Order System
First
Unit Step
Partial Fractions,
Taking Inverse LT
E x p o n e nti a l C u r v e
o / p = 0 ( t= 0 ) ; o /p = 1 ( t= )
W h e n t = T ; o /p = 0 . 6 3 2
N o te
S m al l e r th e ti m e c o n s ta n t fas te r th e
curve
O n e ti m e c o n s ta n t ( 0 6 3 . 2 % o f fi n a l
value)
S l o p e d e c re a s e s fro m (t= 0) to 0 (t= )
Fo r t 4 T re s p o n s e re m ai n s w i th 2 % o f
fi n a l v al u e
E s ti m ate o f re s p o n s e ti m e To re ac h &
s tay w i th i n 2 % l i n e o f fi n al v a l u e ( i d e al l y
)
Unit Ramp
Partial Fractions,
Taking Inverse LT
Error
Unit Impulse
Taking Inverse LT
When t = 0 ; o/p =
When t = ; o/p = 0
Summary
In general for LTI systems, (1 s t order)
Unit Step
Unit Ramp
Unit Impulse
Comparing
the 2 equations,
Un damped Natural Frequency
Critical Damping
Damping ratio
RESPONSE OF A 2 N D ORDER
SYSTEM TO STEP INPUT
a Step Input, we obtain the following responses
For
Underdamped Case (0 < < 1) Oscillatory Transient
Response : Poles are complex conjugate
Overdamped Case (>1) - Poles are negative, real,
unequal
Critically Damped case (=1) Poles are equal
Undamped (=0) Transient response does not die
out!
Applying
Applying
Step input 1/s ,
*To be tried*
Taking partial fractions & inverse L.T we obtain
TRANSIENT RESPONSE
SPECIFICATIONS
Transient
Delay
time
Time required for the response to reach half the fi nal
value for the very fi rst time
Rise time
Time required for the response to rise from 10% to 90%
or 5% to 95% or 0% to 100% of its fi nal value
Peak time
Time required for the response to reach fi rst peak of
the overshoot
RISE TIME
TIME REQUIRED FOR THE RESPONSE TO RISE FROM 10%
TO 90% OR 5% TO 95% OR 0% TO 100% OF ITS FINAL
VA LU E
P E A K TI M E
T I M E R E Q U I R E D F O R TH E R E S P O N S E TO R E A C H F I R S T P E A K O F T H E
OVERSHOOT
Peak
equating it to 0
*Try this*
= 0, , 2, 3 . . .
(1 s t peak overshoot)
MAXIMUM OVERSHOOT
If fi nal steady state value of response diff ers from unity then
it is common to use maximum % overshoot
S E T T L I N G TI M E ,
T I M E R E Q U I R E D F O R TH E R E S P O N S E C U RVE TO R E A C H & S TAY
W I T H I N A R A N G E AB O U T TH E F I N A L VAL U E
(approx)
(approx)