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First Order System Dynamics Overview

This document discusses first order dynamic systems and their unit step response. It provides the general transfer function of a first order system and explains that the pole is given by the solution to the characteristic equation as p = -1/τ. For a unit step input, the response is x(t) = 1 - e^(-t/τ), reaching 63% of its steady state value at t = τ, 86% at t = 2τ, and nearly fully settling at t = 5τ. An example demonstrates applying this to a specific first order system.

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34 views9 pages

First Order System Dynamics Overview

This document discusses first order dynamic systems and their unit step response. It provides the general transfer function of a first order system and explains that the pole is given by the solution to the characteristic equation as p = -1/τ. For a unit step input, the response is x(t) = 1 - e^(-t/τ), reaching 63% of its steady state value at t = τ, 86% at t = 2τ, and nearly fully settling at t = 5τ. An example demonstrates applying this to a specific first order system.

Uploaded by

natasha
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

KM3473 System Dynamics & Control

Engineering

Assoc. Prof. Dr. Sallehuddin Mohamed Haris

April 19, 2019


1st Order Dynamic Systems
The General Form

 The general form of a 1st order system is given by

τ ẋ (t) + x (t) = u (t)

where τ is the system time constant.


 The transfer function is then given by

X (s) 1
G (s) = =
U (s) τs + 1

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Poles & Zeros

 The poles of a transfer function are the values of the Laplace


variable s that cause the transfer function to become infinite.
 The zeros of a transfer function are the values of the Laplace
variable s that cause the transfer function to become zero.

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Poles & Zeros

 Hence,the poles of a transfer function are given by the roots


of the denominator polynomial (also known as the
characteristic polynomial), and
 the zeros of a transfer function are given by the roots of the
numerator polynomial.

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Poles

 The pole of a first order system is given by the solution to the


characteristic equation

τs + 1 = 0

Hence, the pole of any 1st order dynamic system is p = − τ1 .

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The Unit Step Response

 Given a unit step input, u (t) = 1, i.e. U (s) = 1s , then

1 1
X (s) = G (s) U (s) = .
τs + 1 s
 The solution is
t
x (t) = 1 − e− τ
 At steady-state (i.e. as t → ∞),

lim x (t) = 1
t→∞

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The Unit Step Response

 At time t = τ ,
τ
x (τ ) = 1 − e− τ = 1 − e−1 = 1 − 0.37 = 0.63

 Similarly,
 at time t = 2τ , x (2τ ) = 0.86
 at time t = 3τ , x (3τ ) = 0.95
 at time t = 4τ , x (4τ ) = 0.98
 at time t = 5τ , x (5τ ) = 0.99

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The Unit Step Response

 In summary, given a constant value input (also known as a


step input), the response of any 1st order system is
time, t % of steady state value reached
τ 63
2τ 86
3τ 95
4τ 98
5τ 99

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The Unit Step Response
Example A plant transfer function is given by
1
G (s) =
0.2s + 1
Given a step input of magnitude 2 i.e. u (t) = 2, U (s) = 2s , the
system time response x (t) is as shown

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