Mekelle University

Ethiopian Institute of Technology-Mekelle

School of Mechanical and Industrial Engineering

Regulations and Control Engineering

(MEng 4162)

Chapter -4
Time Response Analysis of control systems

Prepared by : Zina G.
(M.Sc. in Mechanical System Design)
 Introduction
• In time-domain analysis the response of a dynamic system
to an input is expressed as a function of time.
• It is possible to compute the time response of a system if the
nature of input and the mathematical model of the system
are known.
• Usually, the input signals to control systems are not known
fully ahead of time & may be random in nature.
• For example, in a radar tracking system, the position and the
speed of the target to be tracked may vary in a random
fashion.

• It is therefore difficult to express the actual input signals

mathematically by simple equations.
 Time Response of Control Systems
• Time response of a dynamic system response to an input
expressed as a function of time.

System

• The time response of any system has two components

• Transient response
• Steady-state response.
 Time Response of Control Systems
• When the response of the system is changed form rest or
equilibrium it takes some time to settle down.

• Transient response is the response of a system from rest or

equilibrium to steady state.
-3
x 10 Step Response
6

Step Input
5
• The response of the

Steady State Response

system after the transient 4
Response
Amplitude

response is called steady 3

state response. 2 Transient Response

1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 Time Response of Control Systems
Transient Response
• Transient response is that part of a response which occurs
when there is a change in input and which dies away after a
short interval of time
• Transient response is dependent upon the system poles only
and not on the type of input.
• It is therefore sufficient to analyze the transient response to
one of the standard test signals. 6
x 10
-3
Step Response

• Is also called dynamic response. Step Input

5

Steady State Response

4
Amplitude
Response
3

2
Transient Response
1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 Time Response of Control Systems
Steady-state Response
• the steady-state value is the response that remains after all
transient responses have died down
• steady-state is the equilibrium state attained such that there is no
change with respect to time of any of the system variables.
• The steady-state response depends on system dynamics and the
input quantity.
• It is then examined using different test signals by final value
x 10
-3
Step Response
theorem. 6

Step Input
5

Steady State Response

4
Response
Amplitude

2
Transient Response
1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 Standard Test Signals
• The characteristics of actual input signals are a sudden
shock, a sudden change, a constant velocity, and constant
acceleration.
• The dynamic behavior of a system is therefore judged and
compared under application of standard test signals – an
impulse, a step, a constant velocity, and constant
acceleration.
• Another standard signal of great importance is a sinusoidal
signal.
• the response of a control system to the following standard
test signals has a good correlation with the response to
actual inputs
 Standard Test Signals
a) Impulse signal
– The impulse signal imitate the
sudden shock characteristic of
actual input signal. δ(t)

A
A t0
 (t )  
0 t0
0 t

– If A=1, the impulse signal is

called unit impulse signal.
 Standard Test Signals
• Impulse signal

Source: English Wikipedia. Iain. Original image: [1]

 Standard Test Signals
b) Step signal
– The step signal imitate
the sudden change u(t)

characteristic of actual
A
input signal.
A t0
u( t )  
0 t0 0 t

– If A=1, the step signal is

called unit step signal
when input change abruptly in value, for example,
when a voltage is switched on in a circuit.
 Standard Test Signals
c) Ramp signal r(t)

– The ramp signal imitate

the constant velocity
characteristic of actual
input signal.
0 t

 At t0
r(t )  
r(t)

0 t0 ramp signal with slope A

– If A=1, the ramp signal r(t)

is called unit ramp
signal unit ramp signal
 Standard Test Signals
p(t)

d) Parabolic signal
– The parabolic signal
imitate the constant
acceleration characteristic t
0
of actual input signal.
p(t)

 At 2
 t0
p(t )   2 parabolic signal
with slope A
0 t0
 p(t)

– If A=1, the parabolic

signal is called unit
parabolic signal. Unit parabolic
signal
 Relation between standard Test Signals
A t0
• Impulse  (t )  
t0
d
0
 dt
A t0
• Step u( t )  
0 t0 d
 dt
 At t0
• Ramp r(t )  
t0
0 d
  At 2
dt
 t0
• Parabolic p(t )   2
0 t0

 Laplace Transform of Test Signals
• Impulse
A t0
 (t )    L{ (t )}   (s)  A
0 t0

• Step A t0 A
u( t )  
t0
 L{u (t )}  U ( s) 
0 S
• Ramp  At t0 A
r(t )  
t0
 L{r (t )}  R(s)  2
0 s
 At 2
• Parabolic  t0 2A
p(t )   2  L{ p(t )}  P( s)  3
0 t  0 S

 e) Sinusoidal signal
• Sinusoidal input is one whose oscillations can be
described by an equation of the form sin(ωt) where
ω being the angular frequency.
r (t )  sin t r(t)


 R( s )  2
s  2 0 t

15
4.3 Time Response of 1st and 2nd Order Systems
First order systems
• When the maximum power of the differential is one
Ex. 1. Electrical System
dVc
R V  iR  Vc ; but i  c
dt
V i c vc
dVc
V  Rc  Vc
dt

Ex. 2. Mechanical System

dv
m F m  cv  F
c
v dt
Generally a first order system is given by
d 0
a1  ao0  boi
dt
Where: a1, ao and bo are constants
θi is input function to the system and can take any of
the test signals mentioned above
θo is the out put

17
Response to the step input

θo(t)

boA/ao

63% of boA/ao

 t

• The output rises exponentially from zero value to the final

value of bo A/ao.
18
 θo(t)

boA/ao

63% of boA/ao

 t

19
• When t =a1/ao; θo=0.63 GssA
• This means that the out put has risen to 0.63 of its steady-
state value.
• Time needed to reach this value is called time constant,  .

• If t = 2 (a1/a0 ) = 2 and hence θo= 0.86 Gssθi
θo/θi
Time, t θo/θi Gss

1 0.63Gss 0.86Gss

2 0.86Gss 0.63Gss

3 0.95Gss
4 0.98Gss
∞ Gss 1 2 3 4
• The time constant,  is indicative of how fast the system tends
to reach the final value. 20
 
 o (t )  Gssi 1  et / 
and the differential equation becomes
do
a1  aoo  boi
dt
a1 do bo
  o  i
ao dt ao
do
  o  Gss i
dt
from which a Transfer function will be develped as:
o Gss
 where  is the time constant.
i 1   s
21
Steady State Error:
• difference between output and input when all
conditions are in steady state.
t / 
Assuming Gss  1; e( t )  i ( t )  o ( t )  i e
 ess  lim e( t )  0
t 
Example -1:
The relationship between the output angular velocity ωo and
the input voltage vi for a motor when subjected to a step input
is found to be:
JR d0 1
 0  vi
k1k2 dt k1
What will be the steady-state value of the angular velocity and
the time constant of the system when vi = v ?

Ans.
do
Comparing with   o  Gss i
dt
Gss=1/k1 is the steady-state transfer function
Steady-state angular velocity is v/k1
Time constant JR/k1k2
Response to the Ramp input
o Gss Gss
  o  i
i 1  s 1  s
k  k  G 
For i  2 and Gss  G  o   2   
s  s  1   s 
Using Partial Fraction Method:
A B C
o   
s2 s 1  s
where A  kG , B   kG , C  kG 2
 G G G 2 
o  k 
 s2
  

 s 1   s 
 G G G 
 o  k  2  
s s s 1/ 

The response in time domain will then be:

    
0 (t )  k Gt  G  G et  =kG t   1  e t   24
 For G  1 and k  1 (Unit Ramp input)
t /
 0 (t )  t   (1  e )
e(t )  r (t )   0 (t ) θo(t)
Steady-
 t /
 (1  e
state error
)
ess  lim e(t )  
t  t

• First Order System will track the unit-ramp input with a

steady-state error , which is the time constant.
• Hence, reducing the time constant not only improves its
speed of response but also reduces its steady-state
error to a ramp input.

25
Example -2:
A thermo couple has the transfer function linking its output in volts to its
inputs in oc of:
30 x 10 6
G( s ) 
10s  1
When the thermocouple is subjected to a steadily rising temperature
input of 5oc/s, what will be the thermocouple output after 12s and how
much will it lag behind the output it would have indicated if it had
responded instantly to the input.

Answer
G = 30 x 10-6 ,  = 10, k=5 v0 (t=12)= ?
v0(t)= Gk (t-  (1-e-t/)
v0 (t=12)= 30 x 10-6 x 5 [12-10 (1-e-12/10)] = 7.5 x 10-4 v
The lag is the difference between the value of Gkt & Gk (t-  (1-e-t/),
since Gkt = 30 x 10-6 x 5 x12 = 18.0 x 10-4 v
The lag is then 10.5 x 10-4 V
26
Response to Impulse Input
• Is a response that indicates when a system is subjected to a
sudden input.

θo(t)
GA/ 

0.37 GA/ 

 t
27
Example -3:
• Referring to the example -2, what will be the output of the
thermocouple 5 sec after it was subject to a temperature
impulse of 100oc by suddenly and very briefly coming in
contact with a hot object?

Answer:
t / 
o ( t )  GA( 1 /  )e
G  30 x 10 6 ,   10 sec, A  100
o ( t )  30 x 10 6 x 100 x ( 1 / 10 )e 5 / 10
4
= 1.8 x 10 v

28
 Examples of First Order Systems

• Electrical System • Mechanical System

Eo ( s ) 1
 X o (s) 1
Ei ( s ) RCs  1 
X i (s) b
s 1
k
 Examples of First Order Systems
• Armature Controlled D.C • Cruise Control of vehicle
Motor (La=0)

Ra La
B
ia
u eb T J


V (s) 1

U ( s ) ms  b
Ω(s)

K t Ra 
U(s) Js  B  K t K b Ra 
Second Order System
Ex. 1. Mechanical System
k
d 2x dx
m F m 2  c  kx  F
dt dt
c

Ex. 2. Electrical System

di dvc
R L vs  iR  L  vc , but i  c
dt dt
Vs i c vc
d 2 vc dvc
Lc  Rc  vc  vs
dt 2 dt

• a second order system has the general form

d o do
2
 ao0  boi
' ' '
a2 2
 a1
dt dt 31
• And usually is written as:
d 2o do
2
 2 n   2

n o  b 
o n i
2
dt dt
• The transfer function will then be:
o ( s ) bon
2
 2
i ( s ) s  2n s  n2
where n is the undamped natural frequency
 is the damping ratio
32
Impulse input to 2nd Order System
Case 1.
If a1  0, o  y and i  x
2
d y
 2
 ao y  bo x
dt
bo
 Y ( s)  2
X ( s)
s  ao
• Considering a unit impulse input, X(s)=1
bo ao y(t)
Y ( s)  .
 
2 bo
ao s 2  ao ao

sin  ao t 
bo 0  2 t
 y (t ) 
ao ao ao

• That means the system will oscillate freely with a natural

frequency of n  ao . 33
 Case 2.
If a1  0, o  y and i  x
2
d y dy
 2
 a1  ao y  bo x
dt dt
bo
 Y ( s)  2 X ( s)
s  a1s  a0
• Considering a unit impulse input again, X(s)=1
bo bo
Y ( s)  2 
s  a1s  a0 ( s  m1 )( s  m2 )

a1  a12  4ao 2n  4 2n2  4n2

where m1,2  
2 2
 m1,2  n     2  1 
  34
• Three cases could be considered here:
Case 1: If  =1 Y(t)
m1,2  n , double root
bo
 Y( s ) 
 s  n  2

n t t
 y( t )  bote
• And this is called a Critically Damped System.

35
 Case 2: If 0< <1


m1,2  n   j 1   2 
bo
 Y( s ) 
 
2
 s  n  2
 n 1   2

bo
 y( t )  e n t sin( n 1   2 t )
y(t) n 1   2

This is a damped sinusoidal function with

a decreasing amplitude.

• It has got a new frequency called damped natural frequency, and

is given as:
d  n 1   2
Case 3: If  >1


m1,2  n    2  1 
bo A B
 Y( s )   
 s  m1  s  m2   s  m1   s  m2 
bo
Where A  and B   A
2n  2  1

 y( t ) 
bo n t   
 2 1 t
e
  
 2 1 t 
e  e 
2n 2 1  

an exponential function
Summary
Considering all the cases we have seen so far
1. ξ = 0  a1 = 0  oscillatory system with ωn
2. 0 < ξ < 1  damped oscillation with ωd
3. ξ = 1  critically damped  transition zone
4. ξ > 1  over damped

Fig: Unit Impulse Responses of 2nd Order Systems Versus ξ 38

Step input to 2nd Order System
• Consider only the case with 0  1
• For ξ = 0

39
 θo t

2Abo

Abo

π/2 π 3/2π 2π ωnt

• That means the system will oscillate freely b/n 0 & Ab0
with a natural frequency of ωn .
40
41
  n  n  2  1
1
T 
 n
Real Part Imaginary Part
 Fig. a Fig. b

• Fig: Responses of 2nd Order Systems Versus ξ

• Fig. a: unit Impulse Responses
• Fig. b: unit Step Responses

43
44
 Second – Order System
Example: Describe the nature of the second-order system response
via the value of the damping ratio for the systems with transfer
function

12
1. G( s)  2
s  8s  12

16
2. G( s)  2 Do them as your own
s  8s  16 revision

20
3. G ( s)  2
s  8s  20

45
4.4. Time Response Specification
• Control Systems are generally designed with damping
ratio less than one.
• Specification for control system design often involve
certain requirements associated with the time response
of the system.
• The requirement for a step response are expressed in
terms of standard quantities illustrated in Fig. shown in
the next slide.
• The quantities express how fast the system moves to
follow the input, how oscillatory it is (indicative of
damping) and how long does it take to practically reach
the final value.

46
For 0< <1 and ωn > 0, the 2nd order system’s response due to a
unit step input looks like

1. Rise time tr : the time it takes the system to reach

the vicinity of its new set point.
2. Settling time ts : is the time it takes the system
transients to decay. 47
3. Overshoot Mp : is the maximum amount the system
overshoots minus its final value divided by its final
value (and often expressed as a percentage).
4. Peak time tp : is the time it takes the system to reach the
maximum overshoot point.
5. Delay time td : is the time it takes the system to reach
50% of the final value in the first attempt.
6. Steady State error: indicates the error between the
actual output and desired output as time t approaches
infinity.

48
 Time Response Specification of 2nd Order System
1. Rise time tr :
– Time required for the response to rise
• from 0 to 100% of the final value of under damped system
• From 10 to 90% of the final value for over damped system
– Considering ξ <1 system, for unit step input and bo = 1
o(tr) = Abo=1
1
1 e ntr sin n 1   2 tr     1
1 2  

   1   2 
 tr  where   tan 1    cos 1 
n 1   2   
 
49
Rough approximation
– All the curves rise in roughly the same time.
– Hence, if we consider the curve for ξ = 0.5 to be an
average, the rise time from y=0.1 to 0.9 is
approximately ωntr=1.8. Thus we can say that
1.8
tr 
n

2. Peak time tp: do (t p )

0
dt
do (t ) n nt
 e sin n 1   2 t  cos    
dt 1  2  

ent
n 1   2 cos n 1   2 t  cos 1    0
1  2  
50
 sin n 1   2 t p    cos   sin  cos[n 1   2 t p   ]  0
 
 sin n 1   2 t p       0
 
n 1   2 .t p  n ; n  0,1, 2...
Since peak time corresponds to the first overshoot

 tp 
n 1   2
Qn: When will the first undershot and the second overshot occur.
3. Peak Overshoot Mp :
M p  o (t p )  Abo
 1 
sin n 1   t p    
n t p
  Abo  e 2
 1  2  
 
51
  
 n  
 
 M p  Abo    
1 n 1 2
e sin n 1   .
2
   
 1
2
  1   2
 
 n

but sin(   )   sin    1   2



1 2
 M p  Aboe

• The peak percent overshot will then be:



1 2
o (t p )  o () Abo e
M p (%)  100%  ( )100%
 o ( ) Abo


1 2
 M p (%)  (e )100%

52
4. Settling time ts :
• This is the time required for the transient to decay to a
small value so that y(t) is almost in the steady state.

 n t
  
y (t )  1  e cos d t  sin d t 
 1  2 

T 
1  n  n  2  1
 n
Real Part Imaginary Part
• Various measures of smallness are possible.
• 2 and 5% are possible but here 1% of error is taken as a
reasonable measure.
• The duration of this error is essentially decided by the
transient exponential, hence we can define ts when
decaying exponential reaches 1%:

e n ts  0.01  nts  4.6

4.6
 ts 
n
1
T 
 n
• Settling time (2%) criterion
• Time consumed in exponential decay up to 98% of the input.

4
t s  4T 
 n T 
1
 n

• Settling time (5%) criterion

• Time consumed in exponential decay up to 95% of the input.
3
t s  3T 
 n
 Summary of Time Domain Specifications

Rise Time Peak Time

 θ   tp 



tr   d  1   2
d n 1   2 n

Settling Time (1%)

Settling Time (2%)
4.6
t s  4T 
4 t s  4.6T 
 n  n
Settling Time (5%) Maximum Overshoot

3 
t s  3T  Mp e
1 2
 100
 n
4.5 Steady State Error
• Is the difference between the output of the system and
its input when conditions are in steady state.
• It is a measure of the accuracy of a system to track a
command input and is the error after all transient
responses have decayed.
• For open loop control system:

θi(s) θ0(s)
G(s)
Input Output

E ( s )  i ( s)  o ( s)  i ( s)  G( s)i ( s)
 E ( s )  i ( s)[1  G( s)]

57
• For closed loop control system:
θi(s) + θo(s)
∑ G (s)
-

G( s)
E ( s )  i ( s )  o ( s )  i ( s )  i ( s )
1  G( s)
1
 E ( s)  i ( s )
1  G( s)
• For systems with some feedback H(s), it could be
analyzed as above by considering G to be:
1
 G ( s) 
'
1  G( H  1)
Final Value theorem

59
 Example#4
• Consider the system shown in following figure, where
damping ratio is 0.6 and natural undamped frequency is 5
rad/sec. Obtain the rise time tr, peak time tp, maximum
overshoot Mp, and settling time 2% and 5% criterion ts when
the system is subjected to a unit-step input.
 Example#4
Rise Time

 
tr 
d

3.141  
tr  
2
n 1  

2
 1  
  tan1( n )  0.93 rad
 n

3.141  0.93
tr   0.55s
5 1  0.6 2
 Example#4
Peak Time
Settling Time (2%)

 4
tp  ts 
d  n
4
3.141 ts   1.33s
tp   0.785s 0.6  5
4
Settling Time (5%)

3
ts 
 n
3
ts   1s
0.6  5
 Example#4
Maximum Overshoot


1 2
Mp e  100

3.1410.6

10.6 2
Mp e  100

M p  0.095  100

M p  9.5%
 Example#4
Step Response
1.4

1.2 Mp

0.8
Amplitude

0.6

0.4

Rise Time
0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time (sec)
 Example#5
• For the system shown in Figure below, determine the values of gain
K and velocity-feedback constant Kh so that the maximum
overshoot in the unit-step response is 0.2 and the peak time is 1
sec. With these values of K and Kh, obtain the rise time and settling
time. Assume that J=1 kg-m2 and B=1 N-m/rad/sec.
Example#5
 Example#5

Since J  1 kgm 2 and B  1 Nm/rad/sec

C( s ) K
 2
R( s ) s  (1  KK h )s  K
• Comparing above T.F with general 2nd order T.F

C( s ) n2
 2
R( s ) s  2 n s  n2

(1  KK h )
n  K  
2 K
 Example#5
(1  KK h )
n  K  
2 K
• Maximum overshoot is 0.2. • The peak time is 1 sec


tp 
d
3.141
1

 n 1   2
)  ln0.2
1 2
ln( e
3.141
n 
1  0.456 2

n  3.53
 Example#5
n  3.53

(1  KK h )
n  K  
2 K
3.53  K 0.456  2 12.5  (1  12.5K h )

3.532  K K h  0.178

K  12.5
 Example#5
n  3.53

  4
tr  ts 
n 1   2  n

t r  0.65s t s  2.48s

3
ts 
 n
t s  1.86s
 Example#6
Given the system shown in following figure, find J and D to yield 20%
overshoot and a settling time of 2 seconds for a step input of torque
T(t).
Example#6