1 Time Response Analysis

Prepared by:
Engr. J.D. Negad
03/11/2019
2 Time Response Analysis
- also called as Time Domain Analysis.
- means studying the output of a system which is
represented as a function of time when the system is
subjected to an input which is also represented as a
function of time.

TIME RESPONSE OF A SYSTEM

- happens when the output of the system varies with
respect to time.
- it is the response of a control system with respect to
time.

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3 Time Response of a Control System consists
of two parts:

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 The total time response of a control system in
4
the time domain is shown:

Mathematically, the time response

C(t) can be written as:

𝐶 𝑡 = 𝐶𝑡𝑟 (𝑡) + 𝐶𝑠𝑠 (𝑡)

where,
𝐶𝑡𝑟 (𝑡) is the transient response

𝐶𝑠𝑠 (𝑡) is the steady-state response

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5 Poles and Zeroes of a Transfer Function
Poles of a Transfer Function (marked as “x”)
 the values of the Laplace transform variable, s, that cause the
transfer function to become infinite.
 any roots of the denominator of the transfer function that are
common roots of the numerator.
Zeroes of a Transfer Function (marked as “o”)
 the values of the Laplace transform variable, s, that cause the transfer
function become zero.
 any roots of the numerator of the transfer function that are common roots of
the denominator.

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6 Example on Poles and Zeroes of
a Transfer Function

1. Given the transfer function:

10(𝑠 + 4)(𝑠 − 6)
𝐺 𝑠 =
𝑠 + 1 𝑠 − 3 (𝑠 + 5)

The poles are: -1, 3, -5

The zeroes are: -4, 6

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7 First Order Systems
 The system whose input-output equation is a first order differential
equation.
 They have only one pole in the transfer function.

First Order System Model

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8 First Order Systems
- First-order systems have a single real pole, in this case at 𝒔 = −𝜶 Therefore, the
system is stable if 𝜶 is positive and unstable if 𝜶 is negative. Standard first-order system
have no zeros.

First Order System Model:

𝟏
𝑮 𝒔 =𝑲
𝑻𝒔 + 𝟏
where,
K = the DC gain

= ratio of the steady-state value of output to the magnitude of the input signal

T = time constant of the system

Examples:

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9 Impulse Response of 1st Order System

𝐾
𝑅 𝑠 =1 𝐶 𝑠 = 𝑇𝑠+1

𝐾 −𝑡
 𝑐 𝑡 = 𝑒 𝑇
𝑇

 Assuming K=1, and T=1

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10 Ramp Response of 1st Order System

1 𝐾 1
𝑅 𝑠 = 𝐶 𝑠 = ∗
𝑠2 𝑇𝑠+1 𝑠 2

𝑡
−
𝑐 𝑡 = 𝐾(𝑡−𝑇 + 𝑇𝑒 𝑇 )
When K=1, and T=1 When K=1 and T=3

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11 Step Response of 1st Order System

1 𝐾 1
𝑅 𝑠 = 𝐶 𝑠 = ∗
𝑠 𝑇𝑠+1 𝑠

𝑡
−
𝑐 𝑡 = 𝐾 − 𝐾𝑒 𝑇

Assume K=10, and T=1.5s Step response at different values of T

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12 Transient Response Specifications
 TIME CONSTANT (𝑻𝒄 )
𝟏
 the time constant of a first-order system is 𝑻𝒄 = 𝝉 = (where 𝛼 is the pole of the system)
𝜶
which is equal to the time it takes for the system's response to reach 63% of its steady-
state value for a step input (from zero initial conditions) or to decrease to 37% of the
initial value for a system's free response. More generally, it represents the time scale for
which the dynamics of the system are significant.

 RISE TIME (𝑻𝒓 )

 Rise time is defined as the time for the waveform to go from 0.1 to 0.9 of its final value for
a step input.
𝟐. 𝟑𝟏 𝟎. 𝟏𝟏 𝟐. 𝟐
𝑻𝒓 = − =
𝜶 𝜶 𝜶

 SETTLING TIME
 Settling time is defined as the time for the response to reach and stay within 2% of its
final value for a step input.
𝟒
𝑻𝒔 =
𝜶

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13 Transient Response Specifications

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14 Second Order Systems
 A system whose input-output equation is a second order differential
equation.

Second Order System Model

𝑪(𝒔) 𝝎𝒏 𝟐
=
𝑹(𝒔) 𝒔𝟐 +𝟐𝜹𝝎𝒏 +𝝎𝒏 𝟐

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15
Where:
𝜹 = is the damping ratio
𝝎𝒏 = is the natural frequency

Damping Ratio
 The damping ratio 𝜹 is a dimensionless quantity characterizing the rate at
which an oscillation in the system's response decays due to effects such as
viscous friction or electrical resistance.
Natural Frequency
 The natural frequency 𝝎𝒏 is the frequency (in rad/s) that the system will
oscillate at when there is no damping.

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16 The characteristic equation of second order system is:

𝒔𝟐 + 𝟐𝜹𝝎𝒏 + 𝝎𝒏 𝟐 = 𝟎
The second order systems have two poles at:

𝒔 = −𝜹𝝎𝒏 ± 𝝎𝒏 𝜹𝟐 − 𝟏

 The two roots are imaginary when δ = 0 (Undamped Systems).

 The two roots are real and equal when δ = 1 (Critically Damped Systems).
 The two roots are real but not equal when δ > 1 (Over-damped Systems).
 The two roots are complex conjugate when 0 < δ < 1 (Under-damped Systems).

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17 Sample graph of Second Order
Systems with a Unit-step Input

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18 Step Response of Second Order System
Critically Damped Case (δ = 1)
 The two poles are real and equal.

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19 Step Response of Second Order System
Over-Damped Case (δ > 1)
 The two poles are real but not equal.

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20 Step Response of Second Order System
Under-Damped Case (0 < δ < 1)
 The two poles are complex conjugate.

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21
Impulse Response of Second Order Sytems
 R(s) = 1

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