Introduction to Control System

(ECNG-3212)

Tutorial-4
TIME DOMAIN ANALYSIS

Goitom Tadesse
Ethiopian Defence University, College of Engineering

May 2024
 Topic Outline
➢ Standard Test Signals
➢ Types and order of a systems
➢ Time Response of First order, second order systems
➢ Time domain system specifications
➢ Routh-Hurwitz Stability Criterion
➢ Concept of Root Locus
➢ Rules for construction of Root Locus
➢ Effect of adding poles and zeros

2
 Objectives
At the end of this lecture, the students shall be able to:
1. Differentiate transient response from steady state response
2. Explain the first order and second order systems(natural
frequency and damping ratio)
3. Calculate rise time, peak time, delay time, maximum
overshoot of the system.
4. Calculate percentage increase, periodic time and number of
oscillations.
Learning Outcome:
Establish a good understanding of time response of systems to
impulse, step, ramp, and time domain system specifications,
root locus and effect of adding poles and zeros.
3
 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.
Usually, the input signals to control systems are not
known fully ahead of time.
For example, in a radar tracking system, the position
and the speed of the target to be tracked may vary in
a random fashion.
Therefore, it is difficult to express the actual input
signals mathematically by simple equations.
4
 Introduction …

Study and analysis of a control system with respect to

time is one of the methods employed to describe the
performance of a feedback control system.
The time response of a control system consists two
parts: transient and steady state.
Transient: which goes from the initial state to the final
state, may be in the form of oscillations and may be
sustained or decaying in nature.
Steady state: the part of the time response which is
fixed when time approaches infinity. It is the part
which remains when transients have died out.
5
 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: –
❖ Impulse function
❖ Step function
❖ Ramp function
❖ Acceleration function
❖ Sinusoidal function
6
 Standard Test Signals…
Impulse signal: – The impulse signal imitate the
sudden shock characteristic of actual input signal.
A t = 0
 (t ) =   L{ (t )} =  ( s) = A
0 t  0

When A=1 then the impulse signal

is called Unit impulse signal.
Step signal: – The step signal defines the sudden
change in properties of actual signal. .
A t  0 A
u (t ) =   L{u (t )} = U ( s ) =
0 t  0 s

When A=1, the step is called unit step signal.

7
 Standard Test Signals…
Ramp signal: The ramp signal tells us the constant
velocity attribute of actual input signal.
 At t  0 A
r (t ) =   L{r (t )} = R( s) = 2
0 t  0 s
When A=1, ramp signal is called unit ramp signal.
Parabolic Signal: – Parabolic signal gives the constant
acceleration distinction of actual input signal.
 At 2
 t0 2A
p(t ) =  2  L{ p(t )} = P( s ) = 3
0 t  0 s


When A=1, the parabolic signal

is called unit parabolic signal. 8
 Standard Test Signals…
Relation between standard Test Signals

9
First-order System Response to a Unit
Step

10
 Second-order Systems

A general second-order system is characterized by the

following transfer function.

C( s )  n2
= 2
R( s ) s + 2 n s +  n2

n un-damped natural frequency of the second order system, which

is the frequency of oscillation of the system without damping.

 damping ratio of the second order system, which is a measure

of the degree of resistance to change in the system output.
11
 Second-order Systems …
Example 1
Determine the un-damped natural frequency and damping ratio
of the following second order system.
C( s ) 4
= 2
R( s ) s + 2s + 4
Compare the numerator and denominator of the given transfer
function with the general 2nd order transfer function.
C( s )  n2
= 2
R( s ) s + 2 n s +  n2

n2 = 4  n = 2 rad / sec

 2 n s = 2s
  n = 1
s 2 + 2 n s + n2 = s 2 + 2s + 4
  = 0.5 12
 Second-order Systems …
C( s )  n2
= 2
R( s ) s + 2 n s +  n2
Two poles of the system are −  n +  n  2 − 1

−  n −  n  2 − 1
According the value of  , a second-order system can be set into
one of the four categories:
1. Overdamped - when the system has two real distinct poles (  >1).
jω

δ
-c -b -a
13
 Second-order Systems …
2. Underdamped - when the system has two complex conjugate
poles (0 <  <1) jω

δ
-c -b -a

3. Undamped - when the system has two imaginary poles (  = 0).

jω

δ
-c -b -a

14
 Second-order Systems …
4. Critically damped - when the system has two real but equal
poles (  = 1). jω

δ
-c -b -a

15
 Second-order Systems …

For 0<  <1 and ωn > 0, the 2nd order system’s response
due to a unit step input looks like

16
 Second-order Systems …
S-Plane jω

Natural Undamped Frequency.

n
• Distance from the origin of s-
δ
plane to pole is natural
undamped frequency in rad/sec.

Let us draw a circle of radius 3 in s-plane.

jω
3
If a pole is located anywhere
on the circumference of the
-3 3
δ circle the natural undamped
frequency would be 3
rad/sec.
-3 17
 Second-order Systems …
jω
Therefore the s-plane is
divided into Constant
Natural Undamped
Frequency (ωn) Circles. δ

Damping ratio
jω
Cosine of the angle
between vector
connecting origin and 
pole and –ve real axis δ
yields damping ratio.
 = cos
18
 Second-order Systems …
For Underdamped jω

system 0    90
therefore, 0    1 δ

jω
For Undamped system  = 90 
therefore,  = 0
δ

jω
For overdamped and critically
damped systems  = 0 
therefore,   1
δ

19
 Second-order Systems …
jω
Draw a vector connecting P
origin of s-plane and
some point P.
45
δ
 = cos 45 = 0.707

jω
Therefore, s-plane is divided into
sections of constant damping
ratio lines.

20
21
 Second-order Systems …
Example-2: Determine the natural frequency and damping
ratio of the poles from thePole-Zero
following
Map
pz-map.
1.5
0.91 0.84 0.74 0.6 0.42 0.22

0.96
1

0.99
Imaginary Axis (seconds-1)

0.5

4 3.5 3 2.5 2 1.5 1 0.5

0

-0.5
0.99

-1
0.96

0.91 0.84 0.74 0.6 0.42 0.22

-1.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
22
 Second-order Systems …
Pole-Zero Map
Example-3 3
3
0.7 0.56 0.42 0.28 0.14
2.5
Determine the natural
2
frequency and damping 2 0.82
1.5
ratio of the poles from the 0.91
given pz-map. 1

Imaginary Axis (seconds-1)

1
0.975 0.5

Also determine the transfer 0

function of the system and
0.975 0.5
state whether system is -1
1
underdamped, overdamped, 0.91
undamped or critically 1.5
-2 0.82
damped. 2

2.5
0.7 0.56 0.42 0.28 0.14
-3
-3 -2.5 -2 -1.5 -1 -0.523 30
 Second-order Systems …
Pole-Zero Map
3
3
Example-4 0.7 0.56 0.42 0.28 0.14
2.5

The natural frequency of closed 2 0.82

2

loop poles of 2nd order system is 0.91

1.5

Imaginary Axis (seconds-1)

2 rad/sec and damping ratio is 1
0.975 0.5
0.5.
0
Determine the location of closed
0.975 0.5
loop poles so that the damping -1
1
ratio remains same but the 0.91
1.5
natural undamped frequency is -2 0.82
2

doubled. 0.7 0.56 0.42 0.28 0.14

2.5
-3
C( s )  n2 4 -3 -2.5 -2 -1.5 -1 -0.5 30

= 2 = 2 Real Axis (seconds -1)

R( s ) s + 2 n s +  n
2
s + 2s + 4
24
 Second-order Systems …
Step Response of Underdamped System ( 0    1)
C( s )  n2 Step Response  n2
= 2 C( s ) =
R( s ) s + 2 n s +  n2 (
s s 2 + 2 n s +  n2 )
The partial fraction expansion of above equation is given as
1 s + 2 n
C( s ) = − 2
s s + 2 n s +  n2 (
n2 1 −  2 )
1 s + 2 n
C( s ) = − 2
( s + n ) s s + 2 n s +  2 n2 +  n2 −  2 n2
2

1 s + 2 n
C( s ) = −
(
s (s +  n )2 + n2 1 −  2 ) 25
 Second-order Systems …
1 s + 2 n
C( s ) = −
(
s (s +  n )2 + n2 1 −  2 )
Above equation can be written as
1 s + 2 n
C( s ) = −
s (s +  n )2 + d2

Where  d =  n 1 −  2, is the frequency of transient oscillations

and is called damped natural frequency.
The inverse Laplace transform of above equation can be
obtained easily if C(s) is written in the following form:
1 s +  n  n
C( s ) = − −
s (s +  n ) + d (s +  n )2 + d2
2 2
26
Second-order Systems …
1 s +  n  n
C( s ) = − −
s (s +  n ) + d (s +  n )2 + d2
2 2


n 1 −  2
1 s +  n 1− 2
C( s ) = − −
s (s +  n ) +  d
2 2
(s +  n )2 + d2
1 s +  n  d
C( s ) = − −
s (s +  n ) + d
2 2
1− 2 (s +  )2 +  2
n d

− nt 
c(t ) = 1 − e cos d t − e − nt sin d t
1− 2
27
 Second-order Systems …
− nt 
c(t ) = 1 − e cos d t − e − nt sin d t
1− 2

  
c(t ) = 1 − e − nt cos d t + sin d t 
 1 −  2 
 
When  = 0
d = n 1 −  2
= n

c(t ) = 1 − cos  n t
28
 Second-order Systems …
  
− nt 
c(t ) = 1 − e cos d t + sin d t 
1.8
 1 −  2 
1.6
 
1.4
1.4

1.2
1.2
1
1
0.8

if  = 0.1 and
0.6 0.8

0.4
if  = 0.5 and
n = 3 rad / sec
0.6
0.2

0
0 2 4 6 8 10
0.4
n = 3 rad / sec
1.4 0.2

1.2 0
0 2 4 6 8 10

0.8

0.6

0.4 if  = 0.9 and

0.2 n = 3 rad / sec
0 29
0 2 4 6 8 10
 Second-order Systems …
Step Response of Critically Damped System( =1)
C( s ) n2 Step Response n2
= C( s ) =
R( s ) (s + n )2 s(s + n )
2

The partial fraction expansion of above equation is given as

n2 A B C
= + +
s(s + n ) s s + n (s + n )2
2

1 1 n
C( s ) = − −
s s + n (s + n )2

c(t ) = 1 − e −nt − n e −nt t

c(t ) = 1 − e −nt (1 +  n t ) 30
Second-order systems, pole plots, and step responses

31
 Second-order Systems …
Variable Damping
2
Ratio Plot
b=0
1.8

1.6
b=0.2
b=0.4 Variable Natural
b=0.6

1.4
b=0.9 Frequency Plot
1.4
1.2

1 1.2

0.8
1
0.6

0.4 0.8

0.2 wn=0.5
0.6 wn=1
0 wn=1.5
0 1 2 3 4 5 6 7 8 9 10 wn=2
0.4 wn=2.5

0.2

0
0 1 2 3 4 5 6 7 8 9 10
32
 Time domain specifications …

▪The delay time (td) is the time required for the response to
reach half the final value at the first time.
▪The rise time (tr) is the time required for the response to
rise from 10% to 90%, 5% to 95%, or 0% to 100% of its
final value.
▪For underdamped second order systems, the 0% to 100%
rise time is normally used. For overdamped systems, the
10% to 90% rise time is commonly used.
▪The peak time (tp) is the time required for the response to
reach the first peak of the overshoot.

33
 Time domain specifications …

The maximum overshoot (Mp) is the maximum peak value

of the response curve measured from unity. If the final
steady-state value of the response differs from unity, then it
is common to use the maximum percent overshoot. It is
defined by

The amount of the maximum (percent) overshoot directly

indicates the relative stability of the system.

34
 Time domain specifications …
Settling time (ts) is the time required for the response curve
to reach and stay within a range about the final value of size
specified by absolute percentage of the final value (usually
2% or 5%).

35
 Time domain specifications …
Rise Time
  
c(t ) = 1 − e − nt cos d t + sin d t 
 1 −  2 
 
Put t = tr in above equation
  
c(t r ) = 1 − e − ntr cos d t r + sin d t r 
 1 −  2 
 
Where c(tr ) = 1
  
0 = −e − ntr cos d t r + sin d t r 
 1 −  2 
 
  
− e − n t r 0 0 = cos d t r + sin d t r 
 1 −  2 
  36
 Time domain specifications …

  
cos d t r + sin d t r  = 0
 1 −  2 
 
above equation can be re - writen as

1− 2
sin d t r = − cos d t r

1− 2
tan d t r = −

 1 −  2 
d t r = tan −1  − 

 
  37
 Time domain specifications …

 1 −  2 
d t r = tan −1  − 

 
 

1   1− 2 
tr = tan −1  − n 

d   n
 

 −
tr =
d
38
 Time domain specifications …
Peak Time  

c(t ) = 1 − e − nt cos d t + sin d t 
 1 −  2 
 
In order to find peak time let us differentiate above equation w.r.t
t.
dc(t )      
− nt  
=  n e cos d t + sin d t  − e n − d sin d t +
− t d
cos d t 
dt  1− 2   1− 2 
   

  2
  
0 = e − nt  n cos d t + n
sin d t + d sin d t − d
cos d t 
 1 −  2
1 −  2 
 

  2
  1 −  2 
0 = e − nt  n cos d t + n
sin d t + d sin d t − n cos d t 
 1 −  2
1 −  2 
 39 
 Time domain specifications …

  2
  1 −  2 
− nt 
0=e  n cos d t + n
sin d t + d sin d t − n
cos d t 
 1 −  2
1 −  2 
 
  2 
− n t 
e n
sin d t + d sin d t  = 0
 1− 2 
 
  2 
e − n t  0  n
sin d t + d sin d t  = 0
 1− 2 
 

  2 
sin d t  n
+ d  = 0
 1− 2 
  40
 Time domain specifications …
  2 
sin d t  n
+ d  = 0
 1− 2 
 
  2 
 n
+ d   0
 1− 2  sin d t = 0
 
−1
d t = sin 0
0,  , 2 , 
t=
d
Since for underdamped stable systems first peak is maximum peak
therefore,

tp =
d 41
 Time domain specifications …
Maximum Overshoot

  
− n t p
c(t p ) = 1 − e cos d t p + sin d t p 
 1 −  2 
 
c() = 1
   

M p = 1 − e n p  cos  d t p + sin  d t p  − 1  100
− t
  1 −  2  
   

Put tp = in above equation
d
 − n   
d       100
M p = − e  cos  + sin  
 d
d 1− 2
d

  d
 42
 Time domain specifications …
 − n    
M p = − e d  cos   + 
sin 
 
 100
  d
d 2
d 
 d 
  1 −  
Put ωd = ωn 1-ζ 2 in above equation
 − n  
  
 n 1− 2
 cos  +   100
M p = − e  sin  
2
  1− 

 − 
M p =  −e 1−
( −1 + 0 )  100
2

 
 

−
1− 2
Mp =e  100 43
 Time domain specifications …
Settling Time
  
c(t ) = 1 − e − nt cos d t + sin d t 
 1 −  2 
 

1 −  n   n  2 − 1
T =
 n
Real Part Imaginary Part

44
 Time domain specifications …

Settling time (2%) criterion

Time consumed in exponential decay up to 98% of the
input.
1
T =
4  n
t s = 4T =
 n

Settling time (5%) criterion

Time consumed in exponential decay up to 95% of the
input.
3
t s = 3T =
 n 45
 Time domain specifications …
Example 5
Consider the system shown in following figure, where
damping ratio is 0.6 and natural undamped frequency is
5 rad/sec. Obtain the rise time tr, peak time tp,
maximum overshoot Mp, and settling time 2% and 5%
criterion ts when the system is subjected to a unit-step
input.

46
 Time domain specifications …
Solution
Rise Time

 −
tr =
d 
3.141 − 
tr =
n 1 −  2

n 1 −  2
 = tan (
−1
) = 0.93 rad
n
3.141 − 0.93
tr = = 0.55s
5 1 − 0.6 2 47
 Time domain specifications …

Peak Time Settling Time (2%) Settling Time (5%)

 4 3
tp = ts = ts =
d  n  n
3.141 4 3
tp = = 0.785s t s = = 1.33s t s = = 1s
4 0.6  5 0.6  5
Maximum Overshoot
 3.1410.6
− −
1− 2 1− 0.6 2
Mp =e  100 M p = e  100

M p = 0.095  100 M p = 9.5% 48

 Time domain specifications …
Step Response
1.4

1.2 Mp

0.8
Amplitude

0.6

0.4

Rise Time
0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time (sec) 49
 Time domain specifications …
Example 6
For the system shown in Figure, determine the values
of gain K and velocity-feedback constant Kh so that the
maximum overshoot in the unit-step response is 0.2 and
the peak time is 1 sec. With these values of K and Kh,
obtain the rise time and settling time. Assume that J=1
kg-m2 and B=1 N-m/rad/sec.

50
Time domain specifications …

51
 Time domain specifications …

Since J = 1 kgm2 and B = 1 Nm/rad/sec

C( s ) K
= 2
R( s ) s + (1 + KK h )s + K

Comparing above T.F with general 2nd order T.F

C( s )  n2
= 2
R( s ) s + 2 n s +  n2
(1 + KK h )
n = K  =
2 K 52
 Time domain specifications …
(1 + KK h )
n = K  =
2 K
Maximum overshoot is 0.2.
The peak time is 1 sec

tp =
d
 3.141
− 1=
) = ln (0.2)
1− 2
ln( e n 1 −  2
3.141
n =
1 − 0.456 2

n = 3.53 53
 Time domain specifications …
n = 3.96

n = K (1 + KK h )
 =
2 K
3.53 = K
0.456  2 12.5 = (1 + 12.5K h )
3.532 = K K h = 0.178
K = 12.5
4
 − ts = t s = 2.48s
tr =  n
n 1 −  2
3
t r = 0.65s ts = t s = 1.86s
 n
54
 Time domain specifications …
Example 7
Given the system shown in following figure, find J and D
to yield 20% overshoot and a settling time of 2 seconds for
a step input of torque T(t).

55
Time domain specifications …

56
 Home Work 1

When the system shown in Figure(a) is subjected to a

unit-step input, the system output responds as shown in
Figure(b). Determine the values of a and c from the
response curve.

a
s( cs + 1)

57
 Home Work 2
Figure (a) shows a mechanical vibratory system. When 2 lb
of force (step input) is applied to the system, the mass
oscillates, as shown in Figure (b). Determine m, b, and k of
the system from this response curve.

58
 Home Work 3
Describe the nature of the second-order system response via
the value of the damping ratio for the systems with transfer
function 12
1. G( s) = 2
s + 8s +12

16
2. G( s) = 2
s + 8s +16

20
3. G( s) = 2
s + 8s + 20

59
60