Lecture 3:

Modeling Systems Time

Response
Lecture Topics
Input: Step, Ramp and Pulse
Response in the Time Domain (First order)
Step
Ramp
Final Value Theorem
Step Input
Consider:

𝐴 𝑡≥0
𝑓 𝑡 = for
0 𝑡<0

∞
−∞ −0
−𝑠𝑡
𝐴𝑒 𝐴𝑒 𝐴
𝐹 𝑠 = 𝐴𝑒 𝑑𝑡 = − − − =
𝑠 𝑠 𝑠
0
If A=1, it is called a unit step function
Ramp Input
𝐴𝑡 𝑡≥0
𝑓 𝑡 = for
0 𝑡<0
∞
𝐴
𝐹 𝑠 = 𝐴𝑡𝑒 −𝑠𝑡 𝑑𝑡 = 2
𝑠
0
Pulse Input
𝐴/𝑡0 0≤𝑡≤𝜋
𝑓 𝑡 = for
0 𝑡 < 0 𝑎𝑛𝑑 𝑡 > 𝑡0
Area = A
Area under function, A
If 𝑡0 approaches zero → impulse
If A = 1 t0
Unit pulse or unit impulse, 𝛿 𝑡 ∞
Example 𝐴 −𝑠𝑡
𝐹 𝑠 = 𝑒 𝑑𝑡 = 𝐴
Physiology: shot of drug 𝑡0
Hydraulics: dumping of fluid 0
Inputs
Step Input:
𝐴
𝐹 𝑠 =
𝑠
Ramp Input:
𝐴
𝐹 𝑠 = 2
𝑠
Impulse:
𝐹 𝑠 =𝐴
For unit response, replace A with 1
Applying Inputs
Transfer function:
R(s) C(s)
G(s) Note: C(s)=G(s)R(s)

𝑅 𝑠 is input
𝐴
Step input: 𝐶 𝑠 = 𝐺 𝑠
𝑠 𝐴
Ramp input: 𝐶 𝑠 = 2𝐺 𝑠
𝑠
Impulse input: 𝐶 𝑠 = 𝐴𝐺 𝑠
Time Response
Determine Time Response
1. Apply Input to Transfer Function
2. Simplify (if possible)
3. Use Inverse Laplace Transform Table to convert from the s-
domain back to the time-domain
First Order: Unit Step
Unit Step Input: 𝑅 𝑠 = 1 𝑠
Transfer Function:
𝛾 1 𝜏 𝛾 𝜏 𝐴
𝐺 𝑠 = × = =
1 + 𝜏𝑠 1 𝜏 𝑠 + 1 𝜏 𝑠 + 𝑎
where 𝐴 = 𝛾 𝜏 and 𝑎 = 1 𝜏
Output: 1 𝐴 𝐴
𝐶 𝑠 = × =
𝑠 𝑠+𝑎 𝑠 𝑠+𝑎
Not listed on Inverse LT tables!
Partial Fraction Expansion
𝐴 𝐴1 𝐴2
𝐶 𝑠 = = 𝐴0 + +
𝑠 𝑠+𝑎 𝑠 𝑠+𝑎
𝐴0 = 0 (numerator and denominator have different orders)
𝐴 𝐴1 𝐴2
𝐶 𝑠 = = +
𝑠 𝑠+𝑎 𝑠 𝑠+𝑎
𝐴 = 𝐴1 𝑠 + 𝑎 + 𝐴2 𝑠 𝐴 = 𝐴1 𝑎 → 𝐴1 =
𝐴
𝐴 = 𝐴1 𝑠 + 𝐴1 𝑎 + 𝐴2 𝑠 𝑎
𝐴
𝐴 = 𝑠 𝐴1 + 𝐴2 + 𝐴1 𝑎 0 = 𝐴1 + 𝐴2 → 𝐴2 = −
𝑎
First Order: Unit Step
𝐴 𝐴 1 𝐴 1
𝐶 𝑠 = = −
𝑠 𝑠+𝑎 𝑎 𝑠 𝑎 𝑠+𝑎
𝐴 𝐴 −𝑎𝑡 𝐴
𝑐 𝑡 = − 𝑒 = 1 − 𝑒 −𝑎𝑡 where 𝐴 = 𝛾 𝜏 and 𝑎 = 1 𝜏
𝑎 𝑎 𝑎
time Output
−𝑡 𝜏
𝑐 𝑡 =𝛾 1− 𝑒 0 0
 63.2%
3 95%
5 99%
10 99.9%
Example: Unit Step
− 𝑡
𝑐 𝑡 =𝛾 1− 𝑒 𝜏

𝛾 = 1 and 𝜏 = 1
First Order: Unit Step
Any first order system represented by:
− 𝑡
𝑐 𝑡 =𝐾 1 −𝑒 𝜏

Reach 95% of final value after three time constants

The time constant, , must be small for a fast response
First order lag
First Order: Unit Ramp
Unit Ramp Input: 𝑅 𝑠 = 1 𝑠 2
Transfer Function:
𝛾 1 𝜏 𝛾 𝜏 𝐴
𝐺 𝑠 = × = =
1 + 𝜏𝑠 1 𝜏 𝑠 + 1 𝜏 𝑠 + 𝑎
where 𝐴 = 𝛾 𝜏 and 𝑎 = 1 𝜏
Output: 1 𝐴 𝐴
𝐶 𝑠 = 2× = 2
𝑠 𝑠+𝑎 𝑠 𝑠+𝑎
Not listed on Inverse LT tables!
Partial Fraction Expansion
𝐴 𝐴1 𝐴2 𝐴3
𝐶 𝑠 = 2 = 𝐴0 + 2 + +
𝑠 𝑠+𝑎 𝑠 𝑠 𝑠+𝑎

𝐴0 = 0 (numerator and denominator have different orders)

Solution with: 𝛾 = 1, 𝜏 = 1

− 𝑡
𝑐 𝑡 =𝑡−𝜏 1− 𝑒 𝜏
Example: Unit Ramp
− 𝑡
𝑐 𝑡 =𝑡−𝜏 1− 𝑒 𝜏

𝛾 = 1 and 𝜏 = 1


4
First Order: Unit Impulse
Unit Impulse Input: 𝑅 𝑠 = 1
Transfer Function:
𝛾 1 𝜏 𝛾 𝜏 𝐴
𝐺 𝑠 = × = =
1 + 𝜏𝑠 1 𝜏 𝑠 + 1 𝜏 𝑠 + 𝑎
where 𝐴 = 𝛾 𝜏 and 𝑎 = 1 𝜏
Output: 𝐴 𝐴
𝐶 𝑠 =1× =
𝑠+𝑎 𝑠+𝑎
𝛾 −𝑡
Inverse LT tables 𝐶 𝑡 = 𝐴𝑒 −𝑎𝑡
= 𝑒 𝜏
𝜏
Example: Unit Impulse
𝛾 −𝑡
𝐶 𝑡 = 𝑒 𝜏
𝜏
𝛾 = 1 and 𝜏 = 1
Example: Time Response
𝑦 + 2𝑦 + 2𝑦 = 𝑟 𝑡

10 sin 2𝑡 0<𝑡<𝜋
𝑟 𝑡 = for
0 𝜋<𝑡

𝑦 0 =1
𝑦 0 = −5
t - shifting
0 𝑡<0
𝑢 𝑡−𝑎 = for
1 𝑡≥0
t - shifting
t - shifting 𝑒 −𝑎𝑠
𝐿 𝑢 𝑡−𝑎 =
𝑠
𝐿 𝑓 𝑡 − 𝑎 𝑢 𝑡 − 𝑎 = 𝑒 −𝑎𝑠 𝐹 𝑠
Example: Time Response
𝑦 + 2𝑦 + 2𝑦 = 𝑟 𝑡
2
𝑠2𝑌 − 𝑠𝑦 0 − 𝑦 0 + 2 𝑠𝑌 − 𝑦 0 + 2𝑌 = 10 2 1 − 𝑒 −𝜋𝑠
𝑠 +4
𝑛
𝐿𝑓 = 𝑠 𝑛 𝐿 𝑓 − 𝑠 𝑛−1 𝑓 0 − 𝑠 𝑛−2 𝑓 ′ 0 − ⋯ − 𝑓 𝑛−1
0

𝐿 𝑓 𝑡−𝑎 𝑢 𝑡−𝑎 = 𝑒 −𝑎𝑠 𝐹 𝑠

20 20𝑒 −𝜋𝑠 𝑠−3

𝑌= 2 2
− 2 2
+ 2
𝑠 + 4 𝑠 + 2𝑠 + 2 𝑠 + 4 𝑠 + 2𝑠 + 2 𝑠 + 2𝑠 + 2
 Example: Time Response
20 20𝑒 −𝜋𝑠 𝑠−3
𝑌= 2 2
− 2 2
+ 2
𝑠 + 4 𝑠 + 2𝑠 + 2 𝑠 + 4 𝑠 + 2𝑠 + 2 𝑠 + 2𝑠 + 2

𝑠−3 𝑠+1−4
2
= 𝐿 𝑒 𝑎𝑡 𝑓 𝑡
=F 𝑠−𝑎
𝑠 + 2𝑠 + 2 𝑠+1 2+1
−𝑎𝑡
𝑠
𝐿 𝑒 cos 𝑏𝑡 =
𝑠+1−4 𝑠 + 𝑎 2 + 𝑏2
𝐿−1 = 𝑒 −𝑡 cos 𝑡 − 4 sin 𝑡
𝑏
𝑠+1 2+1 −𝑎𝑡
𝐿 𝑒 sin 𝑏𝑡 =
s – shifting 𝑠 + 𝑎 2 + 𝑏2
Example: Time Response
20 20𝑒 −𝜋𝑠 𝑠−3
𝑌= 2 2
− 2 2
+ 2
𝑠 + 4 𝑠 + 2𝑠 + 2 𝑠 + 4 𝑠 + 2𝑠 + 2 𝑠 + 2𝑠 + 2

20 𝐴𝑠 + 𝐵 𝑀𝑠 + 𝑁
2 2
= 2 + 2
𝑠 + 4 𝑠 + 2𝑠 + 2 𝑠 + 4 𝑠 + 2𝑠 + 2

20 = 𝐴𝑠 + 𝐵 𝑠 2 + 2𝑠 + 2 + 𝑀𝑠 + 𝑁 𝑠 2 + 4
 Example: Time Response
20 −2𝑠 − 2 2 𝑠 + 1 + 6 − 2
2 2
= 2 +
𝑠 + 4 𝑠 + 2𝑠 + 2 𝑠 +4 𝑠+1 2+1

−2𝑠 − 2 2 𝑠 + 1 + 6 − 2
𝐿−1 + = −2 cos 2𝑡 − sin 2𝑡 + 𝑒 −𝑡 2cos 𝑡 + 4 sin 𝑡
𝑠2 + 4 𝑠+1 2+1

𝑠 𝑏
𝐿 cos 𝑏𝑡 = 2 𝐿 sin 𝑏𝑡 = 2
𝑠 + 𝑏2 𝑠 + 𝑏2
 Example: Time Response
20
𝐿−1 = −2 cos 2𝑡 − sin 2𝑡 + 𝑒 −𝑡 2cos 𝑡 + 4 sin 𝑡
𝑠 2 + 4 𝑠 2 + 2𝑠 + 2
20𝑒 −𝜋𝑠
𝐿−1
𝑠 2 + 4 𝑠 2 + 2𝑠 + 2
= +2 cos 2𝑡 − 2𝜋 + sin 2𝑡 − 2𝜋
− 𝑒 −𝑡 2cos 𝑡 − 𝜋 + 4 sin 𝑡 − 𝜋

= +2 cos 2𝑡 + sin 2𝑡 + 𝑒 −𝑡 2cos 𝑡 + 4 sin 𝑡

Example: Time Response
𝑦 + 2𝑦 + 2𝑦 = 𝑟 𝑡

10 sin 2𝑡 0<𝑡<𝜋
𝑟 𝑡 = for
0 𝜋<𝑡
𝑦 0 =1
𝑦 0 = −5

𝑦 𝑡 = 𝑒 −𝑡 3 + 2𝑒 𝜋 cos 𝑡 + 4𝑒 𝜋 sin 𝑡
Final Value Theorem
To find the final steady state value
lim 𝑓 𝑡 = lim 𝑠𝐹 𝑠
𝑡→∞ 𝑠→0
Example:
𝑋 𝑠 5 3
=𝐺 𝑠 = ; input 𝐹 𝑠 =
𝐹 𝑠 𝑠+3 𝑠
5 3
𝑋 𝑠 =
𝑠+3𝑠
5 3
𝑥 𝑡 = lim 𝑠𝑋 𝑠 = 𝑠 =5
𝑠→0 𝑠+3𝑠
Conclusion
Input: Pulse (impulse), Step, Ramp
To determine time response: get transfer function in s-
domain, apply input, then go back to time domain using:
Inverse Laplace transforms
Partial Fraction technique then ILT
Step response
Ramp response
Final Value Theorem