72 Definition and Classification of Time Response

Time response of a control system means, how output behaves with respect to

time. So it can be defined as below.

which is function
Definition: Time Response : The response given by the system
ofthe time, to the applied excitation is called time response of a control system.
of the system takes some finite time to reach to
practical system, output
n any

its final value. This time varies from system to system and is dependent on different
factors. Similarly final value achieved by the output also depends o n the different
factors like friction, mass or inertia of moving elements, some nonlinearities present
etc.
 LThus final state achieved by the output is called
steady state while output
variations within the time it takes to achieve the
steady state is called transient
response of the system.
Definition : Transient Response:
The output variation during the time, it takes to
achieve its final value is called
ac transient response. The time required to achieve the final
value is called transien
period.
This can also be defined as that part of the time respan c o
 Definition : Steady State Response:
Itis that part of the time response which remains after complete transient

response vanishes from the system output.

This also can be defined as response of the system as time approaches intinity
from the time at which transient response completely dies out. The steady state
is
response is generally the final value achieved by the system outpuf.)Its significance
alle uo hauz far auraiz the actual outnut is from its desired válue. This response
 Hence total time response C(t) we can write as,

C() = Css (t)+ C()

The difference between the desired output and the actual output of the system is
steady state error which is denoted as ess. This error indicates the accuracy and
called
role in designing the systenm.
plays an important
The above definitions can be shown in the waveform as in the Fig. 7.1 (a), (b)
where input applied to the system is step type of input.

c(t) c(t)
Ct)- -Oss (t)
Gt)
Step Step
A ess
ess
Cs)

Time Time
Steady Transient
Transient state of
time system time

Fig. 7.1 (a) C; (t) is exponential Fig. 7.1 (b) C; (t) is oscillatory
 arC,
These standard
test signals

(Position function)
i) Step 1nqut
sudden application of the input
at a
r(t)
itis the
7.2.
shown in the Fig.
speilicd time as A
be described as,
Mathematically it can

R(t) = A for t 2 00

= 0 for t< 0
called unit step
If=1, then it is
A
Fig. 7.2
function and denoted by u(t).
A
Laplace transform of such input is S

ii) Ramp Input (Velocity function):

It is constant rate of change in input i.e. rt)
gradual application of input as shown in the
Fig. 7.3. Slope = A

Magnitude of Ramp input is nothing but

its slope. Mathematically it is defined as,
R(t) = At for t2 00
= 0 for t< 0D
Fig. 7.3
A
If A = 1, it is called Unit Ramp input. Its Laplace transform is
s
 of Control tems

ii) Parabolic Input (Acceleration fuction)

This is the input which IS one degree r(t)
of input as shown in
than a ramp type
faste
theFig 74
d as,
Mathematically this function is described as, -Slope = At

R()=t for t 2 0
0

= 0, for t < 0 Fig. 7.4

where A is caled magnitude of the parabolic input.

Function is expressed asts so that in Laplace transforms of different standard

inputssimilarity will get maintained. I t A

2
= 1, ie. R(t) = i t is calied unit parabolic
2

input. Its Laplace transform is 3

iv)Impulse Input:
It is the input applied instantaneously (for
short duration of time) of very high amplitude as r(t)
shown in the Fig. 7.5
It is the pulse whose magnitude is infinite
while its width tends to zero i.e. t > 0, applied
A
momentarily
Area of the impulse is nothing but its
magnitude. If its area is unity it is called Unit
At 0
Impulse Input, denoted as o(t).
Mathematically it can be expressed as
Fig. 7.5
R(t) = A, for t = 0

=
0, for t # 0
ts Laplace transform is always 1 if A = 1. i.e. for unit impulse response. (Reter

apter-2). The unit impulse is denoted as o(t.

R(t) R(s)
Unit step 1/s

Unit ramp 1/s

Unit parabolic 1/s3
Unit impulse