M.Sc. Mustafa Azzam Naji AlMustaqbal University College Computer Techniques Eng.

Time Domain Analysis

The time response of a control system means how a

system behaves in accordance with time when a specified input
signal is applied.
In the initial part of the time response of a control system,
transient appears, after that steady state is achieved.
In actual practice, the transient period and the steady state
period are identified in terms of time constants of a control
system such as (delay time, rise time, settling time, peak time,
maximum overshoot, and steady state error).
The transient part of time response reveals the nature of
response (i.e. oscillatory or overdamped) and gives an indication
about its speed. The steady state part reveals the accuracy of
the control system.
Time Domain Response Features
 Time response of a dynamic system response to an input
expressed as a function of time.
 It has two components Transient Response and Steady
State Response.
 When the response of the system is changed from 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.
 The response of the system after the transient response is
called steady state response.
Input Test Signals
The most commonly used test input signals are: Step,
Ramp, Parabolic, Impulse, and Sinusoidal. Since, these inputs
are simple functions of time, the performance analysis of the
systems are rather easy to perform. A control system designed
on the basis of a test signals, has been found to perform

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M.Sc. Mustafa Azzam Naji AlMustaqbal University College Computer Techniques Eng.

satisfactorily when subjected to actual inputs in its normal

working environment.
Step input Function
It is described as a sudden application of input signal as
shown in the figure below:

Figure 25. Step Function.

Where,
r(t) = R t≥0
=0 t<0
If R = 1, the step function is called unit step function, and the
corresponding Laplace Transform is
1
ℒ r(t) = ℒR = ℒ1 =
𝑠

Step function input is called displacement function.

Ramp Input Function
It is described as gradual application of input signal as
illustrated in the figure below:

Figure 26. Ramp Function.

Where,
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M.Sc. Mustafa Azzam Naji AlMustaqbal University College Computer Techniques Eng.

r(t) = Rt t≥0
=0 t<0
If R = 1, the ramp function is called unit ramp function, and
the corresponding Laplace Transform is
1
ℒ r(t) = ℒRt = ℒt =
𝑠2

Ramp function input is called velocity function.

Parabolic Input Function
It is described as more gradual application of input in
comparison with ramp function as shown in the figure below:

Figure 27. Parabolic function.

Where,

r(t) =
𝑅𝑡 2 t≥0
2 t<0
=0
𝑡2
If R = 1, r(t) = and the parabolic function is called unit
2
parabolic function, and the corresponding Laplace Transform
is
𝑅𝑡 2 𝑡2 1
ℒ r(t) = ℒ =ℒ =
2 2 𝑠3

Parabolic function input is called acceleration function.

Impulse Input Function
In this case of impulse function, input is suddenly applied
as a shock for a very short duration of time as shown in the
figure below:

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M.Sc. Mustafa Azzam Naji AlMustaqbal University College Computer Techniques Eng.

Figure 28. Impulse Function.

If R = 1, then the function is called unit impulse function.

It is a well-known fact that impulse function is a first time
derivative of step function. this means
d
Unit impulse function = (unit step function)
dt
Therefore,
d
ℒ(unit impulse function) = ℒ (unit step function)
dt
= S ℒ (unit step function)
1
= S. = 1
𝑆

Time Domain Analysis of first order systems

A first order control system is a system where the highest
power of S in the denominator of its transfer function equals 1.
Thus, a first order control system is expressed by a transfer
function given below:
𝐶(𝑠) 𝐾
G(s) = =
𝑅(𝑠) 𝑆𝑇+1

This equation is the standard form of the transfer function

for a first order system, where K = steady state gain, and T =
time constant (seconds) (Burns, 2001). The Block Diagram of
the first order system is

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M.Sc. Mustafa Azzam Naji AlMustaqbal University College Computer Techniques Eng.

Figure 29. The Block Diagram of the first order system.

Step Response of first order systems

By using the standard form of the transfer function for first
order systems, the block diagram is

𝐾
R(s) C(s)
𝑇𝑆 + 1

𝐶(𝑠) 𝐾
=
𝑅(𝑠) 𝑆𝑇+1
𝐾
𝐶(𝑠) = 𝑅(𝑠)
𝑆𝑇+1
1 𝐾
=
𝑆 𝑆𝑇+1
To get the response in time domain, Inverse Laplace
transform should be used. To obtain the Inverse Laplace
transform, the partial fraction expansion should be applied.
1 𝑇
𝐶(𝑠) = 𝐾( - )
𝑆 𝑇𝑆+1
1 1
= 𝐾( - 1 )
𝑆 𝑆+𝑇
𝑡
−𝑇
Therefore, 𝐶(𝑡) = 𝐾 (1- e )
When 𝐾 = 1
The error is obtained
e(t) = r(t) - 𝐶(𝑡)
𝑡 𝑡
= 1-(1- e−𝑇 ) = e−𝑇

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M.Sc. Mustafa Azzam Naji AlMustaqbal University College Computer Techniques Eng.

Depending on this table

t 0 1𝑇 2𝑇 3𝑇 4𝑇 ∞
𝐶(𝑡) 0 0.632 0.865 0.95 0.98 1

The time response will be

Figure 30. Time Response of first order control system when a unit step function is applied.

The time 4T is the basis of demarcation between the

transient part and the steady state part of the time response of a
control system. The time 4T is termed as settling time (𝑡𝑠 ) of a
control system.
As illustrated in the figure above, a decrease in the value
of time constant of a control system indicates that the steady
state reaches earlier.
Ramp Response of first order systems
Depending on the standard form of the transfer function
for first order systems, the output is
𝐾
𝐶(𝑠) = 𝑅(𝑠)
𝑆𝑇+1
1 𝐾
=
𝑆2 𝑆𝑇+1
By using Partial Fraction Expansion technique, the response can
be obtained:
𝐴3
1 𝐾 𝐴1 𝐴2 𝑇
𝐶(𝑠) = = K( + + 1 )
𝑆 2 𝑆𝑇+1 𝑆2 𝑆 𝑆+𝑇

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M.Sc. Mustafa Azzam Naji AlMustaqbal University College Computer Techniques Eng.

𝐴1 = 1
𝐴2 = -T
𝐴3 = 𝑇 2
1 𝑇 𝑇
⸫ 𝐶(𝑠) = K( - + 1 )
𝑆2 𝑆 𝑆+𝑇

Take the Inverse Laplace Transform

𝑡
c(t) = K( t – 𝑇+ 𝑇e−𝑇 )
𝑡
−
When K =1, c(t) = (t – 𝑇+ 𝑇e ), and the error will be
𝑇

e(t) = r(t) - c(t)

𝑡
= t- (t – 𝑇+ 𝑇e−𝑇 )
𝑡
−𝑇
e(t) = 𝑇- 𝑇e
The steady state error is obtained
𝑡
𝑒𝑠𝑠 = 𝑡→∞
lim (𝑇 − 𝑇𝑒 −𝑇 ) = T

The graphical representation of the first order control

system when subjected to unit ramp input function is

Figure 31. Unit ramp response of a first order system.

As shown in the figure above, the time response indicates

that during the steady state, the output velocity matches with the

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M.Sc. Mustafa Azzam Naji AlMustaqbal University College Computer Techniques Eng.

input velocity. However, it lags the input by time T, and a

positional error of T units exists in the system
Impulse Response of first order systems
Depending on the standard form of the transfer function
for first order systems, the output is
𝐾
𝐶(𝑠) = 𝑅(𝑠)
𝑆𝑇+1
𝐾
=1
𝑆𝑇+1
Take Inverse Laplace transform
𝑡
𝐾 −𝑇
c(t) = 𝑒
𝑇
The response of unit impulse function = the derivative of
the response of unit step function.
The time response of the first order control system when
subjected to unit impulse input function is shown in the figure
below:
t 0 T 2T 3T 4T
C(t) 𝐾 𝐾 𝐾 𝐾 𝐾
𝑇 0.368 0.135 0.049 0.018
𝑇 𝑇 𝑇 𝑇

Figure 32. Impulse response function of a first order system (Burns, 2001).

Example
Impulse response of a first order system is c(t) = 3e−0.5t . Find:
a) Transfer Function.
b) Time Constant, T.
c) D.C Gain K.
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M.Sc. Mustafa Azzam Naji AlMustaqbal University College Computer Techniques Eng.

d) Step Response.
Solution
𝐶(𝑠)
a) Transfer Function =
𝑅(𝑠)

c(t) = 3e−0.5t ,
3 6
C(s) = =
𝑠+0.5 2𝑠+1

𝑅(𝑠) for impulse input = 1

𝐶(𝑠) 6
⸫ =
𝑅(𝑠) 2𝑠+1
𝐶(𝑠) 𝐾
b) = for first order system
𝑅(𝑠) 𝑇𝑠+1

T=2
c) 𝐾 = 6

d) Let the Step response denote by 𝑐𝑠

1 6 𝐴 𝐵
𝑐𝑠 (𝑠) = = +
𝑠 2𝑠+1 𝑠 2𝑠+1
𝐴= 6
𝐵 = -12
6 12
𝑐𝑠 (𝑠) = -
𝑠 2𝑠+1
6 6
= -
𝑠 𝑠+0.5

𝑐𝑠 (𝑠) = 6 - 6e−0.5t
Another way to find the 𝑐𝑠 (𝑡)
Step response is the integration of impulse response
𝑐𝑠 (𝑡) = ∫ 3e−0.5t 𝑑𝑡
= 3∫ e−0.5t 𝑑𝑡
= -6e−0.5t + b
The initial condition, can be calculated by putting 𝑐𝑠 (0) = 0
0 = -6 + b
b=6
𝑐𝑠 (𝑡) = 6 - 6e−0.5t

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