Chapter-3

Time Domain Analysis

Debre Tabor University
Faculty of Technology
Dep’t of Electrical & Computer Engineering

Classical Control Systems

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 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.

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 Standard Test Signals
• Impulse signal
• The impulse signal imitate the sudden
characteristic of actual input signal.

δ(t)

• If A=1, the impulse signal is called unit impulse

signal. A
A t=0
 (t ) = 
0 t0
0 t

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 Standard Test Signals
• Step signal
• The step signal imitate the sudden
change(shock(crisp change) )
characteristic of actual input signal.
u(t)

• If A=1, the step signal is called unit step

signal
A t0 t
u( t ) =  0
0 t0

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 Standard Test Signals
• Ramp signal r(t)
• The ramp signal imitate the constant
velocity characteristic of actual input
signal.

0 t
• If A=1, the ramp signal is called unit
ramp signal
 At t0
r(t ) = 
r(t)

0 t0
ramp signal with slope A

r(t)

unit ramp signal

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 Standard Test Signals
p(t)
• Parabolic signal
• The parabolic signal imitate the constant
acceleration characteristic of actual
input signal.

0 t

• If A=1, the parabolic signal is called unit p(t)

parabolic signal.

 At 2 parabolic signal with slope A

 t0
p(t ) =  2 p(t)

0 t0

Unit parabolic signal
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 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.

-3
x 10 Step Response
6

Step Input
5
• The response of the

Steady State Response

system after the transient 4
Response
Amplitude

response is called steady 3

state response. 2
Transient Response
1

0
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Time (sec)
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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 Introduction
• 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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 Introduction
• 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.
−1 
C  K −t / T
L   = Ce − at c(t ) = e
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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
Time

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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 = 0.632K
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Step Response of 1st order System

• System takes five time constants to reach its final value.

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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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Time
 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
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10 15 19
Time
 Example 1
• Impulse response of a 1st order system is given below.

c(t ) = 3e −0.5t
• Find out
• Time constant T
• D.C Gain K
• Transfer Function
• Step Response

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 Example 1
• The Laplace Transform of Impulse response of a system
is actually the transfer function of the system.
• Therefore taking Laplace Transform of the impulse
response given by following equation.
c(t ) = 3e −0.5t
3 3
C( s ) = 1 =   (s)
S + 0.5 S + 0.5
C( s ) C( s ) 3
= =
 ( s ) R( s ) S + 0.5
C( s ) 6
=
R( s ) 2 S + 1
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 Example 1
• Impulse response of a 1st order system is given below.

c(t ) = 3e −0.5t
• Find out
• Time constant T=2
• D.C Gain K=6
• Transfer Function C( s ) 6
=
• Step Response R( s ) 2 S + 1

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 Example 1
• If initial conditions are not known then partial fraction
expansion is a better choice
C( s ) 6
=
R( s ) 2 S + 1
1
since R( s ) is a step input , R( s ) =
s
6
C( s ) =
s(2S + 1)
6 A B
= +
s(2S + 1) s 2s + 1
6 6 6
= −
s(2S + 1) s s + 0.5

c(t ) = 6 − 6e −0.5t
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 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 2 (Ts + 1)
• The ramp response is given as

(
c(t ) = K t − T + Te −t / T )
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 Parabolic Response of 1st Order System
• Consider the following 1st order system

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

1 K
R( s ) = Therefore, C( s ) =
s 3
s 3 (Ts + 1)

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 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.
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 Introduction
• 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

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 Example 2
• 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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 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

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 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

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 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

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 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 .

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

jω

δ
-c -b -a

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 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:

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

δ
-c -b -a

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Underdamped 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.

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 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 ) = −
s (s +  n )2 + n2 1 −  ( 2
)
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 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 + n ) + d ( s + n ) + d
2 2 2 2
s

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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

− nt 
c(t ) = 1 − e cos d t − e − nt sin d t
1− 2
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 Step Response of underdamped System
− 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
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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
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0
0 2 4 6 8 10
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

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0
0 2 4 6 8 10
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

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0 2 4 6 8 10
TRANSIENT RESPONSE SPECIFICATIONS
• The actual output behavior according to the various time response
specifications referring to figure below :

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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

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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

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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)

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 SECOND ORDER SYSTEM AND TRANSIENT
RESPONSE SPECIFICATIONS

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EXAMPLE 1
➢Determine the values of Td, Tr, Tp, Ts when the system
given below is subjected to a unit step input

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SOLUTION EXAMPLE 1

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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
2. A unity feedback control system is characterized by an open- loop transfer
𝐾
function 𝐺 𝑠 =
𝑠 𝑠+10
a. Determine the gain K so that the system will have a damping ratio of
0.5.
b. Determine the settling time, peak overshoot and time to peak
overshoot for a unit step input.
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 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.

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 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.
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Steady State Error of Unity Feedback Systems

• Consider the system shown in following figure.

• The closed-loop transfer function is

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 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)

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 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

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 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

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 Static Velocity Error Constant (Kv)
• 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

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 Static Velocity Error Constant (Kv)
• For a Type 0 system

• For Type 1 systems

• For type 2 or higher order systems

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

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 Static Acceleration Error Constant (Ka)
• 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

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 Static Acceleration Error Constant (Ka)
• For a Type 0 system

• For Type 1 systems

• For type 2 systems

• For type 3 or higher order systems

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

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Summary

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 Example 2

• 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)
-

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 Example 2
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 = 
 100 s 2
( s + 2 )( s + 5 ) 
K a = lim  2 
2
K a = lim s G( s )
s →0 s →0 
 s ( s + 8)( s + 12) 


 100( 0 + 2 )(0 + 5) 
K a =   = 10.4
 ( 0 + 8)(0 + 12 ) 
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Example 2
Kp =  Kv =  K a = 10.4

=0

=0

= 0.09

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 Example-2

• 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.

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