Control Chapter 4 Time Domain
Control Chapter 4 Time Domain
Industrial Engineering
Course:
BiT
Control system(EMEg4201)
Chapter four: Time domain Analysis
Chapter outline
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
1. Introduction
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Introduction
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
3
Test input signals
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
▪ Ramp function :This test input signal is used ,if the control system is
frequently subjected to a gradually changing input type .
▪ Impulse function: this test input signal is used if the control system is
subjected to shock inputs.
▪ Once the control system is designed on the basis of test signals the
performance of the system in response to the actual input is generally
satisfactory .
▪ The use of test signals enables to compare the performance of all
systems under the same basis.
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Test input signals
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
7
Types of System Response
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
▪ Since physical control systems involves energy storage ,the output of the system
when subjected to an input cannot follow the input immediately but exhibits a
transient response before a steady state cab be reached.
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ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
2. Response analysis of first order systems
▪ That means most systems had only one energy storage element .
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2. First order systems
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
11
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University Steps of response analysis
Steps of response analysis for first order systems
1. Compute the responses of first order systems to inputs such as
unit- step, unit-ramp, and unit-impulse functions , assuming zero
initial conditions
Unit-step response
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ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
Unit -step response
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Step response
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
➢ At t = T, y(T) = 1 – 1/e = 0.632. T is called the time constant, and it is the time
it takes for the step response to rise to 63.2% of its final value.
➢ y(2T) = 0.865; y(3T) = 0.95; y(4T) = 0.982; y(5T) =0.993 ... It can be seen that for
t >= 4T, the response y(t) remains within 2% of the final value; this time is known
as the settling time, Ts.
➢ The rise time, Tr, is defined as the time for the waveform to go from
10% to 90% of its final value.
➢ The steady-state error is the error after the transient response has decayed leaving
only the continues response
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Unit step and step response
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Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
➢ As t approaches to infinity e(t) approaches to zero and the steady state error is
−t
e ss ( t ) = l i m t→ (e(t)) =lim e T
= 0
t→
➢ The larger the time constant T is, the slower the system response.
➢ It is noted that the transient response dominates the response of the system at
times ‘immediately’ after the input is applied and can make significant
contribution to the system response when the time constant is large.
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2.2. Unit -ramp response of first order systems
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
➢ Steady-state error:
ess (t) = e() = lim t→ (r(t) − y(t)) = T
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2.3. Unit –impulse response of first order systems
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
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3. Response of Second order systems
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
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ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
3. Response of Second order systems
Bahir Dar University
❖ Transfer function:
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ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
Three cases:
z = 1, critically damped case
z > 1, over-damped case
0 < z < 1, under-damped case
➢ We will study the above cases when k = 1 for simplicity.
➢ Under damped case (0 < z < 1)
➢ R(s)=1/s
➢ Unit step response
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Step-Response of Second order systems
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
Three cases:
z = 1, critically damped case
z > 1, over-damped case
0 < z < 1, under-damped case
➢ We will study the above cases when k = 1 for simplicity.
➢ Under damped case (0 < z < 1)
➢ R(s)=1/s
➢ Unit step response
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ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
Under damped case
➢ The unit step response in time domain is
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Critically Damped Case
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
y(s)
Y(t)
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ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
Over-Damped Case (z > 1)
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4. Transient response specifications SOS
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
3. Peak time, tp
4. Maximum overshoot, Mp
5. Settling time , ts
Mp
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Transient response specifications SOS
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
Cont. …
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
31
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
− − =
tr = = tp =
d n 1 − 2
d n 1 − 2
4
t s = 4T = Maximum Overshoot
n
−
3 1− 2
t s = 3T = Mp =e 100
n
Settling Time (4%) 32
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
33
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
Transient response specifications SOS
➢ The settling time corresponds to plus or minus 2% or 5% tolerance band,
may be measured interms of time constant T=1/zwn.
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ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Bahir Dar University
Transient response specifications SOS
▪ The settling time reaches minimum value around z=0.76 for 2% criterion &
z=0.68 for 5% criterion and then increases linearly for large values of z.
▪ Settling time is inversely proportional to the product of damping ratio and
undamped natural frequency.
▪ Since the value of damping ratio is determined from the requirement of
permissible maximum overshoot , the settling time is determined primarily by
the undamped natural frequency.
▪ This means the duration of transient period can be varied with out
changing the maximum overshoot by adjusting the undamped natural
frequency.
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ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
Bahir Dar Institute of Technology
ባሕር ዳር ዩኒቨርሲቲ
Transient response specifications SOS
Bahir Dar University
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BiT
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