Unit II

Time Response Analysis

 Standard test signals, Time
response of first and second order
system, Time domain
specifications, Steady state error,
error constants, generalized error
coefficient,

Vellore Institute of Technology, Chennai

Campus, Chennai. 106
Introduction
 After deriving a mathematical model of a system, the
system performance analysis can be done in various
methods.

 In analysing 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 and complete

evaluation are always based on the time response
analysis and the corresponding results
Vellore Institute of Technology, Chennai
Campus, Chennai. 107
Contd…

Vellore Institute of Technology, Chennai

Campus, Chennai. 108
 Time Response
 The output (response) of a system as a
function of time for an applied excitation, is
called time response of a control system

 Since time is used as an independent variable is most

control systems, it is usually of interest to evaluate the
system response with respect to time.

 Classification
 Transient response
 Steady state response
Vellore Institute of Technology, Chennai
Campus, Chennai. 109
Vellore Institute of Technology, Chennai
Campus, Chennai. 110
Vellore Institute of Technology, Chennai
Campus, Chennai. 111
Vellore Institute of Technology, Chennai
Campus, Chennai. 112
Vellore Institute of Technology, Chennai
Campus, Chennai. 113
Vellore Institute of Technology, Chennai
Campus, Chennai. 114
Vellore Institute of Technology, Chennai
Campus, Chennai. 115
Vellore Institute of Technology, Chennai
Campus, Chennai. 116
Vellore Institute of Technology, Chennai
Campus, Chennai. 117
Vellore Institute of Technology, Chennai
Campus, Chennai. 118
Vellore Institute of Technology, Chennai
Campus, Chennai. 119
Contd…

 Type and order of a system

 The Order is defined as maximum power of S in

denominator.
 The Type is defined by value of n in denominator,
ie. no of poles at origin only.
 Both Order and Type of system are independent
to number of zeros of transfer function.

Vellore Institute of Technology, Chennai

Campus, Chennai. 120
Vellore Institute of Technology, Chennai
Campus, Chennai. 121
Vellore Institute of Technology, Chennai
Campus, Chennai. 122
Second order system response

Vellore Institute of Technology, Chennai

Campus, Chennai. 123
Vellore Institute of Technology, Chennai
Campus, Chennai. 124
Contd…

Vellore Institute of Technology, Chennai

Campus, Chennai. 125
Contd…

Vellore Institute of Technology, Chennai

Campus, Chennai. 126
Contd…

Vellore Institute of Technology, Chennai

Campus, Chennai. 127
Contd…

Vellore Institute of Technology, Chennai

Campus, Chennai. 128
Contd…

Vellore Institute of Technology, Chennai

Campus, Chennai. 129
Second order system
Second-order systems exhibit a wide range of
responses which must be analysed and described.
 Whereas for a first-order system, varying a single
parameter changes the speed of response,
changes in the parameters of a second order
system can change the form of the response.
 For example: 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.
Vellore Institute of Technology, Chennai
Campus, Chennai. 130
Contd…

The closed loop transfer function is:

C( s ) n2
 2
R( s ) s  2n s  n2

Vellore Institute of Technology, Chennai

Campus, Chennai. 131
 Introduction
2
C( s ) 
 2 n
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.

Vellore Institute of Technology, Chennai

Campus, Chennai. 132
 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
 2 n s  2s
n2 4   n  2 rad / sec
  n  1
s 2  2n s  n2  s 2  2s  4    0.5
Vellore Institute of Technology, Chennai
Campus, Chennai. 133
 Introduction
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

Vellore Institute of Technology, Chennai

Campus, Chennai. 134
 Introduction
  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

Vellore Institute of Technology, Chennai

Campus, Chennai. 135
 Introduction
  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

Vellore Institute of Technology, Chennai

Campus, Chennai. 136
 Contd…
  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

Vellore Institute of Technology, Chennai

Campus, Chennai. 137
 Contd…
  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:

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

δ
-c -b -a

Vellore Institute of Technology, Chennai

Campus, Chennai. 138
Time-Domain Specification
For 0<  <1 and ωn > 0, the 2nd order system’s response
due to a unit step input looks like

Vellore Institute of Technology, Chennai

Campus, Chennai. 139
Contd…
• The delay (td) time is the time required for the
response to reach half the final value the very first
time.

Vellore Institute of Technology, Chennai

Campus, Chennai. 140
 Contd…
• The rise time 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.

Vellore Institute of Technology, Chennai 141

Campus, Chennai. 141
 Contd…
• The peak time is the time required for the response to
reach the first peak of the overshoot.

Vellore Institute of Technology, Chennai

142
Campus, Chennai. 142
Contd…
The maximum overshoot 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.

Vellore Institute of Technology, Chennai

Campus, Chennai. 143
 Contd…
• The settling time 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%).

Vellore Institute of Technology, Chennai

Campus, Chennai. 144
 S-Plane
• Natural Undamped Frequency.

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

Vellore Institute of Technology, Chennai

Campus, Chennai. 145
 Contd…
• Let us draw a circle of radius 3 in s-plane.

• If a pole is located anywhere on the circumference of the

circle the natural undamped frequency would be 3 rad/sec.

jω

-3 3
δ

-3

Vellore Institute of Technology, Chennai

Campus, Chennai. 146
 Contd…
• Therefore the s-plane is divided into Constant Natural
Undamped Frequency (ωn) Circles.

jω

Vellore Institute of Technology, Chennai

Campus, Chennai. 147
 S-Plane
• Damping ratio.

• Cosine of the angle jω

between vector connecting
origin and pole and –ve
real axis yields damping
ratio.

δ
  cos

Vellore Institute of Technology, Chennai

Campus, Chennai. 148
 Contd…
• For Underdamped system 0     90  therefore, 0    1

jω

Vellore Institute of Technology, Chennai

Campus, Chennai. 149
 Contd…
• For Undamped system   90  therefore,   0

jω

Vellore Institute of Technology, Chennai

Campus, Chennai. 150
 Contd…
• For overdamped and critically damped systems   0


therefore,   0

jω

Vellore Institute of Technology, Chennai

Campus, Chennai. 151
 Contd…
• Draw a vector connecting origin of s-plane and some point
P.

jω
P

45 
δ

  cos 45  0.707

Vellore Institute of Technology, Chennai

Campus, Chennai. 152
 Contd…
• Therefore, s-plane is divided into sections of constant
damping ratio lines.

jω

Vellore Institute of Technology, Chennai

Campus, Chennai. 153
 Example - 2
• Determine the natural frequency and damping ratio of the poles
from the following pz-map. Pole-Zero 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

Vellore Institute of Technology,Real Axis (seconds -1)

Chennai
Campus, Chennai. 154
 Example-3 3
0.7 0.56 0.42
Pole-Zero Map

0.28 0.14
3

2.5

2
2 0.82
• Determine the natural
1.5
frequency and damping ratio 0.91
of the poles from the given 1

Imaginary Axis (seconds-1)

1
pz-map. 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

damped. -2 0.82
2

2.5
0.7 0.56 0.42 0.28 0.14
-3
-3 -2.5 -2 -1.5 -1 -0.5 30

Vellore Institute of Technology, Chennai Real Axis (seconds -1)

Campus, Chennai. 155
 Example-4
• The natural frequency of closed Pole-Zero Map
3
loop poles of 2nd order system is 3
0.5 0.38 0.28 0.17 0.08 2.5

2 rad/sec and damping ratio is 2

0.64
2

0.5. 0.8
1.5

1
1
0.94 0.5

Imaginary Axis
• Determine the location of closed 0
loop poles so that the damping 0.94 0.5
ratio remains same but the -1
1
0.8
natural undamped frequency is -2
1.5

2
doubled. 0.64

C( s ) n2 4 0.5 0.38 0.28 0.17 0.08 2.5

 2  2 -3
-2 -1.5 -1 -0.5 30
R( s ) s  2n s  n
2
s  2s  4 Real Axis

Vellore Institute of Technology, Chennai

Campus, Chennai. 156
 Example-4
Pole-Zero Map
• Determine the location 5

of closed loop poles so 4

0.5

that the damping ratio 3

remains same but the 2

natural undamped

Imaginary Axis
1

frequency is doubled. 0
4 2

-1

-2

-3
0.5
-4

-5
-8 -6 -4 -2 0
Real Axis
Vellore Institute of Technology, Chennai
Campus, Chennai. 157
 S-Plane
  n   n  2  1

  n   n  2  1

Vellore Institute of Technology, Chennai

Campus, Chennai. 158
 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 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 )  
s s   n 2  n2 1   2  
Vellore Institute of Technology, Chennai
Campus, Chennai. 159
 Contd…
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

Vellore Institute of Technology, Chennai

Campus, Chennai. 160
Contd…
1 s   n n
C( s )   
s s   n 2  d2 s   n 2  d2


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
Vellore Institute of Technology, Chennai
Campus, Chennai. 161
 Contd…

c(t )  1  e  nt 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
Vellore Institute of Technology, Chennai
Campus, Chennai. 162
 Contd…
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0.1 and  n  3 rad / sec 1.8
1.6

1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10

Vellore Institute of Technology, Chennai

Campus, Chennai. 163
 Contd…
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
1.4
if   0.5 and  n  3 rad / sec
1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
Vellore Institute of Technology, Chennai
Campus, Chennai. 164
 Contd…
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0.9 and  n  3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10

Vellore Institute of Technology, Chennai

Campus, Chennai. 165
Contd…
2
b=0
1.8 b=0.2
b=0.4
1.6
b=0.6
b=0.9
1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10

Vellore Institute of Technology, Chennai

Campus, Chennai. 166
Contd…
1.4

1.2

0.8
wn=0.5
0.6 wn=1
wn=1.5
wn=2
0.4 wn=2.5

0.2

0
0 1 2 3 4 5 6 7 8 9 10

Vellore Institute of Technology, Chennai

Campus, Chennai. 167
Step Response of overdamped and
critically damped Systems
 Assignment 1 - Part 4

Vellore Institute of Technology, Chennai

Campus, Chennai. 168
Time Domain Specifications of Underdamped
system

Vellore Institute of Technology, Chennai

Campus, Chennai. 169
 Time Domain Specifications (Rise Time)
  
 n t 
c(t )  1  e cos  d t  sin  d t 
 1   2 
 
Put t  t r in above equation
  
c(t r )  1  e  nt r cos  d t r  sin  d t r 
 1   2 
 
Where c(t r )  1
  
0  e  nt r cos  d t r  sin  d t r 
 1   2 
 
  
 e  ntr 0 0  cos  d t r  sin  d t r 
 1   2 
 
Vellore Institute of Technology, Chennai
Campus, Chennai. 170
 Contd…
  
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   

 
 
Vellore Institute of Technology, Chennai
Campus, Chennai. 171
 Contd…
 1   2 
 d t r  tan 1   

 
 


1   1 2 
tr  tan 1   n 

d   n
 

1 a
    tan
tr  b
d
Vellore Institute of Technology, Chennai
Campus, Chennai. 172
 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 )      
 n t  
  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 
 
Vellore Institute of Technology, Chennai
Campus, Chennai. 173
 Contd…
  2 n  n 1   2 
0  e  nt  n cos  d t  sin  d t   d sin  d t  cos  d t 
 1 2 1 2 
 
  2 n 
 n t 
e sin  d t   d sin  d t   0
 1 2 
 

  2 
e  nt  0  n
sin  d t   d sin  d t   0
 1 2 
 

  2 
sin  d t  n
 d   0
 1 2 
 
Vellore Institute of Technology, Chennai
Campus, Chennai. 174
 Contd…   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
Vellore Institute of Technology, Chennai
Campus, Chennai. 175
Time Domain Specifications (Maximum Overshoot)

  
 n t p
c(t p )  1  e cos  d t p  sin  d t p  and c( )  1
 1   2 
 
   

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    
M p   e d  cos    
sin 
 
 100
  d
d 2
d 
 d 
  1   

Vellore Institute of Technology, Chennai

Campus, Chennai. 176
 Time Domain Specifications (Maximum Overshoot)
  n   
 cos       100
M p   e d
  sin  
 d
d 1 2
d

  d

Put ωd  ωn 1-ζ 2 in above equation
  n  
  
 n 1 2  cos     100
M p   e  sin  
2
  1 
    

 1  0  100 
2
1
M p   e 1 2
  Mp e  100

Vellore Institute of Technology, Chennai

Campus, Chennai. 177
Time Domain Specifications (Settling Time)
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 

 n  n  2  1
1
T
n
Real Part Imaginary Part

Vellore Institute of Technology, Chennai

Campus, Chennai. 178
 Time Domain Specifications (Settling Time)
• Settling time (2%) criterion
• Time consumed in exponential decay up to 98% of the
input.

4
t s  4T  T
1
n n

• Settling time (5%) criterion

• Time consumed in exponential decay up to 95% of the
input. 3
t s  3T 
n
Vellore Institute of Technology, Chennai
Campus, Chennai. 179
 Summary of Time Domain Specifications
Rise Time Peak Time

     
tr   tp  
d n 1   2 d  1   2
n

Settling Time (2%)

4
t s  4T 
n
Maximum Overshoot
3 
t s  3T  
n Mp e
1 2
 100
Settling Time (4%)
Vellore Institute of Technology, Chennai
Campus, Chennai. 180
Exercise

 Obtain the step response of a unity

negative feedback system whose open
loop transfer function is G(s) = 4/(s(s + 5))

 Obtain the step response of a position

control system whose open loop transfer
function is G(s) = 100/(s(s + 2)) and the
feedback factor is 0.1s+1

Vellore Institute of Technology, Chennai

Campus, Chennai. 181
 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.

Vellore Institute of Technology, Chennai

Campus, Chennai. 182
Example 5
Rise Time Peak Time

  
tr  tp 
d d

Settling Time (2%) Maximum Overshoot

4 
t s  4T  
n Mp e
1 2
 100
3
t s  3T 
n
Settling Time (4%)
Vellore Institute of Technology, Chennai
Campus, Chennai. 183
 Example 5
Rise Time

 
tr 
d
3.141  
tr 
n 1   2 

 1   2
  tan 1 ( n )  0.93 rad
 n
3.141  0.93
tr   0.55s
5 1  0.6 2
Vellore Institute of Technology, Chennai
Campus, Chennai. 184
 Example 5
Peak Time
Settling Time (2%)

 4
tp  ts 
d  n
4
3.141 ts   1.33s
tp   0.785s 0.6  5
4 Settling Time (4%)

3
ts 
 n
3
ts   1s
0.6  5
Vellore Institute of Technology, Chennai
Campus, Chennai. 185
Example 5
Maximum Overshoot


1 2
Mp e  100

3.1410.6

10.6 2
Mp  e  100

M p  0.095  100

M p  9.5%

Vellore Institute of Technology, Chennai

Campus, Chennai. 186
Example 5
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)
Vellore Institute of Technology, Chennai
Campus, Chennai. 187
 Example 6
 For the system shown in Figure-(a), 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.

Vellore Institute of Technology, Chennai

Campus, Chennai. 188
Example 6

Vellore Institute of Technology, Chennai

Campus, Chennai. 189
 Example 6

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 VelloreK  
Campus, Chennai.
2 K
Institute of Technology, Chennai
190
 Example 6 (1  KK h )
n  K  
2 K
• Maximum overshoot is 0.2. • The peak time is 1 sec


tp 
d
3.141
1

 n 1   2
)  ln0.2
1 2
ln(e
3.141
n 
1  0.4562

 n  3.53
Vellore Institute of Technology, Chennai
Campus, Chennai. 191
Example 6
 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

Vellore Institute of Technology, Chennai

Campus, Chennai. 192
Example 6
 n  3.96

  4
tr  ts 
n 1   2  n

t r  0.65 s t s  2.48 s

3
ts 
 n
t s  1.86 s
Vellore Institute of Technology, Chennai
Campus, Chennai. 193
 Example 7
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)

Vellore Institute of Technology, Chennai

Campus, Chennai. 194
 Example 8
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.

Vellore Institute of Technology, Chennai

Campus, Chennai. 195
 Example 9
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).

Vellore Institute of Technology, Chennai

Campus, Chennai. 196
Example 9

Vellore Institute of Technology, Chennai

Campus, Chennai. 197
Example 9

Vellore Institute of Technology, Chennai

Campus, Chennai. 198
 Step Response of critically damped System (  1)

C( s )  n2  n2
 Step Response
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 
Vellore Institute of Technology, Chennai
Campus, Chennai. 199
Vellore Institute of Technology, Chennai
Campus, Chennai. 200
 Second – Order System
Example 10: 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 Do them as your own
s  8s  16 revision

20
3. G ( s )  2
s  8s  20
Vellore Institute of Technology, Chennai
Campus, Chennai. 201