Time Response

Analysis

CONTROL SYSTEM ENGINEERING

 Outline

• Introduction to Time Response

– What is Time Response?
– On which factors Time Response depends
– Time response specifications

• Time Response of First Order System

• Time Response of Second Order System

• Steady State Analysis

What is Time Response Behavior?
• Since time is used as an independent variable in
most of the control system, it is usually of
interest to evaluate the response with respect to
time, or
• simply, output variations with respect to time i.e.
time response.

• This output behaviour with respect to time should

be within specified limit to have satisfactory
performance of system.
What is Time Response Behavior?
• After deriving a mathematical model of a system, the
system performance analysis can be done in various
methods.
• In analyzing and designing control systems, a basis
of comparison of performance of various control
systems should be made.
• This basis may be set up by specifying particular test
input signals and by comparing the responses of
various systems to these signals.
• The system stability, system accuracy & complete
evaluation is always based on the time response
analysis and corresponding results.
What is Time Response Behavior?

• Time response = Transient response +

Steady state response
• Transient time response (Natural response)
describes the behaviour of the system in its
first short time until arrives to the steady state
value.
• 𝒀 𝒕 = 𝒀𝒕𝒓 𝒕 + 𝒀𝒔𝒔 (𝒕) or

• 𝑪 𝒕 = 𝑪𝒕𝒓 𝒕 + 𝑪𝒔𝒔 (𝒕)

 Transient Response
• Transient Response (dynamic response):
It is defined as the part of the time response
that goes to zero as time becomes very large.

• Thus y(t) has the property

lim 𝑦𝑡𝑟 𝑡 = 0
𝑡→∞
Key point of Transient Response
• What is starting point of response to the
applied excitation?
• What is rate of rise of response?
Whether system is fast or sluggish?
• What is type of response oscillatory or
exponential ?
• If response is oscillatory, whether it is
overshooting the final value?
• When settling down to its final value?
 Steady state Response
• Steady State Response: It is the part
of the total response that remains after
the transient has died out.

• It gives final value achieved by the

system; indication of the final accuracy
of the system.
• Steady state error (𝑒𝑠𝑠 )
Key point of Steady state Response
• Final value achieved by the system.

• How much output differs to the desired

value indicated by Steady state error
(ess).

• Whether error is constant or time

varying.
Time Response Behavior

Fig: Time response of an elevator

Time Response Behavior
Time Response Behavior
Time Response Behavior
 Standard Test Signals
• The characteristics of actual input signals are
a sudden shock, a sudden change, a
constant velocity, and constant acceleration.
• The dynamic behavior of a system is
therefore judged and compared under
application of standard test signals:an
impulse, a step, a ramp, and a parabolic.
• Another standard signal of great importance
is a sinusoidal signal.
 Standard Test Signals
• Impulse signal
δ(t)
-The impulse signal
imitate the sudden
shock characteristic of A

actual input signal.

t
0

• If A=1, the impulse signal

is called unit impulse
signal.
 Standard Test Signals
• Impulse signal
 Standard Test Signals
• Step signal
 The step signal u(t)
imitate the sudden
change characteristic
A
of actual input signal.

t
 If A=1, the step 0

signal is called unit

step signal
 Standard Test Signals
r(t)
• Ramp signal
 The ramp signal
imitate the constant
velocity
characteristic of 0 t
actual input signal.
ramp signal
with slope
“A”

 If A=1, the ramp unit

signal is called unit ramp
signal
ramp signal
 Standard Test Signals
r(t)
• Parabolic signal
 The parabolic signal
imitate the constant
acceleration t
0
characteristic of actual
input signal. parabolic
signal
with
slope “A”

 If A=1, the parabolic Unit

signal is called unit parabolic
signal
parabolic signal.
Standard Test Signals
Standard Test Signals
Time Response Specifications………
 Transient Response Analysis
• Method to determine total output C(t)
1. Determine the Closed Loop Transfer Function (CLTF) of
𝐶(𝑠) 𝐺(𝑠)
the given system; =
𝑅(𝑠) 1±𝐺 𝑠 ∗𝐻(𝑠)
2. Find the expression for 𝑅 𝑠 = ℒ 𝑟 𝑡 ; reference input
to be applied to the system
3. Substitute R(s) in the CLTF to obtain expression for C(S).
4. Take Laplace inverse of C(s) by using Partial Fraction
Expansion method to obtain total c(t) of the given system
as 𝑪 𝒕 = 𝑪𝒕𝒓 𝒕 + 𝑪𝒔𝒔 (𝒕)
5. Transient response can be studied from above expression.
6. Taking lim 𝐶(𝑡); the final steady state value of 𝑪𝒔𝒔 (𝒕)
𝑡→∞
can be obtained
Time Response of First Order System
• Let’s consider the block diagram of first order system.
1
𝐶(𝑠) 𝐺(𝑠) 𝑠𝑇
= = 1
𝑅(𝑠) 1±𝐺 𝑠 𝐻(𝑠) 1+𝑠𝑇

Fig. Unity feedback system CLTF of first order system

• Analyse the steady state and transient response of

control system for the following standard signal.
• Unit Step
• Unit Ramp
• Unit Impulse
Time Response of First Order System
• Unit step response : 1
𝑅 𝑠 = ℒ 𝑟 𝑡 =
𝑠

• Now apply this standard input R(s) to first order

system,

• With the help of Partial Fraction Expansion method,

• Taking the Inverse Laplace Transform

Time Response of First Order System
−𝑡
𝑐 𝑡 =1−𝑒 𝑇 ; 𝑓𝑜𝑟 𝑡 ≥ 0
𝑐𝑠𝑠 (𝑡) 𝑐𝑡𝑟 (𝑡)

Where, T =Time Constant;

• Time Constant: time required by the signal to
reach 63.2 % of the final or steady state value.
• Time constant indicates how fast the system
reaches to the final value.
• The smaller the time constant, faster is the
system response.
• A large time constant corresponds to a slow or
sluggish response.
Time Response of First Order System
−𝑡
• 𝑐 𝑡 =1−𝑒 𝑇 ; 𝑓𝑜𝑟 𝑡 ≥ 0
To plot the above expression; we will first calculate value of c(t) for
different values of ‘t’
Sr. No. t c(t) % c(t)
1 0 0 0
2 T 0.632 63.2
3 2T 0.865 86.5
4 3T 0.950 95.0
5 4T 0.982 98.2
6 5T 0.993 99.3
.. .. ..
Infinity 1 100
Time Response of First Order System
Time Response of First Order System
• In above equation, it is clear that the time
response depends only on the time constant ‘T’.
• In this case, the steady state error is zero by
putting the limit ‘t’ is tending to zero.

 In general transient response depends on

 Poles of the CLTF
 Location of the poles of CLTF and it is independent
of the magnitude of the input applied. Any change
in the magnitude of the selected input will not have
any effect on the transient response of the system.
Closed loop poles of First Order system

• The closed loop transfer function of a system is given

𝐶(𝑠) 𝐺(𝑠)
by =
𝑅(𝑠) 1 ± 𝐺 𝑠 𝐻(𝑠)
• The equation which gives poles of system is called
characteristic equation which is 1 ± 𝐺 𝑠 𝐻 𝑠 = 0
• For first order system in general form 1 + 𝑠𝑇 = 0
• As closed loop poles are the roots of characteristic
equation, so for first order system there is only one
−1
pole i.e. 𝑠 =
𝑇
• The value of the closed loop pole appears as an
exponential index in the transient output.
Location of closed loop poles and stability
 The location of closed loop poles affect the transient
behaviour of the system.
 As closed loop pole moves in the left half away from the
imaginary axis in the s-plane, transient die out/decays
more quickly making the system more stable.