Time Response*, ME451

Instructor: Jongeun Choi

* This presentation is created by Jongeun Choi and Gabrial

Gomes

Zeros and poles of a transfer

function
Let G(s)=N(s)/D(s), then
Zeros of G(s) are the roots of N(s)=0
Poles of G(s) are the roots of D(s)=0

Im(s)

Re(s)

Theorems
Initial Value Theorem

Final Value Theorem

If all poles of sX(s) are in the left half plane
(LHP), then

DC gain or static gain of a stable

system

1.4

1.2

0.8

0.6

0.4

0.2

0.5

1.5

2.5

DC Gain of a stable transfer function

DC gain (static gain) : the ratio of the steady state
output of a system to its constant input, i.e.,
steady state of the unit step response
Use final value theorem to compute the steady
state of the unit step response

Pure integrator

ODE :
Impulse response :
Step response :
If the initial condition is not zero, then :

Physical meaning of the impulse response

First order system

ODE :
Impulse response :

Step response :

DC gain: (Use the final value theorem)

First order system

If the initial condition was not zero, then

Physical meaning of the impulse response

Matlab Simulation
G=tf([0 5],[1 2]);
5
impulse(G)
4.5
Amplitude

4
3.5
3
2.5
2
1.5
1
0.5
0
0

Impulse Response

step(G)

0.5

1
1.5
2
Time (sec)

2.5

2.5

Step Response

2.5

Amplitude

2
1.5

Time constant

0.5
0
0

0.5

1
1.5
2
Time (sec)

First order system response

System transfer function :

First order system response

System transfer function :
Impulse response :

First order system response

System transfer function :
Impulse response :

First order system response

System transfer function :
Impulse response :
Step response :
Step Response

100
90
80

Amplitude

70
60
50
40
30
20
10
0
0

100

200

300
400
Time (sec)

500

600

First order system response

Im(s)

Re(s)

First order system response

Im(s)

Unstable
Re(s)

First order system response

Im(s)

Unstable
-1

Re(s)

First order system response

Im(s)

Unstable

-2

Re(s)

First order system response

Im(s)

Unstable
faster response

slower response
Re(s)

constant

First order system Time

specifications.

First order system Time

specifications.
Time specs:
Steady state value :
Time constant :
Rise time :
Settling time :

Time to go from

to

First order system Simple behavior.

No overshoot
No oscillations

Second order system (mass-spring-damper

system)
ODE :

Transfer function :

Polar vs. Cartesian representations.

Cartesian representation :
Imaginary part (frequency)
Real part (rate of decay)

Polar vs. Cartesian representations.

Cartesian representation :
Imaginary part (frequency)
Real part (rate of decay)

Polar representation :
natural frequency
damping ratio

Polar vs. Cartesian representations.

Cartesian representation :
Imaginary part (frequency)
Real part (rate of decay)

Polar representation :
natural frequency
damping ratio

Polar vs. Cartesian representations.

Cartesian representation :
Imaginary part (frequency)
Real part (rate of decay)

Polar representation :
natural frequency
damping ratio

Unless overdamped

Polar vs. Cartesian representations.

System transfer function :

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped

Polar vs. Cartesian representations.

System transfer function :

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped

Polar vs. Cartesian representations.

System transfer function :

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped

Polar vs. Cartesian representations.

System transfer function :

All 4 cases

Unless overdamped

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped

Underdamped second order system

Underdamped

Two complex poles:

Underdamped second order system

Impulse response of the second

order system

Matlab Simulation
zeta = 0.3; wn=1;
G=tf([wn],[1 2*zeta*wn wn^2]);
impulse(G)

Amplitude

0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
-0.1
-0.2
-0.3
0 2 4

Impulse Response

6 8 10 12 14 16 18 20
Time (sec)

Unit step response of undamped

systems
Unit step response :

DC gain :

Unit step response of undamped

system

Matlab Simulation
zeta = 0.3; wn=1; G=tf([wn],[1 2*zeta*wn
wn^2]);
step(G)
1.4

Step Response

Amplitude

1.2
1

0.8
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

Second order system response.

Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
A pair of complex poles
Im(s)

Unstable

Re(s)

Second order system response.

Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
A pair of complex poles
Im(s)

Unstable

Re(s)

Second order system response.

Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
A pair of complex poles
Im(s)

Unstable

Re(s)

Second order system response.

Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
A pair of complex poles

negative real part

zero real part

Im(s)

Unstable

Re(s)

Second order system response.

Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
A pair of complex poles

negative real part

zero real part

Im(s)

Unstable

Re(s)

Second order system response.

Stable 2nd order system:
2 distinct real poles
A pair of repeated real poles
A pair of complex poles

negative real part

zero real part

Im(s)

Unstable

Re(s)

Second order system response.

Im(s)

2 distinct real poles = Overdamped

Unstable
Re(s)

Second order system response.

Im(s)

Repeated real poles = Critically damped

Unstable
Re(s)

Second order system response.

Im(s)

Complex poles negative real part =

Underdamped
Unstable
Re(s)

Second order system response.

Im(s)

Complex poles zero real part =

Undamped
Unstable
Re(s)

Second order system response.

Im(s)

Underdamped

Overdamped or Critically damped

Underdamped

Undamped

Unstable
Re(s)

Overdamped system response

System transfer function :

Impulse response :

Step response :

Overdamped and critically damped system

response.

Overdamped and critically damped system

response.

Overdamped

Overdamped and critically damped system

response.

Overdamped

Overdamped and critically damped system

response.

Critically
damped

Polar vs. Cartesian representations.

Polar vs. Cartesian representations.

System transfer function :

All 4 cases

Unless overdamped
Cartesian overdamped

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped

Polar vs. Cartesian representations.

System transfer function :

All 4 cases

Unless overdamped
Cartesian overdamped

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped

Polar vs. Cartesian representations.

System transfer function :

All 4 cases

Unless overdamped
Cartesian overdamped

Significance of the damping ratio :

Overdamped
Critically damped
Underdamped
Undamped

Overdamped case:

Second order impulse response Underdamped

and Undamped

Impulse response :

Second order impulse response Underdamped

and Undamped
Increasing

/ Fixed
Impulse Response

1
0.8

Amplitude

0.6
0.4
0.2
0
-0.2
-0.4

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped

and Undamped
Increasing

/ Fixed
Impulse Response

1
0.8

Amplitude

0.6
0.4
0.2
0
-0.2
-0.4

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped

and Undamped
Increasing

/ Fixed
Impulse Response

1
0.8

Amplitude

0.6
0.4
0.2
0
-0.2
-0.4

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped

and Undamped
Increasing

/ Fixed
Impulse Response

1
0.8

Amplitude

0.6
0.4
0.2
0
-0.2
-0.4

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped

and Undamped
Increasing

/ Fixed
Impulse Response

0.1
0.08
0.06

Amplitude

0.04
0.02
0
-0.02
-0.04
-0.06
-0.08
-0.1

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped

and Undamped
Increasing

/ Fixed
Impulse Response

0.1
0.08
0.06

Amplitude

0.04
0.02
0
-0.02
-0.04
-0.06
-0.08
-0.1

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped

and Undamped
Increasing

/ Fixed
Impulse Response

0.1
0.08
0.06

Amplitude

0.04
0.02
0
-0.02
-0.04
-0.06
-0.08
-0.1

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped

and Undamped
Increasing

/ Fixed
Impulse Response

0.1
0.08
0.06

Amplitude

0.04
0.02
0
-0.02
-0.04
-0.06
-0.08
-0.1

0.5

1.5
Time (sec)

2.5

Second order impulse response Underdamped

and Undamped
/ Fixed
Impulse Response

6
5
4

Amplitude

Increasing

3
2
1
0
-1

0.5

1.5

2.5

3.5

Time (sec)

10
5
0
-5
-10
-6

-4

-2

Second order impulse response Underdamped

and Undamped
/ Fixed
Impulse Response

6
5
4

Amplitude

Increasing

3
2
1
0
-1

0.5

1.5

2.5

3.5

Time (sec)

10
5
0
-5
-10
-6

-4

-2

Second order impulse response Underdamped

and Undamped
/ Fixed
Impulse Response

6
5
4

Amplitude

Increasing

3
2
1
0
-1

0.5

1.5

2.5

3.5

Time (sec)

10
5
0
-5
-10
-6

-4

-2

Second order impulse response Underdamped

and Undamped
/ Fixed
Impulse Response

6
5
4

Amplitude

Increasing

3
2
1
0
-1

0.5

1.5

2.5

3.5

Time (sec)

10
5
0
-5
-10
-6

-4

-2

Second order impulse response Underdamped

and Undamped
/ Fixed
Impulse Response

5
4
3
2
Amplitude

Increasing

1
0
-1
-2
-3
-4

6
Time (sec)

10

12

6
4
2
0
-2
-4
-6

-5

Second order impulse response Underdamped

and Undamped
/ Fixed
Impulse Response

5
4
3
2
Amplitude

Increasing

1
0
-1
-2
-3
-4

6
Time (sec)

10

12

6
4
2
0
-2
-4
-6

-5

Second order impulse response Underdamped

and Undamped
/ Fixed
Impulse Response

5
4
3
2
Amplitude

Increasing

1
0
-1
-2
-3
-4

6
Time (sec)

10

12

6
4
2
0
-2
-4
-6

-5

Second order impulse response Underdamped

and Undamped
/ Fixed
Impulse Response

5
4
3
2
Amplitude

Increasing

1
0
-1
-2
-3
-4

6
Time (sec)

10

12

6
4
2
0
-2
-4
-6

-5

Second order step response Underdamped and

Undamped

Second order impulse response Underdamped

and Undamped
Higher frequency oscillations

Faster response

Slower response

Unstable
Lower frequency oscillations

Second order impulse response Underdamped

and Undamped
Less damping

Unstable
More damping

Second order step response Time specifications.

1.4

1.2

0.8

0.6

0.4

0.2

0.5

1.5

2.5

Second order step response Time specifications.

Steady state value.

Time to reach first peak (undamped or underdamped only).
% of
in excess of
.
Time to reach and stay within 2% of
.

1.4

1.2

0.8

0.6

0.4

0.2

0.5

1.5

2.5

Second order step response Time specifications.

Steady state value.

More generally, if the numerator is not

, but some

Second order step response Time specifications.

Peak time.

Therefore,

is the time of the occurrence of the first peak

Second order step response Time specifications.

Percent overshoot.

Evaluating at

is defined as:

Substituting our expressions for

and

Second order step response Time specifications.

Settling time.
Defining
as:

with

, the previous expression for

As an approximation, we find the time it takes for the

exponential envelope to reach 2% of
.

when

can be re-written

Typical specifications for second order systems.

How many independent parameters can we specify?
3