Tripoli University Department of Electrical &

Electronic Engineering

Time&Frequency Domain Specification

Dr. Mahmoud Elfandi

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Time and frequency domain
specification

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 Time domain specification parameters

Maximum Peak time, tp Rise Delay Settling Settling

Overshoot Mp(%) (sec) time, tr time, time ts time ts
(sec) td (sec) (2%) sec (5%) sec

Frequency domain specification parameters

GM(dB) PM(deg) BW(rad/sec) Gain CO (rad/sec) Phase CO

(rad/sec)

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 Definitions of transient-response
specification
• In specifying the transient-response
characteristics of control system to unit step
response , it is common to specify the
following

• Delay time , td : The time required

to reach 50% of final value

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• Peak time, tp : The time required to
reach the first peak of the overshoot.

• Maximum overshoot, Mp : is the

maximum peak value .
C (t p )  C ()
Mp  x 100 %
C ()

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Settling time, ts : The time required for
response to reach and stay within a
range about the final value ( Usually
about 2% or 5%)

Rise time, tr : The time required to rise from

10% to 90 % , 5 % to 95 % or 0 % to 100 %
of its final value. For underdamped system
0% to 100% is used .

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• Peak Time  
tp  
d n 1   2

• Maximum overshoot

   
  
  2
 
Mp e  d  *100 %  e 1
*100 %

Rise Time : this can be approximated by

0.8  2.5
tr 
n

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• Settling time

• For 2 % criterion
4
ts 
 n

• For 5 % criterion
3
ts 
 n

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 Second order response
• The general form of second order system can be written as
C ( s)  2n  2n
 
R( s) s 2  2 n s   2 n s 2  2 s   2 n

– Where  is called the attenuation or damping factor;

– ωn the Undamped natural frequency;
–  the damping ratio

• The dynamic behavior of the second – order system can be described in terms of two parameters
 and ωn
• There are four cases
• No damped system (  = 0) the response is sinusoidal .
• Under damped ( if 0 <  < 1) the transient response is oscillatory
• Critical damped if (  = 1 ) the transient response does not oscillate
• Overdamped ( If  > 1) the transient response does not oscillate

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

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

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Maximum overshoot

Settling time  2
n

Rise Time

s  2 n s  
2 2
n
Peak
Time
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 First-Order Systems
td s
ke
G(s) 
 s 1

First-Order
Systems

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First-Order Systems

First-Order
Systems

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First-Order Systems

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First-Order Systems

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First-Order Systems

First-Order
Systems

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Tr  2.2   Tr / 2.2

Ts  4   4 Ts
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 Frequency domain specifications

GM(dB) PM(deg) BW(rad/sec) Gain CO (rad/sec) Phase CO

(rad/sec)

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GM and PM via Bode
Plot
gain crossover frequency

Gain margin

Phase margin

phase crossover frequency

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Gain margin

Gain crossover

Phase crossover

Phase margin
• For a stable minimum-phase system, GM/PM indicates
how much gain/phase can be increased before the
system becomes unstable
• For an unstable system, GM/PM is indicative of how
much gain/phase must be decreased to make the
system stable.
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• Gain Margin GM : is the inverse of the magnitude at ω= ω1, where ω1is the
frequency at which the phase of the open loop T.F with unity feedback = -180

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GM 
G ( j )  
1
• Gain crossover frequency ωc : it is the frequency at which the magnitude of
the open-loop T.F =1

G( j)  c  1
• Phase margin m : is that amount of additional phase at the gain crossover
frequency required to bring the system phase = -180

m  180  G( jc)

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• Bandwidth BW :
is the frequency at which the magnitude drops
to 70.7 % of or 3 dB down from , its zero-
frequency value.

In general, the bandwidth gives an indication of

the transient response properties. A large
BW corresponds to a fast rise time


BW  n 1  2 2
   4  2
4 2

1
2

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 
 2
n

s  2 n s  
2 2
n

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Maximum overshoot

n
Settling time
2

Rise Time

Peak
Time
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First order systems with time delay

Pade' approximation
where

is ystem output delay

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First rder Pade Approximation

Second rder Pade Approximation

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3First order systems with time delay

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