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    Lecture 4

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    abdullahaamir2019

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    Lecture 4

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    3 views9 pages

    Lecture 4

    Uploaded by

    abdullahaamir2019

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    © All Rights Reserved
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    Download as pdf or txt
    of 9

    Lecture 4:

    First-Order Systems

    1. Introduction to time response analysis


    2. First-order systems
    Lecture 5: Second-order systems
    Lecture 6: Non-canonical systems

    1
    Time Response

    SYSTEM

    • Characteristics of a standard response can


    be used for specifications (transient and
    steady state)
    • Response to simple inputs can be used for
    system identification, i.e. for finding a black-
    box model
    3
    First-Order Systems
    • Basic form:
     y (t ) + y (t ) = ku (t )
    𝑌(𝑠) 𝑘
    ⇒ 𝐺(𝑠) = =
    𝑈(𝑠) 𝜏𝑠 + 1
    • Key parameters:
    τ = time constant
    k = DC gain

    • Many real systems have this basic form

    4
    RCeo + eo = ei RCqo + qo = qi

    b
    RCT + T = Ta xo + xo = xi
    k
    First-Order Systems

    • Step response (u(t) = 1(t))


    𝑦(𝑠) 𝑘
    = = 𝐺 𝑠 , find y(t)
    𝑢(𝑠) 𝜏𝑠 + 1
    𝑘 1 𝐴 𝐵 𝐴 𝜏𝑠 + 1 + 𝐵𝑠
    𝑦 𝑠 = = + =
    𝜏𝑠 + 1 𝑠 𝑠 𝜏𝑠 + 1 𝑠 𝜏𝑠 + 1
    Matching numerators: ⟹ 𝑠1 : 0 = 𝐴𝜏 + 𝐵 ⟹ 𝐵 = −𝐴𝜏 = −𝑘𝜏
    𝑠0: 𝑘 = 𝐴
    𝑘 −𝑘𝜏 𝑡ൗ
    𝑦 𝑡 = ℒ −1 𝑦 𝑠 = ℒ −1 + −
    = 𝑘 − 𝑘𝑒 𝜏 , 𝑡 ≥ 0
    𝑠 𝜏𝑠 + 1
    First-Order Systems

    steady
    transient state
    −t /
    y(t ) = k (1 − e ), t  0
    DC Gain 𝑘/𝜏
    For t=τ
    y(t ) = k (1 − e−1 ) = 0.632k

    For t=4τ 98%

    y(t ) = k (1 − e−4 ) = 0.98k 63.2%

    within 2% of final value is


    generally considered
    steady state
    Example

    • Determine the TF of the system that produced the


    following output in response to a unit step input
    𝑘
    Match for
    𝜏𝑠 + 1
    𝑘 = 2 (DC Gain)
    𝜏=1
    𝑦(𝑠) 2
    =
    𝑢(𝑠) 𝑠 + 1
    1
    =
    0.5𝑠 + 0.5
    Non-Canonical Form
    Summary
    • Introduction to Time Response Analysis
    • Importance of learning “canonical” system responses
    • First order systems

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