Control Engineering

Course 2

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Time-Domain Analysis of
Control Systems

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 Overview
• Find and discuss transient and steady state time
response of a simple control system.
• Develop simple design criteria for manipulating
the time response.
• Look at the effects of adding a simple gain or
poles and zeros to the system transfer function
and relate them to the concept of control.
• Look at simple proportional, derivative, and
integral controller design concepts in time
domain.
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Introduction
Steady-state response
• Time response:

Transient response

Typical Test Signals for the Time Response

of Control Systems
• Step-Function Input:

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 Ramp- and Parabolic-Function
Inputs
• Ramp-Function Input:

• Parabolic-Function Input:

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The Unit-Step Response and
Time-Domain Specification

Steady-state error: r − yss

r: reference input

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Steady-State Error

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 Steady-State Error of Unity
Feedback
• Steady-state error:

H (s) = 1

• ess depends on the number of poles G(s) has at

s = 0.
• Forward-path transfer function:

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 Unity Feedback with Step
Function Input
Step-function input: r (t ) = Ru s (t )  R( s) = R / s

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 Unity Feedback with Ramp
Function Input
Ramp-function input:

R
ess =
Kv

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 Unity Feedback with Parabolic
Function Input
Parabolic-function input:

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Summary

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Example

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Example (cont.)

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Time-Response of a Prototype
First-Order System

time constant

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Time-Response of a Prototype
Second-Order System

G(s)

Characteristic equation:

R(s) = 1/s (unit-step input)

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Unit-Step Responses

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 Damping Ratio and Damping
Factor
• Characteristic equation:

• Unit-step response:

•  controls the rate of rise or decay of y(t).

 damping factor ( 1/  time constant )
• Damping ratio:

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 Natural Undamped Frequency
• Natural undamped frequency: n
• Damped (or conditional) frequency: 

  = cos −1 

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20
Classification of System
Dynamics

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Step-Response Comparison
overdamped

critically overdamped

underdamped

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Step-Response Comparison
(cont.)
undamped

negative overdamped

negative overdamped

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 Maximum Overshoot

y() is maximum when   1.

dy (t )
=0 t = ,
dt

The first overshoot is n=1

the maximum overshoot
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Maximum Overshoot (cont.)

dy (t )
=0
dt

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Maximum Overshoot (cont.)

The first overshoot (n = 1) is the maximum overshoot

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Maximum Overshoot (cont.)

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 Delay Time
The time required for the step response to reach
50% of its final value  Set y(t) = 0.5 and solve
for t
• Approximation:

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 Rise Time
The time for the step response to reach from 10
to 90% of its final value.
• Approximation:

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 Settling Time: 0 <  < 0.69
The time required for the step response to
decrease and stay within a specified percentage
(2% or 5%) of its final value.

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Settling Time:  > 0.69

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Case study

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 Speed and Position Control
of a DC Motor
• Open-loop response:

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 Speed of Motor Shaft: Open-
Loop
• La is very small
 e = La/Ra (motor electric-time constant) is
neglected.

Keff = Km/(RaB+KmKb): motor gain constant

m = RaJm/(RaB+KmKb): motor mechanical time
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constant
 Time Response: Open-Loop

Superposition:
• TL(s)=0 (no disturbance and B=0) and Va(s)=A/s:

 (t) → A/Kb
• TL(s)=D/s and Va(s)=A/s :

 (t) → A/Kb− RaD/KmKb 35

Closed-Loop Response

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 Speed of Motor Shaft: Closed-
Loop
• La = 0 

1/c
c: system mechanical-time constant
• in = A/s and TL = D/s:

steady-state response:
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 Position Control: Open-Loop
• (s) = (s)/s

• Open-loop transfer function:

for small La 
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Position Control: Closed-Loop

e = La/Ra → 0
for small La

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Frequency-Domain Analysis of
Control Systems

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 Frequency response
• The frequency response of a system is
defined as the steady-state response of
the system to a sinusoidal (harmonic)
input.

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The Bode diagram of a typical
second order system

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Gain and Phase Margins

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 Position, velocity and acceleration error
constants in frequency domain

We usually use the notations cp, cv and ca for the cofficients, instead of Kp, Kv and Ka.

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