Time Response Analysis

Introduction: A feedback control system has the inherent capability that its parameters can be
adjusted to alter both its transient and steady state behavior.
Before proceeding with the time response analysis of a control system, it is necessary to test the
stability of the system, in case the system happens to be unstable, we need not proceed with its
transient response analysis.
Any system to be used in practical application should undergo testing so that performance parameters
will be known.
Properties of Test Signals:
Test signals should be selected such that it severely strain the system & if the system
parameters meet the specification under text signals (extreme possible cases) then we can use the
system in applications otherwise can opt for compensation to meet the specifications.
Generally in control systems test signals used is a sudden shock, a sudden change a constant
velocity and a constant acceleration.
Hence the system dynamic behavior for analysis and design therefore judged and compared
under application of standard test signals used are a sudden shock, a sudden change a constant
velocity and a constant acceleration.
Hence the system dynamic behavior for analysis and design therefore judged and compared
under application of standard test signals an impulse.
A step, a constant velocity (ramp i/p) and constant acceleration.
It is sufficient to analyze the transient response to one of the standard test signals generally step (easy
to generate)
Standard Test Signals
i)

Step is a signal whose value changes from one level to another level A in zero time.
R(t) = A. u(t)
U(t) = 1 + > 0
= 0 +<0
L.T (u(+)) = R(s) =

A
S

time

ii) Unit Ramp Signal:

The ramp is a signal which starts at a value of zero and increased linearly with time

R (+) = A+

t>0
=0

t<0

R(s) =
III)

Parabolic Signal

R (t) = A.
=0

t>0
t<0

R(s) =

iv) Impulse Signal:A unit impulse is defined as a signal which as zero value everywhere except at t = 0, where its
magnitude is infinity.

Mathematically

Time Response of a First order System

Let us consider a unity feedback system with block diagram

(Block Diagram) Response to Unit step :-

R (s) =

substitute in above dice

C(t) =

C(t) = 1 e-t/T

( Initial slope)

Error = r (t) - C (t)

= e-+/T
Let e(+) = 0
Steady state error ces = +
steady state error = 0.
Response to Unit Ramp:

for ramp i/p

The first order system under consideration will track the i/p with steady state error T, Which is
equal to the time constant of the system.

Time Response of Second order System

In general second order Systems are rare in practice, their analysis generally help to form a
basis for the understanding of analysis and design of higher order systems, especially the ones that
can be approximated by second order system.
(Block Diagram)

For a unit step

R (s) = . The output response of the system is obtained by taking the inverse
Laplace Transform of the O/P T/F.

Significance of Damping ratio / Damping factor

Consider the roots of characteristic (1+GH = 0)

Equation as

appears as constant & in multiplied with + in equation (1) exponential term. Therefore
controls the rise or decay of the unit step response y (t). In other words
also called damping constant.

controls the damping and

Damping ratio =
Natural Undamped frequency:-

When
. The damping is zero, the unit step response is purely sinusoidal. Therefore,
corresponds to frequency of the undamped sinusoidal response.
(Block Diagram)

As

increases, the response becomes progressively less oscillatory.

Time Response Specifications

Higher order system (generally practical system) usually have a pair of complex conjugate
poles with damping less them one which dominate over the other poles. Therefore the time response
of second & higher order control systems to a step i/p is generally of damped oscillatory nature.
The performance indices (Ex : rise time, peak
qualitatively related to

one short, peak time, setting time etc)

How fast the system money to follow i/p?

How oscillatory it is (indicating to damping)
How long does it takes to practically reach the final value.

1. Delay time: It is the time required for the response to reach 50% of the final value in the first
attempt
2. Rise time: It is the time required for the response to rise from 0% to 100% of the final value for
the under damped system (0<

<1).

3. Peak one shoot (Mp):- It indicate the normalized difference between the time response peak &
steady o/p and is defined as

4. Setting time (ts) :- It is the time required for the response to reach & stay within a specified
tolerance bend of its final value (Usually 2% or 5%)

5. Steady state Error: It indicate the error between the actual o/p & desired o/p us f tends to
infinity.

Performance parameters of second order system for step

Consider R(s) = 1/s for step i/p

Apply inverse Laplace Transform

C(t) =
Rise Time : - (tr)
Rise time obtained when C(t) reaches unity for the first time.

C(tr) =

Peak Time : - (tp)

=0
1=tp
tp
Unit step response of the second order system

at t = tp

Peak over shoot:

Unit step response of second order system is

at

t=

t = tp

C (tp) =

C (tp) =
3

C (tp) =

Settling Time (ts)

Considering only exponential decay is envelope for a tolerance

2% band

band of 2%, the settling time is given by

for least value of

= 0.02

=3T for 5%
Steady State Errors & Error constants:
Steady errors constitute cum extremely important aspect of system performance, for it would
be meaningless to design for dynamic accuracy if the steady % differed substantially from desired
value for one reasons / other.

for unit f/b

Now, Steady state end calculation (Final value theorem)

ess =

Applying difference in i/p signals & calculate ess

Unit step i/p
R(s) =

Css =
Kp = Position error constant.
Now change the type of the system
Type represents the no. of poles located at the origin.
Type O

Kp =

KV =

Ka =
Css =
Type 1

Kp =

=
Css =0

KV =

=
= Cos t
Css =Cos t

Ka =

=
=0
Css =
Steady state error when i/p is
Steady State Error when i/p is
Type No.

Step

Ramp

Pazaboric

0
1

So as type of the system increased the more number of errors constants

becomes zero but at the cost of dynamic behavior of the system. So it is
limitation in adding poles at origin.
Response with proportional integral & proportional derivative controller
In feedback control system a controller may b introduced to modify the
error signal and to achieve better control action. The introduction of controllers
will modify the transient & steady state error of the system.
Effect of PI controller:-

(Block Diagram)

We know the open loop transfer function

From the closed loop T/F it is observed that the PI controller introduced a zero in
the system and increased order by one & type also increased.
As type increases steady state error decreased.

The increase in the order of the system results in a less stable system then the
origital because higher order system one has stable than lower order system.
Effect of proportional derivative controller
T/P or Pp = Kp (1+Tds)
(Block Diagram)

=
Kd = Kp .Td
Additional zero increase peak over shoot.
Damply coefficient increased that reduces the peak over shoot.

Concept of Stability
1. A system is stable if its output is bounded for any bounded i/p
2. In the absence of i/p, o/p tends towards zero irrespective of initial
condition.

should be finite for bounded i/p

Location of Roots on the S-Plane for stability:

Transfer function and Location of roots on S-Plane:

Root on negative root axis:

Root on the red axis

Lapse response

Exponentially decreasing

A eat
A

Exponentially increasing
X

Complex roots on left half S-plane

Damped oscillatory

Response is oscillatory
Amplitude of oscillatory increasing with time
Routh-Hurwitz Criteriaon:Necessary condition for stability
All coefficient of characteristic equation q (s) = 0 be real & have same sign & none of the coefficient
be zero.
The no. of sign changes in the first column of Routh array represents no. of poles located in the right
half of the S- Plane.
Routh array
CE is

Sn

an

an-2 - - - - - -

Q(s) = 0

Sn-1

an-1

an-3 - - - - - -

An sn + an-1 snn + - - - - - - + 90=0

Sn-2

General difficulties arises in Routh array.

Difficulty 1:When the first term in array row of the Routh array is zero while rest of the row has
atleast one non zero term.
Solution is:
1) S

2) 0

from Routh array again

(or)
(a small value) & continue calculate sign changes of first column by making

Difficulty 2:- If all the elements in a row is zero. It means :

1) Symmetrically located roots in S-Plane i.e a pair of real roots with opposite sign
(or)
2) Pair of complex conjugate poles on imaginary arries
(or)
3) Complex conjugate poles forming quadrates on S-plane.

Solution:Substitute the coefficients of first derivative of auxiliary polynomial in place of all zeros.
Auxiliary Polynomial: The polynomial whose coefficients are the elements of the row just above the
row of zeros in the Routh array is called an auxiliary polynomial.
Relative Stability: The setting time being inversely proportional to the real part of the dominant
roots, the relative stability can be specified by requiring that all the roots of the characteristic equation
be more negative than a certain value.
Routh criterion becomes laborious method to calculate the relative stability of the system
better prefer root locus in time domain.