Chapter 3

Time domain analysis of control system

Time response of a dynamic system is response to an

input expressed as a function of time.

System

1
• 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.

• For example, in a radar tracking system, the position and the

speed of the target to be tracked may vary in a random fashion.

• It is therefore difficult to express the actual input signals

mathematically by simple equations.

2
 Standard Test Signals
• The characteristics of actual input signals are a
sudden shock, a sudden change, a constant velocity,
and constant acceleration.

• The dynamic behavior of a system is therefore judged

and compared under application of standard test
signals – an impulse, a step, a constant velocity, and
constant acceleration.

• Another standard signal of great importance is a

sinusoidal signal.
3
 Standard Test Signals
• Impulse signal
– The impulse signal imitate the
sudden shock characteristic of
actual input signal. δ(t)

A
A t0
 (t )  
0 t0
0 t

– If A=1, the impulse signal is

called unit impulse signal.
4
 Standard Test Signals
• Step signal
– The step signal imitate
the sudden change u(t)

characteristic of actual
input signal. A

A t0
u( t )   0 t

0 t0

– If A=1, the step signal is

called unit step signal 5
 Standard Test Signals
• Ramp signal r(t)

– The ramp signal imitate

the constant velocity
characteristic of actual
input signal. t
0

 At t0
r (t )   r(t)

0 t0
ramp signal with slope A

r(t)

– If A=1, the ramp signal is

called unit ramp signal unit ramp signal
6
 Standard Test Signals
p(t)
• Parabolic signal
The parabolic signal imitate
the constant acceleration
characteristic of actual input
signal. 0 t

 At 2 p(t)

 t0
p( t )   2
0 t0
parabolic signal with slope A

p(t)

If A=1, the parabolic signal is

called unit parabolic signal. Unit parabolic signal
7
 Time Response of Control Systems
• When the response of the system is changed form rest or
equilibrium it takes some time to settle down.

• Transient response is the response of a system from rest or

equilibrium to steady state. 
-3
x 10 Step Response
6

• The response of the Step Input

Steady State Response

5

system after the transient 4

response is called steady Response
Amplitude

state response.
3

2
Transient Response

0
0 2 4 6 8 10 12 14 16 18 820
Time (sec)
The time response of a control system consists of two
parts:
1. Transient response family
 From initial state to the final state
 purpose of control systems is to provide a desired
response.
2. Steady-state response
 The manner in which the system output behaves as t
approaches infinity
 The error after the transient response has decayed leaving
only the continuous response.

9
Transient Steady state

10
 Transient response

 Transient response depend upon the system poles only and not on
the type of input.
 It is sufficient to analyze the transient response using a step input.
 Transient response specifications are; Max OS, settling time, rise
time, peak time,

11
 First – order system

A first-order system without zeros can be represented by the

following transfer function

Given a step input, i.e., R(s) = 1/s , then the system output (called
step response in this case) is

Taking inverse Laplace transform, we have the step response

t

c(t )  1  e 
12
• Time Constant: If t=Ꚍ , So the step response
is C( Ꚍ) = (1− 0.37) = 0.63
Ꚍ is referred to as the time constant of the response. In
other words, the time constant is the time it takes for the
step response to rise to 63% of its final value. Because
of this, the time constant is used to measure how fast a
system can respond. The time constant has a unit of
seconds.

13
 Rise Time :The rise-time (symbol Tr units s) is defined as the
time taken for the step response to go from 10% to 90% of
the final value.

Tr  2.31  0.11  2.2

 Settling Time : Time required for the response to decrease
and stay within specified percentage of its final value (within
tolerance band : 2 % is used as the percentage of final value)

Ts  4

14
 Examples of First Order Systems
• Electrical System

Eo ( s ) 1

Ei ( s ) RCs  1

15
 Examples of First Order Systems
• Mechanical System

X o (s) 1

X i (s) b
s 1
k 16
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.
17
 A general second-order system is characterized by the following
transfer function:

 We can re-write the above transfer function in the following

form (closed loop transfer function):

18
 ωn is un-damped natural frequency of the second order system,
which is the frequency of oscillation of the system without damping.
 ζ is damping ratio of the second order system, which is a measure of
the degree of resistance to change in the system output.
 According the value of ζ, a second-order system can be set into one of
the four categories:
1. Over damped - when the system has two real distinct poles (ζ
>1).
2. Under damped - when the system has two complex conjugate
poles (0 <ζ <1)
3. Un damped - when the system has two imaginary poles (ζ = 0).
4. Critically damped - when the system has two real but equal
poles (ζ = 1). 19
 Example

Determine the un-damped natural frequency and damping ratio of the

following second order system.
C( s ) 4
 2
R( s ) s  2 s  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 rad / sec  2 n s  2s

2   n  1
s  2 n s   n2 2
 s  2s  4
   0. 5 20
Two poles of the system are
 n  n  2  1
 n  n   1 2

According the value of damping ratio , a second-order system can be

set into one of the four categories:
1. Over damped - when the system has two real distinct poles ( ζ>1).
jω 1

0.9

0.8

0.7

0.6

0.5

0.4

δ 0.3

-c -b -a 0.2

0.1

0
0 20 40 60 80 100 120

Overdamped 21
 2. Under damped - when the system has two complex conjugate
poles (0 < ζ <1)

Underdamped
jω
1.4

1.2

0.8

0.6

δ 0.4

-c -b -a 0.2

0
0 20 40 60 80 100 120

22
3. Undamped - when the system has two imaginary poles ( ζ= 0).
2

jω 1.8

1.6

1.4

1.2

0.8

0.6

δ 0.4

-c -b -a 0.2

0
0 20 40 60 80 100 120 140 160 180

Undamped

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

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0
0 20 40 60 80 100 120

23
For transient response, we have 4 specifications for under
dumped response :  
n 1   2
(a) Tr – rise time =

(b) Tp – peak time =
n 1   2



(c) %MP – percentage maximum overshoot = 1 2
e x100%
4
(d) Ts – settling time (2% error) =
 n

24
 Example 2
• 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.

25
 Example2
Rise Time Peak Time

  
tr  tp 
d d

Settling Time (2%)

Maximum Overshoot
4
ts  

 n 1 2
Mp e  100
3
ts 
 n
26
Settling Time (5%)
 Example2
Rise Time

 
tr 
d

3.141  
tr  
2
n 1  

2
 1  
  tan 1 ( n )  0.93 rad
 n

3. 141  0. 93
tr   0.55s
5 1  0. 6 2 27
 Example2
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 (5%)

3
ts 
 n
3
ts   1s
0. 6  5 28
 Example 2
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%
29
 Example 3
For the control system shown, determine
suitable values for k1 and k2 to satisfy the following
specifications:
(a) Maximum Overshoot for a unit step
of 25%
(b) A peak time of 2 seconds
 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.
• Whether a given system will exhibit steady-state error for a
given type of input depends on the type of open-loop transfer

function of the system.

31
 Classification of Control Systems
• Control systems may be classified according to their
ability to follow step inputs, ramp inputs, parabolic
inputs, and so on.

• The magnitudes of the steady-state errors due to these

individual inputs are indicative of the goodness of the
system.

32
 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.

33
 Classification of Control Systems
• As the type number is increased, accuracy is improved.

• However, increasing the type number aggravates the

stability problem.
• A compromise between steady-state accuracy and relative

stability is always necessary.

34
 Steady State Error of Unity Feedback
Systems
• Consider the system shown in following
figure.

• The closed-loop transfer function is

35
 Steady State Error of Unity Feedback Systems
• 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

36
 Static Error Constants

• The static error constants are figures of merit of control

systems. The higher the constants, the smaller the steady-state
error.
• In a given system, the output may be the position, velocity,
pressure, temperature, or the like.
• Therefore, in what follows, we shall call the output “position,”
the rate of change of the output “velocity,” and so on.
• This means that in a temperature control system “position”
represents the output temperature, “velocity” represents the
rate of change of the output temperature, and so on. 37
 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

38
 Static Position Error Constant (Kp)
• For a Type 0 system

• For Type 1 or higher systems

• For a unit step input the steady state error ess is

39
 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

40
 Static Velocity Error Constant (Kv)
• For a Type 0 system

• For Type 1 systems

• For type 2 or higher systems

41
 Static Velocity Error Constant (Kv)
• For a ramp input the steady state error ess is

42
 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

43
 Static Acceleration Error Constant (Ka)
• For a Type 0 system

• For Type 1 systems

• For type 2 systems

• For type 3 or higher systems

44
 Static Acceleration Error Constant (Ka)
• For a parabolic input the steady state error ess is

45
Summary

46
 Example#1
• 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)
-

47
 Example#1 (evaluation of Static Error Constants)
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   100s( s  2 )( s  5) 
s 0  s ( s  8)( s  12)  K v  lim  2 
s 0  s ( s  8)( s  12) 
Kp  
Kv  

K a  lim s 2G( s )  100s 2 ( s  2)( s  5) 

K a  lim  2 
s 0  
s 0
 s ( s  8 )( s  12 ) 
 100( 0  2 )( 0  5) 
K a     10. 4
 ( 0  8)( 0  12)  48
Example#1 (Steady Sate Errors)
Kp   Kv   K a  10.4

0

0

 0. 09

49