CHAPTER

3 Time
Response
EET 302 : CONTROL
SYSTEMS ENGINEERING

3.1` Introduction
Output response of a system is the sum of
2 responses: forced & natural responses.
Poles:
1. Values of the Laplace transfom variable, s, that cause the TF to
infinite.
2. Any roots of the denominator of the TF that are common to roots of the
numerator.
Zeros
1. Values of the Laplace transfom variable, s, that cause the TF to zero.
2. Any roots of the denominator of the TF that are common to roots of the
numerator.

3.2 Poles and Zeros and System

Response.
K
G ( s)

s
C ( s) G ( s) R( s)
where
s2
s5
1
R( s)
s

G ( s)

K
s( s )
( s 2)
A
B
C (s)

s ( s 5) s s 5
2/5 3/5

s
s5
C (s)

2 3 5 t
c(t ) e
5 5
c(t ) K1 K 2e t

Figure 3.1: (a) System showing input

and output; (b) Pole-zero plot of the
3
system;
(c) Evolution of a system response.

3.3 First Order System.

The transfer function,

G(s)

C (s)
K

R ( s ) s 1

C ( s)

1 K
A
B

s s 1 s s 1

For a unit step of; 1/s,

Its response,

c(t ) A B' e t
A, B and B are constant. For K=1 and =1/a then,

c(t ) 1 e at
Time constant (1/a), is defined as the time for e-at to
decay to 37%of its initial value or the time it takes
for step response to reach 63% of its final value.
4

Contd
Step response,

K
C (s)
s( s a)

c(t ) K1 K 2e

at

Figure 3.2: (a) First Order

Response to a Unit Step.
5

Contd
The pole of the transfer function is at a, the
farther the pole from the imaginary axis, the
faster the transient response.
Rise time (Tr), the time the response to go
from the 0.1 to 0.9 of its final value. Tr=2.2/a.

Settling time (Ts),

time range when the
response to reach and stay within 2% of its
final value. Let c(t) = 0.98 then the Ts=4/a.

3.4 Second Order System.

The transfer function, C ( s )

a0
s 2 b1 s b0

R( s)
For Impulse response,
Where,
1
2
C ( s)

s 1 s 2

Standard Form,

K n2
C (s)

R( s ) s 2 2 n s n2

Where K is the dc gain,

is the damping ratio, n is the undammped natural
frequency.
s 2 2 n s n2 0
Where

s1, 2 n n 2 1

Contd
nd

Example of 2 order system

responses.

General 2nd

Contd
Order System.
C ( s ) R( s )G ( s )
b
C (s)
s ( s 2 as b)

Natural Frequency (n),

n2
G(s) 2
s 2 n s n2
b n2
a 2 n

n b
a

2 n

Damping Ratio (),

Example 3.1: Find the Natural Frequency (n) and
Damping Ratio (),
36
G ( s) 2
( s 4.2 s 36)

Solution:
n = 6 and =0.35.
9

Contd

From previous page,

cos 1

n2
b
G( s) 2

s as b s 2 2 n s n2
C ( s ) R ( s )G ( s )
C (s)

b
s ( s 2 as b)

c(t ) K1 K 2 e t cos(t )

Figure 3.4: Left; Plot for an underdamped 2nd Order System.

Right; Step Response for 2nd Order System Damping Cases.

10

Contd
From previous page,

Figure 3.5: Second Order Response as a Function of Damping

11
Ratio.

3.4.1 Over Damped Response.

The transfer function,
C ( s)

9
9

s ( s 2 9 s 9) s ( s 7.854)( s 1.146))

Poles at the origin from the unit step and

two real poles from the system.
Constant force response and natural
responses.
c(t ) K 1 K 2 e 7.854t K 3 e 1.146t

12

Example 3.1: Over Damped Response.

Find the step response of the system.

Solution:
Expand the partial fraction.

Take the inverse Laplace Transform.

13

3.4.2 Under Damped

Response.
Under Damped transfer function,
C ( s)

9
s ( s 2 2 s 9)

When 0 < < 1 The transfer function is,

K
C ( s)
The Pole position is,

R ( s ) s j s
2
n

G (s)

s 2 2 n s n2
2
n

j d

d n 1 2

K
K*

s d j d s d j d

14

Contd
From previous page,

Figure 3.6: Second Order Response as a Function of Damping

Ratio.

15

Contd

Performance Measures.

Tp

Ts

Peak Time

n 1 2

4
n

Settling Time

Overshoot
%OS

c t p c
c

1 e

100%

1 2

100%

Figure 3.7: (Top) The 2nd

Order Underdamped
Response Specification.
16
(bottom) Percent overshoot

Contd

Performance Measures.
Tp

n 1 2
Ts

4
4

n d

%OS 100e

1 2

Poles position
n2
G ( s) 2
s 2 n s n2
K
K*

s d j d s d j d

Figure 3.8: Lines of constant

peak time, Tp , settling time,
Ts , and percent overshoot, %OS
Note: Ts2 < Ts1 ; Tp2 < Tp1;
%OS1 < %OS2
17

Contd
Pole Placement.
d PO

d PO Ts

d Ts
Figure 3.9: Step responses of
second-order underdamped
systems as poles move: (a) with
constant real part; (b) with
constant imaginary part;

18

3.4.3 Critically Damped.

The transfer function,
n2
C ( s)

R( s) s n 2

19

Example 3.3: Critically Damped

Response.
Find the step response of the system.
Solution:
Expand the partial fraction.

20

Dominant Pole.

The formula that describing %OS, ts, tp

were
derived only for system with two
complex poles
and no zeros.

A system with more than two poles or

zeros can be
approximated as a second
order system that has just
two complex
dominant poles.

21

Dominant Pole.

Contd

Will approach second

order system

Cannot be represented
as second order
system

Figure 3.11: Component responses of a three-pole system: (a)

pole plot; (b) component responses: non-dominant pole is
near dominant second-order pair (Case I), far from the pair
22
(Case II), and at infinity (Case III).

Contd

Effect of adding a zero to a two-pole system

The closer is the zero to dominant poles,

the greater its effect on transient response.

As the zero move away from dominant

poles, the response approaches that of the two
pole system.
Starting at poles
1j2.828, then
consecutively add
zeros at -3, -5, -10.

23

3.5 Stability.
(i) Stable system.
Natural response
approaches zero.
Poles in LHP.
(ii) Unstable system.
Natural response
grows.
Poles in RHP.
(iii) Marginally stable
system.
Natural response
neither
Figure 3.12: Closed-loop poles
and grows/approaches
response: a. stable system;
b. unstable system
zero.

24

3.6 Routh-Hurwitz Stability

Criteria.
What is Routh-Hurwitz Criterion (RHC)?
Through the RHC method we can tell how
many close-loop system poles are in the left
half plane, in the right half-plane and on
the j -axis. We can find the number of poles
in each section of the s-plane, but cannot
find their coordinate.
The number of roots of the polynomial that
are in the right half-plane is equal to the
number of changes in the first column.
The RHC method requires two steps;
(1) Generate the data table called Routh
table.
(2) Interpret the Routh table to tell number25
of close loop system poles in the left half

Contd
The Close-Loop Transfer function.

The Close-Loop Transfer function.

Initial layout for the Routh-Hurwitz Table.

Completed Routh Table.

26

Example 3.4: Routh-Hurwitz.

Make a Routh table from the system shown below.

Solution:
Find the equivalent close loop system.
Figure (b) above.

Interpretation:
There are two sign changes in the first column.
1 -72 103
The system is unstable, two poles exist in the right
half plane.

27

Example 3.5: Routh-Hurwitz.

P(s) = s3 + 10s2 + 31s + 1030
s3
s2
s1

1
10

b1 =
s0

31

103

c1 =

1
1
72
72

103

31
1030
=

- 72

b2 =

103
0

c2 =

0
0
=0

1
1

72

72

=0

b3 =

c3 =

=0

1
1

72

72

=0

The number of RHP poles = The number of

SIGN CHANGES of COL 1
TWO sign
changes:
3
P ( s ) s 10 s 2 31s 1030
RHP Poles =2
P ( s ) ( s 13.4136)( s 1.7068 j8.595)( s 1.7068 j8.595)

28

Example 3.6: Routh-Hurwitz.

T (s)

Solution:

200
s 6s 11s 2 6 s 200
4

s4

11

200

s3

6 1

6 1

s2

10 1

200 20

s1

-19

s0

20

Two sign changes: 2 RHP (UNSTABLE)

P ( s ) s 6 s 11s 6 s 200
Poles:
and
P ( s ) ( s2 4LHP
.27 j 2.54
)( s 4.2
27 RHP
j 2.54)( s 1.27 j 2.54)( s 1.27 j 2.54)
4

29

Example 3.7: Routh-Hurwitz.

T ( s)

Solution:

10
s 2 s 3s 3 6s 2 5s 3
5

s5

s4

s3

7/2

s2

6 7

s1

42 49 6 2
12 14

s0

Assume is small POSITIVE : TWO sign

P ( s ) s 2 s 3s 6 s 5s 3
changes
P ( s ) ( s 1.66)( s 0.34 j1.5)( s 0.34 j1.5)( s 0.51 j 0.7)(s 0.51 j 0.7)
Poles:
2 RHP, 3 LHP
5

30

Example 3.8: Routh-Hurwitz.

T (s)

Solution:

1
2s 5 3s 4 2 s 3 3s 2 2s 1

T (s)

1
2 s 3s 2 s 3 3s 2 2 s 1

s5

s4

s3

4/3

s2

3 4

s1

12 16 3 2
9 12

s0

Assume is small positive: Two sign

changes
P ( s ) 2 s 5 3s 4 2 s 3 3s 2 2s 1
Poles: 2 RHP, 3 LHP
P ( s ) ( s 1.33)( s 0.33 j.89)( s 0.33 j.89)( s 0.41 j 0.5)( s 0.41 j 0.5)

31

Example 3.9: Routh-Hurwitz.

Solution:

P( s) s 4 6s 2 8
dP( s )
4 s 3 12s 0
ds

NO sign changes: No RHP (STABLE)

Row of ZEROS indicate existence of
complex poles & Symmetric Equations
Poles: 1 LHP and 4 on jw axis
P( s ) s 5 7 s 4 6 s 3 42 s 2 8s 56
P( s ) ( s 7)( s j 2)( s j 2)( s j1.414)( s j1.414)
32

Entire row is zero

When a purely even or odd polynomial is a

factor of the original polynomial.
Even polynomial only have roots that are
symmetrical about the origin.
The symmetry can occur under 3
conditions:
1.
2.
3.

The roots are symmetrical and real.

The roots are symmetrical and imaginary.
j
The roots are quadrantal.
3

3
2

33

Example 3.10: Routh-Hurwitz.

T ( s)
s

128
s 3s 10 s 24s 48s 4 96 s 3 128s 2 192s 128
8

10

s7

3 1

s6

2 1

s5

0 6 3

s4

8/3 1

64/3 8

s3

-8 -1

-40 -5

s2

3 1

24 8

s1

s0

Solution:
5

48

128

24 8

96 32

192 64

16 8

64 32

128 64

0 32 16 0 64 32

128

P ( s ) s 6 8s 4 32 s 2 64
dP ( s )
6 s 5 32 s 3 64 s 0
ds

0 0 0

64 24

2 sign changes: 2 RHP (symmetric)

Poles:
27 RHP
, 45 LHP
and
2 2on j axis
8
6
4
3
P ( s ) s 3s 10 s 24 s 48s 96 s 128s 192 s 128
P ( s ) ( s 2)( s 1)( s j 2)( s j 2)( s 1 j1.73)( s 1 j1.73)( s 1 j1.73)( s 1 j1.73)
34

Use of Routh Hurwitz

Criteria
Main use is to determine the position of the

Main use is to determine the position of the

poles, which in turns can determine the
stability of the response.
Example
A closed-loop transfer function is given by

C( s )
K

R( s ) s s 2 s 1 s 2 K

Determine the range for K for the system to

be always stable and its oscillating frequency
before it becomes unstable.

35

Solution:
Characteristic equation is:

s s 2 s 1 s 2 K 0

Expand the equation

4
3
2

s 3s 3s 2 s K 0

Form the Rouths array

s4
1
3
s3

s2

92 7

3
3
14 3 3K 14 9 K

73
7

s1
s0

K
36

Solution:
For no sign change
Referring to row 4

14 9 K
0
7

K 14 9

which gives,
K 0
and row 5,
Hence its range,

0 K 14 9

7 3 2 14 9 0
rad
23
s

Oscillating frequency,

37

Steady state
R(s)

E(s)
+

G (s)

Y(s)

H (s)

B(s)

From the diagram

1
E (s)
R( s)
1 G(s) H (s)

T s 1 Ta 2 s 1... Tai s 1
Consider
G ( s ) K a1

s n Tb1s 1 Tb 2 s 1...Tbj s 1

And
H (s)

Tx1 s 1 Tx 2 s 1... Txk s 1

y1

s 1T y 2 s 1...T yl s 1

Use the final value

define steady 38
ess limtheorem
e(t ) lim sE (and
s)
s 0
state error, ess thatt is given
by

Unit step
Unit step input, 1
R(s)
s
1
From E ( s)
R(s)
1 G ( s) H ( s)

Steady state error,

ess lim
s 0

s
1
1 G (s) H (s) s

We define step error coefficient,

K s lim G ( s) H ( s)
s 0

1
1 KS

Thus, the steady state error

ess is

By knowing the type of open-loop transfer function,

G ( s) H ( s)

we can know step error coefficient and thus the

Ta1s 1 Ta 2 s 1... Tai s 1 Tx1s 1 Tx 2 s 1... Txk s 1
steady state error
K
K s lim G ( s) H ( s) lim
s 0
s 0

s n Tb1s 1 Tb 2 s 1...Tbj s 1 Ty1s 1Ty 2 s 1...Tyl s 1

39

Unit step
For open-loop transfer function of type 0:
1
e

K s K , ss 1 K
For open-loop transfer function
of type 1:
1
0
K s , ess
1
1
For open-loop transfere function

0of type 2:
K s , ss
1

40

Unit step

Example:
A first order plant with time constant of 9 sec and dc gain of
5 is negatively feedback with unity gain,
determine the steady state error for a unit step input and
the final value of the output.
Solution:
The block diagram of the system is
R(s)

5
9s 1

Y(s)

Ks
As we are looking for a steady state error for a step input,
5
we need to know,
K s lim G s H s lim
s 0

1
1function,
1
Knowing the open-loop transfer
then
ess

1 K 1 5 6
And steady state error of, S

s 0

9s 1

y ss 1 1 6 5 6

Its final value is,

41

Unit Ramp
As in the above section, we know that

E (s)

r (t ) t , while its Laplace form is

1
R( s)
1 G (s) H (s)

R( s)

1
s2

Thus, its steady state error is

ess lim s
s 0

1
1
1 G(s) H ( s) s 2

Define ramp error coefficient, K r ; K r lim sG ( s ) H ( s )

Which the steady state error as

ess

s 0

1
Kr

Just like for the unit step input we can conclude the steady state error for a unit ramp through the type
of the open-loop transfer function of the system.
For open-loop transfer function of type 0:

Kr 0

For open-loop transfer function of type 1:

Kr K

For open-loop transfer function of type 2:

Kr
42

Unit Ramp
Example:
A missile positioning system is shown.
(i) Find its closed-loop transfer function

m ( s)
i ( s)

(ii) Determine its undamped natural frequency and its damping ratio if

K 103

(iii) Determine the steady state error, if the input is a unit ramp.
(iv) Cadangkan satu kaedah bagi menghapuskan ralat keadaan mantap untuk (iii).
Compensator

DC motor
0.01
s(0.4 s 1)

43

Unit Ramp
Solution:
(a) By Mason rule, the closed-loop transfer function is

0.01
m ( s)
0.01K
0.025K
s(0.4 s 1)

2
2
i ( s ) 1 K . 0.01
0.4 s s 0.01K s 2.5s 0.025K
s(0.4 s 1)
K.

0.01K
0.4 s 2 s 0.01K
0.025K
2
s 2.5s 0.025K

3
(b) If K 10

m ( s)
25
2
i ( s ) s 2.5s 25
Comparing with a standard second order transfer function

m ( s)
K n2
2
i ( s ) s 2 n s n2

44

Unit Ramp
Comparing

n2 25
Thus undamped natural frequency

n 5

rad.s-1

and

2 n 2.5
damping ratio of

0.25

(c) To determine the ramp error coefficient, we must obtain its open-loop transfer function

Go ( s ) K .

0.01
s(0.4 s 1)

As it is a type 1, the system will have a finite ramp error coefficient, putting K
Go ( s )

10
s(0.4 s 1)

K r lim sGo ( s) lim s.

s 0

10 3

s 0

10
10
s(0.4s 1)

Hence steady state error of

ess

1
0.1
Kr

45

Unit Parabola
2
Its time function r (t ) t ,while its LaplaceR ( s )

s
2
s 0 1 G( s ) H ( s ) s 3

2
,thus its steady state error is
s3

ess lim

Define parabolic error coefficient, K pa

K pa lim s 2G( s )H ( s )
s 0

Similarly we can determine its steady state error by knowing the type of the open-loop transfer function
For open-loop transfer function of type 0:

K pa 0

For open-loop transfer function of type 1:

K pa 0

For open-loop transfer function of type 2:

K pa K

46

In summary we can make a table of the steady state error for the above input

Unit step
Type 0

1
1 Ks

Type 1

Type 2

Unit ramp

Unit parabolic

1
Kr

2
K pa

47