MODULE 3

Time Response of feedback control systems: Standard test signals, Unit

step response of First and Second order Systems. Time response
specifications, Time response specifications of second order systems, steady
state errors and error constants. Introduction to PI, PD and PID Controllers

Deeksha, Department of ECE SIT 1

Time Domain Analysis of Control
systems

Deeksha, Department of ECE SIT

 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.

• 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.
3
 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.
4
 Standard Test Signals
• Impulse signal
• The impulse signal imitate δ(t)
the sudden shock
characteristic of actual input
A
signal.
A t 0
 (t )  
0 t 0 0 t

• If A=1, the impulse signal is

called unit impulse signal.

5
 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 0 t

• If A=1, the step signal

is called unit step
signal

6
 Standard Test Signals
r(t)
• Ramp signal
• The ramp signal imitate
the constant velocity
characteristic of actual 0 t
input signal.
 At t 0
r (t )   r(t)
0 t 0
ramp signal with slope A

• If A=1, the ramp signal is

called unit ramp signal r(t)

unit ramp signal

7
 Standard Test Signals
• Parabolic signal
• The parabolic signal
imitate the constant
p(t)
acceleration
characteristic of actual
input signal.
 At
2
 t 0
p(t )   2
0 t 0
 0 t

• If A=1, the parabolic

signal is called unit
parabolic signal.
8
 Relation between standard Test Signals
• Impulse A
 (t )  
t 0
 0 t 0 d
t 0
dt
A
• Step u(t )  
0 t 0
  At t 0
d
r (t )   dt
• Ramp 0 t 0

 At 2
• Parabolic  t 0 d
 p(t )   2
0 t 0 dt


9
 Laplace Transform of Test
Signals
• Impulse A
 (t )  
t 0
0 t 0

L{ (t )} (s )  A

A t 0
• Step u(t )  
0 t 0

A
L{u(t )}U (s ) 
S

Deeksha, Department of ECE SIT 10

 Laplace Transform of Test
• Ramp Signals
 At t 0
r (t )  
0 t 0

A
L{r (t )} R(s )  2
s

 At 2
 t 0
p(t )   2
• Parabolic 0 t 0

2A
L{p(t )} P(s ) 
S3
Deeksha, Department of ECE SIT
 Time Response of Control
Systems
• Time response of a dynamic system is response to an input expressed
as a function of time.

System

• The time response of any system has two

components
• Transient response
Deeksha, Department of ECE SIT 12
 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. x 10 Step Response
-3

Step Input
5

• The response of the system 4

after the transient response is Response

Amplitude
called steady state response.
3

0
0 2 4 6 8 10 12 14 16 18 20
Deeksha, Department of ECE SIT Time (sec) 13
 Time Response of Control
Systems
• Transient response dependents 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.

Deeksha, Department of ECE SIT 14

 Time Domain Analysis of 1st Order
Systems
• The first order system has only one pole.

• 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.
Deeksha, Department of ECE SIT 15
 Step Response of 1st Order
System
Consider the following 1st order system

K
R(s ) C (s )
Ts  1

1 K
R(s ) U (s )  C (s ) 
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
Forced
Response K KT Natural Response
C (s )  
s Ts  1
Deeksha, Department of ECE SIT 16
 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 c(t )  K 1  e  0.632K

1

Deeksha, Department of ECE SIT 17

 Step Response of 1st Order
c(t )  K 1  e  t / T 
• If K=10 and T=1.5s
System
then
K*(1-exp(-t/T))
11

10

9 Step Response

7 steady state output 10

D.C Gain  K  
6 Input 1
63%
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time

Deeksha, Department of ECE SIT 18

 Time Domain Analysis of 2nd Order
• Systems
We have already discussed the affect of location of pole and
zero 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 parameters (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.
Deeksha, Department of ECE SIT 19
• A general second-order system (without zeros) is
characterized by the following transfer function.

 2
G (s)  n
Open-Loop Transfer Function
s ( s  2 n )

C (s )  n2
 2 Closed-Loop Transfer Function
R(s ) s  2 n s   n2
Deeksha, Department of ECE SIT 20
 C (s )  n2
 2
R(s ) s  2 n s   n2

damping ratio of the second order system, which is a measure of

 the degree of resistance to change in the system output.

un-damped natural frequency of the second

n order system, which is the frequency of
oscillation of the system without damping.

Deeksha, Department of ECE SIT 21

 Time-Domain
For 0<
Specification
<1 and ωn > 0, the 2nd order system’s response due to a
unit step input looks like

Deeksha, Department of ECE SIT 22

Time-Domain Specification
• The delay (td) time is the time required for the
response to reach half the final value the very
first time.

23
 Time-Domain Specification
• 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.
Time-Domain Specification
• The peak time is the time required for the
response to reach the first peak of the overshoot.

25
25
Time-Domain Specification
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.

26
 Time-Domain Specification
• 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%).

27
 Time Domain Specifications
(Rise Time)
  
c(t ) 1  e   n t  cos d t  sin d t 
 1   2 
 
Put t t r in above equation
  
c(t r ) 1  e   nt r  cos d t r  sin  d t r 
 1   2 
 
Where c(t r ) 1
  
0   e   n t r  cos d t r  sin d t r 
 1   2 
 
  
 e   nt r  0 0   cos d t r  sin d t r 
 1   2 
 
 Time Domain Specifications
(Rise Time)
  
 cos d t r  sin  d t r  0
 1   2 
 
above equation can be re - writen as

1  2
sin d t r   cos d t r


1  2
tan  d t r  


 1   2 
 d t r tan  1   
 
 
 Time Domain Specifications (Rise Time)

 1   2 
 d t r tan  1   
 
 


1   1  2 
tr  tan  1   n 

d   n
 


tr 
d  tan 1 a
b
 Time Domain Specifications (Peak Time)
  
c(t ) 1  e   n t  cos d t  sin d t 
 1   2 
 
• In order to find peak time let us differentiate above
equation w.r.t t.
dc(t )      
  n t   
 n e cos d t  sin d t   e n    d sin d t 
t d
cos d t 
dt  1  2   1  2 
   

  2 n  d 
  n t 
0 e  n cos d t  sin d t   d sin d t  cos d t 
 1  2 1  2 
 

  2
  1   2 
0 e   n t   n cos d t  n
sin d t   d sin d t  n
cos d t 
 1   2
1   2 
 
 Time Domain Specifications (Peak Time)
  2
  1   2 
  n t 
0 e  n cos d t  n
sin d t   d sin d t  n
cos d t 
 1   2
1   2 
 
  2 
e   nt  n
sin d t   d sin d t  0
 1  2 
 

  2 
e   nt  0  n
sin d t   d sin d t  0
 1  2 
 

  2 
sin d t  n
  d  0
 1  2 
 
 Time Domain Specifications (Peak Time)
  2 
sin d t  n
  d  0
 1  2 
 
  2 
 n
 d  0
 1  2  sin  d t 0
 

 d t sin 1 0

0,  , 2 , 
t
d
• Since for underdamped stable systems first peak is
maximum peak therefore,

tp 
d
 Time Domain Specifications (Maximum
Overshoot)

  
  n t p
c(t p ) 1  e  cos d t p  sin  d t p 
 1   2 
 

c() 1
   

M p  1  e n p  cos d t p  sin  d t p  
  t
1 100
  1   2  
   

Put t p  in above equation
d
   n    
M p   e d  cos   
sin 
 
100
  d
d 2
d 
d  
  1   
 Time Domain Specifications (Maximum
Overshoot) 
   n   
M p   e d  cos   
sin 
 
100
  d
d 2
d 
d  
  1   
Put ωd ωn 1-ζ 2 in above equation
   n  
  
 n 1  2  cos    100
M p   e  sin   
2
  1   
   

M p   e
1  2
 1  0 100
 



1  2
M p e 100
Time Domain Specifications
(Settling Time)
  
c(t ) 1  e   n t  cos d t  sin d t 
 1   2 
 

  n  n  2  1
1
T 
 n
Real Part Imaginary Part
 Time Domain Specifications
(Settling Time)
• Settling time (2%) criterion
• Time consumed in exponential decay up to 98%
of the input.

4 1
t s  4T  T 
 n  n

• Settling time (5%) criterion

• Time consumed in exponential decay up to 95%
of the input.
3
t s 3T 
 n
 Summary of Time Domain
Specifications
Rise Time Peak Time

   
tr   tp  
d 2 d  1   2
n 1   n

Settling Time (2%)

4
t s  4T  Maximum Overshoot
 n


3 M p e
1  2
100
t s 3T 
 n
Settling Time (4%)