LINEAR CONTROL

SYSTEMS
UNIT-II TIME RESPONSE ANALYSIS:

Standard test signals - Time response of first order

systems – Characteristic Equation of Feedback control
systems, Transient response of second order systems -
Time domain specifications – Steady state response -
Steady state errors and error constants – Effects of
proportional derivative, proportional integral systems,
PID controllers
 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.
 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.

• The other standard signal of great importance is a

sinusoidal signal.
 Impulse signal

• Impulse signal
– The impulse signal imitate the
sudden shock characteristic δ(t)
of actual input signal.
A t 0 A
 (t )  
0 t 0
0 t
– If A=1, the impulse signal is
called unit impulse signal.
Ramp signal
Parabolic Signal
Relation between standard Test
Signals
Laplace Transform of Test Signals
Laplace Transform of Test Signals
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
Transient response:
When the response of the system is changed from
equilibrium it takes some time to settle down. This
is called transient response.

Steady state system:

The response of the system after the transient
response is called steady state response.
• 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.
Impulse Response of 1st Order System
Step Response of 1st Order System
 System takes five time constants to reach its final
value.

• 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

0
0 5 10 15
Time
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

6
c(t)

K=5
5

4
K=3
3

2
K=1
1

0
0 5 10 15
Time
 Relation between Step and Impulse
response
The step response of the first order
system is
  t /T
c(t )  K 1  e K   t /T
Ke

Differentiating c(t) with respect to t yields

dc(t )
dt

d
dt

K  Ke  t / T 
dc(t ) K  t /T
 e
dt T
 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 
 Parabolic Response of 1st Order
System
Consider the following 1st order system

K
R(s ) C (s )
Ts  1

1
R(s ) 
s3

K
C (s ) 
s 3 Ts  1
Second Order System

C (s )  n2
 2
R(s ) s  2 n s   n2
Example :
C (s ) 4
 2
R(s ) s  2s  4
 C (s )  n2
 2
R(s ) s  2 n s   n2

Two poles of the system are

2
  n   n   1
2
  n   n   1
 2
  n   n   1
2
  n   n   1
 2
  n   n   1
2
  n   n   1
 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.
 Delay Time
The delay (td) time is the time required for the
response to reach half the final value the very
first time.
 Rise Time
• The rise time is the time required for the response to
rise from 10% to 90%, 5% to 95%, or 0% to 100% of
its final value.

• For underdamped second order systems, the 0% to

100% rise time is normally used. For overdamped
systems, the 10% to 90% rise time is commonly
used.
 Peak Time
• The peak time is the time required for the response
to reach the first peak of the overshoot.
 Maximum Overshoot
• The maximum overshoot is the maximum peak
value of the response curve measured from unity.
If the final steady-state value of the response
differs from unity, then it is common to use the
maximum percent overshoot. It is defined by

• The amount of the maximum (percent) overshoot

directly indicates the relative stability of the
system.
 Settling Time
• The settling time is the time required for the
response curve to reach and stay within a range
about the final value of size specified by absolute
percentage of the final value (usually 2% or 5%).
 Step Response of
underdamped System
 e  nt 
C (t ) 1  1   2 (cos dt   sin dt ) 
1 2  
   
  n t  cos d t 
c(t ) 1  e sin  d t 
 1  2 
 

if  0.1 and n 3 if  0.5 and n 3 if  0.9 and n 3

1.8 1.4 1.4

1.6
1.2 1.2
1.4
1 1
1.2

1 0.8 0.8

0.8
0.6 0.6

0.6
0.4 0.4
0.4
0.2 0.2
0.2

0 0 0
0 2 4 6 8 10 0 2 4 6 8 10 0 2 4 6 8 10
S-Plane (Underdamped System)
2
  n   n   1
2
  n   n   1
 Expression of Rise Time
The expression of under damped second-order
control system with unit step input function

c(t) = 1
Expression of Peak Time

The maximum overshoot occurs at

 Expression of Maximum
Overshoot
If we put the expression of peak time in the expression of output
response c(t), we get,
 Expression of Settling Time
The settling time of a response is that time after which
the response reaches to its steady-state condition with
value above nearly 98% of its final value.

There fore -ζ ωnt = ln(0.02) = -3.98 ≈ -4

There fore ζ ωnt = 4
t = 4/ζ ωn
It is also observed that this duration is approximately
4 times of time constant of a signal.
 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.

• 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.
Consider the unity-feedback control system with the
following open-loop transfer function

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.
 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

Steady State Error of Unity Feedback
Systems

The closed-loop transfer function 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.

• The steady state error is

Static Velocity Error Constant (Kv)
Static Acceleration Error
Constant (Ka)
Summary
Example:

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 )