UNIT II – TIME RESPONSE

Time response – Time domain specifications – Types of test input – I and II

order system response – Error coefficients – Generalized error series – Steady
state error – Root locus construction- Effects of P, PI, PID modes of feedback
control –Time response analysis.

1. Time response:

2. Types of test input:

3. I and II order system response:
4. Time domain specifications:
Example:
 5. Error coefficients:
Error is defined as the deviation between the process response C(s) and the reference signal
R(s). It is classified as follows:

(a) Steady state error:

 (b) Generalized error series
It is also known as the dynamic error co-efficient.
R( s )
Let E( s ) 
1  G( s )H ( s )
*Along with the above said errors, the errors, such as Positional Error, Velocity Error and
Acceleration Error are also used to analyse the performance the system.

 Positional Error K p  Lim G( s )H ( s )

s0
 Velocity Error K v  Lim sG( s )H ( s )
s0
 Acceleration Error K a  Lim s 2 G( s )H ( s )
s 0

Relationship between Kp, Kv, Ka and ess based on type of the system:

Example:
6. Root locus construction
Example:
7. Effects of P, PI, PID modes of feedback control
 Example:

8. Time response analysis:

Time response is defined as the response of the system with respect to time [C(t)].

Examples: