 Chapter two: Time Response Analysis of Control System

1. Testing signals
2. System response of 1st and 2nd order system
3. Time domain analysis of 1st and 2nd order system
4. Time domain specification
 Introduction to time response analysis of control system :

 Time is used as an independent variable in most of the control system.

 it is important to analysis the response given by the system for the applied excitation, which is function of time.

 Analysis of response means to see the variation of output with respect to time.

 The output behavior with respect to time should be within these specified limits to have satisfactory
performance of the systems.

 The stability analysis lies in the time response analysis that is when the system is stable output is finite.

 The system stability, system accuracy and complete evaluation is based on the time response analysis on
corresponding result.
Cont.
 Definition and classification of time response

 Time response :

 The response given by the system which is function of the time, to the applied excitation is called time response of
a control system.

 Classification :

 The time response of any control system has two components.

1) Transient response 𝑪𝒕𝒓 𝒕

2) Steady state response 𝑪𝒔𝒔 𝒕

∴ 𝑪 𝒕 = 𝑪𝒕𝒓 𝒕 + 𝑪𝒔𝒔 𝒕 ,where C 𝒕 = 𝑻𝒊𝒎𝒆 𝒓𝒆𝒔𝒑𝒐𝒏𝒔𝒆

Total response =zero state response +zero input response

Cont.
1. Transient response
 It is defined as the part of the response that goes to zero as time becomes very large.
I.e. lim 𝑐𝑡𝑟 𝑡 = 0
𝑡→∞
 A system in which the transient response do not decay as time progresses is an unstable system.

Fig .2.1 Response of a system and Steady State Error

 The transient response may be experimental or oscillatory in nature.

 Transient response depends upon the system poles only and not on the type of input.

 The steady state response depends on system dynamics and the input quantity.
  System time response

 After applying the excitation at the input terminal of a system, an output response c 𝑡 is produced at the output
terminals, which varies with time as shown in fig.2.2.

Fig .2.2.Output vs time

Cont.

 Delay Time: the time that the system output takes to reach its final value is known as a delay time 𝑇𝑑 .

 Rise Time: the time that the system response takes to reach from 90% of final value of outputs called rise time 𝑇𝑟 .

 Settling Time: the time taken by the system response to settle down and stay with in ±2% of its final value is
known as settling time 𝑇𝑠 .

 Peak Time: the time taken by the system response to reach the first maximum value is known as peak time 𝑇𝑝 .

 Overshoot: the ratio of the maximum value of the step excited output to the final output is called overshoot of the
system.

 The percentage overshoot of a system is defined as follows.

Maximum output overshoot

% overshoot= ↓ step input ∗ 100
Final value of output

 Steady state error: for a step excitation ,the difference between the desired output and the final value of any
system is termed as steady state error of the system.
Cont.
2.Steady State Response :
 It is defined as the part of the response which remains after complete transient response vanishes from the
system output. i.e.

𝑐𝑠𝑠 𝑡 = lim 𝑐𝑡𝑟 𝑡

𝑡→∞

 The time domain analysis essentially involves the evaluation of the transient and Steady State Response of the
control system.

 Testing Signals

 Standard test input signals :for the analysis point of view ,the signals ,which are most commonly used as reference
inputs ,are defined as standard test inputs.

 The performance of a system can be evaluated with respect to these test signals.

 Based on the information obtained the design of control system is carried out.

∴ The dynamic behavior of a system is judged and compared under application of testing signals.
Cont.
 The commonly used testing signals are:
1. Step input signals.
2. Ramp input signals.
3. Parabolic input signals.
4. Impluse input signals.
 Step input signal (position function)
 Let the step input of magnitude A be applied. The Laplace transform of step input
[r t ] having magnitude A is given by

A
R 𝒔 = 𝑳𝒕 𝑨𝒖 𝒕 = …………..eq 2.11
s

where ,A is the magnitude.

 When , A= 𝟏,𝒓 𝒕 = 𝒖 𝒕 =1
 Mathematical representation becomes as follows:
𝟏, 𝒇𝒐𝒓 𝒕 ≥ 𝟎
𝒓 𝒕 =
𝟎 , 𝒇𝒐𝒓 𝒕 < 𝟎
Fig .2.3
Cont.
∴using Eq. 2.11 ,we have from Eq. 2.12 ,
𝐴
𝑠𝑅 𝑠 𝑠
𝑒𝑠𝑠 = lim = lim 𝑠
𝑠→0 1 + 𝐺 𝑠 𝐻 𝑠 𝑠→0 1 + 𝐺 𝑠 𝐻 𝑠

𝐴
∴ 𝑒𝑠𝑠 = ……..Eq. 2.12
1+lim 𝐺 𝑠 𝐻 𝑠
𝑠→0

Fig .2.4 shows the variation of 𝐶 𝑡 with time.

Fig .2.4 steady state error for step input

Cont.

 For a system 𝒍𝒊𝒎 𝑮 𝒔 H 𝒔 is constant and it is called positional error constant 𝐾𝑝

𝒔→𝟎

𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 Eq . 2.13
𝑠→0

Using Eq. 2.3 ,Eq. 2.2 can be written as

𝐴
𝑒𝑠𝑠 = Eq. 2.14
1+𝐾𝑝

 For any given system ,the steady –state error due to step inputs of value A is given by Eq. 2.14 and 𝐾𝑝 is found by
Eq. 2.13 .𝐾𝑝 depends on the types of the system.

 Ramp input :

 Mathematically ,r(t) = t u(t) .The Laplace transform of a ramp inputs having magnitude A is given by

𝐴
𝑅 𝑠 = 𝑠2 Eq. 2.15

𝑠𝑅 𝑠
Using Eq. 2.15 ,we get from Eq.𝑒𝑠𝑠 = lim 𝑒 𝑡 = lim 𝑠𝐸 𝑠 = lim 1+𝐺 𝑠 𝐻 𝑠
,steady state error 𝑒𝑠𝑠 .
𝑠→0 𝑠→0 𝑠→0
Cont.

𝐴
𝑠 2 𝐴 𝐴
𝑠
𝑒𝑠𝑠 = lim = lim = Eq. 2.16
𝑠→0 1+𝐺 𝑠 𝐻 𝑠 𝑠→0 𝑠+𝑠𝐺 𝑠 𝐻 𝑠 lim 𝑠𝐺 𝑠 𝐻 𝑠
𝑠→0

 For a system, 𝒍𝒊𝒎 𝒔𝑮 𝒔 𝑯 𝒔 is constant and it is termed as velocity error coefficient.it is denoted by 𝑲𝒗 .
𝒔→𝟎

𝑲𝒗 =𝐥𝐢𝐦 𝒔𝑮 𝒔 𝑯 𝒔 Eq. 2.17

𝒔→𝟎

Using Eq. 2.7 ,Eq. 2.6 can be written as

𝑨
𝒆𝒔𝒔 = Eq. 2.18
𝑲𝒗

 For any system ,the steady error due to the ramp input of value A is given by Eq. 2.18 and 𝑲𝒗 can be found by
Eq. 2.17 . 𝐾𝑣 depends on the type of the system.
Cont.

Fig.2.5 steady state error for ramp input

 Thus, the ramp is a signal ,which starts at a value of zero and increases linearly with time.
𝐴𝑡 𝑓𝑜𝑟 𝑡 ≥ 0
Mathematically r 𝑡 =
0 𝑓𝑜𝑟 𝑡 ≤ 0
𝐴
In 𝐿𝑡 for R 𝑠 = ,If A= 1,it is called unit ramp input
𝑠2
Cont.
 Parabolic Input:
𝑨𝒕𝟐 𝒇𝒐𝒓 𝒕≥𝟎
𝑨𝒕𝟐
 The Laplace transform for the parabolic input of magnitude A is given by r 𝒕 = u 𝒕 = 𝟐
𝟐
𝟎 𝒇𝒐𝒓 𝒕 ≤ 𝟎
𝐴
𝑅 𝑠 = Eq. 2.19
𝑠3
Using Eq. 2.19 ,we get, from Eq. 2.10

𝐴
𝑠𝑅 𝑠 𝑠
𝑒𝑠𝑠 = lim = lim 𝑠3
𝑠→0 1 + 𝐺 𝑠 𝐻 𝑠 𝑠→0 1 + 𝐺 𝑠 𝐻 𝑠

𝑨
= 𝐥𝐢𝐦 𝟐
𝒔→𝟎 𝒔 + 𝒔𝟐 𝑮 𝒔 𝑯 𝒔

𝑨
Or 𝒆𝒔𝒔 = Eq. 𝟐. 𝟐𝟎
𝒍𝒊𝒎 𝒔𝟐 𝑮 𝒔 𝑯 𝒔
𝒔→𝟎

 For a system 𝒍𝒊𝒎 𝒔𝟐 𝑮 𝒔 𝑯 𝒔 is constant and it is termed as acceleration error coefficient.it is denoted by 𝐾𝑎 .
𝒔→𝟎
Cont.
𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 Eq. 2.21
𝑠→0
 Using Eq. 2.21 ,Eq. 2.19 can be written as
𝐴
𝑒𝑠𝑠 = Eq. 2.21𝑎
𝐾𝑎

 For any system ,the steady state error due to the parabolic input of value A is given by Eq. 2.21𝑎 and 𝐾𝑎 can be
determined by Eq. 2.21 . K a depends on the type of the system.

Fig.2.6 steady state error for parabolic inputs

Cont.

 Example 2.1:Find the error coefficients and its corresponding steady state error for a system having

𝒔+𝟑
𝑮 𝒔 H 𝒔 =
𝒔 𝟏+𝟎.𝟔𝒔 𝟏+𝟎.𝟑𝟓𝒔

Solution

𝑠+3 𝑨
𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 = lim = ∞, 𝒆𝒔𝒔 =
𝑠→0 𝑠→0 𝑠 1 + 0.6𝑠 1 + 0.35𝑠 𝟏 + 𝑲𝒑

𝑠 𝑠+3 𝑨
𝐾𝑣 = lim 𝑠𝐺 𝑠 𝐻 𝑠 = lim = 3,𝒆𝒔𝒔 =
𝑠→0 𝑠→0 𝑠 1+0.6𝑠 1+0.35𝑠 𝑲𝒗

𝑠 𝑠+3 𝑨
∴ 𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 = lim = 0, 𝒆𝒔𝒔 =
𝑠→0 𝑠→0 1+0.6𝑠 1+0.35𝑠 𝑲𝒂
 b).System Response of 1st and 2nd Order System

 What is the response of the first order control system?

 The first order control systems are stable with impulse and step inputs because these response have bounded
output.

 But impulse response does not have steady state term.so,the step signal is widely used in the time domain for
analyzing the control system from their response.
Cont.
 System response of First order system
 Figure .2.7shows a first order system

Fig.2.7 first –order system

 From fig.2.7,we get
1
𝐺 𝑠 = and 𝐻 𝑠 = 1 Eq. 2.22
𝑇𝑠

𝐶 𝑠 𝐺 𝑠 1/𝑇𝑠 1
= = 1 = Eq. 2.23
𝑅 𝑠 1+𝐺 𝑠 𝐻 𝑠 1+ 1+𝑇𝑠
𝑇𝑠

Now, the poles of G s H s is at s = 0 and it is type 1.it should not have steady state error for step input.
 First order system has only one pole.
Cont.
 System response of 1st order system when the input is unit step.
1
𝐶 𝑠 𝐺 𝑠 𝑇𝑠
= = 1 Eq. 2.24
𝑅 𝑠 1±𝐺 𝑠 𝐻 𝑠 1+ ∗1
𝑇𝑠

𝐶 𝑠 1
∴ The transfer function = 𝑅 𝑠
= 1+𝑠𝑇 Eq. 2.25

1
Input is unit step ,𝑅 𝑠 = 𝑠 or r 𝑡 = 𝑢 𝑡

1 𝟏 𝟏 𝟏
𝐶 𝑠 = 𝑠𝑇+1*R 𝑠 = 𝒔𝑻+𝟏* 𝒔 = 𝒔 𝟏+𝒔𝑻
,

1 𝐴 𝐵
 Now applying partial fraction ,𝐶 𝑠 = 𝑠 = 𝑠 + 1+𝑠𝑇, So, after applying partial fraction,
1+𝑠𝑇

𝟏 𝑻 𝟏 𝟏
𝑪 𝒔 = 𝒔 − 𝟏+𝒔𝑻 = 𝒔 − 𝟏 Eq. 2.26
+𝒔
𝑻

−𝐭
−
∴𝐜 𝐭 =𝐋 𝐂 𝐬 = 𝟏 − 𝐞 ,for t≥ 𝟎,
𝐓 Eq. 𝟐. 𝟐𝟕

−𝑇
when t= 𝑇,𝒄 𝒕 = 1 − 𝑒 𝑇 = 1 − 𝑒 −1 = 𝟎. 𝟔𝟑𝟐
Cont.

 Where T is known as time constant of the system and it is defined as the time required for the signal to
attain(reach) 63.2% of final value or steady state value.

 Time constant indicates how fast the system reaches the final value.

 Impulse response of 1st order system

 Consider system following 1st order

R 𝑠 =𝛿 𝑠 =1
1
𝐶 𝑠 =
1 + 𝑠𝑇
Cont.
 Re-arrange above equation as:
1
𝑇
𝐶 𝑠 = Eq. 2.28
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
𝐿−1 = 𝐴𝑒 −𝑎𝑡
𝑠+𝑎

𝟏 −𝒕
∴c 𝒕 = 𝒆 𝑻 Eq. 𝟐. 𝟐𝟗
𝑻

 Exercise :draw the graph of impulse response of 1st order vs time constant T.

 Relation between step and impulse response

 By making derivatives of step response of first order system (c t ) with respect to t yields

𝒅𝒄 𝒕 𝒅 −𝒕 𝟏 −𝒕
= 𝟏−𝒆 𝑻 = 𝒆 𝑻 Eq. 𝟐. 𝟑𝟎 impulse response
𝒅𝒕 𝒅𝒕 𝑻
Cont.
 Exercise #2:
 Impulse response of a 1st order system is given below.
𝑐 𝑡 = 3𝑒 −0.5𝑡
• Find out
1. Time constant T?
2. Gain A?
3. Transfer function?
4. Step response?
 Solution
Cont.
 Or The time constant is a measure to how fast be the system response. Smaller is the time constant ,faster is the system
response.

 For smaller time constant steady state error will be small and speed of the response will increase .

 T is called dead time or "dynamic lag”

 The plot 𝑐 𝑡 𝑣𝑒𝑟𝑠𝑢𝑠 t is shown in fig.2.8

Fig.2.8 plot of 𝑐 𝑡 vs t for first order system

 Behavior of response of first order system
 No overshoot
 No oscillation .
Cont.
 From Fig.2.8 ,it is obvious that the response is purely exponential. Table 2.1 shows the response value.

Table 2.1 Response value

Cont.
 Characteristics of step response :

a) The value of the output reaches 63.2% of its ultimate value after t= 𝑻.

b) If the initial rate of change is maintained the response will be completed after t= 𝑇.

c) The response is completed after t= 𝟓𝑻.

d) The speed of the response of a first –order system is determined by the time constant for the system.as t
increases ,it takes longer for the system to respond to the step disturbance.
Cont.
 What is system response of second –order(2nd) system?

 The system response is the output of the electronic system when excited with valid signal input.

 A second order system is one where there are two poles.

 So, the unit step response of the second order system is having damped oscillation (decreasing amplitude ) when
′𝜹′ lies between zero and one.

 what are the 4 types of system response ?

 Types of system response are :

1. Under-damped

2. Critically damped

3. Over damped

4. Undamped
Cont.
 Analysis of second order system
 Figure 2.9 shows a general second order –system

Fig 2.9 second- order system

From fig.2.9 ,
Eq. 2.31

Eq. 2.32
Cont.
 Therefore the over all transfer function

Eq. 2.33

 Let us steady the effect of pole location before finding the unit step response.to find the poles of closed loop
transfer of function Fig.2.9,let us put

 Or

Eq. 2.34
Cont.
 From Eq. 2.35 ,the following conclusion can be drawn:

i. The poles are real and unequal if ,

ii. The poles are real and equal if

iii. the poles are real and complex conjugate if

Where 𝞷 is known as damping factor

 Effect of Second Order-System :

 Let us analysis the effect of 𝞷 on pole location as well as response of second –order system.

 Effects 𝞷 on pole location

i. Case 1:0< 𝞷 < 1

(a) the poles are complex conjugates of each other and are given by
Cont.
(b) The poles are located on the second and third coordinates due to the existence of both real and imaginary parts.

(c) The response is underdamped.

ii) Case 2:𝞷= 𝟏

(a) The poles are real and equal .the poles are 𝑠1 = 𝑠2 = −𝞷𝜔𝑛.

(b) They lie on the negative 𝜎 − 𝑎𝑥𝑖𝑠.

(c) The response is critically damped.

iii).Case 3:𝞷> 𝟏

a. The poles are real and unequal .these are given by

b. Since there are no imaginary terms 𝞷 > 1 ,the poles lie on the negative 𝜎-axis and at unequal places.

c. The response is over damped

Cont.
 iv) Case 4:𝞷 = 0
a. the poles are complex with the imaginary part and lie on j𝜔 axis. The poles are conjugates of each other.

b. The poles are given by

c. The response is undamped.

v) Case 5:0 >𝞷> −1

a. Since 𝞷 is given ,the poles are given by

b. If real parts of poles are positive , the poles lie on the right half plane (RHP) of s-plane.

c. This is un stable condition.

vi) Case 6: 𝞷= −1

a. The poles are given by

b. The poles are located in the RHP of s-plane

c. The system is unstable

Cont.
 Vii) Case 7:𝞷< −1

a. The poles are given by

b. The poles are located in the RHP of s-plane.

c. The system is unstable.

Cont.
 figure .2.30 shows the location of poles for second –order system for above cases

Fig.2.30 Effects of 𝞷 on pole location

Cont.
Cont.
 Time Response Specification
 Delay time 𝑇𝑑 :
 The time required to reach 50% of output is known as delay time.
1
∴c 𝑡 = at t= 𝑇𝑑
2
 The mathematical equation of delay time becomes:

1+0.7𝞷
𝑇𝑑 = Eq. 2.35
𝜔𝑛

 Rise time 𝑇𝑟 :The mathematical equation of rise time becomes:

𝜋−𝛼 1−𝞷2
𝑇𝑟 = ,tan 𝛼 = ,𝛼 is in radians Eq. 2.36
𝜔𝑑 𝞷

 Peak time 𝑇𝑝 :The mathematical equation of peak time becomes:

𝑛𝜋
𝑇𝑝 = Eq. 2.37
𝜔𝑑
 The first overshot is obtained for n= 1 and the second overshoot is obtained for n= 2.
Cont.
 Peak Overshoot 𝑀𝑝 :
 The value of 𝑀𝑝 in percent is given by :
−𝞷𝜋
1−𝞷2
%𝑀𝑝 = 𝑒 ∗ 100% Eq. 2.38
 Settling time 𝑇𝑠 :
For a 2% criterion

𝑇𝑠 = 4𝑇
4
∴ 𝑇𝑠 =
𝞷𝜔𝑛
1
Where = 𝑇 = 𝑡𝑖𝑚𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛
𝞷𝜔𝑛

𝜔𝑑 = 𝜔𝑛 1 − 𝞷2 Eq. 2.39
Cont.
25
• Example :for a system having 𝐺 𝑠 = 𝑠 𝑠+10 and unity feedback ,find (i) 𝜔𝑛 ,(ii) 𝞷,(iii) 𝜔𝑑 ,(iv) 𝑇𝑝 , (v) 𝑀𝑝.
• Solution
25
𝐺 𝑠 = and 𝐻 𝑠 = 1
𝑠 𝑠+10
25
𝐺 𝑠 𝐻 𝑠 =
𝑠 𝑠 + 10
25
𝐶 𝑠 𝐺 𝑠 𝑠 𝑠 + 10
= =
𝑅 𝑠 1+𝐺 𝑠 𝐻 𝑠 25
1+
𝑠 𝑠 + 10
𝐶 𝑠 25
= 2
𝑅 𝑠 𝑠 + 10𝑠 + 25
Comparing Eq. 1 With standard form
𝐶 𝑠 𝜔𝑛 2
= 2
𝑅 𝑠 𝑠 + 2𝞷𝜔𝑛 𝑠 + 𝜔𝑛 2
We get 𝜔𝑛 2 = 25 𝑜𝑟 𝜔𝑛 = 5 𝑟𝑎𝑑/𝑠𝑒𝑐 and 2𝞷𝜔𝑛 = 10.
∴ 2*𝞷*5= 10
𝞷= 1,and 𝜔𝑑 = 𝜔𝑛 1 − 𝞷2 = 5 1 − 12 = 0
Hence the system is critically damped
Cont.
𝜋 𝜋
 Again 𝑇𝑝 = then, 𝑇𝑝 = =∞
𝜔𝑑 0
Therefore ,there is no peak.

−𝞷𝜋
−𝞷𝜋
1−𝞷2 100
Again ,𝑀𝑝 = 100 ∗ 𝑒 = 100 ∗ 𝑒 1−1 = 100 ∗ 𝑒 −∞ = =0
𝑒∞

Thus ,5 rad/sec,𝞷= 1,𝜔𝑑 = 0,𝑇𝑝 = ∞,𝑀𝑝=0