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Time - Domain Analysis

The document discusses time-domain analysis of control systems. It describes that the time response of a system to an input signal consists of transient and steady-state responses. Standard test signals like step, ramp, and impulse inputs are used to analyze system behavior over time. Performance measures like overshoot, rise time, and settling time are defined. First and second-order systems are analyzed for unit step response. Concepts of damping ratio, s-plane representation of poles, and under/over/critically damped responses are explained for characterizing system stability. Examples of calculations related to damping, rise time, and overshoot are also provided.

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abhishek topwal
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Download as PDF, TXT or read online on Scribd
76 views

Time - Domain Analysis

The document discusses time-domain analysis of control systems. It describes that the time response of a system to an input signal consists of transient and steady-state responses. Standard test signals like step, ramp, and impulse inputs are used to analyze system behavior over time. Performance measures like overshoot, rise time, and settling time are defined. First and second-order systems are analyzed for unit step response. Concepts of damping ratio, s-plane representation of poles, and under/over/critically damped responses are explained for characterizing system stability. Examples of calculations related to damping, rise time, and overshoot are also provided.

Uploaded by

abhishek topwal
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Time – Domain Analysis

• Since time is used as an independent variable in


most control systems, it is usually of interest to
evaluate the output response w. r. t. Time, which is
known as time response.
• A reference input signal is applied to the system and
the performance of the system is evaluated by
studying the system behaviour in time – domain.
• The time response is divided in two parts:
(i) Transient Response
(ii) Steady State Response
• Transient response is defined as that part of the
response that goes to zero as time becomes very
large or approaches infinity i.e.,

• Similarly, it can be stated that the steady state


response is that part of the response which remains
after the transients have died out as time
approaches infinity.
• All control systems exhibit transient phenomenon to
some extent before a steady state is reached.
• The response of a control system can not follow
sudden changes in the input instantaneously due to
presence of inertia, mass, inductance etc.
Standard Test Signals
• The input excitations to many physical control
systems are not known ahead of time. In many
cases, the actual inputs to a control system may
vary in random fashions w. r. t. time, eg. in a radar
tracking system, the position and the speed of the
target to be tracked may vary in an unpredictable
manner which may not be expressed exactly by a
mathematical expression.
• Hence, for the purpose of analysis and design of
control systems, it is necessary to assume some
basic types of input functions so that the
performance of the system can be evaluated w. r. t.
these test signals.
• The behaviour of the system to actual input signals
can then as well be known as any physical signal
can be represented in terms of these basic signals.
• Step Input Function
It represents an instantaneous change in the
reference input variable, eg. if the input is angular
position of the shaft, its sudden rotation is a step
function.

Where R is a constant.

is Unit Step Function


Step function is not defined at t=0.
• Ramp Input Function
It represents constant change w. r. t. Time, eg.
constant speed rotation of the shaft.

• Parabolic Input Function


It represents
acceleration of
shaft rotation.
• Impulse Input Function
An unit impulse function is defined as a function
which has zero value everywhere except at t = 0,
where its magnitude is infinite. It is generally called
as δ- function and has the following property:

Since a perfect impulse can not be


achieved in practice, it is usually approximated by a
pulse of small width having unit area.
Mathematically, it is the derivative of a step function.
Unit step response of first order system
The transfer function of the first order system has
the power of ‘s’ in the denominator as one, eg. R-L,
R-C circuits or thermal system.

For unit step,

Expanding by partial fractions,

Taking inverse laplace,


For R-L circuit,
Response of second order system
The closed loop transfer function of a second order
system is of the form:

The characteristic equation is the denominator


polynomial equated to zero which gives the
location of the poles of the system.
The roots of this characteristic equation are given
by,

For ζ < 1,

For step input,


Taking laplace inverse,

for t > 0

Transient Response:
It is that part of the time response which
goes to zero as time becomes large or
approaches infinity. It has significance for only
stable systems as for unstable system it does not
diminish and is out of control. It is generally
characterized by the use of unit step input.
Performance Criterion or Time-domain
Specifications
• Maximum Overshoot (Mp): Defined as the largest
deviation of the output over the step input during the
transient state. It is a measure of relative stability.
Larger the overshoot, less stable is system.
• Peak Time (tp): Time at which overshoot occurs.
• Delay Time (td): Time taken by output to reach 50%
of the final value.
• Rise Time (tr): Time taken by output to rise from
10% to 90% of the final value.
• Settling Time (ts): Time taken by output to reach
with in 5% (2%) of the final value.
Concept of s-plane
The two roots (poles) of the characteristic
equation can be represented in s-plane.
Locus of constant Locus of constant
Locus of roots of characteristic equation, is
held constant and is varied from
Underdamped Case

Unit Step Response


Critically damped case
Overdamped Case
Undamped Case
Negatively Damped Case

Roots lie in right half of s-plane, represents


unstable system.
For maximum value of c(t),

We get,

First maximum value of c(t) occurs at k = 1. All odd


k’s reflect maximum value, while even k’s reflect
minimum values of c(t).
The peak time,

Peak overshoot occurs for n = 1.

It is difficult to obtain exact analytical expressions


for delay time, rise time and settling time, so their
approximated expressions are generally used.

(5%) (2%)
Ex. – 1. A second order system has a transfer function

If the system initially at rest is subjected to a unit step


input, the second peak in response will occur at?
Sol. Comparing with standard characteristic equation

(for second peak k=3)


Ex-2. For the given system, determine the value of a
such that the damping ratio is 0.5. Also obtain the
values of rise time and maximum overshoot.
Ex-3. Determine the value of K and H for the given
system so that the maximum overshoot is 25% and
the peak time is 2 sec. Assume J=1.
→
ζ

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