.

Bahir Dar University

Bahir Dar Institute of Technology

Faculty of Electrical & Computer Engineering

Introduction to Control System

By : Abrham T.
Email: [email protected]

20-Jan-22 BDU, BiT, FECE 1

 Chapter Three

Time Domain Analysis

20-Jan-22 BDU, BiT, FECE 2

 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.

 It is therefore difficult to express the actual input signals

mathematically by simple equations.

20-Jan-22 BDU, BiT, FECE 3

 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 constant velocity, and constant
acceleration.

 The other standard signal of great importance is a

sinusoidal signal.

20-Jan-22 BDU, BiT, FECE 4

 Standard Test Signals
 Impulse signal
 The impulse signal imitate the
sudden characteristic of actual δ(t)
input signal.
A
A t=0
 (t ) = 
0 t0
0 t

 If A=1, the impulse signal is

called unit impulse signal.

20-Jan-22 BDU, BiT, FECE 5

 Standard Test Signals
 Step signal
 The step signal imitate the
sudden change(shock(crisp
change) ) characteristic of u(t)
actual input signal.
A
A t0
u( t ) = 
0 t0
0 t

 If A=1, the step signal is

called unit step signal

20-Jan-22 BDU, BiT, FECE 6

 Standard Test Signals
 Ramp signal r(t)

 The ramp signal imitate

the constant velocity
characteristic of actual
input signal.
0 t

 At t0
r (t ) = 
r(t)

0 t0 ramp signal with slope A

 If A=1, the ramp signal is
called unit ramp signal r(t)

unit ramp signal

20-Jan-22 BDU, BiT, FECE 7
 Standard Test Signals
p(t)
 Parabolic signal
 The parabolic signal
imitate the constant
acceleration characteristic
of actual input signal.
0 t

 At 2 p(t)

 t0
p( t ) =  2 parabolic signal with slope A
0 t0

 If A=1, the parabolic signal p(t)

is called unit parabolic

signal.
Unit parabolic signal
20-Jan-22 BDU, BiT, FECE 8
 Time Response of Control Systems
▪ Time response of a dynamic system response to an input
expressed as a function of time.

System

▪ The time response of any system has two components

• Transient response
• Steady-state response
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 Time Response of Control Systems
▪ When the response of the system is changed from
equilibrium it takes some time to settle down, this is called
transient response.
▪ The response of the -3
x 10 Step Response
system after the 6

Step Input
transient response is 5

called steady state

Steady State Response

4
response. Response
Amplitude

2
Transient Response
1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

20-Jan-22 BDU, BiT, FECE 10

 Time Response of Control Systems

• Transient response depend upon the system poles only and

not on the type of input.

• It is therefore sufficient to analyze the transient response

using a step input.

• The steady-state response depends on system dynamics and

the input quantity.

• It is then examined using different test signals by final value

theorem.

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 Time Response of Control Systems
 The first order system has only one pole.
C( s ) K
=
R( s ) Ts + 1
 Where K is the D.C gain and T is the time constant of the
system.

 Time constant is a measure of how quickly a 1st order system

responds to a unit step input.

 D.C Gain of the system is ratio between the input signal and
the steady state value of output.

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 Time Response of Control Systems
 The first order system given below.

10
G( s ) =
3s + 1
• D.C gain is 10 and time constant is 3 seconds.

• For the following system

3 3/ 5
G( s ) = =
s + 5 1 / 5s + 1

• D.C Gain of the system is 3/5 and time constant is 1/5

seconds.
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 Impulse Response of 1st Order System
 Consider the following 1st order system
δ(t)

K
R(s ) C(s )
1

Ts + 1
t
0

R( s ) =  ( s ) = 1

K
C( s ) =
Ts + 1

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 Impulse Response of 1st Order System
K
C( s ) =
Ts + 1
 Re-arrange following equation as

K /T
C( s ) =
s + 1/ T

• In order to compute the response of the system in time

domain we need to compute inverse Laplace transform of the
above equation.
K −t / T
−1 
C  − at c(t ) = e
L   = Ce
s+a T
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 Impulse Response of 1st Order System
K −t / T
• If K=3 and T=2s then c(t ) = e
T
K/T*exp(-t/T)
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
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 Step Response of 1st Order System
 Consider the following 1st order system

K
R(s ) C(s )
Ts + 1
1
R( s ) = U ( s ) =
s
K
C( s ) =
s(Ts + 1)
• In order to find out the inverse Laplace of the above equation,
we need to break it into partial fraction expansion
K KT
C( s ) = −
s Ts + 1
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 Step Response of 1st Order System
1 T 
C( s ) = K  − 
 s Ts + 1 
 Taking Inverse Laplace of above equation

(
c(t ) = K u(t ) − e −t / T )
( )
• Where u(t)=1
c(t ) = K 1 − e −t / T
• When t=T (time constant)

( )
c(t ) = K 1 − e −1 = 0.632 K
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 Step Response of 1st Order System
• If K=10 and T=1, 3, 5, 7 c(t ) = K 1 − e −t / T ( )
K*(1-exp(-t/T))
11
10
T=1s
9

8 T=3s
7
T=5s
6
c(t)

5 T=7s

4
3
2
1
0
0 5 10 15
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 Step Response of 1st Order System
• If K=1, 3, 5, 10 and T=1 (
c(t ) = K 1 − e −t / T )
K*(1-exp(-t/T))
11
10
K=10
9

8
7
6
K=5
c(t)

5
4
K=3
3
2
K=1
1
0
0 5 10 15
20-Jan-22 BDU, BiT, FECE
Time 20
 Ramp Response of 1st Order System
 Consider the following 1st order system

K
R(s ) C(s )
Ts + 1

1
R( s ) =
s2
K
C( s ) =
s (Ts + 1)
2

▪ The ramp response is given as

(
c(t ) = K t − T + Te −t / T )
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 Practical Determination of Transfer Function of 1st
Order Systems

 Often it is not possible or practical to obtain a system's transfer

function analytically.

 Perhaps the system is closed, and the component parts are not easily
identifiable.

 The system's step response can lead to a representation even though

the inner construction is not known.

 With a step input, we can measure the time constant and the steady-
state value, from which the transfer function can be calculated.

20-Jan-22 BDU, BiT, FECE 22

 Practical Determination of Transfer Function of 1st
Order Systems
 If we can identify T and K empirically we can obtain
the transfer function of the system.

C( s ) K
=
R( s ) Ts + 1

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 Practical Determination of Transfer Function of 1st
Order Systems
 For example, assume the unit
step response given in figure. K=0.72
• From the response, we can
measure the time constant,
that is, the time for the
amplitude to reach 63% of its
final value. T=0.13s
• Since the final value is about
0.72 the time constant is
evaluated where the curve • Thus transfer function is
reaches 0.63 x 0.72 = 0.45, or obtained as:
about 0.13 second.
• K is simply steady state value. C( s ) 0.72 5. 5
= =
R( s ) 0.13 s + 1 s + 7.7
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 First Order System with a Zero
C ( s ) K (1 + s )
=
R( s ) Ts + 1
 Zero of the system lie at -1/α and pole at -1/T.

• Step response of the system would be:

K (1 + s )
C( s ) =
s(Ts + 1)
K K ( − T )
C( s ) = +
s (Ts + 1)
K
c(t ) = K + ( − T )e −t / T
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T 25
 First Order System With Delays
 Following transfer function is the generic representation
of 1st order system with time lag.
C( s ) K
= e − st d
R( s ) Ts + 1
 Where td is the delay time.

20-Jan-22 BDU, BiT, FECE 26

 First Order System With Delays
Step Response
C (s) 10 − 2 s
= e
R ( s ) 3s + 1 10

C (s) =
10
e −2 s K = 10
s (3s + 1)
8
L−1[e −s F ( s )] = f (t −  )u (t −  )
10 − 10 − 2 s
L−1[( + )e ] =
s s +1/ 3 6
Amplitude

[10(t − 2) − 10e −1/ 3( t − 2 ) ]u (t − 2)

t d = 2s
0
T = 3s

0 5 10 15
Time (sec)

20-Jan-22 BDU, BiT, FECE 27

 Second Order System
 We have already discussed the affect of location of poles and
zeros on the transient response of 1st order systems.

 Compared to the simplicity of a first-order system, a second-

order system exhibits a wide range of responses that must be
analyzed and described.

 Varying a first-order system's parameter (T, K) simply changes

the speed and offset of the response

 Whereas, changes in the parameters of a second-order system

can change the form of the response.

 A second-order system can display characteristics much like a

first-order system or, depending on component values, display
damped or pure oscillations for its transient response.

20-Jan-22 BDU, BiT, FECE 28

 Second Order System
 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
20-Jan-22 output. BDU, BiT, FECE 29
 Example
 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  2 n s = 2s
  n = 1
s 2 + 2 n s + n2 = s 2 + 2s + 4
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  = 0.5 30
 Second Order System

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

20-Jan-22 BDU, BiT, FECE 31

 Second Order System
−  n +  n  2 − 1

−  n −  n  2 − 1
• According to 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

20-Jan-22 BDU, BiT, FECE 32

 Second Order System
−  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 .

2. Underdamped - when the system has two complex conjugate poles ( 0 <
<1)
jω

δ
-c -b -a

20-Jan-22 BDU, BiT, FECE 33

 Second Order System

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

δ
-c -b -a

20-Jan-22 BDU, BiT, FECE 34

 Second Order System
−  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 (page 169 in the textbook):

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

δ
-c -b -a

20-Jan-22 BDU, BiT, FECE 35

 Second Order System
For 0< <1 and ωn > 0, the 2nd order system’s response due to
a unit step input is as follows.
Important timing characteristics: delay time, rise time, peak
time, maximum overshoot, and settling time.

20-Jan-22 BDU, BiT, FECE 36

 Step Response of underdamped System
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(do 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 + 2 n )2 s s + 2 n s +  2n2 + n2 −  2n2

1 s + 2 n
C( s ) = −
20-Jan-22 BDU, BiT, FECE
(
s (s +  n )2 +  n2 1 −  2 ) 37
 Step Response of underdamped System
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 ) + d
2 2 2 2

20-Jan-22 BDU, BiT, FECE 38

 Step Response of underdamped System
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

− n t 
c(t ) = 1 − e cos d t − e − nt sin  d t
1− 2
20-Jan-22 BDU, BiT, FECE 39
 Step Response of underdamped System
− n t 
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nt
20-Jan-22 BDU, BiT, FECE 40
 Step Response of underdamped System
  
c(t ) = 1 − e − nt cosd t + sin d t 
 1 −  2 
 
if  = 0.1 and n = 3
1.8

1.6

1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
20-Jan-22 BDU, BiT, FECE 41
 Step Response of underdamped System
  
c(t ) = 1 − e − nt cosd t + sin d t 
 1 −  2 
 
if  = 0.5 and n = 3
1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
20-Jan-22 BDU, BiT, FECE 42
 Step Response of underdamped System
  
c(t ) = 1 − e − nt cosd t + sin d t 
 1 −  2 
 
if  = 0.9 and n = 3
1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
20-Jan-22 BDU, BiT, FECE 43
 Transient Response Specifications
 The actual output behavior according to the various time
response specifications referring to figure below :

20-Jan-22 BDU, BiT, FECE 44

 1) Delay Time, Td
It is the time required for the response to reach 50 % of
the final value in the first attempt

2) Rise Time, Tr
It is the time required for the response to rise from 10 %
to 90 % of the final value for overdamped system and 0
% to 100 % of the final value for underdamped second
order system

20-Jan-22 BDU, BiT, FECE 45

 3) Peak Time, Tp
It is the time required for the response to reach its peak
value

4) Peak Overshoot, Mp
It is the largest error between reference input and output
during the transient period

20-Jan-22 BDU, BiT, FECE 46

 5) Settling Time, Ts
Time required for the response to decrease and stay
within specified percentage of its final value (within
tolerance band : 2 % or 5 % is used as the percentage of
final value)

20-Jan-22 BDU, BiT, FECE 47

 Second Order System and Transient Response
Specifications

20-Jan-22 BDU, BiT, FECE 48

 Example 1

20-Jan-22 BDU, BiT, FECE 49

 Example 1, Solution

20-Jan-22 BDU, BiT, FECE 50

 Exercise
1. The transfer function of the closed loop position
control system is given below :

Determine :-
i) Peak time, Tp
ii) Rise time, Tr
iii) % maximum overshoot, %Mp
iv) Settling time, Ts

20-Jan-22 BDU, BiT, FECE 51

 Steady State Error

 If the output of a control system at steady state does not

exactly match with the input, the system is said to have
steady state error

 Any physical control system inherently suffers steady-

state error in response to certain types of inputs.

 A system may have no steady-state error to a step input,

but the same system may exhibit nonzero steady-state
error to a ramp input.

20-Jan-22 BDU, BiT, FECE 52

 Classification of Control Systems

 Control systems may be classified according to their

ability to follow step inputs, ramp inputs, parabolic
inputs, and so on.

 The magnitudes of the steady-state errors due to these

individual inputs are indicative of the goodness of the
system.

20-Jan-22 BDU, BiT, FECE 53

 Classification of Control Systems
 Consider the unity-feedback control system with the
following open-loop transfer function

• It involves the term sN in the denominator, representing N

poles at the origin.

• A system is called type 0, type 1, type 2, ... , if N=0, N=1,

N=2, ... , respectively.

20-Jan-22 BDU, BiT, FECE 54

 Classification of Control Systems
 As the type number is increased, accuracy is improved.

 However, increasing the type number aggravates the

stability problem.

 A compromise between steady-state accuracy and relative

stability is always necessary.

20-Jan-22 BDU, BiT, FECE 55

 Steady State Error of Unity Feedback Systems

 Consider the system shown in following figure.

 The closed-loop transfer function is

20-Jan-22 BDU, BiT, FECE 56

 Steady State Error of Unity Feedback Systems
• Steady state error is defined as the error between the input
signal and the output signal when 𝑡 → ∞.

 The transfer function between the error signal E(s) and the
input signal R(s) is E ( s ) 1
=
R( s ) 1 + G ( s )
• The final-value theorem provides a convenient way to find
the steady-state performance of a stable system.
• Since E(s) is
• The steady state error is(using final value theorem,ref
Norman S. page 344)

20-Jan-22 BDU, BiT, FECE 57

 Static Error Constants
 The static error constants are figures of merit of control
systems. The higher the constants, the smaller the steady-
state error.

 In a given system, the output may be the position, velocity,

pressure, temperature, or the like.

 Therefore, in what follows, we shall call the output

“position,” the rate of change of the output “velocity,” and so
on.

 This means that in a temperature control system “position”

represents the output temperature, “velocity” represents the
rate of change of the output temperature, and so on.
20-Jan-22 BDU, BiT, FECE 58
 Static Position Error Constant (Kp)
 The steady-state error of the system for a unit-step input is

• The static position error constant Kp is defined by

• Thus, the steady-state error in terms of the static position

error constant Kp is given by

20-Jan-22 BDU, BiT, FECE 59

 Static Position Error Constant (Kp)
 For a Type 0 system

 For Type 1 or higher order systems

 For a unit step input the steady state error ess is

20-Jan-22 BDU, BiT, FECE 60

 Static Velocity Error Constant (Kp)
 The steady-state error of the system for a unit-ramp input
is

 The static velocity error constant Kv is defined by

 Thus, the steady-state error in terms of the static

velocity error constant Kv is given by

20-Jan-22 BDU, BiT, FECE 61

 Static Velocity Error Constant (Kp)
 For a Type 0 system

 For Type 1 systems

 For type 2 or higher order systems

20-Jan-22 BDU, BiT, FECE 62

 Static Velocity Error Constant (Kp)
 For a ramp input the steady state error ess is

20-Jan-22 BDU, BiT, FECE 63

 Static Acceleration Error Constant (Kp)
 The steady-state error of the system for parabolic input is

 The static acceleration error constant Ka is defined by

 Thus, the steady-state error in terms of the static acceleration

error constant Ka is given by

20-Jan-22 BDU, BiT, FECE 64

 Static Acceleration Error Constant (Kp)
 For a Type 0 system

 For Type 1 systems

 For type 2 systems

 For type 3 or higher order systems

20-Jan-22 BDU, BiT, FECE 65

 Static Acceleration Error Constant (Kp)
 For a parabolic input the steady state error ess is

20-Jan-22 BDU, BiT, FECE 66

 Summary

20-Jan-22 BDU, BiT, FECE 67

 Example

 For the system shown in figure below evaluate the static error
constants and find the expected steady state errors for the
standard step, ramp and parabolic inputs.

100( s + 2)( s + 5)
R(S) C(S)
2
s ( s + 8)( s + 12 )
-

20-Jan-22 BDU, BiT, FECE 68

 Example

100( s + 2)( s + 5)
G( s ) =
s 2 ( s + 8)( s + 12 )
K p = lim G( s )
s →0 K v = lim sG( s )
s →0
 100( s + 2)( s + 5) 
K p = lim  2   100 s( s + 2)( s + 5) 
s →0  s ( s + 8)( s + 12 )  K v = lim  2 
s →0  s ( s + 8)( s + 12 ) 
Kp = 
Kv = 

K a = lim s 2G( s )  100 s 2 ( s + 2)( s + 5) 

K a = lim  2 
s →0  
s →0
 s ( s + 8 )( s + 12 ) 
 100( 0 + 2)(0 + 5) 
K a =   = 10.4
20-Jan-22 BDU, BiT, ( 0 + 8)(0 + 12 ) 
 FECE 69
 Example
Kp =  Kv =  K a = 10.4

=0

=0

= 0.09

20-Jan-22 BDU, BiT, FECE 70

 Example

 For the system shown in figure below evaluate the static error
constants and find the expected steady state errors for the
standard step, ramp and parabolic inputs.

20-Jan-22 BDU, BiT, FECE 71

 Thank You!!

20-Jan-22 BDU, BiT, FECE 72