Control Systems (Time Response Analysis)

Time Response Analysis

Objective

Upon completion of this chapter you will be able to:

 Determine the response of a system whose Transfer Function is given for any input.
 Determine Steady State error for any system.
 Determine the Transient Response for systems of different order.
 Determine various time response specifications for Second Order Underdamped
Systems.
 Analyse higher order systems by using Dominant Pole Concept.

Introduction

In practice, the input to a Control System is not known ahead of time and it is random in
nature, so we may not be able to express it analytically in terms of mathematical functions or
waveforms. If objective of control system is to have the output variable follow the input
signal as closely as possible, it is necessary to compare input & output as functions of time.
So we need a criteria for comparison of various control systems so we apply some standard
test signals and compare the responses of Control Systems to these test inputs. The
commonly used test signals are step input, ramp input, parabolic input, impulse input and
sinusoidal input.

Time Response

 The time response of a control system is usually divided into 2 parts.

1. Transient Response
2. Steady state Response

c t  c t   c t 
t ss
c  t  = Transient Response
t
c  t  = Steady – state Response
ss

 In control system, steady state response is simply the fixed response when time reaches
infinity.

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 Control Systems (Time Response Analysis)

 Transient response is defined as part of response that goes to zero as time because large.
lim C  t   0
t t

 In practical systems due to inertia, inductance and capacitance the output cannot follow
sudden changes in the input instantaneously and therefore transients are observed in the
response. So control of transient is very important as the deviation between input and
output must be minimum before output reaches steady state.

 Steady State Response is also very important because it tells where the system output
ends up exactly when time becomes large. If the steady state response does not agree with
the desired reference value then system is said to have steady state error.

Standard test signals

It is difficult to design a system which perform satisfactorily at all inputs as for an example
the input to radar tracking system may change unpredictably and such sort of inputs cannot
be mathematically modeled.

For analysis, we assume basic signals so that performance of system can be evaluated with
respect to these signals.

a) Sudden input : step signal

b) Velocity type input : Ramp signal
c) Acceleration type input : Parabolic signal
d) Sudden shock : Impulse signal

 Signals a, b, c are used for time domain analysis.

 Signal d is used for steady state analysis.

 Signals a & d are bounded inputs whereas b & c are unbounded signals.

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 Control Systems (Time Response Analysis)

Type & order of a system

Every transfer function representing a control system has certain type & order.

Steady State Analysis depends on type of the system.

Transient Analysis depends on order of the system.

K  1  T S  .........
 p 
Let G  s  H  s  
p
 
S 1  T s ..........
1

 The number of open loop poles at origin determine type of system.

if p = 0, type – 0 system

p = 1, type – 0 system

p = n, type – n system

Remember, that the type obtained from Open Loop Transfer Function is valid for Closed
Loop System.

 The highest power of ‘s’ in the denominator of Closed Loop Transfer Function is termed as
order of the system. To find the closed loop poles of a system, the denominator of the
closed loop transfer function is equated to 0 and it is termed as Characteristic Equation of
the system.

Characteristic Equation: 1 + G(H) H(S) = 0

The highest power of characteristics equation gives order of control system.

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 Control Systems (Time Response Analysis)

Solved Examples

Problem: Find type and order of electro-mechanical system described below. Make
necessary assumptions.

e = input voltage.

e = induced voltage
b

Solution: Electrical System

Ldi
e  iR  e
dt b

e  e  iR  Ldi dt
b

E  s   E  s   I  s  R  sL  ___________________(1)
b

e  speed
b

dx
e 
b dt

 dx 
b b  dt  b b
 
e  K    E S   K sX  s  ___________________(2)

Force coil F  i  F  k 'i

F  s   k 'I  s 

Mechanical System

Md2 x Bdx
F 
dt2 dt

F  s   Ms2  Bs  X  s 
 

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 Control Systems (Time Response Analysis)

k 'k s k 'k
G sHs  b  b
 2
R  sL  Ms  Bs  R  sL  Ms  B

This is type – 0 system

1  G sHs  0

k 'k s
1 b  s3ML  s2 LB  RM  RBs  k 'k s  0
s R  sL Ms  B  b

Order – 3 system

Steady state Response Analysis

 In a physical system, because of function & nature of control system the steady state
output of system seldom agrees with the input and thus steady state errors are unavoidable.

 Steady state analysis deals with estimation of magnitude of steady state errors between
input & output and depends on type of controls systems.

For expression of error

E (s) = R(s) – B(s) = R(s) – C(s)H(s) = R(s) – E(s)G(s)H(s)

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 Control Systems (Time Response Analysis)

R s
E s 
1  G s Hs

Applying final value theorem

e  lim s E  s   lim s E s 
ss t s0

sR  s lim sR  s 
e  lim  t
ss t   1  G  s  H s  1 lim G  s  H s 
t

Expression for error in a system with disturbance.

E s  R s  C sH s

 1  2
 1 2

C  s   E  s  G  s   D  s   G  s   E s G s G s  D s G s
2
 
E  s   R  s   E s  G s  G s  H s   D s  G s  H s 
1 2 2

R s D s G s Hs

E s   2
1  G s G s Hs 1  G s G s  H s 
1 2 1 2

e  lim sE  s 
ss s0

 sR  s    sD  s  G  s  H  s  
e  lim    lim  2 
ss s0  1  G  s  G  s  H  s   s0  1  G  s  G  s  H  s  
 1 2   1 2 

Error due to R  put D  s   0

Error due to D  put R  s   0

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 Control Systems (Time Response Analysis)

Error due to comparison  neither = 0

For R = 0

sD  s  G  s  H  s 
e   lim 2
ss s 0 1  G
1
s G2Hs 
For D = 0

sR  s 
e  lim
ss s0 1  G  s  G  s  H  s 
1 2

Steady state error for different type of inputs

Step Input

A
R s 
s
A
s
s A
e  lim 
ss s0 1  G  s  H  s  1  limG  s  H  s 
s0
k = Positional error coefficient
p

k  lim G  s  H  s 
p s0

A
e 
ss 1  k
p
For e to be zero, k must be infinite & so G(s)H(s) must have one or more poles at s = 0.
ss p
 for step input, steady state error is as follows:

A
Type – 0 system , e  = constant
ss 1  k
p
Type – 1 or higher : e  0
ss

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 Control Systems (Time Response Analysis)

Ramp Input

A
R s 
s2

A
s
e  lim s2  lim
A

A
ss s0 1  G  s  H  s  s0 s  sG  s  Hs  lim sG s H s 
s0

k : Velocity error constant

v

k  lim sG  s  H  s 
v s0

A
e 
ss k
v

 For e to be infinite, k must be zero & thus system should not have any poles at
ss v
origin or it must be Type – 0 system.
 For e to be zero, k must be infinite so it must have 2 or more poles at origin.
ss v

So, for a ramp input, steady state error is as follows:

Type – 0 system : e  
ss

A
Type – 1 system : e   cons tant
ss k
v

Type – 2 or higher : e  0
ss

Parabolic input

A
R s 
s3
A
s
s3
A A
e  lim   lim
ss s0 1  G  s  H  s  lims2  s2G s H s s0 2
s0
 
s G s Hs  
k = acceleration error constant
a

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 Control Systems (Time Response Analysis)

k  lims2G  s  H  s 
a s0

A
e 
ss K
a

 For e to be infinite, k must be zero & thus system can have zero or one pole at origin
ss a
so it can be type – 0 or type – 1 system.
 For e to be zero, k must be infinite, so it should have 3 or more poles at origin.
ss a

So for a parabolic input, steady state error is as follows:

Type – 0 or Type – 1 : e  
ss

Type – 2 : e A
  cons tant
ss k
a

Type – 3 or higher: e  0
ss

Summary

Step input Ramp Input Parabolic Input

A
Type  0  
1 k
p
A
Type  1 0 
K
v
A
Type  2 0 0
K
a

Observations

 As gain of the system is increased, error constants increase which lead to decrease in
Steady State error of the system.

 The maximum type number of a linear control system is 2 beyond type – 2 systems
exhibits non – linear behavior.

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 Control Systems (Time Response Analysis)

Solved Examples

 2  10

Problem: If r t   2  3t  4t  u(t) & G s   Find e ?
  s2  4  s  ss

2 3 42 2 3 8 
Solution: R  s        
s s2 s3 s 
 s2 s3 

System is type – 2

So error due to 2 s & 3 2 is zero

s

e = due to parabolic input

ss

k  lim s2G  s   10 4  2.5

a s0

A 8
e    3.2
ss k 2.5
a

Problem: The steady state error of a unity feedback system having loop transfer function
40
due to input r(t)  3t is?
2
G(s) 
s (s  18)
2

40
Solution: G(s)  2 and R(s)= 3 2 2
s (s  18) s

ess due to parabolic input= A K a

40 40
Where, K a  lims G(s)H(s)  lim
2

s 0 s 0 (s  18) 18

3 2
ess   2.7
40 18

Problem: The transfer function of a unity feedback (type1) second order system has a pole
at (s=–2). The nature of gain K is such that the damping ratio is 0.4. The steady state error for
r(t) = 4t is _____.

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 Control Systems (Time Response Analysis)

K
Solution: According to the question, G(s) 
(s 2).s
C(s) K
  2
R(s) s  2s K
Comparing with standard equation

1 1
We get, n  k and 2n  2 =>   
n K
2
1 1
K    6.25

  0.4 2

ess for r(t) = 4t

4 4 4
ess     1.28
K V limsG(s) 6.25
s 0
2

Problem: Find Steady State Error for the unit-step input for the system shown in the figure
below:

1
Solution: Steady State error for unit step input is given by eSS  …………(i)
1 k
p
Lim Lim 4 2
K  G  S  H S    1
p s0 s  0 S  2 S  4 

1
eSS   0.5
11

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 Control Systems (Time Response Analysis)

Transient Response

It deals with nature of response of a system and depends on order of system.

It dies out as the time becomes large.

X
0
 s  bmsm  bm1sm  1  ...........  b0
 ______________(i)
X s a sn  a sn  1  ..............  a
i n n1
0

Zero order system

In the transfer function shown above, if all the terms except a & b
0 0 are made 0 then
resulting equation is

X
0
 s  b0
 k
X s a
i 0

Potential divider is an example of Second Order System

V R
0  2
V R R
L 1 2

Here, we do not need any analysis as output is linearly dependent on input and follows any
changes in input instantaneously. So, the terms like rise time, peak time and overshoot do
not make any sense as there is no Transient behaviour exhibited here as response
instantaneously reaches Steady State.

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 Control Systems (Time Response Analysis)

First order system

In equation (i) if all terms except a ,a & b

1 0 0 are zero then resulting expression describes a
1st order system.

X 0 (s) b0

X i (s) a1s  a0

b0
K=gain=
a0 s 0

This is termed as DC Gain of the system as this gain is defined at s=0 or zero frequency and
hence DC Gain.
T=Time constant= a1
a0
X 0 (s) K

Xi (s) 1  sT
This is standard representation of any First Order Transfer Function.

As for an example we can consider series RC Circuit for a first order system:

The Transfer Function for this system can be derived using Potential Divider approach as
shown below:

1
V0 (s) sc

Vi (s) R  1
sc
 1 
 
 1  sRC 

Gain=1; Time constant=RC

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 Control Systems (Time Response Analysis)

Assuming unit step input Xi (s)  1

s

 
k 1 T  1 1 
X0 (s)  K    K s 
s 1  sT   s 1  sT   
s 1
T  


 
 
x0 (t)  K  1  et/T 

Steady 
Transient 
State State 

The response of First Order System looks like as shown below:

 
limX0 (t)  limk 1  e t/T  k
t  t 

At t=T

X 0 (t)  k 1  e1   0.63k  63% of steady state value

So, time constant in a first order system can be defined as the time takes for the output to
reach 63% of its steady state value.

Error signal can be taken as difference of Input and Output as shown below and as time
approaches infinity the error signal goes to zero as Output approaches Steady State value.

e(t)  xi (t)  x0 (t)

 ke t/T
ess  lime(t)  0
t 

Most of thermal systems are modelled as first order systems.

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 Control Systems (Time Response Analysis)

Second Order Systems

The response of a second order system exhibits continuous and sustained oscillation about
the steady state value of input, with frequency known as under damped natural frequency,
n rad/sec. These oscillations are damped to the steady state value of input by appropriate
damping method. The damping is represented as damping factor or damping ratio (  ). The
standard transfer functions is therefore expressed in terms of  &  .
n
All Indicating Type Instruments behave as Second Order Instruments and one example is
shown below:

Input : deflecting torque T

d  
Output: Angular deflection of pointer   

The differential equation describing this system is given below:

Jd2  Bd 
T    k
d
dt2 dt

Taking Laplace Transform both sides

 
T  s   Js2  Bs  k   s 
d

 s 1
1 J
 
T s
d Js2  Bs  k 2 B k
s  s J
J

Comparing the denominator with the standard form of Transfer Function which is

C(s)  2
 n
R(s) s2  2 s   2
n n

We get,

B K
s2  s   s2  2 s   2
J J n n

K B B
  rad s and 2    
n J n J 2 KJ

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 Control Systems (Time Response Analysis)

Similarly, a series RLC circuit is also an example of a second order system as shown below:

The Transfer Function of this system is given by,

V 1
0  sc
V R  sL  1
i sc

V s 1
0  Lc
V  s  s2  R s  1
i L    
Lc

Comparing,

s2  2 s   2  s2  R s  1
n n L LC

1 R C
  rad s and 2  R =>  
n LC n L 2 L

Note: If the system is unity feedback, then Open loop Transfer Function for Second Order
System is

 2
G(s)  n

s s  2
n 
Closed Loop Poles

C s  2
 n
R s s2  2 s   2
n n

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 Control Systems (Time Response Analysis)

2 2
Characteristic Equation: s  2 s    0
n n

2  42 2  4 2
s n n n
2

s     2  1
n n

Step-Response of Second Order Systems

The Transfer Function of Second Order System is given by:

n2
T(s) 
s2  2ns  n2

C(s)  T(s)R(s)

For step response

1
R(s) 
s

Therefore C(s) is given by,

n2
C(s) 

s s2  2ns  n2 
By Partial Fraction Method,

C(s) 
1
 2
 s  2n 
s 
s  2ns  n2 

1

 s  2n 
s  s   2  2 1  2
n n  

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 Control Systems (Time Response Analysis)

Case-I   1 (under-damped)

 
n2 1  2  2d  damping frequency

1
C(s)  
s  2n 
s s   2  2
 n d

1
 
s  n   n
s s    2 s   2  2
2
 n d  n d

1
 
s  n   n d
s s    2 d s   2  2
2
 n d  n d

c(t)  L1 C(s)

 n nt 
 1  ent cos dt  e sin dt  u(t)
 d 

  
 2
 1  e nt 
cos dt  sin dt   u(t)
 1 2 
   

 
ent    u(t)
 1   1  2
cos d t   sin  t
d 
 1  2  
 
 
ent
 1  sin  dt     u(t)
 1  2 
 
  cos1 

The response of second order system then looks like as shown above.

Note: Poles of underdamped system lie at s  n  jd . Hence, poles are complex
conjugate of each other and lie in Left Half Plane.

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 Control Systems (Time Response Analysis)

Case-II   1 (Critically damped)

1  s  2n 
C(s)   as d  0
s  s   2
n

1  s  n  n
  
s s 2 2
 n  s  n 
1 1 n
  
s  s  n  s   2
 n
c(t)  1  ent  ntent  u(t)
 

 1  1  nt  ent  u(t)

 

The response of critically damped system

looks like as shown in adjoining figure.

Note: Poles of critically-damped system lie at s  n . Hence, poles are real and equal and
lie in Left Half Plane.

Case-III   1 (Over-damped)

1
C(s)  
s  2n 
s s   2  2 2  1
 n n  
1
 
s  n  
n
s s   2  2 2  1
   
2
 n n s  n   n2 2  1
1
 
s  n  
n

n 2  1
n n n   
s s   2  2 2  1  2  1 s   2  2 2  1
 n n  
 

c(t)  1  ent cosh  n 2  1t   ent   
sinh  n   1t   u(t)
2
    1
2  
 
 
ent  2   2  1t    sinh   2  1t    u(t)
c(t)  1     1cosh    
 2  1   n   n   
 

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 Control Systems (Time Response Analysis)

Over-Damped system like Critically-Damped System does not exhibit oscillations about
Steady State Position but the response of Over-Damped system is slower as compared to
Critically-Damped System. The response is shown below.

Note: Poles of over-damped system lie at s  n  n 2  1 . Hence, poles are real and
unequal and lie in Left Half Plane.

Summary of Step Responses

Case – 1 Un-damped (   0)

s   j
n

Case – 2 under damped  0    1 

s    j 1  2
n n

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 Control Systems (Time Response Analysis)

Case – 3 critically damped    1 

s  
n

Case – 4 over damped    1 

s     2  1
n n

Characteristics of an under – damped system

Poles of a second order underdamped system are given by: s    j 1  2

n n

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 Control Systems (Time Response Analysis)


a) cos   n   ,   cos1   

n
b) Damping coefficient   
n
c) Time constant of under damped response

1 1
T 
 
n

d) Damped natural frequency

   1  2 rad sec
d n

Time Response Specification

Based on Time Response of Second order Underdamped system we define certain

parameters to measure the performance of any Control System. The response of a second
order underdamped system looks like:

The parameters that we define are listed below:

a) Delay time t 
d
The delay time is time required for the response to reach half the final value very first time.

1  0.7
t  sec
d 
n

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 Control Systems (Time Response Analysis)

 
b) Rise time t
r
The rise time is the time required for the response to rise from 10% to 90%, 5% to 95% or
0% to 100% of its final value.

For under – damped second order systems, the 0% - 100% is normally used. For First Order
systems we generally use 10%-90% criteria is used as response never reaches 100% of steady
state value.

 1  2
t  ;   tan1
r  
d

c) Peak time  t 
 p
The peak time is the time required for the response to reach the first peak of overshoot.

n
t  sec
p 
d

For 1st peak, n = 1

For 2nd peak, n = 3

d) Setting time t  
s
The setting time is the time required for response curve to reach & stay within a range about
the final value of sized specified by absolute percentage of final value (usually 2% or 5%)

4
Setting time for 2% tolerance band = 4T =

n

Setting time for 5% tolerance band = 3T = 3


n

e) Maximum peak overshoot  M 

 p
Maximum peak value of response curve measured from steady state value.

 
c  t   c 
p
% overshoot     100%
c 

 1  2
M e  100%
p

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 Control Systems (Time Response Analysis)

Solved Examples

Problem: The open loop transfer function of a unity feedback control system is given by
K
G(s)  . If the system becomes critically damped, then the system gain ‘K ’ tends to
s(s  1)
become _____.

Solution: CLTF = T(s)  K

s2  s  K

Comparing with standard transfer function we get,

n  K and   1 2n  1 2 K

For critically damped i.e.   1

1
1
2 K
1
K   0.25
4

Problem: A unit step response of a second order linear system with zero initial state is given
by c(t)  1  1.25exp sin(8t  tan1 1.33); t  0 The damping ratio and undamped natural
6t

frequency of oscillation are respectively.

n  1  2 
Solution: Standard form c(t)  1  e cos tan  
1 1
. sin( d t  ) Where,    
1  2   
 

1  2
=> 1.33   1   =>   0.6
2 2 2
 tan1 1.33 = tan
1

And n  6

n  10rad / sec

Problem: Unit step response of a second order system is as described in the equation
 
c(t)  1  1.015e0.868t sin 4.92t  800 . The number of cycles output of the system will take to
settle within 2% tolerance band is _____.

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 Control Systems (Time Response Analysis)

Solution: Standard representation of a unit step response of a second order system is given
nt
by c(t)  1  e 
sin dt  cos1  
1  2

We get, n  5,   0.1712 . Since it is an under damped system we can apply our analysis.

Settling time(2%)
Number of cycles=
Time period of oscillation

4
n 4  1  0.17122
   3.613  4cycles
2 0.1712  2
n 1  2

Time Response Analysis for higher order systems

 The time response parameters are not directly calculated from their characteristic
equation so we make use of the parameters that we have defined for Second Order Systems
by neglecting some of the insignificant poles of third order system and consider only
dominant poles.

 The poles closer to origin have higher time constants as compared to the poles farther
away from origin. Due to this fact the Transient dies faster for poles away from origin and
they become insignificant whereas Transient lasts longer for poles closer to origin and they
act as dominant poles.

 We can neglect insignificant poles to approximate a higher order system by a lower order
system.

Consider a 3rd order characteristic equation

s3  ps2  qs  k  0

s  p1  s2  q1s  k1   0

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 Control Systems (Time Response Analysis)

Hence a is insignificant pole & a is dominant pole.

2 1

The time response of higher order systems is obtained by approximating to second order
system w.r.t dominant poles, the time domain specifications obtained for approximated
second order system are valid for higher order systems also.

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