TIME RESPONSE

ANALYSIS
 Introduction
 Time response of a system is defined as the output of a

system when subjected to an input which is a function of

time.

 Time response analysis means subjecting the control system

to inputs that are function of time and their outputs which are
also function of time.
 Time Response
• The time response of a system is the output (response)

which is function of the time, when input (excitation) is

applied

• Time response of a control system consists of two parts

• Transient Response Mathematically ,

• Steady State Response

c  t   ct  t   css  t 
where,
c  t  - Total time response
ct  t  - Transient response
css  t  - Steady state response
Time Response - Example
The response of motor’s speed when a command
is given to increase the speed is shown in figure,
• As seen from figure, the motors speed gradually picks

up from 1000 rpm and moves towards 1500 rpm.

• It overshoots and again corrects itself and finally

settles down at the last value

Transient Response
• The part of the time response that goes to zero as time

becomes very large is called as “Transient Response”

i.e. lim ct (t)  0

t 

• As the name suggests that transient response remains

only for some time from initial state to final state.

• Transient response reflects “dynamics”.

Transient Response
• From the transient response we can know;

• When system begins to respond after an input is given.

• How much time it takes to reach the output for the first

time.

• Whether the output shoots beyond the desired value &

how much.

• Whether the output oscillates about its final value.

• When does it settle to the final value.

 Steady State Response
• The part of the response that remains after the transients

have died out is called “Steady State Response”.

• Steady-state response reflects final “accuracy”.

• From the steady state we can know;

• How long it took before steady state was reached.

• Whether there is any error between the desired and actual values.

• Whether this error is constant, zero or infinite i.e. unable to track the

input.
Steady State Response
Steady State Response
 Steady State Error
• It can be defined as the difference between the

actual output and the desired output as time tends to

infinity, denoted by 𝑒𝑠𝑠 .

css (t )  r (t ), t  
Time response of the CL system as the function of time c(t)

E s  R s  G s H s

C s  E sG s
Transfer Function
C s G s
T s  
R s 1 G s H s
Output response in 's' domain
G s
C s  R s
1 G s H s
Taking inverse LT, we obtain
output response in time domain
 G s 
c t   1
R  s  
 1 G s H s 
 Standard Test Signal
• It is very interesting fact to know that most control systems

do not know what their inputs are going to be.

• Thus system design cannot be done from input point of view

as we are unable to know in advance the type input

 Need of Standard Test Signal
• For example;

• When a radar tracks an enemy plane, the nature of the enemy plane’s
variation is random.
• The terrain, curves on road etc. are random for a driver in an automobile
system.
Thus from such types of inputs we can expect a system in
general to get an input which may be;
a) A sudden change
b) A momentary shock
c) A constant velocity
d) A constant acceleration
 Standard Test Signal
• Hence the above signals forms the standard test signals.

• The response to these signals is analyzed. The above inputs

are called as,

a) Step input – Signifies a sudden change

b) Impulse input – Signifies momentary shock

c) Ramp input – Signifies a constant velocity

d) Parabolic input – Signifies constant acceleration

Standard Test Signal
Graphical Representations
Step Input

Mathematical Representations

r(t) = R. u(t) t>0

=0 t<0

This signal signifies a sudden change in the reference input r(t) at time t=0

R
Laplace Representations L{Ru(t)} 
s
Standard Test Signal
Graphical Representations
Unit Step Input

Mathematical Representations

r(t) = 1.u(t) = 1 t>0

=0 t<0

This signal signifies a sudden change in the reference input r(t)

at time t=0

1
Laplace Representations L{u(t)} 
s
 Standard Test Signal
Graphical Representations
Ramp Input
Mathematical Representations

r(t) = R.t t>0

=0 t<0

• Signal have constant velocity i.e. constant change in it’s value w.r.t. time
• Useful in evaluating ability to follow “linear changes”

R
Laplace Representations L{Rt}  2
s
Standard Test Signal
Graphical Representations
Unit Ramp Input
Mathematical Representations

r(t) = 1.t t>0

=0 t<0

If R=1 it is called a unit ramp input

1
Laplace Representations L{1t}  2
s
 Standard Test Signal
Graphical Representations
Parabolic Input

Mathematical Representations

Rt 2
r(t) = t>0
2
=0 t<0

Signifies constant acceleration

 Rt 2  R
Laplace Representations L  3
 2  s
 Standard Test Signal
Impulse Input Graphical Representations

Mathematical Representations

r(t) =  (t) =1 t>0

=0 t<0

• The function has a unit value only for t=0.

• In practical cases, a pulse whose time approaches zero is
taken as an impulse function.

Laplace Representations L{ (t)}  1

Standard Test Signal
Test Signal r(t) R(S)
R
Step
r(t) = R.u(t) t>0 L{Ru(t)} 
=0 t<0 s

Impulse
r(t) = 𝛿 𝑡 =1 t>0 L{ (t)}  1
=0 t<0

R
Ramp
r(t) = R.t t>0 L{Rt}  2
=0 t<0 s
Rt 2  Rt 2  R
r(t) = t>0
Parabolic 2 L  3
=0 t<0  2  s
POLES AND ZEROS OF
TRANSFER FUNCTION
 Introduction
• The concept of poles and zeros, fundamental to the analysis and design of
control system, simplifies the evaluation of system response.

• Poles

• The poles of a transfer function are (1) the values of the Laplace transform
variable (s), that cause the transfer function to become infinite or (2) any
roots of the denominator of the transfer function that are common to roots
of the numerator.

• Zeros

• The zeros of a transfer function are (1) the values of the Laplace transform
variable (s), that cause the transfer function to become zero, or (2) any
roots of the numerator of the transfer function that are common to roots of
the denominator.
 Poles & Zeros of Transfer Function
The transfer function is given by, C (s)
G (s) 
R (s)
Both C(s) and R(s) are polynomials in s
bm s m  bm1 s m1  ...  b0
 G (s) 
an s n  an1 s n 1  ...  a0
where
an , an 1 ,..., a0 & bm , bm 1 ,..., b0 are constants

G s  K
 s  z1  s  z2  s  z3  ...
 s  p1  s  p2  s  p3  ...
where
K  Real Number
z1 , z2 , z3 ,...  Zeros of G  s 
p1 , p2 , p3 ,...  Poles of G  s 
 Influence of Poles on Time Response
• The output response of a system is a sum of
i. Forced response
ii. Natural response

a) System showing an input and an output

b) Pole-zero plot of the system
Influence of Poles on Time Response

c) Evolution of a system response. Follow the blue

arrows to see the evolution of system
component generated by the pole or zero
Influence of Poles on Time Response

Effect of a real-axis pole upon transient response

a) First-order system
b) Pole plot of the system
 Conclusion from above figure
• A pole of the input function generates the form of the forced

response (i.e., the pole at the origin generated a step function at

the output).

• A pole of the transfer function generates the form of the natural

response(i.e., the pole at -5 generated 𝑒 −5𝑡 ).

• The pole on the real axis generates an exponential response of

the form 𝑒 −𝛼𝑡 , where –𝛼is the pole location on the real axis, the
faster the exponential transient response will decay to zero

• The zeros and poles generate the amplitudes for both the forced

and natural responses.

Evaluating Response Using Poles

Taking Inverse Laplace Transform

c  t   K1  K 2e 2 t
 K 3e 3t
 K 4e 4 t
 First-Order System
• Problem: Find the forced and natural responses for the
following systems
 TIME RESPONSE OF
FIRST ORDER SYSTEM
 When the maximum power of s in the denominator of a transfer function
is one, the transfer function represents a first order control system.
 Commonly, the first order control system can be represented as
C s 1
G s  
R  s  1  s
 In RHS multiply and divide by ' '
Eo  s   1 
T s     1 
Ei  s  1  s  Eo  s     
s 1  s   
s 1  s 
 1 
Eo  s   Ei  s  
1  s  1  s  s   1  s s 
      
 s 1  s    s 1  s  s 1  s  
Time response :
1
Ei  s   u  t    1 1  1  1 1
s        
 s 1  s  s 1  s s s  1
Eo  s  
1 
s 1  s 
eo  t    Eo  s    1  e
1 t


c t   1  e
t

It is seen from the error equation that if the time approaching to infinity, the
output signal reaches exponentially to the steady-state value of one unit.
As the output is approaching towards input exponentially, the steady-state error
is zero when time approaches to infinity.

Error e  t   r  t   c  t 

r  t   1, c  t   1  e
t


c t   1  e
t


e t   1  1  e
t 
 t
e 
 
Steady state error
ess  t   lim e  t   lim e
t

0
t  t 

E(t)

e  t   e 
t
𝐴𝑡 𝑡 = 𝜏:
𝑡ℎ𝑒 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑟𝑒𝑎𝑐ℎ𝑒𝑠 𝑎 𝑣𝑎𝑙𝑢𝑒,
𝑐(𝑡) = 1 − 𝑒 −1 = 0.632
• Small time constant
→Fast system response Smallest 
• A circuit with a small time 1
constant gives a fast
0.9
response in that it reaches
0.8
the steady state quickly

Normalized Response
0.7
due to quick dissipation of
energy stored 0.6
0.5
0.4
 increases
0.3
0.2 Largest
0.1
0

Time [sec]
 Unit Ramp Signal “r(t)” Error
e t   r t   c t 
C s  1 
T s 
 

R  s  1  s  e t   t  t  1  e  
 t
 
R s  1 2

C s 
s
R s
 2
1 
e t    1  e
t


1  s s 1  s 
Steady State Error
1  s 2 2  s 2 2 1  s 2 2 s 2 2
C s   2  ess  lim e  t   
s 2 1  s  s 1  s  s 2 1  s  t 

C s 
1  s 1  s 
 2
s 2 2

1  s 

2
s 1  s 
2
s 1  s  s 2
1  s  Hence, for a ramp input
1  2 1  
C s  2    2  reducing the system time
s s 1  s  s s 1    constant improves the speed
 
c t   1  1  


 s2 s   1
  
  t   1  e t 
 of response of the system as
well as reduces its steady
  
state error to a ramp input
 Steady state error using final value
theorem

ess  lim e  t 
t 

ess  lim sE  s   lim s  R  s   C  s  

s 0 s 0

1 1  s  1 
 lim s  2  2 
 s 0 2
lim 1  
s 0
 s s  s  1  s   s  1 
1  s  1  1  1 s    
 lim    lim    lim  
s 0 s
  s  1 
s  0 s   s  1 
s 0  s  1
 

 Impulse Signal “𝜹(𝒕)”
ess  lim e  t 
t 

C s  1  ess  lim sE  s   lim s  R  s   C  s  

T s  
R  s  1  s 
s 0 s 0

 1 
R s  1  lim s 1  
  s  1 
s 0

R s 1
C s    s  1  1   s 
1  s 1  s   lim s    lim s 
  s  1    s  1 
s 0 s  0
11
C s  .
 s 1    0

 
1  1 1   1 e t 
c t  
 
.
 s  1  
  
Response of first order system
• It is also found that the time response of step function is

first derivative of time response of ramp function and time

response of impulse function is first derivative of time
response of step function.
Response of first order system
Signal Input r(t) Output c(t) Steady state

error, ess(t)

Ramp t

t  1  e
t

 𝜏

t
Unit step 1 1 e  0

Impulse 𝜹(𝒕) 1 t
 0
e
