Time Domain Analysis

Dr. Anuj Jain

 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.
Introduction
The time response of a control system consists of two
parts:

1. Transient response 2. Steady-state response

- from initial state to the final - the manner in which the
state – purpose of control system output behaves as t
systems is to provide a desired approaches infinity – the error
response. after the transient response has
decayed, leaving only the
continuous response.
Introduction

Transient Steady-state
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.
 Standard Test Signals
• Impulse signal
• The impulse signal imitate the
sudden shock characteristic of
actual input signal.
δ(t)

A
A t=0
 (t ) = 
• If A=1, the t  0signal is called
0 impulse
unit impulse signal. 0 t
 Standard Test Signals
• Step signal
• The step signal imitate the
sudden change characteristic
u(t)
of actual input signal.

A t0 A
u( t ) = 
0 t0
t
• If A=1, the step signal is 0
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 t0
r(t ) = 
r(t)

t  0signal is
• If A=1,0the ramp ramp signal with slope A
called unit ramp signal
r(t)

unit ramp signal

 Standard Test Signals
p(t)
• Parabolic signal
• The parabolic signal imitate
the constant acceleration
characteristic of actual input
signal.
 At 2 0 t
 t0
p(t ) =  2 p(t)

0 t0

• If A=1, the parabolic signal isparabolic signal with slope A
called unit parabolic signal. p(t)

Unit parabolic signal

Relation between standard Test Signals
A t=0
• Impulse  (t ) = 
t0
d
0
 dt
A t0
• Step u( t ) = 
0 t0 d
 dt
• Ramp  At
r(t ) = 
t0
0 t0 d
dt
• Parabolic   At 2
 t0
p(t ) =  2
0 t0

Laplace Transform of Test Signals

• Impulse
A t=0
 (t ) = 
0 t0

L{ (t )} =  ( s) = A

• Step
A t0
u( t ) = 
0 t0

A
L{u(t )} = U ( s ) =
S
Laplace Transform of Test Signals

• Ramp  At t0
r(t ) = 
0 t0

A
L{ r (t )} = R( s ) = 2
s
• Parabolic  At 2
 t0
p(t ) =  2
0 t0

A
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

• 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 from equilibrium it
takes some time to settle down.

• This is called transient response.

-3
x 10 Step Response
6

Step Input
5
• The response of the

Steady State Response

system after the transient 4
Response

Amplitude
response is called steady 3

state response. 2 Transient Response

1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
Time Response of Control Systems
• Transient response depend 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.
 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.

• For the 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
δ(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 to compute 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
s+a 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 ) =
s (Ts + 1)
• In order to find out the inverse Laplace of the above equation, we
need to break it into partial fraction expansion (page 867 in the
Textbook) 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 ) − e −t / T )
c(t ) = K (1 − e )
• Where u(t)=1
−t / T

• When t=T (time constant)

( )
c(t ) = K 1 − e −1 = 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 = =
63% Input 1
6
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
• System takes five time constants to reach its final value.
 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
• 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
Relation Between Step and impulse response
• The step response of the first order system is

( )
c(t ) = K 1 − e −t / T = K − Ke −t / 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
Analysis of Simple RC Circuit i(t)
R
vT(t) ± C v(t)
R  i (t ) + v(t ) = vT (t )
d (Cv (t )) dv(t )
i (t ) = =C
dt dt
dv(t )
 RC + v(t ) = vT (t )
dt
state
variable
Input
waveform
 Analysis of Simple RC Circuit
dv(t )
Step-input response: RC + v (t ) = v0u (t )
dt
−t
v(t ) = Ke RC + v0u (t )
v0u(t) match initial state:
v0 v(0) = 0  K + v0u (t ) = 0  K + v0 = 0
v0(1-e-t/RC)u(t) output response for step-input:
−t
v(t ) = v0 (1 − e RC
)u (t )
RC Circuit
• v(t) = v0(1 - e-t/RC) -- waveform
under step input v0u(t)

• v(t)=0.5v0  t = 0.69RC
• i.e., delay = 0.69RC (50% delay)
v(t)=0.1v0  t = 0.1RC
v(t)=0.9v0  t = 2.3RC
• i.e., rise time = 2.2RC (if defined as time from 10% to 90% of Vdd)
• For simplicity, industry uses TD = RC (= Elmore
delay)
Elmore Delay

1. 50%-50%
point delay
Delay 2. Delay=0.69
RC
 Example 1
• Impulse response of a 1st order system is given below.

c(t ) = 3e −0.5t
• Find out
• Time constant T
• D.C Gain K
• Transfer Function
• Step Response
 Example 1
• 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 ) 2S + 1
 Example 1
• Impulse response of a 1st order system is given below.

c(t ) = 3e −0.5t
• Find out
• Time constant T=2
• D.C Gain K=6
• Transfer Function C ( s ) 6
=
• Step Response R( s ) 2S + 1
 Example 1
• For step response integrate impulse response
−0.5t
c(t ) = 3e

−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 −0.50 + C
C=6
cs (t ) = 6 − 6e −0.5t
 Example 1
• If initial conditions are not known then partial fraction
expansion is a better choice
C( s ) 6
=
R( s ) 2S + 1
1
since R( s ) is a step input , R( s ) =
s
6
C( s ) =
s (2 S + 1)

6 A B
= +
s (2 S + 1) s 2 s + 1

6 6 6
= −
s (2 S + 1) s s + 0.5

c(t ) = 6 − 6e −0.5t
 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 2 (Ts + 1)
• The ramp response is given as

(
c(t ) = K t − T + Te−t / T )
 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)
Practical Determination of Transfer Function
st
of 1 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 empirically 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, that
is, the time for the amplitude to
reach 63% of its final value.
• Since the final value is about T=0.13s

0.72 the time constant is

evaluated where the curve
reaches 0.63 x 0.72 = 0.45, or • Thus transfer function is
about 0.13 second. obtained as:
• K is simply steady state value. C( s ) 0.72 5.5
= =
R( s ) 0.13s + 1 s + 7.7
 First Order System with a Zero
C ( s ) K (1 + s )
=
R( s ) Ts + 1
• Zero of the system lie at -1/α and pole at -1/T.

• Step response of the system would be:

K (1 + s )
C( s ) =
s (Ts + 1)
K K ( − T )
C( s ) = +
s (Ts + 1)
K
c(t ) = K + ( − T )e −t / T
T
First Order System With Delays
C( s ) K − std
= e
R( s ) Ts + 1

Unit Step
Step Response

t
td
 First Order System With Delays
Step Response
C (s) 10 − 2 s
= e
R ( s ) 3s + 1 10

C (s) =
10
e −2 s K = 10
s (3s + 1)
8
L−1[e −s F ( s )] = f (t −  )u (t −  )
10 − 10 − 2 s
L−1[( + )e ] =
s s +1/ 3 6

Amplitude
[10(t − 2) − 10e −1/ 3(t − 2 ) ]u (t − 2)

t d = 2s
0
T = 3s

0 5 10 15
Time (sec)