MEIE5121 MCTE4150 SP18 Timeresponse 2

Introduction
Lagrange
Formulation
Bondgraph
Methodology
Modeling and Simulation
MEIE5121/MCTE4150
State-Space &
Simulation
System Models
Time Response
: Mechanical
Systems II
Linearization
Laplace
Laplace
Transform and
Transform
Transfer
Transfer
Function
Function &
& Stability
Stability
MCTE4150/MEIE5121 Modeling & Simulation

Example

Relation Between State Space and Transfer
Function
sX (s )  AX (s )  BU (s )  sI  A  X (s )  BU (s )
Y (s )  CX (s )  DU (s ) 
Y (s )  CX (s )  DU (s )
X (s )   sI  A 1 BU (s )

 Y (s )  CX (s )  DU (s )

Function
X (s )   sI  A 1 BU (s )

 Y (s )  CX (s )  DU (s )
Y (s )  C  sI  A  BU (s )  DU (s )
1
 
 C  sI  A  B  D U (s )
1

Function
Y (s )  C  sI  A  BU (s )  DU (s )
1

 C  sI  A  B  D U (s )
1

Now,
Y (s )
 C  sI  A  B  D
1
G (s ) 
U (s )
Recall,
1
 sI  A  adj  sI  A 
1

sI  A

Relation Between State Space and Transfer Function
1
 sI  A  adj  sI  A 
1

sI  A
Y (s ) C adj  sI - A  B  sI  A D
G (s )  
Hence, U (s ) sI  A
N (s )

sI  A
Is known as the characteristic

sI  A  0 equation, the solution of this
equations are the poles of the
Transfer function

Time Response of Dynamic Systems
• Time response of a dynamic system response to an input

expressed as a function of time.
System
• The time response of any system has two components

• Transient response
• Steady-state response.
Test Signals
Test Signals r t  R  s Purpose
r  t   A  t  , t  0
Impulse A stability test
 0, t0
r  t   A, t  0 A
Step transient response test
 0, t0 s
r  t   At , t  0 A
Ramp tracking capability test
 0, t0 s2
r  t   At 2 , t  0 2A
Parabolic faster tracking capability test
 0, t0 s3
The dynamic response of a system

to an impulse input is the natural
response

Analysis: Time response : Natural + forced
1
R(s) 
s s3 C (s )
( s  2)( s  4)( s  5)
k1 k2 k3 k4
C ( s)    
s s2 s4 s5
Forced response Natural response
c(t )  k1  k 2 e 2t  k3e 4t  k 4 e 5t

Time Response of Control Systems
• When the response of the system is changed from equilibrium it

takes some time to settle down.
• This is called transient response.

-3
x 10 Step Response
6
Steady State Response

Step Input
5
• The response of the
4
system after the transient
Response
Amplitude
response is called steady 3
state response. 2
Transient Response
1
0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
Time Response of Dynamic Systems
• Transient response depend upon the system poles only and not on
the type of input.
• It is therefore sufficient to analyze the transient response using a

step input.
• The steady-state response depends on system dynamics and the

input quantity.
• It is then examined using different test signals by final value

theorem.

Step Response of 1st Order System
• Consider the following 1st order system
K
R(s ) C(s )
Ts  1
1
R( s )  U ( s ) 
s
K
C( s ) 
sTs  1
• In order to find out the inverse Laplace of the above equation, we
need to break it into partial fraction expansion (page 867 in the
Textbook)
K KT
C( s )  
s Ts  1
1 T 
C( s )  K   
 s Ts  1 
• Taking Inverse Laplace of above equation

c(t )  K u(t )  et / T 
c(t )  K 1  e 
• Where u(t)=1
t / T
• When t=T (time constant)
 
c(t )  K 1  e1  0.632K
• If K=10 and T=1.5s then c(t )  K 1  e t / T  
K*(1-exp(-t/T))
11
10
9 Step Response
8 steady state output 10

K 
7
63% Input 1
6
c(t)
2
Unit Step Input
1
0
0 1 2 3 4 5 6 7 8 9 10
Time

• If K=10 and T=1, 3, 5, 7 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11
10
T=1s
9
8 T=3s
7
T=5s
6
c(t)
5 T=7s
4
3
2
1
0
0 5 10 15
Time

• If K=1, 3, 5, 10 and T=1 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11
10
K=10
9
8
7
6
K=5
c(t)
5
4
K=3
3
2
K=1
1
0
0 5 10 15
Time
Analysis of Simple RC Circuit
i(t)
R
vT(t) ± C v(t)

Simple RC Circuit

Practical Determination of
Transfer Function of 1st Order
Systems
• If we can identify T and K empirically we can obtain
the transfer function of the system.
C ( s) K

U ( s) Ts  1

c(t )  K u(t )  e t / T 

Practical Determination of Transfer
Function of 1st Order Systems
• For example, assume the unit step
response given in figure.

c(t )  K u(t )  e t / T 
K=0.72
• From the response, we can measure the

time constant, that is, the time for the C ( s) K
amplitude to reach 63% of its final 
value. U ( s) Ts  1
• Since the final value is about 0.72 the T=0.13s
time constant is evaluated where the
curve reaches 0.63 x 0.72 = 0.45, or
about 0.13 second.
• Thus transfer function is obtained
as:
C ( s) 0.72 5.5
• K is simply steady state value.  
U ( s) 0.13s  1 s  7.7
Modeling : A simple Experiment
Interface
Tank
Analog Computer (but in this

experiment it just applies step input

It can be shown by relating flow into the tank Qi to flow out of the
tank through the valve Qo and the rate of change of volume of water
d/dt(V)=d/dt(Ah) that the model is dh
A  qi  qo  qi  Rh
qi dt
H ( s) 1/ R 
h   
qo Qi ( s ) A s  1 Ts  1
R
Input a step input , what is the

u(t)=5
output??? y(t)=??
0
 0
Ts  1

Can you figure out what is the parameters of the system??
5
4.5
4
H (s) 
3.5 
3 Qi ( s ) Ts  1
h1(Volts)
2.5
1.5
0.5
0
200 400 600 800 1000 1200 1400 1600
time(sec)
Go to menti.com and enter code 711000

H (s)  5 
  H ( s) 
5
Qi ( s ) Ts  1 s Ts  1
4.5
5 / T 1 2
3.5
  
3
h1(Volts)
2.5
1 s 1
s( s  ) s
2
1.5
1
T T
5  5
0.5 t

0
200 400 600 800 1000
time(sec)
1200 1400 1600
H ( s)    h(t )  5  5e T
s s 1
T

t

h(t )  5  5e T
hss  h @ steady state 

3.75
3.75  5  0   
0.63* 3.75  2.3625 5
@ t  T , h(t )  3.75  3.75e 1
 0.63 * 3.75  2.3625
T  85 sec

Take home info. For First Order System
a
Y ( s)  R( s)G( s) 
s( s  a)
y(t )  y f (t )  yn (t )  1  eat
• The time constant can be described as the time for the impulse
response to decay to 37% of its initial value. Alternately, the time is
the time it takes for the step response to rise to 63% of its final value.
e at  e1  0.37 y (t ) t  1  1  e  at  1  0.37  0.63

t 1
a a t 1
a

Little Exercise: Match the unit step responses to the right H(s)
5
1
4.5
0.9
5
HA 
0.8 4
s 1
0.7 3.5
0.6 3
y(t)
0.5
y(t)
2.5
0.4
2
1
HB 
0.3
1.5
s5
0.2
0.1
Step1 1
0.5
Step2
0
0 1 2 3 4 5 6
Time(sec) 0
0 1 2 3 4 5 6
5
HC 
Time(sec)
1 0.2
s5
0.9 0.18
0.8 0.16
0.7
0.14
0.6
Step3 0.12
1
y(t)
HD 
0.5
y(t)
0.1
s 1
0.4
0.08
0.3
400
0.06
0.2
350 0.04
0.1
0
0 1 2 3
300
4 5 6
0.02 Step4
Time(sec) 0
250 0 1 2 3 4 5 6
Step5 Time(sec)
1
y(t)
200
150
HE 
100
50
s 1
0
0 1
2 3 4 5 6
Time(sec)
Little Exercise
5
1
4.5
0.9
4
0.8
3.5
0.7
3
0.6
y(t)
y(t)
2.5
0.5
0.4
1 2
5
0.3
HD  1.5
HA 
s 1 s 1
0.2 1
0.1 0.5
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6
Time(sec) Time(sec)
0.2
1
0.18
0.9
0.8 0.16
0.7 0.14
0.6 0.12
y(t)
y(t)
0.5 0.1
1
0.4
5 0.08
HB 
0.3
HC  0.06
s5
s5
0.2 0.04
0.1 0.02
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6
Time(sec) Time(sec)

First Order System with a Zero
C ( s ) K (1  s )

R( s ) Ts  1
• Zero of the system lie at -1/α and pole at -1/T.
• Step response of the system would be:

K (1  s )
C( s ) 
sTs  1
K K (  T )
C( s )  
s Ts  1
K
c(t )  K  (  T )e t / T
T
2nd Order System

Interface
Tank
Analog Computer (but in this

experiment it just applies step input

Double Tank Problem : 2nd order system
qi
h1 h2
q12
qo
It can be shown that the model in this case (after linearizing) ,and feeding back the level of
water and applying proportional control is, where a and b are constants while k is manipulated
by designer, if an input is constant = 3.5 what is the output
u(t)=3.5
h2(t)=??
0
+
H2 k k1 0
 2
k
k2
21
s  as  b
2
-
Qi s  as  b  k
Analysis : Here is the response for different values of k
6
k=low
5
8
k=high
4
h1, and h2 (Volts)
3 6
h1, and h2 (Volts)

5
2
1
3
0 2
0 50 100 150 200 250 300 350 400 450
Samples
1
0
0 50 100 150 200 250 300 350
Samples
Can you explain the effect of k on the response?, k

changes the characteristic equations of the system
Analysis : Second Order System
Second-order
systems, pole plots,
and step responses

Importance of understanding time response
of 2nd order system
Comparing to the simplicity of a first-order system, a second order system exhibits a wide range
of responses. For example, a second order system can display characteristics much like a first-
order system or display damped or pure oscillations for its transient response. Second order
systems are very important in control systems engineering, since many control systems design
methods are based on second-order system analysis. Even if the system is of higher order, it
usually can be approximated by a second order system in order to obtain a first approximation for
preliminary design purposes with reasonable accuracy.

The standard 2nd order system
A standard 2nd order system is usually represented as
n 2
G( s)  2
s  2n s  n
2
The characteristic equation is

q(s)  s 2  2n s  n  0
2
The two roots are:

s1, 2  n  jn 1   2    jd
Where,  is known as damping ratio, and  n is the natural undamped

frequency

Response and performance of a second-order system
The character of the transient unit-step response depends on

the pole locations.
2. If  = 1 (equal real
1. If 0 <  <1 (complex poles): the system is
critically damped
poles): The system is
underdamped. y(t )  1  et (1  t ), t  0
  
y (t )  1  e cos(d t ) 
t
sin( d t )
 1   3. If  > 1 (negative real
2
e t  1  2  and unequal poles) :

 1 sin d t  tan 1
, t  0
1  2
   the system is
overdamped.
  e  s1t e  s2t 
y (t )  1    , t  0
2   1  s1
2 s2 
where s1, 2  (   2  1)

UnderDamped 2nd Order System
Step response
n 2 K1 K 2 ( s   n )  K 3n 1   2
Y (s)   
s ( s  2 n s  n ) ( s   n ) 2  n (1   2 )
2 2 2
s

 1  ( s   n )  n 1  2
1 1 2
 
( s   n ) 2   n (1   2 )
2
s
Taking the inverse Laplace transform

 
y(t )  1  e  nt  cos  1   2 t   2 
sin n 1   t
 n
1  2 
 
1
1
1 2

e  n t cos  n 1   2 t   
  
where   tan 
1 
 1 2 
 

Transient Response
For a step input, the transient response can be characterized by:

Peak time tp: time required to reach the first peak of the
overshoot
Percent Overshoot Mp:
Settling time ts: time required for the response curve to reach
and stay within 2% or 5% of the final value. Is a function of the
largest time constant of the control system.

Response and performance of a second-order
4
2
system
• The peak time is the time required for
the response to reach the first peak
of the overshoot.
y (t ) tp
0
t

system
• The maximum overshoot is the relative maximum peak value
of the response curve measured from the final value.
y (t ) tp
Mp
1
y(t p )  y()
Mp  100%
y()
0
t
Note: the maximum overshoot directly indicates
the relative stability of the system.

system
• The settling time is the time required for the response
curve to reach and stay within a range about 1% or 2%
or 5% of the final steady-state value.
y (t ) tp
Mp
1 ±1%
0
t
ts
Note: t is the time it takes the
system transients to decay.
Analysis: Match responses with transfer
function
The unit step responses of four second- 16 2
G(s)  G( s) 
order systems are shown in the Figure s  16
2
s  3s  2
2
below , and four transfer functions are 1 16

listed below. Match the transfer functions G ( s)  G (s) 
s  0.2 s  1
2
s  0.8s  16
2
with the corresponding step-response

curve. n 2
G( s)  2
s  2n s  n
2
3
ts 
 n
 / 1 2
Mp e ,

tp 
n 1   2

P1 Match responses with transfer function
Damping ratio same (same overshoot) but

one has higher natural frequency (low
settling time)
1 2
G ( s)  G( s) 
s  0.2 s  1
2
s  3s  2
2
4
ts 
 n
16
G(s) 
G (s) 
16 s  16
2
s  0.8s  16
2

Analysis
Given a closed loop transfer function
Y ( s) 3k
 2
R( s) s 4s  7  k
Describe the effect of increasing k (increase , decease, unchanged)
on the following
n 2
1. Natural frequency n G( s)  2
s  2n s  n
2
2. Damping ratio 
3. Settling time 3
ts 
 n

Given the transfer function k n 2
T (s)  2 G( s)  2
percent overshoot is less than 5% and the settling s  ps  k s  2n s  n
time (within 2% of the final value) should be less
than 4 seconds.
k  n
2
Comparing with the standard 2nd order system p  2n
4  / 1 2
Now, ts  4 Mp e  0.05,
 n
4  / 1 2
for 2% criteria t s   4   n  1 Mp e    0.69
 n
Let   0.7
1
 n   1.428 let  n  1.5
0.7
k  n  2.25
2
p  2n  2 * 0.7 *1.5  2.1


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Introduction

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

Is known as the characteristic

MCTE4150/MEIE5121 Modeling & Simulation

• Time response of a dynamic system response to an input

• The time response of any system has two components

Test Signals r t  R  s Purpose

The dynamic response of a system

MCTE4150/MEIE5121 Modeling & Simulation

Forced response Natural response

c(t )  k1  k 2 e 2t  k3e 4t  k 4 e 5t

MCTE4150/MEIE5121 Modeling & Simulation

• When the response of the system is changed from equilibrium it

• This is called transient response.

Steady State Response

response is called steady 3

• It is therefore sufficient to analyze the transient response using a

• The steady-state response depends on system dynamics and the

• It is then examined using different test signals by final value

MCTE4150/MEIE5121 Modeling & Simulation

• When t=T (time constant)

8 steady state output 10

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

• From the response, we can measure the

Analog Computer (but in this

MCTE4150/MEIE5121 Modeling & Simulation

Input a step input , what is the

MCTE4150/MEIE5121 Modeling & Simulation

Go to menti.com and enter code 711000

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

hss  h @ steady state 

MCTE4150/MEIE5121 Modeling & Simulation

e at  e1  0.37 y (t ) t  1  1  e  at  1  0.37  0.63

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

• Step response of the system would be:

MCTE4150/MEIE5121 Modeling & Simulation

Analog Computer (but in this

MCTE4150/MEIE5121 Modeling & Simulation

h1, and h2 (Volts)

Can you explain the effect of k on the response?, k

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation

The characteristic equation is

The two roots are:

Where,  is known as damping ratio, and  n is the natural undamped

MCTE4150/MEIE5121 Modeling & Simulation

The character of the transient unit-step response depends on

e t  1  2  and unequal poles) :

where s1, 2  (   2  1)

MCTE4150/MEIE5121 Modeling & Simulation

Taking the inverse Laplace transform

MCTE4150/MEIE5121 Modeling & Simulation

For a step input, the transient response can be characterized by:

MCTE4150/MEIE5121 Modeling & Simulation