The unit step response of 2 pole type 0 and type 1 systems with a modified step input is shown in the applet below.

In one case R(s) = 1/s while with the modified step the input is shown in the Applet.

Type 0 (5 1.0 1.0 1.42 0.8) and 1 (5 1.0 1.0 1.46 0.68) as well as different time constants require different modifications to minimise overshoot and oscillations.

The open and closed loop transfer function for the type 1 system is

G(s) = K/(s(T1s + 1)), C(s)/R(s) = K/(s(T1s + 1) + K))

Gif image below shows how applet should appear.

COPYRIGHT © 2006 Cuthbert Nyack.