Faculty of Mechanical and

Industrial Engineering

Course:
BiT
Control system(EMEg4201)
Chapter four: Time domain Analysis

Targeted for 4th Year

Electromechanical Engineering Student

Tuesday, January 14, 2025 | Bahir Dar

Compiled By: Mebratu A
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት

Chapter outline
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1. Introduction

2. Response analysis of First-order systems

3. Response analysis of Second order systems

4. Transient response specifications of first & second

order systems

2
 Introduction
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
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▪ The first step in analyzing a control system is

✓ Driving mathematical model of a system

✓ Analysis of system’s performance

▪ There are several methods used for analysis of systems' performance.

▪ In analyzing & designing control systems there must be some basis of

comparison of performance of various control systems.

3
 Test input signals
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▪ This basis of comparison can be set by specifying particular test

input signals and by comparing the response of various systems
to these input signals.
▪ Design criteria are based on
 Response of the system to test input signals or

 Systems response to changes in initial conditions

▪ Typical test input signals: commonly used test input signals.

✓ Step function ✓ Impulse function

✓ Ramp function ✓ Sinusoidal function
4
 Test input signals
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▪ With this test signals mathematical & experimental analysis

of control systems can be carried out easily since the signals
very simple functions of time.

▪ The kind of input the system will be subjected most

frequently under normal operation determines which test
input signal to use to analyze the systems performance

▪ Step function : this test signal is used if the control system

is most frequently subjected to a sudden disturbance.
5
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት

Test input signals

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▪ Ramp function :This test input signal is used ,if the control system is
frequently subjected to a gradually changing input type .
▪ Impulse function: this test input signal is used if the control system is
subjected to shock inputs.

▪ Once the control system is designed on the basis of test signals the
performance of the system in response to the actual input is generally
satisfactory .
▪ The use of test signals enables to compare the performance of all
systems under the same basis.
6
 Test input signals
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7
 Types of System Response
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➢The time response of a control system consists of two parts transient

response & Steady state response
➢ Transient response: Part of the time response which goes from the initial
state to the final state and reduces to zero as time becomes very large.
➢ Steady state response : The behavior of the system as t approaches
infinity after the transients have died out.

➢ The system response y(t) may be written as:

y(t) = yt(t) + yss(t)

8
 Types of System Response
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▪ Since physical control systems involves energy storage ,the output of the system
when subjected to an input cannot follow the input immediately but exhibits a
transient response before a steady state cab be reached.

▪ The transient response of a practical control system often exhibits damped

oscillation before reaching steady state.
▪ If the output of the system at the steady state doesn’t exactly agree with input ,the
system is said to have steady state error.
▪ This error is indicative of the system accuracy.

9
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2. Response analysis of first order systems

▪ Order of a system: The order of the system is the number of

independent energy storage elements in the system, & intuitively the
highest degree of the linear differential equation that describes the
system.
▪ In a transfer function representation, the order is the highest
exponent in the transfer function.
▪ In a state-space equation, the system order is the number of state-
variables used in the system.

▪ That means most systems had only one energy storage element .
10
 2. First order systems
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▪ First order systems can be modeled by first order differential systems.

▪ In the case of the mechanical systems, energy is stored in a spring or
an inertia(mass).
▪ Electrical systems, energy can be stored either in a capacitance or an
inductance.

▪ A general form of a first-order system can be represented by the

block diagram

11
 ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
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Steps of response analysis for first order systems
1. Compute the responses of first order systems to inputs such as
unit- step, unit-ramp, and unit-impulse functions , assuming zero
initial conditions
Unit-step response

Unit ramp response

Unit –impulse response

2. Draw the response curves of first order systems

12
 2.1. Unit -step response of first order systems
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▪ Response of first order system to a unit-step input

R(s) = 1/s, and therefore the unit-step response is:
y(s) = 1/s(Ts+1)

➢ T is the time constant of the system, it is the measure of how

quickly the system responds. In this particular case, T is time
it takes for the step response to rise to 63.2% of its final value.

➢ Expanding Y(s) into partial fractions:

13
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Unit -step response

➢ Take the inverse Laplace

transform:

➢ The solution has two parts:

- Steady-state response:
yss(t) = 1, and

14
 Step response
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➢ At t = T, y(T) = 1 – 1/e = 0.632. T is called the time constant, and it is the time
it takes for the step response to rise to 63.2% of its final value.

➢ y(2T) = 0.865; y(3T) = 0.95; y(4T) = 0.982; y(5T) =0.993 ... It can be seen that for
t >= 4T, the response y(t) remains within 2% of the final value; this time is known
as the settling time, Ts.
➢ The rise time, Tr, is defined as the time for the waveform to go from
10% to 90% of its final value.

➢ The steady-state error is the error after the transient response has decayed leaving
only the continues response
15
 Unit step and step response
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Unit step response Step response

16
 Step response
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➢ The error signal:

e(t ) = 1 − 1 + e T = e T

➢ As t approaches to infinity e(t) approaches to zero and the steady state error is
−t

e ss ( t ) = l i m t→  (e(t)) =lim e T
= 0
t→ 

➢ The larger the time constant T is, the slower the system response.
➢ It is noted that the transient response dominates the response of the system at
times ‘immediately’ after the input is applied and can make significant
contribution to the system response when the time constant is large.

17
 2.2. Unit -ramp response of first order systems
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➢ The input, r(t) = t for t >= 0.

➢Laplace transform: R(s) = 1/s2
➢ The output transform:
➢ Expanding Y(s) into partial fractions

➢ Taking the inverse Laplace transform:

−t
y(t) = t − T + Te ,t  0 T

➢ Steady-state error:
ess (t) = e() = lim t→ (r(t) − y(t)) = T

18
 2.3. Unit –impulse response of first order systems
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❖ The unit-impulse input, r(t) = d(t), t >= 0

❖ Laplace transform: R(s) = 1.

The output transform:

1
y(s) =
Ts +1

Taking the inverse Laplace transform :

−𝑡
𝑦 𝑡 = 𝑒𝑇
The impulse input yields the transfer function of the system as
output. 19
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት
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Unit -impulse response of first
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order systems

20
 3. Response of Second order systems
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▪ Response of a typical second order control system to a step, ramp

and impulse response.
▪ The dynamic behavior of second order system can be described
in terms of two parameters damping ratio(z) and natural
frequency (wn)of a system.
▪ damping ratio of a system
▪ (z)= actual damping coefficient of /critical damping coefficient
▪ Damping changes both the amplitude and frequency(speed) of
oscillation of systems response.
▪ Wn= the frequency at which the system oscillate when no
damping is applied to a system.

21
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3. Response of Second order systems
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❖ A general form of a second order system is:

❖ Transfer function:

k: the gain of the system

z: the damping ratio of the system
wn: the (un-damped) natural frequency of the system
❖ Solutions (roots, or poles of the system) of the
characteristic equation are:

22
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3.1.Step-Response of Second order systems

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Three cases:
z = 1, critically damped case
z > 1, over-damped case
0 < z < 1, under-damped case
➢ We will study the above cases when k = 1 for simplicity.
➢ Under damped case (0 < z < 1)
➢ R(s)=1/s
➢ Unit step response

23
 Step-Response of Second order systems
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Three cases:
z = 1, critically damped case
z > 1, over-damped case
0 < z < 1, under-damped case
➢ We will study the above cases when k = 1 for simplicity.
➢ Under damped case (0 < z < 1)
➢ R(s)=1/s
➢ Unit step response

24
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Under damped case
➢ The unit step response in time domain is

➢ The error signal is

e(t)

25
 Critically Damped Case
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➢ critically damped case(z=1)

➢ If the poles of the transfer function are equal
,the system is critically damped.
➢ The unit step response for critically damped
SOS is

y(s)

Y(t)

26
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Over-Damped Case (z > 1)

➢ We can write the transfer function of a second-order system by

factoring the denominator as:

➢ Two poles in the s-plane:

➢ For a unit-step input, the output is:

➢Taking the inverse Laplace transform yields the time response

27
 4. Transient response specifications SOS
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➢ Systems with energy storage cannot respond instantaneously & will

exhibit transient response, when subjected to inputs or disturbances.
➢ Frequently the performance characteristics of a control system is specified
in terms of transient response to a unit step-input since it is easy to
generate & sufficiently drastic.
➢ The transient response to a unit-step input depends on the initial
conditions.

➢ The transient response of a practical control system often exhibits damped

oscillations before reaching steady state.
28
 Transient response specifications FOS
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➢ In specifying transient response characteristic of a control system, to a unit-

step input ,it is common to specify the following :
1. Delay time, td
2. Rise time, tr

3. Peak time, tp
4. Maximum overshoot, Mp
5. Settling time , ts

Mp

Settling time (2% or 5%)

29
 Transient response specifications SOS
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➢ The settling time is the largest time constant of the control

system.
➢ Which percentage error criterion to use depends on the objective of
the system to be designed.
➢ The above time-domain specifications are quite important since
most control systems are time domain systems, that is they must
exhibit acceptable time responses.
➢ The control system is modified until the transient response is
satisfied.

➢ The shape of the transient response can be virtually determined

once td,tr,tp,ts &Mp are specified. 30
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት

Cont. …
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31
ባሕር ዳር ቴክኖሎጂ ኢንስቲትዩት

Time domain specification

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Rise Time Peak Time

 −   −  =  
tr = = tp =
d n 1 −  2
d n 1 −  2

Settling Time (2%)

4
t s = 4T = Maximum Overshoot
n
− 
3 1− 2
t s = 3T = Mp =e 100
 n
Settling Time (4%) 32
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Transient response specifications SOS

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➢ For a desirable ,transient response of second order system, the damping

ratio must be between 0.4 and 0.8

➢ Small values of damping coefficient(z<0.4) yields excessive,

overshoot in the transient response and a system with large damping

value (z>0.8) responds sluggishly.

33
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Transient response specifications SOS
➢ The settling time corresponds to plus or minus 2% or 5% tolerance band,
may be measured interms of time constant T=1/zwn.

34
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Transient response specifications SOS

▪ The settling time reaches minimum value around z=0.76 for 2% criterion &
z=0.68 for 5% criterion and then increases linearly for large values of z.
▪ Settling time is inversely proportional to the product of damping ratio and
undamped natural frequency.
▪ Since the value of damping ratio is determined from the requirement of
permissible maximum overshoot , the settling time is determined primarily by
the undamped natural frequency.
▪ This means the duration of transient period can be varied with out
changing the maximum overshoot by adjusting the undamped natural
frequency.
35
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Transient response specifications SOS
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▪ For rapid response undamped natural frequency must be large.

▪ To limit the maximum overshoot Mp and to make the settling time small
the damping ratio should not be too small.
▪ Mp vs damping ratio

36
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