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Time Response Analysis of Control Systems

This document discusses time response analysis of control systems. It defines time response as the response of a system over time to an applied excitation. The time response is classified into two parts: 1) Transient response, which decays to zero over time, and 2) Steady state response, which remains after the transient response vanishes. Standard test input signals used for analysis include step, ramp, parabolic, and impulse signals. The Laplace transforms of unit versions of these signals are also provided.

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Anoop Kumar Jairath
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157 views6 pages

Time Response Analysis of Control Systems

This document discusses time response analysis of control systems. It defines time response as the response of a system over time to an applied excitation. The time response is classified into two parts: 1) Transient response, which decays to zero over time, and 2) Steady state response, which remains after the transient response vanishes. Standard test input signals used for analysis include step, ramp, parabolic, and impulse signals. The Laplace transforms of unit versions of these signals are also provided.

Uploaded by

Anoop Kumar Jairath
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CONTROL SYSTEMS

By:

Prof Usha Surendra,


VVIET, Mysore

e-Notes for the lecture on 13.04.2005 on


VTU EDUSAT Programme

Control Systems – Prof. Usha Surendra, VVIET, Mysore 1


Time response analysis of control systems:
Introduction:
Time is used as an independent variable in most of the control systems. It is
important to analyze the response given by the system for the applied excitation, which is
function of time. Analysis of response means to see the variation of out put with respect
to time. The output behavior with respect to time should be within these specified limits
to have satisfactory performance of the systems. The stability analysis lies in the time
response analysis that is when the system is stable out put is finite

The system stability, system accuracy and complete evaluation are based on the
time response analysis on corresponding results.

DEFINITION AND CLASSIFICATION OF TIME RESPONSE

Time Response:
The response given by the system which is function of the time, to the applied
excitation is called time response of a control system.
Practically, output of the system takes some finite time to reach to its final value.
This time varies from system to system and is dependent on different factors.
The factors like friction mass or inertia of moving elements some nonlenierities
present etc.
Example: Measuring instruments like Voltmeter, Ammeter.

Classification:

The time response of a control system is divided into two parts.


1 Transient response ct(t)
2 Steady state response css(t)
. . . c(t)=ct(t) +cSS(t)
Where c(t)= Time Response
Total Response=Zero State Response +Zero Input Response

Control Systems – Prof. Usha Surendra, VVIET, Mysore 2


Transient Response:
It is defined as the part of the response that goes to zero as time becomes very
large. i,e, Lim ct(t)=0
t ∞

A system in which the transient response do not decay as time progresses


is an Unstable system.

C(t)
Ct(t) Css(t)
Step The transient response may be exponential
ess or oscillatory in nature.
= steady state
error

O Time
Transient time Steady state
Time
Fig-01 c(t) is exponentional

2. Steady State Response:


It is defined the part of the response which remains after complete transient
response vanishes from the system output.
. i,e, Lim ct(t)=css(t)
t ∞

The time domain analysis essentially involves the evaluation of the transient and
Steady state response of the control system.

Control Systems – Prof. Usha Surendra, VVIET, Mysore 3


Standard Test Input Signals
For the analysis point of view, the signals, which are most commonly used as
reference inputs, are defined as standard test inputs.

• The performance of a system can be evaluated with respect to these test signals.
• Based on the information obtained the design of control system is carried out.
• The commonly used test signals are
1. Step Input signals.
2. Ramp Input Signals.
3. Parabolic Input Signals.
4. Impulse input signal.

Details of standard test signals


1. Step input signal (position function)
It is the sudden application of the input at a specified time as shown in the
figure or instantaneous change in the reference input
Example :-
a. If the input is an angular position of a mechanical shaft a step input
represent the sudden rotation of a shaft.
b. Switching on a constant voltage in an electrical circuit.
c. Sudden opening or closing a valve.
r(t)

O t
When, A = 1, r(t) = u(t) = 1

The step is a signal who’s value changes from 1 value (usually 0) to another level
A in Zero time.
In the Laplace Transform form R(s) = A / S
Mathematically r(t) = u(t)
= 1 for t > 0
= 0 for t < 0

Control Systems – Prof. Usha Surendra, VVIET, Mysore 4


2. Ramp Input Signal (Velocity Functions):

It is constant rate of change in input that is gradual application of input as


shown in fig (2 b). r(t)
Ex:- Altitude Control
of a Missile
Slope = A

t
O

The ramp is a signal, which starts at a value of zero and increases linearly
with time.
Mathematically r (t) = At for t 0
= 0 for t 0.

In LT form R(S) = A
S2
If A=1, it is called Unit Ramp Input

Mathematically
r(t) = t u(t)

=
{ t for t 0
0 for t 0

In LT form R(S) = A = 1
S2 S2

3. Parabolic Input Signal (Acceleration function):


• The input which is one degree faster than a ramp type of input as shown in fig
(2 c) or it is an integral of a ramp .
• Mathematically a parabolic signal of magnitude

A is given by r(t) = A t2 u(t)


2
Slope = At
2
At for t 0 r(t)
= 2
0 for t 0
t

Control Systems – Prof. Usha Surendra, VVIET, Mysore 5


In LT form R(S) = A
S3
• If A = 1, a unit parabolic function is defined as r(t) = t2 u(t)
2
ie., r(t)

=
{ t2 for t 0
2
0 for t 0
In LT for R(S) = 1
S3

4. Impulse Input Signal :

It is the input applied instantaneously (for short duration of time ) of very high
amplitude as shown in fig 2(d)
Eg: Sudden shocks i e, HV due lightening or short circuit.
It is the pulse whose magnitude is infinite while its width tends to zero.
r(t)
ie., t 0 (zero) applied
momentarily
A

O t
t 0

Area of impulse = Its magnitude


If area is unity, it is called Unit Impulse Input denoted as δ(t)
Mathematically it can be expressed as
r(t) = A for t = 0
= 0 for t 0
In LT form R(S) = 1 if A = 1

Standard test Input Signals and its Laplace Transforms.

r(t) R(S)
Unit Step 1/S
Unit ramp 1/S2
Unit Parabolic 1/S3
Unit Impulse 1

Control Systems – Prof. Usha Surendra, VVIET, Mysore 6

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