Time domain performance and frequency

Responses
 Open loop and closed loop systems
• Open Loop Control System
In open loop control system, the output does not affect the control action of the system. In other words, the system whose working depends on
time is known as the open loop control system. The open loop system is free from the feedback.

• Closed Loop Control System

The closed-loop control system means the output of the system depends on their input. The system has one or more feedback loops between
its output and input. The closed-loop system design in such a way that they automatically provide the desired output by comparing it with the
actual input. The closed-loop system generates the error signal which is the difference between the input and output.
 Time domain performance
• In a control system, there may be some energy storing elements attached to it. Energy storing elements are generally inductors and
capacitors in case of an electrical system. Due to the presence of these energy storing elements, if the energy state of the system is
disturbed, it will take a certain time to change from one energy state to another. The exact time taken by the system for changing one
energy state to another is known as transient time and the value and pattern voltages and currents during this period are known as the
transient response.
• A transient response is normally associated with an oscillation, which may be sustained or decaying in nature. The exact nature of the
system depends upon the parameters of the system. Any system can be represented with a linear differential equation. The solution of
this linear differential equation gives the response of the system. The representation of a control system by a linear differential equation
of functions of time and its solution is collectively called time domain analysis of the control system.
 WHAT IS A FREQUENCY
RESPONSE?
• The response of a system can be partitioned into both the transient response and the steady state response. We can find the transient
response by using Fourier integrals. The steady state response of a system for an input sinusoidal signal is known as the frequency
response. In this chapter, we will focus only on the steady state response.
• If a sinusoidal signal is applied as an input to a Linear Time-Invariant (LTI) system, then it produces the steady state output, which is
also a sinusoidal signal. The input and output sinusoidal signals have the same frequency, but different amplitudes and phase angles.
• Let the input signal be −

• The open loop transfer function will be −

• We can represent in terms of magnitude and phase as shown below.

• Substitute, in the above equation.

• The output signal is

Where,
A is the amplitude of the input sinusoidal signal.

ω0 is angular frequency of the input sinusoidal signal.

 CORRELATION OF TIME DOMAIN PERFORMANCE
AND FREQUENCY RESPONSES OF OPEN AND
CLOSED LOOP SYSTEMS
• Presented are the relationships between the transient response characteristics of a closed ‐loop system due to a step input and the
frequency response characteristics which influence this response. The class of transfer functions addressed include those which
are RH2. The relationships developed are for the problem:

• Given : Y(s)=H(s)R(s) where H(s)∈RH2 and R(s) is γs.

Find : The relationship ∥y(t)∥∞⩽Λγ∥H(jω)∥∞ where the scaling factor Λ is a function of the frequency‐domain characteristics of H(s).
• These relationships are useful for feedback control in that hard time ‐domain constraints can be enforced as amplitude and phase
conditions on the open‐loop transfer function. Two applications using these relationships are developed. The first application
demonstrates controller design for an actuator saturation constraint. The second application is the development of a performance
prediction technique for minimum phase, stable regulating systems.