) ( + + =

, e , e
,e
, t > 0
Assume F
o
/k = 1 and initial conditions x(0) = 0 and dx/dt(0) = 0. ssu e
o
/ a d t a co d t o s (0) 0 a d d /dt(0) 0
( ) ( ) 1 1 sin
1
1 cos ) (
2
2
2
+
(
(

+ =

t t e t x
n n
t
n
, e

, e
,e

x(t)
1
31
t
Step Response of Second-order Systems
Terms used to characterize the step response of a second-order
linear system :
Steady state value (final value) x( ): value of the output after all Steady state value (final value), x(): value of the output after all
transients dissipate.
Rise time: time required for system output to go from 10% to 90%, 5% to
95%, or 0% to 100% of its final value. For underdamped second-order 95%, or 0% to 100% of its final value. For underdamped second order
systems, 0% to 100% rise time is normally used. For overdamped
systems, the 10% to 90% rise time is commonly used.
(t) x(t)
x()
32
t
rise time, t
r
Step Response of Second-order Systems
Maximum overshoot: The maximum peak value of the response
curve measured from unity.
Maximum percent overshoot
h M i i k l d f t d t t
% 100
) (

=
x
M
p
where M
p
is maximum peak value measured from steady-state
value x().
M i
x(t)
x()
Maximum
overshoot,
M
p
33
t
Step Response of Second-order Systems
Settling time: Time required for the response curve to reach and stay
within a range about the final value of size specified by absolute
percentage of the final value (usually 2% or 5%). percentage of the final value (usually 2% or 5%).
E.g. 5% settling time, final value = 1
x(t)
1
5%
1.05
0.95
t
5% settling time, t
s
34