Chapter 5

Time Response
Analysis

Test signals
Sinusoidal.
(frequency response)

Test signals
Impulse
Step
Ramp

Laplace Transforms

Impulse (t)
step u-1 (t)
Ramp t u-1 (t)

1
1/s
1/s2

Order of

Order of

system is ???

system is order
of the differential
equation

zeroth order system :

Examples of zeroth

C(s) / R(s) = K
a constant
(algebraic equation)

order systems :
Potentiometer
dc amplifier
dc tachogenerator

Open loop
1000 / ( 100 + 200 s )
= 10 / ( 1 + 2 s )

First order systems:

C(s) / R(s) = K / (s + a)

open loop
vt (s) = (vr (s) )(10 / ( 1+2 s ))
= (25 / s )( 10 / (1 + 2 s)
Vt (
) = 250 V

Closed loop
1000 / ( 200 + 200 s )
= 5/(1+s)

250

200

150

100

closed loop
vt(s) = ( 25 / s)( 5 / ( 1+s ))
Vt (
) = 125 V.

x1
x2

50

0.5

1.5

2.5

3.5

4.5

In general

K ( 1- e - t / )

K : steady state value of the

function
: time constant
smaller, faster response.

Ramp response
of first order
systems

Ramp Response
r (t)

= t u-1 (t)

R (s) = 1 / s2

C(s)
K
=
R(s)
1 + st
Let K = 1

G (s) =
R( s ) =

c(s) =

1
1 + s
1
s

1
s 2 (1 + s )

= 2
s
s 1+ s
1

9
8
7

c(t) = t - (1 e

-t/

6
5

4
3
2
1
0
0 0. 1 1. 2 2. 3 3. 4 4. 5 5. 6 6. 7 7. 8 9 9
5
5
5
5
5
5
5
5

Second order
systems

n
C(s)
= 2
R ( s ) s + 2 n s + n 2
2

For unit step input

R (s )

1
s

Second order
example
- position control.

Applying final value

theorem
C(t) t

r +

Kp

=1.0

KA

KT
Ra

L
1
s(Js+B)

sKb

Taking

KP = 0.1 V / rad
KA = 10 V / V
KT = Kb = 0.5 Nm/A
or
V/rad/sec.

L (s)
1
= 2
r (s) s + s + 1

J = 1 Kg m2
B = 0.5 Nm / rad / sec

n = 1 rad / sec.
= 0. 5

s2 + s + 1 =

(s + 0.5) + (
2

- 0.5

-j

s1,2 = n

s2 + 2 n s + n 2
= (s + n ) + n 1

In general

j n 1

= - n j d
d = n 1 - 2

For 0 < < 1

roots of s are
complex conjugate

For = 1

For > 1

damped frequency
damping factor
n undamped
natural frequency

roots are
repeating at

s = - n

roots are real

10

 = 0 : undamped
0<<1:
under damped

Unit step response

r (t) = u-1 (t)

1
R (s) = ---s

= 1 : critically dam ped

> 1 : over dam ped

=0

c( s ) =
2
2
s ( s + n )
2
n

11

1
s
= 2 2
s s + n

= 0
c ( t ) = 1 - cos nt
(pure oscillation)

0 < < 1:
C(s) =

n2
s (s2 + 2 ns + n2)

C(s) =

1 s + 2 n
s s2 + 2 ns +n2

12

s + n
1
=
- 2
s s + 2 ns +n2
n
s2 + 2 ns +n2

s +a

1
u -1 ( t )
s
s
cos at
2
2
s +a

s+b

a
2

we know

sin at

( s + b )2 + a 2
a
( s + b )2 + a 2

e -bt cos at
e -bt sin at

13

s + n
=
2
2
s + 2 n s + n
( s + n )
2
2
( s + n ) + d

n
=
2
2
s + 2 s + n
n

n
d
.
d ( s + n ) 2 + d 2

nt

cos d t

n - n t
.e
sin d t
d

14

Combine sine cos terms :

1

.e

1
1-

- n t

1-

sin d t

sin ( dt + )

where cos = .

1-

c (t) =
1-

- n t

sin ( d t + )

15

1+

C(t)

e- nt

1- 2

1.0

1-

e-nt

1-2

Time(t)

Unit step response of

2nd

order system for <1

d is the imaginary
part of roots
j n 1 - 2 = d

where (- n) is the
real part of roots

-n

Cos =

n 1- 2

16

Peak overshoot (Mp)

C(t)
Mp

Tolerance band

1.0

tr
tp

Time

dc
=0
dt

Time response spceification

sin (
dt + ). cos
- cos (
dt + ).Sin = 0

sin (
dt) = 0
dt =

17

Time at peak
overshoot ( tp )

c(t p ) = 1

tp = /d
= 1+ e

At t = tp ,
e

n .t p

1 2

sin ( + )

n . n 1 2

M p = e

1 2

=e

1 2

100%.

18

As damping factor
increases

As damping factor
increases

peak overshoot ??

peak overshoot reduces

Mp

0 100
0.1 73
0.2 53
0.3 37
0.4 25
0.5 16

0.6
0.7
0.8
0.9
1.0

Mp
9.5
4.6
1.5
0.02
0

100
90
80
70
60
50
40
30
20
10
0
0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

19

Settling time (ts)

Assume tolerance
band 5 %

ln (0.05) = n t s
or

ts =

0.05 =

t
n
s
e

t s for 2% tolerance is
4

20

Rise time

(tr)

c (t r ) = 1 = 1 -

- n t r

or
sin (
dtr + ) = 0
dtr + =

sin ( d t r + )

or

tr =
d

Steady state
error for step
input = 0

21

Steady state error

of a second order
system with ramp
input:

E(s) = R(s) - C(s)

=

1
s2

1-

n2
(s2 + 2 ns + n2)

=
1
s + 2 n s
. 2
2
2
s s + 2 n s + n
2

e(t)

= Lt sE(s)
t
s 0

n
22

For = 0.5 &

n = 1
ess

= 1 unit

S+1
S+2
>>

Some more MATLAB

commands .
>> ng = [1 1]; dg =[1 2];
>> printsys (ng,dg)

num/den =

>> z = roots(ng)
z =
-1

23

>> p = roots(dg)
p =
-2
>>

>>[nt,dt] =
cloop(ng,dg,-1)
>>zc = roots(nt)
zc =
-1

>>pzmap(ng,dg)
>>title(pole-zero map)

>>pc = roots(dt)
pc = -1.5
>>

24

>>ng = [1];
dg = [1 1 1];
>>p = roots(dg)
p=
-0.5 + j 0.866
-0.5 - j 0.866

>>t = [0:0.5:10];
>>[y,x,t] = step(ng,dg,t);
>>plot(t,y), grid

>>xlabel(Time[sec])
>>ylabel(output)

25

An example :
R +

K
G=
s ( s + 1)
K
C R = 2
s +s+K

nn =

1
s(s+1)

1
=
2 K
26

Let K = 100
n = 10 rad / sec
= 0.05

ess for ramp input

= 2
/
n
= 0.1 / 10
= 0.01

Mp =
e

1 2

100%
= 85 %

While the steady state

error is acceptable
Mp is not. - Damping
to be increased to say,
0.5

27

Then 2 n = 1

ess increases to 1 - not

1
n =
=1
2 0.5

acceptable. So we go for
changing the configuration
of the amplifier - derivative
error compensation.

Error coefficients

We know
C (s) = R (s) . G (s) / ( 1+G (s) )

R(s) +

E(s)

G(s)

C(s)

and
E (s) G (s) = C (s)

E (s) = R (s) (1 + G (s) )

28

step input

Steady state error (ess )

= Lt s E (s)
s 0

Let

R (s) = 1 /s
(constant position)

1
1
ess = Lt s .
s 0 s 1 + G ( s )

Then

Lt G ( s ) = K p

s 0

(position error coeff.)

1
ess =
1+ K p
29

Ramp input

R (s) = 1/s2
(Constant velocity)
Steady state error
in position

parabolic input
R (s) = 1/s3
(constant acceleration)

Steady state error

in position

1
= Lt s 2 .
s 0 s
1 + G (s)
1
1
Lt
Kv
s 0 sG ( s )
K v = velocity error coefficient

1
= Lt s. 3
s 0
s 1 + G (s)
1
= Lt 2
1
Ka
s 0 s G ( s )
Ka = acceleration error
coefficient
30

Type 0 system
( s + z1 )( s + z 2 )(....)
G(s) = n
s ( s + p1 )( s + p2 )(....)

K p = Lt G ( s ) = finite value

n type of the system

ess =

Type 0 system

s 0

1
= finite value
1+ K p

Type 0 system

K v = Lt sG (s) = 0

K a = Lt s G (s ) = 0

e ss =

e ss =

s 0

s 0

31

Type 1 system

K p = L t G (s) =
s 0

e ss = 0

Type 1 system

K a = Lt s 2 G (s ) = 0
s 0

e ss =

Type 1 system

K v = L t s G (s)
s 0

= finite
e ss = 1 K v = finite
Type 2 system

K p = L t G (s) =
s 0

e ss = 0

32

Type 2 system

Type 2 system

K v = L t s G (s) =

K a = Lt s 2 G (s) = finite

e ss = 0

e ss = 1 K a = finite

s 0

t2
u (t)
2 1

input
Type

u-1(t)

1
1 + Kp

1
Kv

1
Ka

tu-1(t)

s 0

When feedback is non unity,

K p = Lt G ( s ) H ( s )
s 0

K v = Lt s G ( s ) H ( s )
s 0

K a = Lt s 2 G ( s ) H ( s )
s 0

33

Derivative error
Compensation
R +

1
s(s+1)

r +
C

L
+
-

Kp

KT/Ra

KA

1
s(Js+B)

sKb

with
K = 100
n = 10 rad/sec
= 0.05
Mp = 85% (not acceptable)

t s (2%) = 4 n = 8 sec.

ess

for ramp input

(type 1 system)

= 0.01

34

Objective : increase the

damping factor
from 0.05 to 0.5.

K + sK D
G(s) =
s( s + 1)

Change the amplifier

transfer function
to K + s KD

K + s KD
G( s)
= 2
G( s) + 1 s + s + K + s K D

n = K ( no change)
= 10 rad/sec
2 n = 1 + KD
for = 0.5,
KD = 9

ess

for ramp input

remains the same
at 0.01

4
t s ( 2%) =
= 0.8 sec.
n
35

Derivative output Compensation

R +

1
s(s+1)

sKt

G ( s) =

K
s( s + 1 + K t )

G ( s ) (1 + G ( s)) =

K
s 2 + s (1 + K t ) + K

Introduce another feed back loop

Specifications

= 0.5
ess for ramp input
= 0.01

K v = Lt sG( s)
s 0

K
=
= 100 - - - - - (1)
1+ Kt

36

From (1) & (2),

K = 100

2 n =1 + Kt
or

or K = 10000
K t = 99.

K = 1 + K t (2)

Integral Control

Comparing both methods

derivative output
transducer required
gain reduced due to
feedback

KA + I

1
s ( s + 1)

37

G(s) =

K As + K I
s ( s + 1)
2

type 2
ess for step input = 0
ess for ramp input = 0
ess for parabolic
input is finite

However system
becomes of 3 rd order
- stability problem will be discussed in
later chapters

38