Chapter Two

Time Response Analysis of Control System

• The 1st step in analyzing control system is deriving a mathematical model
of a system and analysis of system performance. There are several methods
used for the analysis of system performance.
• Response of control system to test input signals analyzed both in time
response and frequency response.
– Time domain response examines the amplitude VS time characteristics of
measuring signals.
– Frequency domain response analysis measured signals replaced with group of
sinusoid (wavelength.) amplitude, frequency, and phase are examined.
• If the output of control system for an input w.r.t to time, is called the
time response of the control system. Time response consists of
– Transient response
– Steady state response
•The graph indicate both transient and steady state
responses. mathematically, we can write
the time response as;

•After applying i/p to a control system, o/p

takes time till it reaches to steady state 1
called transient state.
• The transient response will be zero for large value of ‘t’. Ideally,
value of ‘t’ is infinity & practically, it is constant.
Mathematically,
Lets see an example: Find the transient & steady state terms of the
response of the control system 𝑐 𝑡 = 10 + 5e −𝑡 .
– The second term will be zero as ‘t’ denotes infinity, so this is transient
term. And the first term remains same even ‘t’ approaches to infinity.
Standard test signals:
• Standard test signals are used to know the performance of control
system using time response of the output.
Impulse, step, ramp & parabolic signals are test signals.
Unit impulse signal [ð 𝑡 ]: Defined as
𝑡≠0
– δ 𝑡 = {0
∞ 𝑡=0
• So, the unit impulse signal exists at ‘t’ is zero.
2
Unit step signal [𝑢 𝑡 ]: Defined as
𝑢 𝑡 = 1; 𝑡 ≥ 0 and
= 0; 𝑡<0
•Exists for all +𝑣e values of ‘t’ including 0. Unless
its value is 0 for all −𝑣e values.
Unit Ramp signal [𝑟 𝑡 ]: Defined as
– 𝑟 𝑡 = 𝑡; 𝑡 ≥ 0 and
= 0; 𝑡<0
– We can write unit ramp signal, r(t) in terms of unit step
signal, u(t) as 𝑟 𝑡 = 𝑡𝑢(𝑡)
•Exists for all +𝑣e value of ‘t’ including zero, & its value
increases linearly w.r.t to ‘t’ including zero.
Unit Parabolic signal [𝑝 𝑡 ]: Defined as
2
𝑡 𝑡 ≥ 0 and
– 𝑝 𝑡 = ;
2
= 0; 𝑡<0
– We can write unit parabolic signal, p(t) in terms of unit
𝑡2
step signal, u(t) as 𝑟 𝑡 = 𝑢(𝑡).
2
• Exists for all +𝑣e values of ‘t’ including zero. The value
increases non-linearly.
Time response analysis of 1st & 2nd order systems
1
• Consider the following block diagram with transfer function,
𝑠𝑇
connected with unity negative feedback.
– We know the TF of closed loop cs

– Substitute the TF yields;

The power of energy storage element (s) is one in the denominator term.
Hence, based on this, the system said to be first order system.
• The denominator of transfer function is called the characterization function.
• The roots of the denominator of the above transfer function are called the poles
of the transfer unction.
• Meanwhile, the roots of the numerator of the transfer function are called the
zeros of the transfer function.
• We can represent the poles and zeros of transfer function in s-plane (complex
plane to the system dynamics.)
 Unit-Impulse response of 1st order system:
• Consider unit impulse signal as an input to the 1st order system.
So, Apply Laplace transform on both sides. R( 𝑠) = 1.
– Consider the equation

• Substitute R(s) in the above equation

• Rearrange the above equation in one of the standard form of Laplace

• Apply inverse Laplace transform on both

sides. for 𝑡 ≥ 0
• The unit impulse response, c 𝑡 is an
exponential decaying signal for +ve values
of ‘t’ & its zero for negative value of ‘t’.
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Unit-Step response of 1st order system
• Consider the unit step signal as an input to first order system.
1
So, r 𝑡 = 𝑢(𝑡), Apply Laplace transform on both sides. R 𝑠 =
s
1
• Consider the equation, c 𝑠 = 𝑅(𝑠)
𝑠𝑇+1

• Substitute R 𝑠 = 1 in the unit-step response yields;

s
1 1 1
c 𝑠 = =
𝑠𝑇 + 1 𝑠 𝑠(𝑠𝑇 + 1)
• Do partial fraction expansion on the above equation C(s);

• After simplifying and solving A=1 & B=-T, substitution gives

6
The value of c(t) is zero at t=0 and for all –ve value of t. it’s gradually increasing
from zero to one in steady state
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Unit-Ramp response of 1st order system:
• Consider the unit Ramp signal as an input,
So, r( t ) = 𝑡𝑢(𝑡), Apply Laplace transform on both sides.
1
• Consider the equation, c 𝑠 = 𝑅(𝑠)
𝑠𝑇+1

• Substitute R 𝑠 = s12 in the above equation

1 1 1
c 𝑠 = =
𝑠𝑇 + 1 𝑠2 𝑠2(𝑠𝑇 + 1)
• Do partial fraction expansion of the above equation C(s);
1 𝐴 𝐵 𝐶
c 𝑠 = = + +
𝑠2(𝑠𝑇 + 1) 𝑠 2 𝑠 𝑠𝑇 + 1

1 𝐴 𝑠𝑇 + 1 + 𝐵𝑠 𝑠𝑇 + 1 + 𝐶𝑠 2
=
𝑠2(𝑠𝑇 + 1) 𝑠2(𝑠𝑇 + 1)
• After simplifying and solving A= 1, B= -T and C= T2
8
Substitution gives;

ƒo𝑡 𝑡 ≥ 0

9
Parabolic response of 1st order system
• Consider the unit Ramp signal as an input to first order system. So
𝑢(𝑡), Apply Laplace transform on both sides.
1
• Consider the equation, c 𝑠 = 𝑅(𝑠)
𝑠𝑇+1

• Substitute R 𝑠 = s13 in the above equation

1 1 1
c 𝑠 = =
𝑠𝑇 + 1 𝑠3 𝑠3(𝑠𝑇 + 1)
• Do partial fraction of C(s);
1 𝐴 𝐵 𝐶 𝐷
c 𝑠 = = + + +
𝑠3(𝑠𝑇 + 1) 𝑠3 𝑠2 𝑠 𝑠𝑇 + 1
After simplifying, you will get the values of A=1, B=-T, C=T2 and D=-T3.
substitution

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11
Response of 2nd order system
• Consider the following block diagram of closed loop control system. An
open loop transfer function is connected with a unity negative feedback.
• We know the TF of the closed
loop control system having unity
negative feedback as

• Substitute, In the above equation.

• The power of energy storage element (s) is two in the denominator term.
Hence, based on this, the system said to be second order system

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• Different cases of damping are
– No damping case ð = 0
– Critically damped case ð = 1
– Under damped case 0 < ð < 1
– Over damped case ð > 1
• Using this condition unit impulse, unit step, unit ramp and unit
parabolic response can be expresses with same procedure 13
Unit-impulse response of 2nd order system
• Consider unit impulse signal as an input to the 2nd order system.
So, r 𝑡 = δ(𝑡), Laplace transform of unit step signal is. 𝑅(𝑠) = 1
– The TF of second order closed loop control system is

Follow same procedure with 1st order case

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Unit-step response of 2nd order system
• Consider unit step signal as an input to the 2nd order system.
So, r 𝑡 = u(𝑡), Laplace transform of unit step signal is. 𝑅(𝑠) = 1𝑠
– The TF of second order closed loop control system is
Follow same procedure
Transient response Specification
• The step response of the second order system for the
underdamped case is shown in the following figure.

• The response up to the settling time is known as transient response &

the response after the settling time is known as steady state Response.
• Delay time (𝑡𝑑): it’s the time required for the response to reach
half of its final value from the zero instant.
• Rise time (tr): it is the time required for the response to rise from 0%
to 100% of its final value. Same time this is applicable for the
underdamped conditions.

• Peak time (tp): it’s the time required for the response to reach the
peak value for the first time.

• Peak overshot (Mp): it’s also called maximum overshot, defined as the
deviation of the response at peak time from the final value of
response.
• Settling time (ts): it’s time required for the response to reach the
steady state & stay within the specified tolerance band around the final
value. The tolerance bands are 2% & 5%.
– The settling time for 5% tolerance band is

– The settling time for 2% tolerance band is

17
Steady state errors (e𝑠𝑠).
• The deviation of the output of control system from desired
response during steady state.

• The transfer function of unity negative feedback control system as

18
Where 𝑘𝑝, 𝑘𝑣 and 𝑘𝑎 are position error constant, velocity error
constant and acceleration error constant respectively.
Example: find the steady state error for an input signal r(t) =
of unity negative feedback control system with
– The given input signal is a combination of three signals step, ramp and
parabolic. We can not define steady state error for impulse signal
because it exist only at origin.
• The following table shows the error constants and steady state
error values for these three signals.
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Example: Find the time domain specification of a control system having
the closed loop transfer function when the unit step signal is
applied as an input to this control system.
• The standard form of the transfer function of 2nd order closed loop
control system as

– By equating the two transfer functions we will get natural

frequency as 𝜔𝑛 = 2𝑟𝑎𝑑/𝑠e𝑐 and damping ratio ð = 0.5.
• The formula to calculate damping frequency 𝜔d as

• To calculate 𝜃 use the relation or cos 𝜃 = ð

• Substitute the above necessary values in the formula of each time

domain specification. 21
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Assignment Q-2
1. A unity feedback control system is characterized by an open loop transfer
k
function 𝐺 𝑠 = a) Determine the gain k so that the system will have a
𝑠(𝑠+10)
ð of 0.5, b) Determine the settling time, peak overshoot and time to peak
overshoot for a unit step signal.

2𝑠
2. Calculate time domain specification for 𝐺 𝑠 = , 𝐻 𝑠 = 1,
𝑠(𝑠+6)

3. Consider a unity feed back control system with a closed loop transfer function
𝐶(𝑠) k𝑠+𝑏
of = . Determine open loop transfer function 𝐺 𝑠 and show that
𝑅(𝑠) 𝑠 2 +𝑎𝑠+𝑏
𝑎 −k
the steady state error with unit ramp input is given by e𝑠𝑠 =
𝑏

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4. Find the steady state error for 𝐺 𝑠 = and r(t)= 1 + 2t + 0.5t2
𝑠(𝑠+0.25)
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