REGULATION AND CONTROL

TIME DOMAIN ANALYSIS

By Tewedage Sileshi
Summary from last classes

 Transfer functions

 Block Diagram

 Signal Flow Graph

Goal for this lecture

 Time domain analysis

 Time domain analysis of 1st order systems

 Time domain analysis of 2nd order systems

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.
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.

 Cont’d
 Impulse signal
 The impulse signal imitate the sudden shock δ(t)
characteristic of actual input signal.

A t0
 (t )  
0 t0 t
0
 If A=1, the impulse signal is called unit impulse
signal.
 Cont’d
 Impulse signal
 Cont’d

 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

 Cont’d
r(t)

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

r(t)
 If A=1, the ramp signal is called unit
ramp signal
unit ramp signal
 Cont’d

 Parabolic signal
 The parabolic signal imitate the p(t)
constant 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.
Relation between standard Test Signals
A t0 d
Impulse  (t )  
 0 t0 dt

A t0 d
Step u( t )  
0 t0
 dt
 At t0
r (t )   d
Ramp 0 t0
dt
  At 2
 t0
p( t )   2
Parabolic 0 t0

Laplace Transform of Test Signals
A t0
Impulse  (t )  
0 t0

L{ (t )}   ( s )  A

A t0
Step u( t )  
0 t0

A
L{u(t )}  U ( s ) 
S
 Cont’d
 At t0
r (t )  
Ramp 0 t0

A
L{r (t )}  R( s )  2
s
 At 2
 t0
Parabolic p( t )   2
0 t0

2A
L{ p(t )}  P( s )  3
S
 Table 3.1 Laplace Transforms for Various Time-Domain Functions

f(t) F(s)
Chapter 3
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
 Steady-state response.
 Cont’d
 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.  6
-3
x 10 Step Response

Step Input

Steady State Response

5
 The response of the system after the
4

transient response is called steady state Response

Amplitude
3
Transient Response
response. 2

0
 Cont’d

 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.

TIME DOMAIN ANALYSIS OF 1ST ORDER SYSTEMS
Introduction

 The first order system has only one pole.

C( s ) K Vo ( s ) 1
 
R( s ) Ts  1 Vi ( s ) 1  RCs
 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.
Example
 For the first order system given below
10
G( s ) 
3s  1
 D.C gain is 10 and time constant is 3 seconds.

 And for following system

3 3/ 5
G( s )  
s  5 1 / 5s  1

 D.C Gain of the system is 3/5 and time constant is 1/5 seconds.
Impulse Response of 1st Order System
 Consider the following 1st order system

δ(t)

K
1 R(s ) C (s )
Ts  1
t
0

R( s )   ( s )  1

K
C( s ) 
Ts  1
 Cont’d
K
C( s ) 
Ts  1

K /T
C( s ) 
s  1/ T
 In order to represent the response of the system in time domain we need to
 Re-arrange above equation as
compute inverse Laplace transform of the above equation.

 A  K t / T
1
L    Ae
 at
c(t )  e
sa T
 Cont’d
K/T*exp(-t/T)
1.5

1
• If K=3 and T=2s then

c(t)
3 t / 2
c(t )  e 0.5
2

0
0 2 4 6 8 10
Time
Step Response of 1st Order System

K
R(s ) C (s )
Ts  1
 Consider the following 1st order system
1
R( s )  U ( s ) 
s
K
C( 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 Natural Response
K KT
C( s )  
s Ts  1
 Cont’d
1 T 
C( s )  K   
 s Ts  1 


c(t )  K u(t )  e t / T 
 
 Taking Inverse
• Where Laplace of above equation
u(t)=1
c(t )  K 1  e t / T

 
• When t = T
c(t )  K 1  e 1  0.632K
 Cont’d
K*(1-exp(-t/T))
11

10

9 Step Response

8 steady state output 10

• If K=10 and T=1.5s then D.C Gain  K  
7 Input 1
6 63%

 
c(t)
5
 t / 1.5
c(t )  10 1  e 4

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time
 Cont’d
K*(1-exp(-t/T))
11

10
T=1s
9

• If K=10 and T=1, 3, 5, 7 8 T=3s

7
T=5s


c(t )  K 1  e t / T
 6

c(t)
5 T=7s

4
3
2
1
0
0 5 10 15
 Cont’d

 System takes five time constants to reach

its final value.
 Cont’d
K*(1-exp(-t/T))
11
10
K=10
9

• If K=1, 3, 5, 10 and T=1 7

6
K=5

c(t)
 
5
c(t )  K 1  e t / T 4
K=3
3

2
K=1
1

0
0 5 10 15
Time
Relation Between Step and impulse response
 The step response of the first order system is

 
c(t )  K 1  e t / T  K  Ke t / T
 Differentiating c(t) with respect to t yields

dc(t ) d
dt

dt

K  Ke t / T 
dc(t ) K t / T
 e (impulse response)
dt T
Example#1

 Impulse response of a 1st order system is given below.

0. 5t
c(t )  3e
 Find out
 Time constant T
 D.C Gain K
 Transfer Function
 Step Response
 Cont’d
 The Laplace Transform of Impulse response of a system is actually the transfer
function of the system.
 Therefore taking Laplace Transform of the impulse response given by following
equation.
c(t )  3e 0.5t
3 3
C( s )  1    (s)
S  0. 5 S  0. 5
C( s ) C( s ) 3
 
 ( s ) R( s ) S  0. 5
C( s ) 6

R( s ) 2 S  1
 Cont’d

 Impulse response of a 1st order system is given below.

0.5t
c(t )  3e
 Find out
 Time constant T=2
 D.C Gain K=6
C( s ) 6
 Transfer Function 
R( s ) 2S  1
 Step Response
 Also Draw the Step response on your notebook
 Cont’d

 For step response integrate impulse0response

c(t )  3e .5t
0.5t
 c( t )dt  3 e dt

c s (t )  6e 0.5t  C
 We can find out C if initial condition is known e.g. cs(0)=0
0  6e 0.50  C
C6
c s (t )  6  6e 0.5t
 Cont’d
 If initial Conditions are not known then partial fraction expansion is a
better choice C( s ) 6

R( s ) 2 S  1
1
since R( s ) is a step input , R( s ) 
s
6
C( s ) 
s  2 S  1
6 A B
 
s 2 S  1 s 2 s  1
6 6 6
 
s  2 S  1 s s  0.5

c(t )  6  6e 0.5t
Ramp Response of 1st Order System

K
R(s ) C (s )
Ts  1

1
R( s ) 
s2
K
C( s ) 
s 2  Ts  1
• The ramp response is given as


c(t )  K t  T  Te t / T 
 Cont’d
Unit Ramp Response

10
Unit Ramp
Ramp Response
8
• If K=1 and T=1
6

 

c(t)
c(t )  t  1  e  t
4
error
2

0
0 5 10 15
Time
 Cont’d
Unit Ramp Response

10 Unit Ramp
Ramp Response
8
• If K=1 and T=3

 
6

c(t)
c(t )  t  3  3e  t / 3
4

2 error

0
0 5 10 15
Time
Parabolic Response of 1st Order System

K
R(s ) C (s )
Ts  1

1 K
R( s )  Therefore, C( s ) 
s 3
s 3  Ts  1

• Do it yourself
Practical Determination of Transfer Function of 1st Order
Systems

 Often it is not possible or practical to obtain a system's transfer function analytically.

 Perhaps the system is closed, and the component parts are not easily identifiable.

 The system's step response can lead to a representation even though the inner
construction is not known.

 With a step input, we can measure the time constant and the steady-state value, from
which the transfer function can be calculated.
 Cont’d

 If we can identify T and K from laboratory testing we can obtain the transfer
function of the system.

C( s ) K

R( s ) Ts  1
 Cont’d
 For example, assume the unit
step response given in figure.
K=0.72
 From the response, we can
measure the time constant, that C( s ) 5
is, the time for the amplitude to 
R( s ) s  7
reach 63% of its final value.
 Since the final value is about T=0.13s
0.72 the time constant is
evaluated where the curve
reaches 0.63 x 0.72 = 0.45, or • Thus transfer function is
about 0.13 second. obtained as:
C( s ) 0.72 5. 5
 K is simply steady state value.  
R( s ) 0.13s  1 s  7.7
1st Order System with a Zero
C ( s ) K (1  s )

R( s ) Ts  1
 Zero of the system lie at -1/α and pole at -1/T.
 Step response of the system would be:
K (1  s )
C( s ) 
s  Ts  1
K K (  T )
C( s )  
Ts  1
Partial Fractions
s
K
c(t )  K  (  T )e t / T Inverse Laplace
T
1st Order System with & W/O Zero (Comparison)
C( s ) K C ( s ) K (1  s )
 
R( s ) Ts  1 R( s ) Ts  1

 t / T
c(t )  K 1  e  K
c(t )  K  (  T )e t / T
T
 If T>α the shape of the step response is approximately same (with offset
added by zero)
K
c(t )  K  (  n )e t / T
T
 n t / T 
c(t )  K 1  e 
 T 
 Cont’d
Unit Step Response
10
• If T>α the response of the system would look like
9.5

C ( s ) 10(1  2s ) 9

R( s ) 3s  1 8.5

c(t)
8

10
c(t )  10  ( 2  3)e t / 3 7.5
3
7 offset
6.5
0 5 10 15
Time
  𝐾
𝑜𝑓𝑓𝑠𝑒𝑡 =𝐾+ (𝛼 −𝑇 )
𝑇
 Cont’d

Unit Step Response of 1st Order Systems with Zeros

14
• If T<α the response of the system would look like
13

C ( s ) 10(1  2s )

1. 5s  1

Unit Step Response

R( s ) 12

11
10
c(t )  10  ( 2  1)e t / 1.5
1. 5
10

9
0 5 10 15
Time
 Unit Step Response of 1st Order Systems with Zeros
14 Cont’d
13

12
Unit Step Response

11
T 
10

9 T 
8

6
0 5 10 15
Time
 Unit Step Response of 1st Order Systems
14 Cont’d
12 T 

10
Unit Step Response

T 
8

6
1st Order System Without Zero
4

0
0 2 4 6 8 10
Time
Home Work

 Find out the impulse, step, ramp and parabolic response of the system
given below.
C ( s ) K (1  s )

R( s ) Ts  1
Example #2

 A thermometer requires 1 min to indicate 98% of the response to a step

input. Assuming the thermometer to be a first-order system, find the time
constant.

 If the thermometer is placed in a bath, the temperature of which is

changing linearly at a rate of 10°C/min, how much error does the
thermometer show?
PZ-map and Step Response

jω
C( s ) K

R( s ) Ts  1

T  1s
C( s ) 10
 δ
R( s ) s  1 -3 -2 -1
 Cont’d
jω
C( s ) K

R( s ) Ts  1

T  0. 5s
C( s ) 10
 δ
R( s ) s  2 -3 -2 -1

C( s ) 5

R( s ) 0. 5s  1
 Cont’d

jω
C( s ) K

R( s ) Ts  1

T  0. 33s
C( s ) 10
 δ
R( s ) s  3 -3 -2 -1

C( s ) 3. 3

R( s ) 0. 33s  1
Comparison
C( s ) 1 C( s ) 1
 
R( s ) s  1 R( s ) s  10
Step Response Step Response
1 0.1

0.8 0.08

0.6 0.06
Amplitude

Amplitude
0.4 0.04

0.2 0.02

0 0
0 1 2 3 4 5 6 0 0.1 0.2 0.3 0.4 0.5 0.6
Time (sec) Time (sec)
First Order System With Delays

 Following transfer function represents the 1st order system with time lag.

C( s ) K  std
 e
R( s ) Ts  1

 Where td is the delay time.

 Cont’d

C( s ) K
 e  std
R( s ) Ts  1

Unit Step
Step Response

t
td
 Cont’d
Step Response

10
K  10

C( s ) 10  2 s
 e 6
R( s ) 3s  1

Amplitude
4

2
t d  2s
T  3s
0

0 5 10 15
Time (sec)
Examples of First Order Systems

Ra La
B
ia
 Armature Controlled D.C Motor (La=0) u eb T J

nt
sta
c on
Vf
=

Ω(s)

 K t Ra 
U(s) Js   B  K t K b Ra 
Examples of First Order Systems

 Electrical System

Eo ( s ) 1

Ei ( s ) RCs  1
Examples of First Order Systems

 Mechanical System

X o (s) 1

X i (s) b
s 1
k
Examples of First Order Systems

 Cruise Control of vehicle

V (s) 1

U ( s ) ms  b
TIME DOMAIN ANALYSIS OF 2ND ORDER SYSTEMS
Introduction
 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 analysed 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.
 Cont’d
 A general second-order system (without zeros) is characterized by the following
transfer function.

n2
G(s)  Open-Loop Transfer Function
s ( s  2 n )
C( s )  n2
 2 Closed-Loop Transfer Function
R( s ) s  2 n s   n2
 Cont’d

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.

n  un-damped natural frequency of the second order system, which

is the frequency of oscillation of the system without damping.
Example #1
 Determine the un-damped natural frequency and damping ratio of the following
second order system.
C( s ) 4
 2
R( s ) s  2 s  4
 Compare the numerator and denominator of the given transfer function with the
general 2nd order transfer function.
C( s )  n2
 2
R( s ) s  2 n s   n2
 n2  4   n  2 rad / sec  2 n s  2s
  n  1
s 2  2 n s   n2  s 2  2 s  4
   0. 5
 Cont’d

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

 The closed-loop poles of the system are

  n   n  2  1

  n   n  2  1
 Cont’d
  n   n  2  1

  n   n  2  1
 Depending upon the value of  , a second-order system can be set into one of
the four categories:
jω
1. Overdamped - when the system has two real distinct poles (  >1).

δ
-c -b -a
 Cont’d
  n   n  2  1

  n   n  2  1
 According the value of  , a second-order system can be set into one of the four
categories:
2. Underdamped - when the system has two complex conjugate poles (0 <  <1)
jω

δ
-c -b -a
 Cont’d
  n   n  2  1

  n   n  2  1
 According the value of  , a second-order system can be set into one of the four
categories:
jω
3. Undamped - when the system has two imaginary poles (  = 0).

δ
-c -b -a
 Cont’d
  n   n  2  1

  n   n  2  1
 According the value of  , a second-order system can be set into one of the
four categories:
jω

4. Critically damped - when the system has two real but equal poles ( = 1).

δ
-c -b -a
Time-Domain Specification

 For 0< <1 and ωn > 0, the

2nd order system’s
response due to a unit step
input looks like
 Cont’d

 The delay (td) time is

the time required for
the response to reach
half the final value
the very first time.
 Cont’d
 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. 74
 Cont’d

 The peak time is the time

required for the response
to reach the first peak of
the overshoot.

75
 Cont’d

 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.
 Cont’d

 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%).
S-Plane
 Natural Undamped Frequency.

jω
 Distance from the origin of
s-plane to pole is natural
undamped frequency in n
rad/sec.
δ
 Cont’d
 Let us draw a circle of radius 3 in s-plane.
 If a pole is located anywhere on the circumference of the circle the natural
undamped frequency would be 3 rad/sec.
jω

-3 3
δ

-3
 Cont’d
 Therefore the s-plane is divided into Constant Natural Undamped Frequency (ωn)
Circles. jω

δ
 Cont’d
 Damping ratio.

 Cosine of the angle between jω

vector connecting origin and

pole and –ve real axis yields
damping ratio.

  cos  δ
 Cont’d
 For Underdamped system 0     90 therefore, 0  1

jω

δ
 Cont’d

 For Undamped system   90 therefore,  0

jω

δ
 Cont’d

 For overdamped and critically damped systems  1 therefore,   0

jω

δ
 Cont’d

 Draw a vector connecting origin of s-plane and some point P.

jω
P

45
δ

  cos 45  0. 707

 Cont’d

 Therefore, s-plane is divided into sections of constant damping ratio lines.

jω

δ
Example-2
Pole-Zero Map
1.5
0.91 0.84 0.74 0.6 0.42 0.22

0.96
1

 Determine the natural 0.99

Imaginary Axis (seconds -1)

0.5
frequency and damping
ratio of the poles from 0
4 3.5 3 2.5 2 1.5 1 0.5

the following pz-map.

-0.5
0.99

-1
0.96

0.91 0.84 0.74 0.6 0.42 0.22

-1.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1)
Example-3
Pole-Zero Map
3
3
0.7 0.56 0.42 0.28 0.14
2.5

 Determine the natural 2 0.82

2

frequency and damping ratio 1.5

0.91
of the poles from the given 1

)
1

-1
pz-map. 0.975 0.5

 Also determine the transfer 0

aginaryAxis(seconds
function of the system and 0.975 0.5
-1
state whether system is 1

Im
0.91
underdamped, overdamped, 1.5
-2 0.82
undamped or critically 2

damped. 0.7 0.56 0.42 0.28 0.14

2.5
-3
-3 -2.5 -2 -1.5 -1 -0.5 30 0.5 1 1.5 2
Real Axis (seconds -1)
Example-4

 The natural frequency of closed loop poles 3

Pole-Zero Map
3
0.5 0.38 0.28 0.17 0.08 2.5

of 2nd order system is 2 rad/sec and 2

0.64
2

damping ratio is 0.5. 0.8

1.5

1
1
 Determine the location of closed loop 0.94 0.5

poles so that the damping ratio remains

Imaginary Axis
0

same but the natural undamped frequency 0.94 0.5

-1
1

is doubled. -2
0.8
1.5

2
0.64
0.5 0.38 0.28 0.17 0.08 2.5

 n2
-3
C( s ) 4 -2 -1.5 -1 -0.5 30 0.5 1

 2 2
 2 Real Axis

R( s ) s  2 n s   n s  2s  4
Example-5
Pole-Zero Map
5

4
0.5
3

2
 Determine the location of closed
1
loop poles so that the damping 4 2

aginaryAxis
0
ratio remains same but the
-1
natural undamped frequency is

Im
doubled. -2

-3
0.5
-4

-5
-8 -6 -4 -2 0 2 4
Real Axis
S-Plane

  n   n  2  1

  n   n  2  1

Step Response of underdamped System
C( s )  n2 Step Response n2
 2 C (s) 
R( s ) s  2 n s   n2 s  s 2  2 n s  n2 
 The partial fraction expansion of above equation is given as
1 s  2 n
C( s )   2
s s  2 n s   n2

 n2 1   2 
1 s  2 n
C( s )   2
 s  2 n  2 s s  2 n s   2 n2   n2   2 n2

1 s  2 n
C( s )  

s  s   n  2   n2 1   2 
 Cont’d
1 s  2 n
C( s ) 


s  s   n  2   n2 1   2 
 Above equation can be written as

1 s  2 n
C( s )  
s  s   n  2   d2
 Where d  n 1   2 , is the frequency of transient oscillations and is called
damped natural frequency.
 The inverse Laplace transform of above equation can be obtained easily if C(s) is
written in the following form:
1 s   n  n
C( s )   
s  s   n  2   d2  s   n  2   d2
 Cont’d
1 s   n  n
C( s )   
s  s   n  2   d2  s   n  2   d2

n 1   2
1 s   n 1 2
C( s )   
s  s   n    d
2 2
 s   n  2  d2
1 s   n  d
C( s )   
s  s   n    d
2 2
1 2  s    2   2
n d


c(t )  1  e  nt cos  d t  e  nt sin  d t
1 2
 Cont’d

c(t )  1  e  nt cos  d t  e  nt sin  d t
1 2

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

d  n 1   2
 n

c(t )  1  cos  n t
 Cont’d

  
c(t )  1  e  nt cos  d t  sin  d t  1.8
 1   2 
  1.6

1.4

1.2

if   0. 1 and  n  3 rad / sec 1

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
 Cont’d

   1.4
 n t 
c(t )  1  e cos  d t  sin  d t 
 1 2  1.2
 
1

0.8

if   0.5 and  n  3 rad / sec 0.6

0.4

0.2

0
0 2 4 6 8 10
 Cont’d

  
c(t )  1  e  nt cos  d t  sin  d t  1.4

 1   2 
  1.2

0.8

if   0.9 and  n  3 rad / sec 0.6

0.4

0.2

0
0 2 4 6 8 10
 2
b=0
Cont’d
1.8 b=0.2
b=0.4
1.6
b=0.6
b=0.9
1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
1.4
Cont’d
1.2

0.8
wn=0.5
0.6 wn=1
wn=1.5
wn=2
0.4 wn=2.5

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time Domain Specifications of Underdamped system
Time Domain Specifications (Rise Time)
  
c(t )  1  e  nt 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  n t r  0 0  cos  d t r  sin  d t r 
 1   2 
 
 Cont’d
  
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   

 
 
 Cont’d
 1   2 
 d t r  tan 1   

 
 

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

 
tr  a
d   tan 1
b
Time Domain Specifications (Peak Time)
  
c(t )  1  e  nt 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
  
0  e  nt  n cos  d t  n
sin  d t   d sin  d t  d
cos  d t 
 1   2
1   2 
 
  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 
 
 Cont’d
  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 
 
  2 
 n t 
e 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 
 
 Cont’d
  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   1  100
 t
  1   2  
   

  
   
Put tp  
in above equation M p   e
n
d  cos    
sin  d
 
 100
d   d
d 2 
 d 
  1   
 Cont’d
  n   
 cos       100
M p   e d
 d  sin  d 
 d 1 2  d
  

Put ωd  ωn 1-ζ 2 in above equation

  n  
  
 n 1 2  cos     100
M p   e  sin  
2
  1 

    
 
  1  0   100
2
1
M p   e 1 2
 
Mp e  100
Time Domain Specifications (Settling Time)
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 

  n   n  2  1
1
T 
 n
Real Part Imaginary Part
 Cont’d
 Settling time (2%) criterion
 Time consumed in exponential decay up to 98% of the input.
1
T 
 n
4
t s  4T 
 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

   
tr  
d n 1   2 Peak Time
 
Settling Time (2%) tp  
d  1   2
4 n
t s  4T 
 n
Maximum Overshoot

3 
Settling Time (4%) t s  3T  Mp e
1 2
 100
 n
Example #6

 Consider the system shown in following figure, where damping ratio is 0.6 and natural
undamped frequency is 5 rad/sec. Obtain the rise time tr, peak time tp, maximum
overshoot Mp, and settling time 2% and 5% criterion ts when the system is subjected
to a unit-step input.
 Cont’d
Rise Time

 
tr 
d
3.141  
tr 
n 1   2

2
 1  
  tan 1 ( n )  0.93 rad
 n
3. 141  0. 93
tr   0.55s
5 1  0. 6 2
 Cont’d
Peak Time
Settling Time (2%)
 4
tp  ts 
d  n

3. 141 4
tp   0. 785s ts   1. 33s
4 0. 6  5

Settling Time (4%)

3 3
ts  ts   1s
 n 0. 6  5
 Cont’d

Maximum Overshoot


1 2
Mp e  100

3. 1410. 6

1 0.6 2
Mp e  100
 Step Response
1.4
Cont’d
1.2 Mp

0.8
Amplitude

0.6

0.4

Rise Time
0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time (sec)
Example #7

 For the system shown in Figure, determine the values of gain K and velocity-feedback
constant Kh so that the maximum overshoot in the unit-step response is 0.2 and the
peak time is 1 sec. With these values of K and Kh, obtain the rise time and settling
time. Assume that J=1 kg-m2 and B=1 N-m/rad/sec.
Cont’d
 Cont’d

Since J  1 kgm 2 and B  1 Nm/rad/sec

C (s) K
 2
R ( s ) s  (1  KK h ) s  K
 Comparing above T.F with general 2nd order T.F
C( s )  n2
 2
R( s ) s  2 n s   n2
(1  KK h )
n  K  
2 K
 Cont’d
n  K (1  KK h )
 
• Maximum overshoot is 0.2. 2 K
• The peak time is 1 sec

tp 
d
3.141

 1
ln( e
1 2
)  ln  0. 2  n 1   2
3.141
n 
1  0. 4562
 n  3. 53
 Cont’d

 n  3.96

(1  KK h )
n  K  
2 K
3. 53  K 0. 456  2 12. 5  (1  12. 5K h )

3. 532  K K h  0. 178

K  12. 5
 Cont’d
 n  3. 96

  4
tr  ts 
n 1   2  n

t r  0.65s t s  2. 48s

3
ts 
 n

t s  1.86s
Example #8

 When the system shown in Figure(a) is subjected to a unit-step input, the system
output responds as shown in Figure(b). Determine the values of a and c from the
response curve.

a
s( cs  1)
Example #9
 Given the system shown in following figure, find J and D to yield 20% overshoot
and a settling time of 2 seconds for a step input of torque T(t).
Cont’d
Cont’d
Home Work
 Figure (a) shows a mechanical vibratory system. When 2 lb of force (step input) is
applied to the system, the mass oscillates, as shown in Figure (b). Determine m, b,
and k of the system from this response curve.
Step Response of critically damped System

C( s )  n2 Step Response  n2
 C( s ) 
R( s )  s   n  2 s s   n 
2

• The partial fraction expansion of above equation is given as

 n2 A B C
  
s s   n  s s  n  s  n  2
2

1 1 n
C( s )   
s s  n  s  n  2
c(t )  1  e nt   n e  nt t c(t )  1  e nt 1   n t 
Step Response of overdamped

 Home Work
Summary from last classes

 Time domain analysis

 Time domain analysis of 1st order systems

 Time domain analysis of 2nd order systems

Goal for next lectures

 Steady state error

 Root-Locus

 Routh-Hurwitz stability criteria