CONTROL ENGINEERING

Module -2

Time domain performance of control systems: Typical test signal, Unit step response and
time domain specifications of first order, second order system. Steady state error, error
constants

3.1. Introduction:
Time is used as an independent variable in most of the control systems. It is important to analyse
the response given by the system for the applied excitation, which is function of time.
Analysis of response means to see the variation of output with respect to time. The output behaviour
with respect to time should be within these specified limits to have satisfactory performance of the
systems. The stability analysis lies in the time response analysis that is when the system is stable
output is finite The system stability, system accuracy and complete evaluation is based on the time
response analysis on corresponding results.
3.2. Time Response:
The response given by the system which is function of the time, to the applied excitation is
called time response of a control system. Practically, output of the system takes some finite time
to reach to its final value. This time varies from system to system and is dependent on different
factors. The factors like friction mass or inertia of moving elements some nonlinearity present
etc. Example: Measuring instruments like Voltmeter, Ammeter.
Classification:
The time response of a control system is divided into two parts.
1 Transient response ct(t)
2 Steady state response css(t)

c(t)=ct(t) +css(t)
Where c(t)= Time Response
Total Response=Zero State Response +Zero Input Response.
3.3. Steady State Response:
It is defined the part of the response which remains after complete transient response
vanishes from the system output.
. i,e, Lim ct(t)=css(t)
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The time domain analysis essentially involves the evaluation of the transient and Steady state
response of the control system.For the analysis point of view, the signals, which are most
commonly used as reference inputs, are defined as standard test inputs.
The performance of a system can be evaluated with respect to these test signals.Based on the
information obtained the design of control system is carried out. The commonly used test
signals are
1. Step Input signals.
2. Ramp Input Signals.
3. Parabolic Input Signals.
4. Impulse input signal.
1. Step input signal (position function)
It is the sudden application of the input at a specified time as usual in the figure or instant any
us change in the reference input
Example :-
a. If the input is an angular position of a mechanical shaft a step input represent the sudden
rotation of a shaft.
b. Switching on a constant voltage in an electrical circuit.
c. Sudden opening or closing a valve.

The step is a signal who‘s value changes from 1 value (usually 0) to another level A in Zero
time.
In the Laplace Transform form R(s) = A / S
Mathematically r(t) = u(t)
= 1 for t > 0
= 0 for t < 0
2. Ramp Input Signal (Velocity Functions):
It is constant rate of change in input that is gradual application of input as shown in
fig (2 b).r(t)
Ex:- Altitude Control of a Missile
The ramp is a signal, which starts at a value of zero and increases linearly with time.
Mathematically r (t) = At for t ≥ 0
= 0 for t≤ 0.
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In LT form R(S) = A
S2
If A=1, it is called Unit Ramp Input

Parabolic Input Signal (Acceleration function):

The input which is one degree faster than a ramp type of input as shown in fig (2 c) or it is an
integral of a ramp. Mathematically a parabolic signal of magnitude.

Impulse Input Signal:

It is the input applied instantaneously (for short duration of time ) of very high amplitude as
shown in fig 2(d) Eg: Sudden shocks i e, HV due lightening or short circuit.
It is the pulse whose magnitude is infinite while its width tends to zero.
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= 0 for t ≠ 0
In LT form R(S) = 1 if A = 1
 Second Order

1. Second Order System

In this section, we shall obtain the response of a typical second-order control system to a step
input.

In terms of damping ratio and natural frequency , the system shown in figure 1 , and
the closed loop transfer function / given by the equation 1

1
2

This form is called the standard form of the second-order system.

The dynamic behavior of the second-order system can then be description in terms of two
parameters and .

We shall now solve for the response of the system shown in figure 1, to a unit-step input. We
shall consider three different cases: the underdamped 0 1 , critically damped 1 ,
and overdamped 1

1) Underdamped Case :
In this case, the closed-loop poles are complex conjugates and lie in the left-half s plane. The
/ can be written as

Where 1 , the frequency is called damped natural frequency. For a unit step-
input, can be written

3
2

By apply the partial fraction expansion and the inverse Laplace transform for equation 3, the
response can give by
 1 4
1 sin tan
1

If the damping ratio is equal to zero, the response becomes undamped and oscillations continue
indefinitely. The response for the zero damping case may be obtained by substituting 0
in Equation 4, yielding

1 cos 5

2) Critically Damped Case

If the two poles of / are equal, the system is said to be a critically damped one. For a
unit-step input, 1/ and / can be written

By apply the partial fraction expansion and the inverse Laplace transform for equation 6, the
response can give by

1 1 7

3) Overdamped Case :
In this case, the two poles of / are negative real and unequal. For a unit-step input,
1/ and can be written

8
1 1

By apply the partial fraction expansion and the inverse Laplace transform for equation 6, the
response can give by

9
1
2 1

, 1

Thus, the response includes two decaying exponential terms.

A family of unit-step response curves with various values of z is shown in Figure1 , where
the abscissa is the dimensionless variable .

Figure 1: Unit step response curves of the system

2. Definition of Transient-Response Specification:

Frequently, the performance characteristics of a control system are specified in terms of the
transient response to a unit-step input, since it is easy to generate and is sufficiently drastic. (If the
response unit step input is known, it is mathematically possible to compute the response to any
input.)

The transient response of a system to a unit-step input depends on the initial conditions. For
convenience in comparing transient responses of various systems, it is a common practice to use
the standard initial condition that the system is at rest initially with the output and all time
derivatives thereof zero. Then the response characteristics of many systems can be easily
compared.

The transient response of a practical control system often exhibits damped oscillations before
reaching steady state. In specifying the transient-response characteristics of a control system to a
unit-step input, it is common to specify the following:

1. Delay time,
2. Rise time ,
3. Peak time,
4. Maximum overshoot,
5. Settling time,

These specifications are defined in what follows and are shown graphically in Figure 2.
 Figure 2: Step response specification

These specifications are defined in what follows and are shown graphically in Figure 2.

1. Delay time, : The delay time is the time required for the response to reach halfthe final value
the very first time.

2. Rise time, : 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 underdamped second order systems, the 0%to
100%rise time is normally used. For overdamped systems, the 10% to 90% rise time is commonly
used.

3. Peak time, : The peak time is the time required for the response to reach the first peak of the
overshoot.

4. Maximum overshoot, : The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steady-state value of the response differs from
unity, then it is common to use the maximum percent overshoot. The amount of the maximum
(percent) overshoot directly indicates the relative
stability of the system.

5. Settling time, :The settling time is the time required for the response curve to reach and stay
within a range about the final value of size specified by absolute percentage of the final value
(usually 2% or 5%). The settling time is related to the largest time constant of the control system.
Which percentage error criterion to use may be determined from the objectives of the system
design in question.

The time-domain specifications just given are quite important, since most control systems are time-
domain systems; that is, they must exhibit acceptable time responses. (This means that, the control
system must be modified until the transient response is satisfactory.)
2.1 Second Order System and Transient- Response Specifications…

In the following, we shall obtain the rise time, peak time, maximum overshoot, and settling time
of the second-order system These values will be obtained in terms of and .The system is
assumed to be underdamped.

1. Rise time ,

where angle is defined in figure 3. Clearly, for a small value of , must be large.

Figure 3

2. Peak time,
Since the peak time corresponds to the first peak overshoot,

The peak time corresponds to one-half cycle of the frequency of damped oscillation.

3. Maximum overshoot,
Assuming that the final value of the output is unity

If the final value ∞ of the output is not unity, then we need to use the following
equation:
∞
∞

4. Settling time,
For convenience in comparing the responses of systems, we commonly define the
settling time , to be

4
(2% criterion)
3
(5% criterion)