CHAPTER IV: TIME-RESPONSE ANALYSIS

How to determine the time-function of a given control

This chapter is concerned with a method we can use to
system
determine how the output of system changes when an input
signal is applied or simply a change in input happened in the 1. Determine the output of the system (transfer function
system. This method tries to answer questions like; multiplied to its input signal) expressed as an s-
function.
1. How will the output of the system respond when there
2. Determine the time-function using inverse Laplace
is an input to it?
transform) corresponding to the output s-function.
2. How will the output vary with time when the input is
gradually increased with time?
Using the transfer function of the system, we will use it to B. Types of Response Base on Systems Order
determine how the output of the system changes or respond
when there is an application or simply a change in the systems
input. B.1 First-order Systems

A. Standard Forms of Inputs

1. Impulse input – we have an input existing for just a

very brief time before dropping back to zero. Typical
example is a pushbutton switch.
2. Step input (1/s) – we have an input suddenly being
switched to a constant value at some particular time.
This represent an ordinary on/off (toggle) switch.
3. Ramp input (1/s2) – we have an input starting at some
time and then increasing at a constant rate.

A 1st-order system has an output whose differential equation is

The usual question of which of these typical input signals to
of the form:
use for analyzing system characteristics may be determined by
the form of the input signal that the system will be subjected to ��
� + � = ��
the most under normal operation? For example, if the input to a ��
control system is gradually changing functions of time, then a In s-domain, this can be written as:
ramp function should be used. Similarly, if a system is subjected
to sudden disturbances, a step function of time may be a good ��� � + � � = ��(�)
test signal. And for systems subjected to shock inputs impulse Then, the output is:
may be best. Once a control system is designed on the basis of
�
the test signals, the performance of the system in response to � � = ℶ−1 [ �(�)]
actual inputs is generally satisfactory. The use of such test �� + 1
signals enables engineers to compare the performance of all Where  is the time-constant, a measure of how long will the
systems on the same basis. system reach 63.2% of its output value and k is the DC gain
(amplification or attenuation) of the system.

Prepared by: Eleazer C. Nabong, REE, MEng(Mfg), MSEE

It is the number of our successes that defines us, not our failures. Keep trying!
 B.1.1 1st Order Transient Parameters (use to Using quadratic equation;
describe the transient performance of the system)
�(�2 + 2��� � + �2� ) = 0
Solving using the quadratic formula:
1. Delay time – it is the time required for the output
response to reach 50% of its steady-state value. −2�� ± 4�2 �2� − 4�2�
�=
2
Td = ln2 �1 =−�� + �� �2 − 1

2. Rise time – it is the time required for the output to rise �2 =−�� − �� �2 − 1
from 10% to 90% of its steady-state value.

Tr = ln9

Example1: Determine the delay time and the rise time for a first-
order system with the transfer function G(s) = 3/(2s+1).
[1.4, 4.4]

Example2: A thermocouple which has a transfer function linking

its voltage output V and temperature input of: G(s) =
30x10-6/(10s+1). Determine the time response and
transient parameters of the system when it is suddenly
1. Overdamped (>1) – this describes an output which
immersed in a water bath at 100 C. [30x10-6(1-e-0.1t)]
does not oscillate but dies away with time. It takes
longer than critical damping to reach the steady-state
value.
B.2 2nd-Order Systems
��2� �2 �1
�(�) = 1− �−��1 + �−��2
�1 �2 �2 − �1 �2 − �1
A system having a differential equation of the form:

2. Critically damped (  =1) – there are no oscillations

�2 � �� and the output just gradually approaches the steady-
2
+ 2��� + �2� � = ���2�
�� �� state value.

Then the output is: �(�) = � 1 − �−��� − �� ��−���

��2� 3. Under damped (  <1) – the output oscillates but the

� � = ℶ−1 [ �(�)]
�s2 +2ζωn s + ω2n closer the damping factor to 1, the faster the
amplitude of oscillation diminishes.

Note:
�−����
�(�) = � 1 − ��� �� (1 − �2 )� + �
There are three different forms of answer to a 2 order system
nd
1 − �2
subject to a unit step input for the way the output varies with
time; depending on the value of the damping constant ().

Prepared by: Eleazer C. Nabong, REE, MEng(Mfg), MSEE

It is the number of our successes that defines us, not our failures. Keep trying!
 B.2.1 2nd-Order Transient Parameters 5. Settling time – it is a measure of the time taken for
the oscillations to die away. This is the time taken for
1. Rise time – this is the time taken for the oscillating
the response (amplitude of oscillation) to fall within
response to complete a quarter of a cycle.
and remain within some specified percentage of the
� steady-state value.
�� =
��� � − ��
For 2% setting:
�
2. Peak time – time for the oscillating response to �� =
���
complete half-cycle.

� For 5% setting:
�� = �
�� � − �� �� =
���

Note that at critical damping (=1), the rise and peak 6. Number of oscillations to settling time – this is the
time becomes infinite, indicating only that at critical number of oscillations that occurred before the signal
damping, the steady-state value is never reached but settles down.
only approached asymptotically.

3. Overshoot – it is the maximum amount by which the �������� ���� � �

�= = −�
response overshoots the steady-state value and is �������� ���� � ��
thus refers to the amplitude of the first peak. This is
Points to remember:
often expressed as percentage of the steady-state
value.  For a rapid response, small rise time, the natural
−�� frequencyls voltage output V and temperature input of:
%�� = ����%
� − �� G(s) = 30x10-6/(10s+1)* * * * must be large.
 The damping factor is typically in the range 0.4 to 0.8
since smaller values give an excessive overshoot and
Damping Ratio % Overshoot
a large number of oscillations before the system
0.2 52.7 settles down. Larger values render the system
sluggish since they increase the response time. In
0.3 37.2
some systems where no overshoot can be tolerated, a
0.4 25.4 high value of damping factor is used.

0.5 16.3
0.6 9.5
0.7 4.6
0.8 1.5
0.9 0.2

4. Subsidence ratio or decrement – this is an

indication of how fast oscillation decay.

���
��� �� −
�−��
�� = =�
��� ��

Prepared by: Eleazer C. Nabong, REE, MEng(Mfg), MSEE

It is the number of our successes that defines us, not our failures. Keep trying!
Problems

1. A system has an input of 3V which is suddenly applied

by a switch being closed. What is the input as an s-
function?
1
2. A system gives an output of C = [ �+5 ]V. What is the
output as a function of time?
5
3. A system has a transfer function of . What will be
�+3
its output as a function of time when subjected to a (a)
unit step input of 1V (b) unit impulse input of 1V (c)
unit ramp input of 1V.
10
4. A system has a forward path transfer function of �+3
and a negative feedback loop with transfer function of
5. What is the time constant of the resulting 1st-order
system?
5. What will be the state of damping a system having
the following transfer functions and subject to a unit
1 12 1
step input? (a) �2+2�+1 (b) �2+7�+12 (c) �2+�+1?
6. A 2nd order system has a transfer function of
100/(s2+s+100). What will be its damping ratio and
damped frequency? Is the system critically, over-, or
under-damped?
7. Determine the delay time and rise time for the
following 1st-order systems. A) G = 1/(4s+1) B) G =
5/(s+1) C) G = 2/(s+3).
8. Determine the natural angular frequency, the damping
factor, the rise time, %OS and  for a 2% settling time
of the equation: y’’+5y’+16y=16x.

Prepared by: Eleazer C. Nabong, REE, MEng(Mfg), MSEE

It is the number of our successes that defines us, not our failures. Keep trying!