Biomedical Control Systems (BCS)

Lecture 6: Time Domain Analysis of Control

Systems

Muhammad Arif, PhD

[email protected]
https://sites.google.com/site/mdotarif/teaching/bcs
Learning Outcomes:
After completing this chapter student will be able to :

Obtain the transfer function of linear translational and rotational mechanical

systems.
Convert mechanical system into series and parallel circuit analogs.
Know about mechanical linkages: Gears
Mathematical Modeling of Gear Trains
Lecture Outline
Part-I: Translational Mechanical System

Part-II: Rotational Mechanical System

Part-III: Mechanical Linkages

 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.

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.
 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.

 Standard Test Signals
Impulse signal
The impulse signal imitate the
sudden shock characteristic of
actual input signal.
(t)

A t0
(t ) A
0 t0

If A=1, the impulse signal is called 0 t

unit impulse signal.
 Standard Test Signals
Impulse signal

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

 Standard Test Signals
Step signal
The step signal imitate the
sudden change u(t)
characteristic of actual
input signal.
A

A t0
u( t )
0 t0 0 t

If A=1, the step signal is

called unit step signal
 Standard Test Signals
Ramp signal r(t)

The ramp signal imitate the

constant velocity
characteristic of actual
input signal.
0 t

At t0
r(t )
t0
r(t)
0
ramp signal with slope A
If A=1, the ramp signal is
called unit ramp signal r(t)

unit ramp signal

 Standard Test Signals
Parabolic signal p(t)

The parabolic signal imitate

the constant acceleration
characteristic of actual
input signal.
0 t

At 2 p(t)

t0
p(t ) 2
0 t0
parabolic signal with slope A

If A=1, the parabolic signal p(t)

is called unit parabolic

signal.
Unit parabolic signal
 Relationship Between Standard Test Signals
A t0
Impulse (t ) d
0 t0
dt
A t0
Step u( t )
0 t0 d
dt
At t0
Ramp r(t )
0 t0 d
dt
At 2
t0
Parabolic p(t ) 2
0 t0

 Laplace Transform of Test Signals
Impulse Signal
A t0
(t )
0 t0

L{ (t )} ( s) A
Step Signal
A t0
u( t )
0 t0

A
L{u(t )} U ( s )
S
 Laplace Transform of Test Signals
Ramp Signal
At t0
r(t )
0 t0
A
L{ r(t )} R( s )
s2
Parabolic Signal
At 2
t0
p(t ) 2
0 t0

2A
L{ p(t )} P( s ) 3
S
 Time Response of Control Systems
Time response of a dynamic system response to an input
expressed as a function of time.

System
Input Output

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. x 10 -3
Step Response
6

Step Input
5
The response of the

Steady State Response

system after the 4
Response
Amplitude

transient response is 3

called steady state 2 Transient Response

response.
1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 Time Response of Control Systems

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

using a step input.

The steady-state response depends on system dynamics and

the input quantity.

It is then examined using different test signals by final value

theorem.
Time Domain Analysis of 1st Order Systems
 Introduction
The first order system has only one pole.
C( s ) K

R( s ) Ts 1
Where K is the D.C gain and T is the time constant of the
system.

Time constant is a measure of how quickly a 1st order system

responds to a unit step input.

D.C Gain of the system is ratio between the input signal and
the steady state value of output.
 Introduction
The first order system given below.
10
G( s )
3s 1
D.C gain is 10 and time constant is 3 seconds.

And for following system

3 3/ 5
G( s )
s 5 1 / 5s 1

D.C Gain of the system is 3/5 and time constant is 1/5

seconds.
 Impulse Response of 1st Order System
Consider the following 1st order system
(t)

K
R(s ) C(s )
1

Ts 1
t
0

R( s ) ( s ) 1

K
C( s )
Ts 1
 Impulse Response of 1st Order System
K
C( s )
Ts 1
Re-arrange following equation as

K /T
C( s )
s 1/ T

In order represent the response of the system in time domain

we need to compute inverse Laplace transform of the above
equation.
1
C K t / T
L Ce at c(t ) e
sa T
 Impulse Response of 1st Order System
K t / T
If K=3 and T=2s then c(t ) e
T
K/T*exp(-t/T)
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
Time
 Step Response of 1st Order System
Consider the following 1st order system

K
R(s ) C(s )
Ts 1

1
R( s ) U ( s )
s
K
C( s )
sTs 1
In order to find out the inverse Laplace of the above equation,
we need to break it into partial fraction expansion
Forced Response Natural Response
K KT
C( s )
s Ts 1
 Step Response of 1st Order System
1 T
C( s ) K
s Ts 1
Taking Inverse Laplace of above equation

c(t ) K u(t ) et / T
c(t ) K 1 e
Where u(t)=1
t / T

When t=T

c(t ) K 1 e1 0.632K
 Step Response of 1st Order System
If K=10 and T=1.5s then c(t ) K 1 e t / T
K*(1-exp(-t/T))
11

10

9 Step Response

8
steady state output 10
7
D.C Gain K
6 63% Input 1
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time
 Step Response of 1st Order System
If K=10 and T=1, 3, 5, 7
c(t ) K 1 e t / T
K*(1-exp(-t/T))
11
10
T=1s
9

8 T=3s
7
T=5s
6
c(t)

5 T=7s

4
3
2
1
0
0 5 10 15
Time
 Step Response of 1st Order System
System takes five time constants to reach its final
value.
 Step Response of 1st Order System
If K=1, 3, 5, 10 and T=1
c(t ) K 1 e t / T
K*(1-exp(-t/T))
11
10
K=10
9

8
7
6
K=5
c(t)

5
4
K=3
3
2
K=1
1
0
0 5 10 15
Time
Relationship Between Step & Impulse Responses

The step response of the first order system is

c(t ) K 1 e t / T K Ket / T

Differentiating c(t) with respect to t yields

dc(t ) d
dt

dt

K Ke t / T
dc(t ) K t / T
e
dt T
 First-Order Systems

If the input is a unit step, where R(s) = 1/s, the Laplace transform of the step response
is C(s), where;

Taking the inverse transform, the step response is given by

First-order System Response to a
Unit Step Signal
 Transient Response Performance
Specifications
Time Constant, Tc
The time constant of the response Tc = 1/a

Example
The step response of the first order system is given by

When t = 1/a

Hence, the time constant is the time it takes for the step response to rise to 63% of its
final value.
 Transient Response Performance
Specifications
Rise Time, Tr
Rise time is defined as the time for the waveform to go from 0.1 to 0.9 of
its final value.
Rise time is found by solving the step response equation for the
difference in time at c(t) = 0.9 and c(t) = 0.1 Hence,

The step response is given by

 Transient Response Performance
Specifications
Settling Time, Ts
Settling time is defined as the time for the response to reach, and stay
within, 2% of its final value.
Letting c(t) = 0.98 in equation of time response and solving for time, t,
we find the settling time to be

The step response is given by

Skill-Assessment Exercise
Example-1: Impulse response of a 1st order
system is given below.
c(t ) 3e 0.5t
Find the following;
Time Constant Tc
D.C Gain K
Transfer Function
Step Response
 Example-1: Continue

The Laplace Transform of Impulse response of a system is

actually the transfer function of the system.
Therefore taking Laplace Transform of the impulse response
given by following equation.
c(t ) 3e 0.5t
3 3
C( s ) 1 (s)
S 0.5 S 0.5
C( s ) C( s ) 3

( s ) R( s ) S 0.5
C( s ) 6

R( s ) 2 S 1
Example-1: Continue

Time constant Tc = 2
D.C Gain K = 6
C( s ) 6
Transfer Function
R( s ) 2 S 1
Step Response
Also Draw the Step response on your notebook
 Example-1: Continue

For step response integrate impulse response

c(t ) 3e 0.5t

0.5t
c( t )dt 3 e dt

cs (t ) 6e 0.5t C

We can find out C if initial condition is known e.g. cs(0)=0

0 6e 0.50 C
C6
cs (t ) 6 6e 0.5t
 Example-1: Continue
If initial Conditions are not known then partial fraction
expansion is a better choice
C( s ) 6

R( s ) 2 S 1
1
since R( s ) is a step input , R( s )
s
6
C( s )
s2S 1
6 A B

s2S 1 s 2s 1
6 6 6

s2S 1 s s 0.5

c(t ) 6 6e 0.5t
 Partial Fraction Expansion in Matlab
If you want to expand a polynomial into partial fractions use
residue command.

y( s ) r1 r2 rn
k
x( s ) s p1 s p2 s pn

Y=[y1 y2 .... yn];

X=[x1 x2 .... xn];
[r p k]=residue(Y, X)
 Partial Fraction Expansion in Matlab
If we want to expand following polynomial into partial
fractions
4s 8
s 2 6s 8
Y=[-4 8];
X=[1 6 8];
[r p k]=residue(Y, X)

4s 8 r1 r2

r =[-12 8] s 2 6s 8 s p1 s p2
p =[-4 -2]
k = []
4s 8 12 8

s 2 6s 8 s4 s2
 Partial Fraction Expansion in Matlab

If you want to expand a polynomial into partial fractions

use residue command.
6
C( s )
s2S 1
Y=6;
X=[2 1 0];
[r p k]=residue(Y, X)
6 6 6

r =[ -6 6] s2s 1 s 0.5 s
p =[-0.5 0]
k = []
 Ramp Response of 1st Order System
Consider the following 1st order system

K
R(s ) C(s )
Ts 1

1
R( s )
s2
K
C( s )
s Ts 1
2

The ramp response is given as

c(t ) K t T Tet / T
 Ramp Response of 1st Order System
If K=1 and T=1
c(t ) K t T Tet / T
Unit Ramp Response

10
Unit Ramp
Ramp Response
8

6
c(t)

4
error

0
0 5 10 15
Time
 Ramp Response of 1st Order System
If K=1 and T=3
c(t ) K t T Tet / T
Unit Ramp Response

10 Unit Ramp
Ramp Response
8

6
c(t)

2 error

0
0 5 10 15
Time
 Parabolic Response of 1st Order System
Consider the following 1st order system

K
R(s ) C(s )
Ts 1

1 K
R( s ) Therefore, C( s )
s 3
s 3 Ts 1
Do it yourself
Practical Determination of Transfer Function
of 1st Order Systems
Often it is not possible or practical to obtain a system's
transfer function analytically.

Perhaps the system is closed, and the component parts are

not easily identifiable.

The system's step response can lead to a representation

even though the inner construction is not known.

With a step input, we can measure the time constant and

the steady-state value, from which the transfer function
can be calculated.
 Practical Determination of Transfer Function
of 1st Order Systems
If we can identify T and K from laboratory testing we
can obtain the transfer function of the system.

C( s ) K

R( s ) Ts 1
 Practical Determination of Transfer Function
of 1st Order Systems
For example, assume the unit
step response given in figure. K=0.72
From the response, we can
measure the time constant, C( s ) 5

that is, the time for the R( s ) s 7
amplitude to reach 63% of its
final value. T=0.13s

Since the final value is about

0.72 the time constant is
evaluated where the curve Thus transfer function is
reaches 0.63 x 0.72 = 0.45, or obtained as:
about 0.13 second. C( s ) 0.72 5.5
K is simply steady state value.
R( s ) 0.13 s 1 s 7.7
 1st Order System with a Zero
C ( s ) K (1 s )

R( s ) Ts 1
Zero of the system lie at -1/ and pole at -1/T.

Step response of the system would be:

K (1 s )
C( s )
sTs 1
K K ( T )
C( s )
s Ts 1

K
c(t ) K 1 e t / T c(t ) K ( T )e t / T
T
 1st Order System with & without Zero
C( s ) K C ( s ) K (1 s )

R( s ) Ts 1 R( s ) Ts 1

c(t ) K 1 e t / T
K
c(t ) K ( T )e
T
t / T

If T> the response will be same

K
c(t ) K ( n )e t / T
T
Kn t / T
c(t ) K 1 e
T
 1st Order System with & without Zero
If T> the response of the system would look like
Unit Step Response
10

9.5
C ( s ) 10(1 2s )

R( s ) 3s 1 9

8.5
c(t)

7.5
10
c(t ) 10 ( 2 3)e t / 3 7
3
6.5
0 5 10 15
Time
 1st Order System with & without Zero
If T< the response of the system would look like

Unit Step Response of 1st Order Systems with Zeros

14

C ( s ) 10(1 2s ) 13

R( s ) 1.5s 1 Unit Step Response
12

11

10
c(t ) 10 ( 2 1)e t / 1.5 10
1.5
9
0 5 10 15
Time
1st Order System with & without Zero
Unit Step Response of 1st Order Systems with Zeros
14

13

12
Unit Step Response

11 T

10
T
9

6
0 5 10 15
Time
1st Order System with & without Zero
Unit Step Response of 1st Order Systems with Zeros
14
T
12
T
10
Unit Step Response

6
1st Order System
Without Zero
4

0
0 2 4 6 8 10
Time
 Home Work

Find out the impulse, ramp and parabolic response of

the system given below.

C ( s ) K (1 s )

R( s ) Ts 1
Example-2:
A thermometer requires 1 min to indicate 98% of
the response to a step input. Assuming the
thermometer to be a first-order system, find the
time constant.

If the thermometer is placed in a bath, the

temperature of which is changing linearly at a rate
of 10min, how much error does the thermometer
show?
 PZ-map and Step Response
j
C( s ) K

R( s ) Ts 1

T 1s
C( s ) 10

R( s ) s 1 -3 -2 -1
 PZ-map and Step Response
j
C( s ) K

R( s ) Ts 1

T 0.5s
C( s ) 10

R( s ) s 2 -3 -2 -1

C( s ) 5

R( s ) 0.5s 1
 PZ-map and Step Response
j
C( s ) K

R( s ) Ts 1

T 0.33s
C( s ) 10

R( s ) s 3 -3 -2 -1

C( s ) 3.3

R( s ) 0.33 s 1
 Comparison
C( s ) 1 C( s ) 1

R( s ) s 1 R( s ) s 10

Step Response
Step Response
1
0.1

0.8 0.08

0.6 0.06
Amplitude

Amplitude
0.4 0.04

0.2 0.02

0 0
0 1 2 3 4 5 6 0 0.1 0.2 0.3 0.4 0.5 0.6
Time (sec) Time (sec)
 First Order System With Delays

Following transfer function is the generic

representation of 1st order system with time lag.

C( s ) K std
e
R( s ) Ts 1

Where td is the delay time.

 First Order System With Delays

C( s ) K
e std
R( s ) Ts 1

Unit Step
Step Response

t
td
 First Order System With Delays
Step Response

10
K 10
8

6
Amplitude

C( s ) 10 2 s
e
R( s ) 3s 1 4

t d 2s
0
T 3s

0 5 10 15
Time (sec)
Examples of First Order Systems

Armature Controlled D.C Motor (La=0)

Ra La
B
ia
u eb T J

(s)

K t Ra
U(s) Js B K t K b Ra
Examples of First Order Systems

Liquid Level System

H (s) R

Qi ( s ) ( RCs 1)
Examples of First Order Systems

Electrical System

Eo ( s ) 1

Ei ( s ) RCs 1
Examples of First Order Systems

Mechanical System

X o (s) 1

X i (s) b
s 1
k
Examples of First Order Systems

Cruise Control of vehicle

V (s) 1

U ( s ) ms b
Time Domain Analysis of 2nd Order Systems
 Introduction
We have already discussed the affect of location of poles and
zeros on the transient response of 1st order systems.

Compared to the simplicity of a first-order system, a second-

order system exhibits a wide range of responses that must be
analyzed and described.

Varying a first-order system's parameter (T, K) simply changes

the speed and offset of the response, Whereas, changes in the
parameters of a second-order system can change the form of the
response.

A second-order system can display characteristics much like a

first-order system or, depending on component values, display
damped or pure oscillations for its transient response.
 Introduction
A general second-order system is characterized by the
following transfer function.

C( s ) n2
2
R( s ) s 2 n s n2
 Introduction
2
C( s )
2 n
R( s ) s 2 n s n2

n un-damped natural frequency of the second order system,

which is the frequency of oscillation of the system without
damping.

damping ratio of the second order system, which is a

measure of the degree of resistance to change in the system
output.
Example-1(a): Determine the un-damped natural frequency and
damping ratio of the following second order system.

C( s ) 4
2
R( s ) s 2s 4

Compare the numerator and denominator of the given

transfer function with the general 2nd order transfer function.

C( s ) n2
2
R( s ) s 2 n s n2

n2 4 n 2 rad / sec
2 n s 2s
n 1
s 2 2 n s n2 s 2 2s 4
0.5
Example-1(b): Given the transfer function below, find natural
frequency n and damping ratio .

Solution

The general form of the second-order transfer function is

Comparing the equations we will get

n2 = 36, or natural frequency n = 6

2n= 4.2, substituting the value of n we will get, damping ratio = 0.35.
 Introduction

C( s ) n2
2
R( s ) s 2 n s n2

Two poles of the system are

n n 2 1

n n 2 1
 Introduction
n n 2 1

n n 2 1
According the value of , a second-order system can be set into
one of the four categories:
1. Overdamped - when the system has two real distinct poles (
>1).
j

-c -b -a
 Introduction
n n 2 1

n n 2 1
According the value of , a second-order system can be set into
one of the four categories:

2. Underdamped - when the system has two complex conjugate poles (0 <
< 1)
j

-c -b -a
 Introduction
n n 2 1

n n 2 1
According the value of , a second-order system can be set into
one of the four categories:

3. Undamped - when the system has two imaginary poles ( = 0).

j

-c -b -a
 Introduction
n n 2 1

n n 2 1
According the value of , a second-order system can be set into
one of the four categories:

4. Critically damped - when the system has two real but equal poles ( = 1).
j

-c -b -a
 Time-Domain Specification
For 0< <1 and n > 0, the 2nd order systems response due to
a unit step input looks like

82
 Time-Domain Specification
Delay Time (td) is the time required for the response to
reach half the final value the very first time.

83
 Time-Domain Specification
Rise Time (tr) 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.
 Time-Domain Specification
Peak Time (tp) is the time required for the response to reach
the first peak of the overshoot.

85
 Time-Domain Specification
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. It is defined by

The amount of the maximum (percent) overshoot directly

indicates the relative stability of the system.
 Time-Domain Specification
Settling time (ts) 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%).
Complex S-Plane (Laplace or Frequency Domain)

Natural Undamped Frequency.

j
Distance from the origin of
s-plane to pole is natural
undamped frequency in n
rad/sec.

Complex S-Plane (Laplace or Frequency Domain)
Let us draw a circle of radius 3 in s-plane.

If a pole is located anywhere on the circumference of the circle

the natural undamped frequency would be 3 rad/sec.

-3 3

-3
Complex S-Plane (Laplace or Frequency Domain)
Therefore the s-plane is divided into Constant Natural
Undamped Frequency (n) Circles.

Complex S-Plane (Laplace or Frequency Domain)
Damping ratio.

Cosine of the angle between j

vector connecting origin
and pole and ve real axis
yields damping ratio.


cos
Complex S-Plane (Laplace or Frequency Domain)

For Underdamped system 0 90 therefore, 0 1

Complex S-Plane (Laplace or Frequency Domain)

For Undamped system 90 therefore, 0

Complex S-Plane (Laplace or Frequency Domain)
For overdamped and critically damped systems 0
therefore, 0

Complex S-Plane (Laplace or Frequency Domain)
Draw a vector connecting origin of s-plane and some point P.

j
P

45

cos 45 0.707
Complex S-Plane (Laplace or Frequency Domain)

Therefore, s-plane is divided into sections of constant

damping ratio lines.

Example-2: Determine the natural frequency and damping
ratio of the poles from the following PZ-map.
Pole-Zero Map
1.5
0.91 0.84 0.74 0.6 0.42 0.22

0.96
1

0.99
Imaginary Axis (seconds-1)

0.5

4 3.5 3 2.5 2 1.5 1 0.5

0

-0.5
0.99

-1
0.96

0.91 0.84 0.74 0.6 0.42 0.22

-1.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
 Example-3: Pole-Zero Map
3
3
0.7 0.56 0.42 0.28 0.14
2.5

Determine the natural 2 0.82

2

frequency and damping ratio 1.5

of the poles from the given 0.91
1

Imaginary Axis (seconds-1)

1
pz-map.
0.975 0.5

Also determine the transfer 0

function of the system and

0.975 0.5
state whether system is -1
1
underdamped, overdamped, 0.91
undamped or critically 1.5
-2 0.82
damped. 2

2.5
0.7 0.56 0.42 0.28 0.14
-3
-3 -2.5 -2 -1.5 -1 -0.5 30
 Example-4:
The natural frequency of closed Pole-Zero Map
3
loop poles of 2nd order system is 2 3
0.5 0.38 0.28 0.17 0.08 2.5

rad/sec and damping ratio is 0.5. 2

0.64
2

1.5
0.8

Determine the location of closed

1
1
0.94 0.5

Imaginary Axis
loop poles so that the damping 0
ratio remains same but the 0.5
0.94
natural undamped frequency is -1
1
0.8
doubled. 1.5
-2
2
0.64

C( s ) n2 4 0.5 0.38 0.28 0.17 0.08 2.5

2 2 -3
-2 -1.5 -1 -0.5 30
R( s ) s 2 n s n
2
s 2s 4 Real Axis
 Example-4:
Determine the location of closed loop poles so that the damping ratio
remains same but the natural undamped frequency is doubled.
Pole-Zero Map
5

4
0.5
3

2
Imaginary Axis

1
4 2
0

-1

-2

-3
0.5
-4

-5
-8 -6 -4 -2 0 2 4
 S-Plane

n n 2 1

n n 2 1

 Step Response of Under-damped System
C( s ) n2 Step Response n2
2 C( s )
R( s ) s 2 n s n2
s s 2 2 n s n2
The partial fraction expansion of above equation is given as

1 s 2 n
C( s ) 2
s s 2 n s n2

n2 1 2
1 s 2 n
C( s ) 2
s 2 n 2 s s 2 n s 2 n2 n2 2 n2

1 s 2 n
C( s )

s s n 2 n2 1 2
 Step Response of Under-damped System
1 s 2 n
C( s )

s s n 2 n2 1 2
Above equation can be written as
1 s 2 n
C( s )
s s n 2 d2
Where d n 1 2 , is the frequency of transient
oscillations and is called damped natural frequency.
The inverse Laplace transform of above equation can be
obtained easily if C(s) is written in the following form:
1 s n n
C( s )
s s n d s n 2 d2
2 2
Step Response of Under-damped System
1 s n n
C( s )
s s n d s n 2 d2
2 2

n 1 2
1 s n 1 2
C( s )
s s n d
2 2
s n 2 d2
1 s n d
C( s )
s s n d
2 2
1 2 s 2 2
n d

n t
c(t ) 1 e cos d t e nt sin d t
1 2
 Step Response of Under-damped System

n t
c(t ) 1 e cos d t e nt sin d t
1 2

c(t ) 1 e nt cos d t sin d t
1 2

When 0
d n 1 2
n

c(t ) 1 cos n t
 Step Response of Under-damped System

c(t ) 1 e nt cos d t sin d t
1 2

if 0.1 and n 3 rad / sec
1.8

1.6

1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
 Step Response of Under-damped System

c(t ) 1 e nt cos d t sin d t
1 2

if 0.5 and n 3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
 Step Response of underdamped System

c(t ) 1 e nt cos d t sin d t
1 2

if 0.9 and n 3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
 Step Response of Under-damped System
2
b=0
1.8 b=0.2
b=0.4
1.6
b=0.6
b=0.9
1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
 Step Response of Under-damped System
1.4

1.2

0.8
wn=0.5
0.6 wn=1
wn=1.5
wn=2
0.4 wn=2.5

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time Domain Specifications of Under-damped System
 Time Domain Specifications (Rise Time tr)

c(t ) 1 e nt cos d t sin d t
1 2

Put t t r in above equation

c(t r ) 1 e ntr cos d t r sin d t r
1 2

Where c(tr ) 1

0 e ntr cos d t r sin d t r
1 2


e nt r 0 0 cos d t r sin d t r
1 2

 Time Domain Specifications (Rise Time tr)

cos d t r sin d t r 0
1 2

above equation can be re - writen as

1 2
sin d t r cos d t r

1 2
tan d t r

1 2
d t r tan 1



 Time Domain Specifications (Rise Time tr)

1 2
d t r tan 1

1 1 2
tr tan 1 n

d n

tr
d tan 1 a
b
 Time Domain Specifications (Peak Time tp)

c(t ) 1 e nt cos d t sin d t
1 2

In order to find peak time let us differentiate above equation w.r.t t.

dc(t )
nt
n e cos d t sin d t e n d sin d t
t d
cos d t
dt 1 2 1 2

2

0 e nt n cos d t n
sin d t d sin d t d
cos d t
1 2
1 2

2
1 2
nt
0e n cos d t n
sin d t d sin d t n
cos d t
1 2
1 2

 Time Domain Specifications (Peak Time tp)
2
1 2
0 e nt n cos d t n
sin d t d sin d t n cos d t
1 2
1 2

2
n t
e n
sin d t d sin d t 0
1 2

2
e n t 0 n
sin d t d sin d t 0
1 2

2
sin d t n
d 0
1 2

 Time Domain Specifications (Peak Time tp)
2
sin d t n
d 0
1 2

2
n
d 0
1 2 sin d t 0

d t sin 1 0
0, , 2 ,
t
d
Since for underdamped stable systems first peak is maximum peak
therefore,

tp
d
 Time Domain Specifications (Maximum Overshoot Mp or
%OS)

nt p
c(t p ) 1 e cos d t p sin d t p
1 2

c() 1


M p 1 e n p cos d t p sin d t p 1 100
t
1 2


Put tp in above equation
d
n
M p e d cos
sin

100
d
d 2
d
d
1
 Time Domain Specifications (Maximum Overshoot)
n
M p e d cos
sin d

100
d
d 2
d
1
Put d n 1- 2 in above equation
n

n 1 2 cos 100
M p e sin
2
1


M p e
1 2
1 0 100



1 2
Mp e 100
Time Domain Specifications (Settling Time ts)

c(t ) 1 e nt cos d t sin d t
1 2

n n 2 1
1
T
n
Real Part Imaginary Part
 Time Domain Specifications (Settling Time ts)
Settling time (2%) criterion
Time consumed in exponential decay up to 98% of the
input.

4
t s 4T T
1
n 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

tr tp
d 2 d 1 2
n 1 n

Settling Time (2%)

4
t s 4T Maximum Overshoot
n


3 1 2
t s 3T Mp e 100
n
Settling Time (4%)
Example-5 (a): Given the transfer function, find the peak
time tp, settling time ts , maximum overshoot Mp or %OS,
and rise time tr .

Solution
The general form of the second-order transfer function is

Comparing the equations we will get

n2 = 100, or natural frequency n = 10

2n= 15, substituting the value of n we will get, damping ratio = 0.75.
Example-5(a): Continue.
Peak Time: = 0.475 second

Settling Time: = 0.533 second

Percent Overshoot: = 2.838

Rise Time: tr = 0.23 second
d n 1 2
Example-5(b): 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-5(b): Continue.
Rise Time

tr
d

3.141
tr
2
n 1

2
1
tan 1( n ) 0.93 rad
n
3.141 0.93
tr 0.55 s
5 1 0.6 2
 Example-5(b): Continue.
Peak Time
Settling Time (2%)

4
tp ts
d n
4
3.141 ts 1.33 s
tp 0.785 s 0.6 5
4
Settling Time (4%)

3
ts
n
3
ts 1s
0. 6 5
Example-5(b): Continue.
Maximum Overshoot


1 2
Mp e 100

3.1410.6

1 0.6 2
Mp e 100

M p 0.095 100

M p 9.5%
Example-5(b): Continue.
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-6: For the system shown in Figure-(a), 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-6: Continue.
 Example-6: Continue.

Since J 1 kgm2 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-6: Continue.
(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
) ln0.2
1 2
ln( e
3.141
n
1 0.456 2

n 3.53
Example-6: Continue.

n 3.96

(1 KK h )
n K
2 K
3.53 K 0.456 2 12.5 (1 12.5K h )

3.53 2 K K h 0.178

K 12 .5
Example-6: Continue.

n 3.96

4
tr ts
n 1 2 n

t r 0.65 s t s 2.48 s

3
ts
n
t s 1.86 s
Example-7: When the system shown in Figure(a) is subjected to a
unit-step input, the system output responds as shown in Figure(b).
Determine the values of a and c from the response curve.

a
s( cs 1)
Example-8: Figure (a) shows a mechanical vibratory system. When
2 lb of force (step input) is applied to the system, the mass
oscillates, as shown in Figure (b). Determine m, b, and k of the
system from this response curve.
Example-9: 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-9: Continue.
Example-9: Continue.
 Step Response of critically damped System ( 1 )
C( s ) n2 Step Response n2
C( s )
R( s ) s n 2 s s n
2

The partial fraction expansion of above equation is given as

n2 A B C

s s n s s n s n 2
2

1 1 n
C( s )
s s n s n 2

c(t ) 1 e nt n e nt t

c(t ) 1 e nt 1 nt
Step Response of overdamped and undamped Systems
Home Work!
143
 Second Order Control System
Example 10: 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