Time Response Analysis

MODULE-II
TIME RESPONSE ANALYSIS
Dept of Electronics and Instrumentation

11/18/2021 1
Engineering
Syllabus
Topics Under Discussion
• Introduction
• Standard test signals
• Response of first order system for unit step input
• Response of second order system for unit step
input
• Time domain specifications
• Steady state errors and error constants
• Problems
• MATLAB Simulation
11/18/2021 2
Engineering
Motivation
➢ How to know the performance of a control system

for any input signal?
➢ How to design a control system which meets the
desired response and control requirements ?
Time Domain Analysis and Design Specifications

11/18/2021 3
Engineering
Introduction
➢In time-domain analysis the response of a

dynamic system to an input is expressed as a
function of time.
➢It is possible to compute the time response of a

system if the nature of input and the
mathematical model of the system are known.

11/18/2021 4
Engineering
Introduction
What is time response of control system?
Time response :The time solution to

differential equation.

11/18/2021 5
Engineering
Time Domain Analysis
➢ Time domain analysis refers to the analysis of system
performance in time i.e., the study of evolution of
system variables (specifically output) with time .
➢ There are two common ways of analyzing the response
of systems:
1. Natural response and forced response
2. Transient response and steady state response
➢ In both cases, the complete response of the system is
given by the combination of both responses i.e., natural
and forced responses or transient and steady state
responses.
11/18/2021 6
Engineering
Natural and Forced Responses
➢ Natural response (Zero input response) :
– System's response to initial conditions with all external
forces set to zero.
– E.g. In RLC circuits, this would be the response of the
circuit to initial conditions (inductor currents or capacitor
voltages) with all the independent voltage and current
sources set to zero.
➢ Forced response (Zero state response) :
– System’s response to external forces with zero initial
conditions – E.g. In RLC circuits, this would be the
response of the circuit to only external voltage and current
source, and zero initial conditions .
11/18/2021 7
Engineering
Transient Responses
Transient response 𝒚𝒕𝒓(𝒕):
– Part of the time response that goes to zero as
time tends to be large .
– Transient response can be tied to any event that
affects the equilibrium of a system viz.
switching, disturbance, change in input, etc.
lim 𝑦𝑡𝑟(𝑡) = 0
𝑡→∞

11/18/2021 8
Engineering
Steady State Responses
Steady state response 𝒚𝒔𝒔(𝒕):
– Steady state response is the time response of a
system after transient practically vanishes and as
time goes to infinity.
𝑦(𝑡) = 𝑦𝑡𝑟 (𝑡) + 𝑦𝑠𝑠 (𝑡)

11/18/2021 9
Engineering
11/18/2021 10
Engineering
Transient and Steady State Response

11/18/2021 11
Engineering
1.Natural Response /Steady State
Response (Due to system Poles, Non-
Zero initial conditions)
2.Forced Response/ Transient Period

Response(Due to Input Applied)

11/18/2021 12
Engineering
Transient Response

11/18/2021 13
Engineering
11/18/2021 14
Engineering
REMEMBER

11/18/2021 15
Engineering
11/18/2021 16
Engineering
11/18/2021 17
Engineering
11/18/2021 18
Engineering
11/18/2021 19
Engineering
11/18/2021 20
Engineering
The Zeros are S = 0,-2,-4
11/18/2021 21
Engineering
11/18/2021 22
Engineering
11/18/2021 23
Engineering
11/18/2021 24
Engineering
11/18/2021 25
Engineering
11/18/2021 26
Engineering
11/18/2021 27
Engineering
11/18/2021 28
Engineering
11/18/2021 29
Engineering
11/18/2021 30
Engineering
11/18/2021 31
Engineering
11/18/2021 32
Engineering
11/18/2021 33
Engineering
11/18/2021 34
Engineering
11/18/2021 35
Engineering
11/18/2021 36
Engineering
11/18/2021 37
Engineering
Time Response from Transfer Function
• How to obtain time response from transfer

function?

11/18/2021 38
Engineering
function?

11/18/2021 39
Engineering
Syllabus
• Introduction
• Standard test signals
• Response of first order system for unit step input
• Response of second order system for unit step
input
• Time domain specifications
• Steady state errors and error constants
• Problems
• MATLAB Simulation
11/18/2021 40
Engineering
Standard Test Signals
1.Step Signal
2.Ramp Signal
3.Impulse Signal
4.Parabolic Signal

11/18/2021 41
Engineering
Standard Test Signals
➢ In most cases, the input signals to a control system are not
known prior to design of control system .
➢ Hence to analyze the performance of a control system, it is
excited with standard test signals.
➢ In general, control system design specifications are also
based on the response of the system to such test signals.
➢ Standard test signals include: – Unit impulse, unit step
(sudden change), ramp (constant velocity), parabolic
(constant acceleration) and sinusoidal .
➢ These inputs are chosen because they capture many of the
possible variations that can occur in an arbitrary input
signal.

11/18/2021 42
Engineering
11/18/2021 43
Engineering
Standard Test Input Signals

11/18/2021 44
Engineering
11/18/2021 45
Engineering
11/18/2021 46
Engineering
Why they are called Standard Test Signals?
➢ The dynamic behavior of a system is therefore judged
and compared under application of standard test signals –
an impulse, a step, a constant velocity, and constant
acceleration(They are used to predetermine the system
performance).
➢ Test signals are simple functions for time, they can be
easily generated in laboratories.
➢ The mathematical and experimental analysis of control
systems using these signals can be carried out easily.
➢ Correlation existing between the response characteristics
of a system to a test input signal and capability of the
system to cope with actual input signal.
11/18/2021 47
Engineering
11/18/2021 48
Engineering
Figure: Test Signal Types
11/18/2021 49
Engineering
Step Signal (Mathematical
Representation)

11/18/2021 50
Engineering
Ramp Signal (Mathematical
Representation)

11/18/2021 51
Engineering
Impulse Signal (Mathematical
Representation)

11/18/2021 52
Engineering
Impulse Signal

11/18/2021 53
Engineering
11/18/2021 54
Engineering
Relation between standard Test Signals
A t=0
• Impulse  (t ) = 
t0
d
0
 dt
A t0
• Step u( t ) = 
0 t0 d
 dt
 At t0
• Ramp r(t ) = 
t0
0 d
  At 2
dt
 t0
• Parabolic p( t ) =  2
0 t0

11/18/2021 55
Engineering
Some Important Key Points
Step
✓ It is sufficiently drastic. If the system gives satisfactory
performance for the step input, it is likely to give
satisfactory response to other types of commonly used
signals.
✓ The application of step input is equivalent to the
application of numerous sinusoidal signals with a wide
range of frequencies.
Impulse
✓ If the impulse response of the system is known, and if the
initial conditions are zero, then by taking Laplace transform
one gets the transfer function of the system.
✓ If the area under the impulse response curve is finite then
the system is said to be BIBO stable.
11/18/2021 56
Engineering
function?

11/18/2021 57
Engineering
11/18/2021 58
Engineering
11/18/2021 59
Engineering
11/18/2021 60
Engineering
Figure
a. System showing
input and output;
b. pole-zero plot
of the system;
c. evolution of a
system response.
Follow blue arrows
to see the evolution
of the response
component generated
by the pole or zero.

11/18/2021 61
Engineering
11/18/2021 62
Engineering
Example 2

11/18/2021 63
Engineering
11/18/2021 64
Engineering
11/18/2021 65
Engineering
11/18/2021 66
Engineering
11/18/2021 67
Engineering
• What is the ORDER of Control System

11/18/2021 68
Engineering
Important Note
➢Poles affect the nature of system

response(bounded,unbounded, oscillatory,etc..)
➢Zeros affect the shape of system
response(dominance of poles, residues,etc..)
➢The poles located closer to jw axis dominate
the system response. But the presence of zeros
would influence their dominance.

11/18/2021 69
Engineering

Time Response Analysis - 1

Uploaded by

Copyright:

Available Formats

Time Response Analysis - 1

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Time Response Analysis - 1

Uploaded by

Copyright:

Available Formats

MODULE-II

Dept of Electronics and Instrumentation

➢ How to know the performance of a control system

Dept of Electronics and Instrumentation

➢In time-domain analysis the response of a

➢It is possible to compute the time response of a

Dept of Electronics and Instrumentation

What is time response of control system?

Time response :The time solution to

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

2.Forced Response/ Transient Period

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

• How to obtain time response from transfer

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

Dept of Electronics and Instrumentation

➢Poles affect the nature of system

Dept of Electronics and Instrumentation

You might also like