ƒ Definition in time domain

ƒ Condition in s-domain

ƒ Routh-Hurwitz criterion to check the condition

ƒ Stability is a necessary requirement, but not

sufficient in most control problems.

ƒ Specifications other than stability

ƒ How to evaluate a system quantitatively in time domain?

ƒ How to give specifications in time domain?

ƒ What are the corresponding conditions in s-domain?

Time response

ƒ We would like to analyze a system property by

applying a test input r(t) and observing a time

response y(t).

ƒ Time response is divided as

System

Transient response Steady-state response

(after yt dies out)5

Example of transient &

steady-state responses

ƒ Transient response

ƒ Steady-state resp.

Step Response

Time (sec)

Amplitude

00 2 4 6 8 10 12

0.5

1.5
2

2.5

Step response

Time (sec) 6

Usage of time responses

ƒ Modeling

ƒ Some parameters in the system may be estimated by

time responses.

ƒ Analysis

ƒ Evaluate transient and steady-state responses

(Satisfactory or not?)

ƒ Design

ƒ Given design specs in terms of transient and steadystate responses, design controllers satisfying all the

design specs.

Typical test inputs

Step function

(Most popular)

Ramp function

Parabolic

Sinusoidal input function

will be dealt with

later.

Steady state value for step test signal

ƒ Suppose that G(s) is stable.

ƒ By the final value theorem:

ƒ Step response converges to some finite value,

called steady state value .

G(s)9

Typical unit step response

10

Steady-state error for reference us(t)

11

Peak value, peak time, and

percent overshoot

12

Delay, rise, and settling times

Delay time: time to reach 0.5 yss

Rise time: time to rise from 0.1yss to 0.9yss

Settling time: time to settle within 5% of yss13

An example revisited

ƒ For the example in a previous slide,

ƒ Steady-state error : 2

ƒ Delay time around 1.5 sec

ƒ Rise time around 5 sec

ƒ Settling time around 6 sec

Step Response

Time (sec)

Amplitude

00 2 4 6 8 10 12

0.5

1.5

2.5

3
Remark: There is no peak in

this case, so peak value, peak

time and percent overshoot

cannot be defined.

14

Remarks on time-domain responses

ƒ Speed of response is measured by

ƒ Rise time, delay time, and settling time

ƒ Relative stability is measured by

ƒ Percent overshoot

ƒ In general ….

ƒ Fast response Æ Large percent overshoot

ƒ Large percent overshoot Æ small stability margin

ƒ We need to take trade-off between response

speed and stability.

15

Summary and Exercises

ƒ Time response and time domain specifications

ƒ Time response can be used for

• Parameter estimation

• Design specification of the feedback system

ƒ Time response is difficult to compute analytically,

except 1st and 2nd order systems (we’ll study later).

ƒ Next

ƒ When does steady state error become zero?

ƒ Exercises

ƒ Read Section 4.3.