TIME RESPONSE ANALYSIS OF

CONTROL SYSTEM

Chalachew W.
 CONTENTS
Standard Test Signals.

Time Response of First and Second Order System.

Time Domain Specifications.

Generalized Error Series.

Steady State Error.

Static and Dynamic Error Constants.

 STANDARD TEST SIGNALS

Signal Impulse Step Ramp Parabolic Sinusoidal

• Time • δ(t) • u(t) • t.u(t) • 0.5(t)u(t) • sin ωt u(t)

• Laplace • 1 • 1/s • 1/(s) • 1/(s) •
TIME RESPONSE
Transient/natural response, : response of the system as the input is applied,
and die out as time goes.

lim =0
→

Steady state /forced response, : response of a system which remain after

transient response die out.
Total response C(t)= +
TIME DOMAIN SPECIFICATION Transient response
Time constant: time required to the output to reach 63% of the final output value.

Rise time: time required to the output to rise from 10% to 90% of the final output.

Settling time: time required for the output to reach and stay within ±2% (usually) of the final
output.

Peak time: time required to reach the maximum/ peak of the output.

Maximum percent overshoot /percent overshoot: percent of overshoot that occur during peak
time.

NB: the last two specifications are valid only for second-order under-damped system.
ORDER, TYPE, POLES AND ZEROS OF A SYSTEM
For a given system represented with transfer function having numerator and denominator.
Zeros: values that make transfer function numerator zero is called zeros of the system.
Poles: values that make transfer function denominator zero is called poles of the system.
Order: Order (i.e. highest degree) of denominator of transfer function of forward path after
cancelling out common factors in the numerator.
Type: degree of poles (whose values are zero) of a transfer function of forward path.
 TIME RESPONSE: FIRST ORDER SYSTEM
Rigid rope
mass=2 kg force=1N constant From the graph find

friction=5 Ns/m a. Final output

b. Time constant
For the figure shown above c. Settling time and
a. Draw possible schematic diagram d. Rise time
b. Find transfer function [velocity/speed
to force]
c. Plot velocity versus time graph. [hint
take inverse Laplace]
 TIME RESPONSE: FIRST ORDER SYSTEM
General first order system response
R(s) C(S)
C(t) s+

Cf For unit step input

0.98Cf
0.9Cf Final output

0.63Cf Time constant

Settling time .
≈
0.1Cf

t .
tc Ts Rise time
tr
FIRST ORDER SYSTEM
R(s)
1
C(S) Determine transfer function of a first
2s + 5 order system exhibiting response shown.

Determine
a. Final output
b. Time constant
c. Settling time and
d. Rise time
The input is unit step
TIME RESPONSE: SECOND ORDER SYSTEM
General second order system
( )
=
( )

 - natural frequency
 – damping constant

Find natural frequency and damping constant of

( )
a. ( )
, if f t = 27 ( ), M = 3, fv =6, K=27

b. G(s)=
s2+4.2s+36
CLASSIFICATION OF 2ND ORDER SYSTEM USING DAMPING RATIO
Classify the following second order
systems
( )
=
( )

If
a. m=2, B=10 and k=12;
b. m=1, B=0 and k=4;
c. m=3, B=18 and k=27;
d. m=0.5, B=2 and k=3.125;
SECOND-ORDER UNDER DAMPED TIME RESPONSE SPECIFICATIONS
Delay time 1+
=

Rise time =

where tan = , in radians

= 1−

Peak time =

Max. %overshoot
% =e x100%
Settling time 4
= , for 2% criterion
SECOND ORDER SYSTEM
G(s)= Determine value of B and K if
s2+4.2s+36  %Mp=4.32%
Find  Ts=1.414sec
a. Delay time  m=2kg
b. Rise time
c. Peak time
d. %Mp f(t)=Ku(t)
e. Settling time
B
STEADY STATE ERROR
Steady state error: error of a system as time E(s)(1+G(s)H(s))=R(s)
approaches to infinity. It is time domain
R(s)
specification of steady state response E(s)=
1+G(s)H(s)
E(s)=R(s)-H(s)C(s) lim = ∞ = lim
→ →
C(s)=E(s)G(s)
R(s)
E(s)=R(s)-E(s)G(s)H(s) e ∞ =lim =lim
→ → 1+G(s)H(s)
 STEADY STATE ERROR
Determine order and type of G(s) The open loop transfer function of a unity
feedback system is given by
Find steady state error for system with

For step, ramp and parabolic input =

1 1
a. G(s)=s+2, H(s)=0 c. G(s)=s(s+2) , H(s)=0.5 Find the steady state error of the system

1 when subjected to an input given by

b. G(s)=s+2, H(s)=1 1
d. G(s)= , H(s)=2
(s+2)
r(t)= 2 + 3 +
RELATIONSHIP BETWEEN INPUT, SYSTEM TYPE, STATIC
ERROR CONSTANTS AND STEADY STATE ERRORS

Where =
→
= These are static error constants
→
= 2
→
STATIC ERROR CONSTANTS
Find

Static error constants and

Steady state error

1 Step input
G(s)= , H(s)=1
s+2
1 Ramp input
G(s)= , H(s)=0.5
s(s+2)
1 Parabolic input
G(s)= , H(s)=2
(s+2)
GENERALIZED ERROR SERIES/DYNAMIC ERROR
CONSTANTS/ COEFFICIENTS
The open loop transfer function of a
= r ( ) unity feedback system is given by
= lim
→
=
Where:-
ki- dynamic error coefficient
Find the dynamic error coefficients.
F(s)= overall transfer function
( )

r(t)-input