Automation in Clinical Laboratories (ACL)

Lecture (5)

Course Code: BEAL 301 Level: 3

Instructor: Prof. Dr. Ghada El-banby
 Outlines:

1. Introduction to Control Systems

2. modeling in frequency domain

3. Time response

4. Stability

5. steady state error

Time Response of Control Systems
• Time response of a dynamic system is a response to an
input expressed as a function of time.

System

• The time response of any system has two components

• Transient response
• Steady-state response.
Time Response of Control Systems
• When the response of the system is changed form rest or
equilibrium it takes some time to settle down.

• Transient response is the response of a system from rest

or equilibrium to steady state.
-3
x 10 Step Response
6

Step Input
5
• The response of the
system after the 4

Steady State
Response
Response

Amplitude
transient response is 3

called steady state 2

Transient Response
response.
1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 Time Response of Control Systems

• Transient response depends on the system poles only

and not on the type of input.

• It is therefore sufficient to analyze the transient response

using a step input.

• The steady-state response depends on system

dynamics and the input quantity.

• It is then examined using different test signals by final value

theorem.
First order system has only one pole.
C( s ) K

R( s ) Ts  1
Where K is the D.C gain and T is the time constant of
the system.

Time constant is a measure of how quickly a 1st order

system responds to a unit step input.

D.C Gain of the system is ratio between the input signal

and the steady state value of output.
For the first order system given below
10
G( s ) 
3s  1
• D.C gain is 10 and time constant is 3 seconds.

• And for following system

3 3/ 5
G( s )  
s  5 1 / 5s  1

• D.C Gain of the system is 3/5 and time constant is

1/5 seconds.
 Impulse Response of 1st Order System
Consider the following 1st order system
δ(t)

K
R(s ) C(s )
1

Ts  1
t
0

R( s )   ( s )  1

K
C( s ) 
Ts  1
 Impulse Response of 1st Order System

K
C( s ) 
Ts  1
Re-arrange above equation as

K /T
C( s ) 
s  1/ T

• In order to represent the response of the system in time

domain we need to compute inverse Laplace transform of
the above equation.

 A 
1  at
K t / T
c(t )  e
L    Ae
sa T
Impulse Response of 1st Order System
K t / T
• If K=3 and T=2s thenc(t )  e
T
K/T*exp(-t/T)
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
Time
 Step Response of 1st Order System
Consider the following 1st order system

K
R(s ) C(s )
Ts  1

1
R( s )  U ( s ) 
s
K
C( s ) 
sTs  1
• In order to find out the inverse Laplace of the above equation,
we need to break it into partial fraction expansion
Forced Response Natural Response
K KT
C( s )  
s Ts  1
 Step Response of 1st Order System
1 T 
C( s )  K   
 s Ts  1 
Taking Inverse Laplace of above equation


c(t )  K u(t )  e t / T 
 
• Where u(t)=1
c(t )  K 1  e t / T
• When t=T

 
c(t )  K 1  e 1  0.632K
 Step Response of 1st Order System
• If K=10 and T=1.5s then 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11

10

9 Step Response

8 steady state output 10

D.C Gain  K  
7 Input 1
6
63%
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time
 Step Response of 1st Order System
• If K=10 and T=1, 3, 5, 7 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11
10
T=1s
9

8 T=3s
7
T=5s
6
c(t)

5 T=7s

4
3
2
1
0
0 5 10 15
Time
Step Response of 1 st order System

System takes five time constants to reach its final value.

 Step Response of 1st Order System
• If K=1, 3, 5, 10 and T=1 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11
10
K=10
9

8
7
6
K=5
c(t)

5
4
K=3
3
2
K=1
1
0
0 5 10 15
Time
Relation Between Step and impulse response

The step response of the first order system is

 
c(t )  K 1  e t / T  K  Ket / T
Differentiating c(t) with respect to t yields

dc(t ) d
dt

dt

K  Ket / T 
dc(t ) K t / T
 e (impulse response)
dt T
 Example#1
Impulse response of a 1st order system is given below.

c(t )  3e 0.5t
Find out
Time constant T
D.C Gain K
Transfer Function
Step Response
 Example#1
The Laplace Transform of Impulse response of a system is
actually the transfer function of the system.
Therefore taking Laplace Transform of the impulse
response given by following equation.

c(t )  3e 0.5t
3 3
C( s )  1    (s)
S  0.5 S  0.5
C( s ) C( s ) 3
 
 ( s ) R( s ) S  0.5
C( s ) 6

R( s ) 2S  1
 Example#1
Impulse response of a 1st order system is given below.

c(t )  3e 0.5t
Find out
Time constant T=2

D.C Gain K=6

C( s ) 6
Transfer Function 
R( s ) 2S  1
Step Response

Also Draw the Step response on your notebook

 Example#1
If initial Conditions are not known then partial fraction
expansion is a better choice
C( s ) 6

R( s ) 2S  1
1
since R( s ) is a stepinput, R( s ) 
s
6
C( s ) 
s2S  1

6 A B
 
s2S  1 s 2s  1

6 6 6
 
s2S  1 s s  0.5

c(t )  6  6e 0.5t
 Ramp Response of 1st Order System
Consider the following 1st order system

K
R(s ) C(s )
Ts  1

1
R( s ) 
s2
K
C( s ) 
s 2 Ts  1
• The ramp response is given as


c(t )  K t  T  Tet / T 
 Practical Determination of Transfer Function
of 1st Order Systems
If we can identify T and K from laboratory testing
we can obtain the transfer function of the system.

C( s ) K

R( s ) Ts  1
 Practical Determination of Transfer Function of
1st Order Systems
For example, assume the unit step
response given in figure.
K=0.72
• From the response, we can
measure the time constant, that
is, the time for the amplitude to
reach 63% of its final value.
• Since the final value is about T=0.13s

0.72 the time constant is

evaluated where the curve
reaches 0.63 x 0.72 = 0.45, or • Thus transfer function is
about 0.13 second. obtained as:
• K is simply steady state value. C( s ) 0.72 5.5
 
R( s ) 0.13s  1 s  7.7
 Be ready
next Week