CONTROL SYSTEMS

Time Response Analysis

Dr. S. SUMATHI
Associate Professor
RNSIT
Bengaluru

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 Time Response Analysis

The time response of a system is the output response of the

system as a function of time.

The time response of a control system is usually

divided into two parts:

Transient response
Steady state response

c(t )  ct (t )  css (t )
c(t) denote the time response of a continuous data system
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 Space for
2 inch x 2 inch
size Picture

Transient response
The transient response is defined as that part of the
time response that goes to zero as time tends to
infinity.
Lt ct (t )  0
t 

Steady state response

The steady state response is the part of the total
response that remains after the transient has died out.

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First step is to obtain a mathematical model of the system

Transfer function is an Important mathematical model for a

LTI system

For any specific input signal, a complete time response

can then be obtained - Laplace transform inversion of c(s)

If the input signal is such that ,we can not find Laplace
transformable, then time response is obtained through
convolution Integral.

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Steady state behavior of the system can be obtained from
c(t) expression, with time tending to infinity.

In case of simple deterministic signals steady state

response can be obtained by the use of Final value
theorem

Time response analysis is normally carried out after

stability analysis through indirect tests

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 INPUT SIGNALS
Inputs to the system are not known ahead of time.

Input signals to some of the systems are random in nature

The actual signals which severely stain the a control

system are

a sudden shock
a sudden change
a constant velocity
a constant acceleration

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 Hence the system dynamic behavior is analyzed under
the application of standard test signals

Standard test signals

Impulse signal (sudden shock)

Step signal (sudden change)
Ramp signal (constant velocity)
Parabolic signal (constant acceleration)

Nature of transient response depends on the system

poles and not on the type of input.

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STEP SIGNAL

The step is a signal whose value changes from one level

(usually zero) to another level A in zero time.

The mathematical representation of the step function is

r(t) = Au(t)
where u(t) = 1; t>0
= 0; t<0

u(t) is called the unit step function.

In the Laplace transform, U(s)=A/s

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RAMP SIGNAL

The ramp is a signal which starts at a value of zero and

increases linearly with time.

Mathematically,
r(t) = At; t>0
= 0; t<0

In the Laplace transform form,

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PARABOLIC SIGNAL
The parabolic function represents a signal that is represented as

; t >0

= 0 ; t<0

In Laplace transform form

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 Where

 ( s)  1

IMPULSE SIGNAL

A unit impulse is defined as a signal which has zero value

everywhere except at t=0 , where its magnitude is infinite.
It is generally called the δ function and has the following
property.
δ(t)
 (t )  0; t  0


  (t )dt  1
 0 t

tends to zero.
In the Laplace transform  ( s)  1
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IMPULSE RESPONSE

Impulse signal is derivative of step signal.

The impulse response of a system with transfer function

C (s)  G(s) R(s)

 G( s) (As R(s)=1)

1
c(t )  L G(s)  g (t )
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Thus, the impulse response of a system, indicated by

g (t )
which is the inverse Laplace transform of its transfer
function.
This is also referred to as weighting function of the
system.

The weighting function of a system can be used to find the

system’s responses to any input r(t) by means of
convolution integral
t
c(t )   g (t   )r ( )d
0
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dt

• Impulse ẟ (t)

• Step u(t)

• Ramp r(t)

• Parabolic p(t)

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 For linear systems transient response is obtained for
one of the standard test signals,

normally for a step input .

As the system response depends on the system poles

and not upon the type of input

Steady state response is then examined for step signal

as well as other test signals.

For frequency response analysis of

systems a
sinusoidal signal with variable frequency is used.
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TIME RESPONSE OF FIRST ORDER SYSTEMS

+
R(s) C(s)

The transfer function is given by

C ( s) 1

R( s) Ts  1

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UNIT STEP RESPONSE OF FIRST ORDER SYSTEMS

C ( s) 1
 R(s)  1/ s
R( s) Ts  1
1 1
Therefore output response is given by C ( s )  .
s Ts  1

By applying partial fraction expansion to C(s) we have

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UNIT STEP RESPONSE OF FIRST ORDER SYSTEMS cont..

By taking Laplace inverse C(s) we have


c(t )  u (t )  e t / T 

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The initial slope of the output curve is given by

T is called the TIME CONSTANT

Time constant is indicative of how fast the system tends to
reach the final value.

A large time constant corresponds to a sluggish system

A small time constant corresponds to a fast response .

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ERROR RESPONSE

The error response of the system is given by

t
e(t )  r (t )  c(t )  e T

The steady state error is given by

ess  Lt e(t )  0
t 

Thus the first order system tracks the unit step

input with zero steady state error .

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RAMP RESPONSE OF FIRST ORDER SYSTEMS

The transfer function of a first order system is given by
C ( s) 1

R( s) Ts  1

For a ramp input

Therefore

By applying partial fraction expansion to C(s) we have

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By taking Laplace inverse C(s) we have

Let us differentiate the ramp response

This is same as step response

g (t) ie impulse response

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TIME RESPONSE OF SECOND ORDER SYSTEMS

A general second-order
system is shown below

It is a Type-1 second
order system

n Un-damped natural frequency of oscillations

 Damping factor
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TIME RESPONSE OF SECOND ORDER SYSTEMS

Its closed loop transfer function is given by

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

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• The time response of any system is characterized by the

roots of the denominator polynomial q(s) .

• The denominator polynomial q(s) is therefore called the

characteristic polynomial

• q(s)=0 is called the characteristic equation

• Roots of the characteristic equation are same as the poles

of the system

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Hence the characteristic equation of the system

under consideration is given by

s 2  2n s  n2  0
Two roots of the characteristic equation or poles of
the system are

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 According the value of ξ , a second-order system can be
classified into one of the four categories

Overdamped ( ξ >1) - the system poles are real and distinct .

jω

σ
-c -b -a

The response rises slowly and reaches the final value

without any oscillations
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Critically damped (ξ = 1) - the system has two real but

equal poles

The two poles are

jω

σ
-c -b
-ωn

The response rises slowly and reaches the final value

without any oscillations
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Underdamped (0 < ξ <1) - the system has a pair of

complex conjugate poles

jω

σ
-ξωn

The transient response is oscillatory.

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Undamped (ξ = 0) -the system has two

imaginary poles.
jω

σ
-c -b -a

The system response is oscillatory.

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 Most control systems are designed as under damped systems
to have fast response
Step Response of an under damped system 0   1

C( s ) n2
 2 R(s)  1/ s
R( s ) s  2 n s  n2

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Solving for A, B and C we can find that A=1 B= -1 and

1 s  2n
  2
s ( s  2n s  n2 )

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1 s  2 n
C( s )   2
s s  2 n s   2n2  n2   2n2

1 s  2 n 1 s  2 n
C( s )  

s s   n 2  n2 1   2  C( s )  
s s   n 2  d2

• Where  d   n 1   2
, is the frequency of transient
oscillations and is called damped natural frequency.

1 s   n  n
C( s )   
s s   n   d s   n 2  d2
2 2

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1 s  n n d
   .
s ( s  n )  d d ( s  n )2  d2
2 2

1 s  n  d
   .
s ( s  n )  d
2 2
1  2 ( s  n ) 2
 d
2

Taking the inverse Laplace transform of the above equation

n t
nt e
c(t )  1  e cos d t  sin d t
1  2
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 1
ent
1  2  1   2 cos d t   sin d t 
1

ent
 1  sin  cos d t  cos  sin d t 
ϴ

1  2 ξ

n t
e
 1 sin(d t   )
1  2

e n t
1  2
 1 sin(n 1   2 t  tan 1 )
1  2 
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Step Response of an under damped system C(t)

c(t)

0
0 time t

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Step Response of an un damped system C(t)

The step response of un damped system can be obtained
from that of Under damped system by substituting ξ =0

e nt 1  2
 1 sin(n 1   2 t  tan 1 )
1  2 

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Step Response of an critically damped system

For step input R(s)=1/s, therefore

By applying partial fraction expansion

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Time Response Specifications

The step response is characterized by following

performance indices

i) Delay time
ii) Rise time
iii) Peak time
iv) Maximum overshoot
v) Settling time

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Time Response Specifications

i) Delay time ii) Rise time iii) Peak time
ii) Maximum overshoot v) Settling time

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DELAY TIME
The delay time is the time
required for the response to reach
50% of the final value for the very
first time.

RISE TIME
The rise time is the time
required for the response to rise
from 0 to 100% of the final value
for under damped system and
from 10% to 90% of the final
value for over damped systems.

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PEAK TIME
The peak time is the time required for the response to reach
the first peak of the overshoot.
MAXIMUM OVERSHOOT
The peak or 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.

c(t p )  c()
Maximum percent overshoot = X 100%
c ( )
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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%).

STEADY STATE ERROR

It indicates the error between the actual output and the
desired output as t tends to infinity.

ess  Lt [r (t )  c(t )]
t 

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Time Response Specifications

i) Delay time ii) Rise time iii) Peak time
ii) Maximum overshoot v) Settling time

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EXPRESSION FOR TIME RESPONSE SPECIFICATIONS

RISE TIME
The output of a second order under damped system excited
by a unit step input is given by
e nt
c(t )  1  sin(d t   )
1  2

Rise time is defined as the time taken by the output to rise

from 0 to 100% of the final value

Therefore at t  tr c(tr )  1

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entr entr
1  1 sin(d tr   ) sin(d tr   )  0
1  2
1  2
n tr
e
0 sin(d tr   )  0  sin 
1  2

d tr     d tr    

1  2
  tan 1
  
tr  
d n 1   2
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PEAK TIME
The output of a second order under-damped system
excited by a unit step input is given by
e nt
c(t )  1  sin(d t   )
1  2

Peak time is defined as the time at which the

maximum value of magnitude occurs

Therefore, at t  t p slope of c(t) must be zero

nt nt
dc(t ) e e
|t t p   cos(d t   ).d  sin(d t   ) (n ) |t t p  0
dt 1  2 1  2
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n sin(d t p   )  n 1   2 cos(d t p   )  0

 sin(d t p   )  1   2 cos(d t p   )  0 1

cos  sin(d t p   )  sin  cos(d t p   )  0 ξ

sin(d t p     )  0  sin  d t p  

 
tp  
d n 1   2
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PEAK OVERSHOOT
e nt
c(t )  1  sin(d t   )
1  2

The peak overshoot is the difference between the peak value

and the reference input. Therefore,
 e nt 
Mp  c(t p )  1  1   sin(d t p   )   1
 1   2


n t p
e
 sin(d t p   )
1  2

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
n
e n 1 2
  
 sin  d  
1  2  d 


1 2
e
   sin  
1  2

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SETTLING TIME
ent
c(t )  1  sin(d t   )
1  2

Assuming ξ to be small
4 4
ts  4T   2% criterion
 n
3 3
ts  3T   5% criterion
 n
The equations for obtaining are valid only for the standard second order system

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STEADY STATE ERROR

ent
c(t )  1  sin(d t   )
1  2

 ent 
ess  Lt e(t )  Lt [1  c(t )]  Lt  sin(d t   )   0
t  t  t 
 1   2 

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Numericals
1)The closed loop transfer function of certain second order unity
feedback system is given below. Determine the type of damping in the system
C ( s) 8
 2
R( s) s  3s  8

Solution
Comparing the given transfer functions with the standard form of the
transfer function of a second order system
C ( s) 8 n2
 2  2
R( s) s  3s  8 s  2n s  n2

3
3
 8
2
n  8  2.82 2n  3     0.53
n
2n 2  2.82

 1 Hence it is an under damped system

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Numericals
2)The closed loop transfer function of certain second order unity
feedback system is given below. Determine the type of damping in the system
C ( s) 2
 2
Solution
R( s) s  4
Comparing the given transfer functions with the standard form of the
transfer function of a second order system
C (s) 2 n2
 2  2
R( s) s  4 s  2n s  n2

n2  4 n  2 2n  0  0
  0 Hence it is an undamped system

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Numericals
3) Measurements conducted on a servomechanism show the
system response to be

when subjected to step input of magnitude 2. Determine the undamped

natural frequency and damping ratio.

Solution

Taking Laplace transform of the above equation we get

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For step input

Therefore

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Comparing with standard second order system equation

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4) Obtain the response of a unity feedback system whose open

loop transfer function is for a unit step input
3
G( s) 
s( s  4)
Solution
3
C ( s)

G( s) s ( s  4)
R( s ) 1  G ( s)

3
1
s ( s  4)
3 3
 2 
s  4s  3 ( s  1)( s  3)
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1
For a unit-step input, r(t)=1. Therefore R( s) 
s

3 1
3 1 2 2
C ( s)    
s( s  1)( s  3) s s 1 s  3

Taking the inverse Laplace transform, the response is

3 t 1 3t
c(t )  1  e  e
2 2
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5) What is the response of the system for a unit-step input with

Solution
The closed loop transfer function of the system is
10
C ( s) s ( s  3) 10
  2
R( s ) 1  10  (0.1s  1) s  4 s  10
s ( s  3)
1
For a unit step input R( s) 
s
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1 10 A Bs  C
C ( s)   2   2
s s  4s  10 s s  4s  10

1 s4
  2
s s  4s  10
1 s2 2 6
   .
s ( s  2) 2  ( 6) 2 6 ( s  2) 2  ( 6) 2

Taking the inverse Laplace transform, the response is

2 t 2 2t
c(t )  1  e cos 6t  e sin 6t
6

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4
6)The open loop transfer function of a unity feedback system is G ( s ) 
s ( s  1)
Determine the nature of response of the closed loop system for a unit step input.
Also determine the rise time, peak time, peak overshoot and settling time

Solution 4
C ( s) s ( s  1) 4
The closed loop transfer function is   2
R( s) 1  4 s s4
s ( s  1)
Comparing it with the standard form of the closed loop transfer function
of a second order system
C ( s) 4 n2
 2  2
R( s) s  s  4 s  2n s  n2
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11
 4
2
n  2 rad/s 2n  1    0.25
n
2n 2  2

d  n 1   2  2  1  0.252  1.936 rad/s

1  2 1  0.252
  tan 1  tan 1  1.310
 0.25
   3.141  1.310
The rise time tr    0.945s
d 1.936

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 3.141
The peak time in sec tp    1.622s
d 1.936

1 2
The peak overshoot Mp e = 0.4326

Therefore, percentage of peak overshoot is M p 100%  43.26%

3 3
The settling time for 5% error is ts    6 sec
n 0.25  2
4 4
ts    8 sec
The settling time for 2% error is n 0.25  2

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7) A unity feedback system is characterized by an open-loop transfer

function
K
G (s) 
s( s  10)
Determine the gain K so that the system will have a damping ratio of 0.5.
For this value of K, determine the settling time, peak overshoot and time
to peak overshoot for a unit step input
Solution
The closed loop transfer function of the given feedback system is
K
C (s) G(s) s ( s  10) K
   2
R( s) 1  G ( s) 1  K s  10s  K
s ( s  10)
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Comparing it with the standard form of the transfer function

of the second order system, we have

C ( s) K n2
 2  2
R( s) s  10s  K s  2n s  n2

n2  K n  K 2n  10
2  0.5  n  10 n  10

K  n2  102  100

So the gain K=100 so that the system will have a damping ratio of 0.5

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The settling time for 2% criterion is

4 4
ts    0.8s
n 0.5 10

The settling time for 5% criterion is

3 3
ts    0.6s
n 0.5 10
The peak overshoot is

%M p  M p 100  0.163 100  16.3%

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The peak time

 
tp  
d n 1   2

3.14
  0.363s
10  1  0.52

The time to peak overshoot is t p  0.363s

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8) A second order system is represented by a

transfer function given below
Q0 ( s ) 1

T ( s) Js 2  fs  K

where
Q0 ( s) the proportional to output and T is is the torque
input. A step input 10 N-m is applied to the system and the
test results are given below

Peak overshoot M p =6% Peak time tp =1s

The steady state output of the system is 0.5 radian

Determine the values of J, K and f.
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10
Given, the input torque T is a step of 10 N-m. Therefore T ( s) 
s
T ( s) 10
Q0 ( s)  
Js 2  fs  K s ( Js 2  fs  K )

The steady state value of output = Lt sQ0 (s)

s 0

10
0.5  Lt s.
s 0 s( Js 2  fs  K )

10
0.5  K  20
K

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Given the peak overshoot M p  6%  0.06


1 2
0.06  e

  0.667

Given that peak time t p  1s

 
1 
d n 1   2

n  4.21 rad/s

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Comparing the given equation with the standard form of

characteristic equation of a second-order system

f K
s  s   s 2  2n s  n2  0
2

J J

K K 20
n2  J 2  1.128kg  m 2
J n 4.212
f
2n 
J

f  2n J  2  0.667  4.211.128  6.34 N  m / rad / s

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Steady State Error of Unity Feedback Systems

The closed-loop transfer function is

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For Unity feedback system

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Static Position Error Constant (Kp)

The steady-state error of the system for a unit-step input is

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The static position error constant Kp is defined by

The steady state error for step input is

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Static Velocity Error Constant (K v)

• The steady-state error of the system for a unit-ramp

input is

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• The static velocity error constant K v is defined by

• Thus, the steady-state error for a ramp input is

given by

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Static Acceleration Error Constant (Ka)

• The steady-state error of the system for parabolic

input is

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• The static acceleration error constant Ka is defined

by

• Thus, the steady-state error for parabolic input is

given by

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TYPE and ORDER of a system

For N=0 there is no pole at origin and the system is

referred as TYPE 0 system.

If N=1 the system is referred as TYPE 1 system etc.

The highest degree of the characteristic polynomial

gives the order of the system
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• For a Type 0 system

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• For a Type 0 system

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• For a Type 1 system

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• For a Type 1 system

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• For a Type 2 system

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For a Type 2 system

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STEADY STATE ERROR

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1) For a closed loop system whose open loop transfer function

Find the steady state error when the input is

Solution
For

Steady state error Ess=

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For

=5

Steady state error Ess =

For

=0

Steady state error Ess =

Total steady state error = 0 + 0.4 + =

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2)The block diagram of a unity feedback control system

with
inner output derivative feedback is shown below.

i)Calculate the steady state error for unit ramp input.

ii) choose the value of K such that the unit step response of
the system has no over shoot and yet it is as fast as
possible

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Solution
The forward transfer function with inner loop

Steady state error for unit ramp input 1/Kv

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Closed loop transfer function is

For no overshoot

For fast response

K=0.2

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Controllers
Control systems are designed to meet three time
response specifications
Steady state accuracy
Peak overshoot to step input (damping factor)
Settling time
It can be proved that to meet these specifications a
second order system needs to modified.
This modification is termed as compensation

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In the proportional control algorithm, the controller output is

proportional to the error signal, which is the difference between
the reference signal and the feedback signal

If the input error variable, e(t) the output of the controller p(t) is

p(t) = Kp*e(t)

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Therefore it increases the forward gain of the system

Hence it increases the natural undamped frequency
but decreases damping ratio ξ

Therefore the
steady state accuracy improves, but the
transient response becomes more oscillatory
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Proportional plus Derivative Control

The controller output is equal to proportional plus
derivative of the error signal
Kp*e(t) + Kd*de(t)/dt

Taking Laplace transform of above equation gives

The effect of Increasing the coefficient of s term in

equation, which increases the damping of the system

Hence the transient performance improves

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The effect of Increasing the coefficient of s term in equation,

which increases the damping of the system

Hence the transient performance improves

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Proportional plus Integral controller Control

The controller output is equal to proportional plus
integral of the error signal
Kp*e(t) + Ki*∫e(t)dt

Taking Laplace transform of above equation gives

Integral error compensation increases the order of the system

.
If the system forward path has type-1 T.F , the Integral
compensator changes it to type 2 system.
Hence Improves the steady state accuracy
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PID Controller

In General the effects of dynamic performance caused by

PID controller is not obvious

If G(s) is second order system Introduction of controller

converts the characteristic equation to third order.

Certain values of Kp, Kd,Ki may cause Instability in the

system
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In General the effects of increasing parameters is:

Parameter: Rise Time Overshoot Settling Time S.S.Error

Kp Decrease Increase Small Change Decrease
Ki Decrease Increase Increase Eliminate
Kd Small Change Decrease Decrease None

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