Time Domain Analysis

BY
Mohammed Al-Modhwahi

by/M.ALMODHWAHI
What is Time Response Behavior?

• Since time is used as an independent variable in

most control system, it is usually of interest to
evaluate the output response with respect to time,
or simply, the time response.

• When you design a system, the time response

behavior may well be the most important aspect of
its' behavior.
Points you might worry about include
• How quickly a system responds is important.
– If you have a control system that's controlling a
temperature, how long it takes the temperature to reach a
new steady state is important.

• Overshoot and how close a system comes to

instability.
- Say you're trying to control a temperature, and you want
the temperature to be 200o C. If the temperature goes to
250o C before it settles out, you'll want to know that.

• Oscillations in a system are not usually desirable

- If you're trying to control speed of an automobile at
55mph and the speed keeps varying between 50mph and
60mph, your design isn't very good.
 In this chapter…

• we will begin to examine how it is possible to

predict aspects of the time behavior of a
system.

• We'll do that by starting with a first order

system and examining the parameters of that
kind of system that control their time
behavior.
 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.

• It is therefore difficult to express the actual input

signals mathematically by simple equations.
by/M.ALMODHWAHI
 Standard Test Signals
• The characteristics of actual input signals are a
sudden shock, a sudden change, a constant
velocity.

• The dynamic behavior of a system is therefore

judged and compared under application of
standard test signals – an impulse, a step, a
constant velocity.

• The other standard signal of great importance is a

sinusoidal signal.
by/M.ALMODHWAHI
 Standard Test Signals
• Impulse signal
– The impulse signal imitate the
sudden shock characteristic of
actual input signal. δ(t)

A
A t0
 (t )  
0 t0
0 t

– If A=1, the impulse signal is

called unit impulse signal.
by/M.ALMODHWAHI
 Standard Test Signals
• Step signal
– The step signal imitate
the sudden change u(t)

characteristic of actual
A
input signal.

A t0 t
u( t )   0
0 t0

– If A=1, the step signal is

called unit step signal
by/M.ALMODHWAHI
 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)

0 t0
ramp signal with slope A

– If A=1, the ramp signal r(t)

is called unit ramp
signal unit ramp signal
by/M.ALMODHWAHI
 Relation between standard Test Signals
A t0
• Impulse  (t )  
0 t0
d
 dt
A t0
• Step u( t )  
0 t0 d
 dt
 At t0
• Ramp r(t )  
t0
0

by/M.ALMODHWAHI
 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
by/M.ALMODHWAHI
 Laplace Transform of Test Signals

• Ramp  At t0
r(t )  
0 t0

A
L{ r(t )}  R( s ) 
s2

by/M.ALMODHWAHI
 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.
by/M.ALMODHWAHI
 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
by/M.ALMODHWAHI 4 6 8 10 12 14 16 18 20
Time (sec)
 Time response of first-order systems
• What is a first-order system?
– First order systems are described by
first order differential equations.
Example
dy (t )
First-order differential equation:   y (t )  Ku (t )
dt
y(t)---output response of the system; u(t)---input to the system

Using Laplace transform and assuming zero initial conditions, we get:

 sY (s)  Y (s)  KU ( s)
Y (s) K  - time constant
Transfer function: G(s)  
U (s)  s  1 K - DC gain
Why learn about first order systems?
– First-order systems are the simplest
systems, and they make a good place to
begin a study of system dynamics.

– First-order system concepts form the

foundation for understanding more complex
systems.

– Everything starts here…

 first order system Time response
• 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.
by/M.ALMODHWAHI
 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.
by/M.ALMODHWAHI
 1-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
by/M.ALMODHWAHI
 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.
K t / T
1 
C  c(t )  e
L    Ce at T
sa by/M.ALMODHWAHI
 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
by/M.ALMODHWAHI
Time
Example 1
Consider a first-order system with the following parameters.
Time constant   0.1s ; DC gain K  20
The problem is to determine the unit impulse response of a
system that has these parameters.
K t  20 t /0.1
Solution. y (t )  e  e  200e 10t
 0.1

Using MATLAB to get its

impulse response
K 20
G( s)  
 s  1 0.1s  1
>> num=20;
>> den=[0.1 1];
>> impulse(num,den)
Example 2 Below is the impulse response of a system -
i.e. the response to a unit impulse.

The system starts with

an initial condition of
zero just before the
impulse comes along at t
= 0, so y(0-) = 0.

Could you compute the parameters of the system?

 Solution.
The general time response
of a first-order system is

K
y (t )  et  (1) A

From the right figure, we have

at t  0, y(0)  20
So we can get
K
 20 (2)

How to get K ?
:
 2/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

by/M.ALMODHWAHI
• In order to find out the inverse Laplace of the above equation,
we need to break it into partial fraction expansion

K
C ( s) 
sTS  1
K A B
 
sTS  1 s Ts  1
K K TK
 
sTS  1 s TS  1

c(t )  K (1  et /T )
by/M.ALMODHWAHI
 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
by/M.ALMODHWAHI 6 7 8 9 10
Time
 Step Response of 1st order System
• System takes five time constants to reach its
final value.

by/M.ALMODHWAHI
 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
by/M.ALMODHWAHI
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
by/M.ALMODHWAHI
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
by/M.ALMODHWAHI
 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

by/M.ALMODHWAHI
 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

s ) 2S  1
R(by/M.ALMODHWAHI
 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
R( s ) 2S  1
– Step Response

by/M.ALMODHWAHI
 Example 1
• 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 0.50  C
C6
cs (t )  6  6e 0.5t
by/M.ALMODHWAHI
 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 stepinput, R( s ) 
s
6
C( s ) 
s2S  1

6 A B
 
s2S  1 s 2s  1

6 6 6
 
s2S  1 s s  0.5

)  6  6e 0.5t
c(tby/M.ALMODHWAHI
EXAMPLE 1 ST ORDER SYSTEM

by/M.ALMODHWAHI
SOLUTON

by/M.ALMODHWAHI
• We know that

Where:
K=G, E STEP
INPUT
RESPONSE

by/M.ALMODHWAHI
 Time response of 2-order systems
• What is a second-order system?
– Second-order systems are described by
second-order differential equations.
Example
A prototype second-order differential equation:
d2 d
2
y (t )  2 n y (t )   2
n y (t )   2
n u (t )
dt dt

y(t)---output respon se of the system;

u(t)---input to the system
Using Laplace transform and assuming zero initial
conditions, we get:

s 2Y ( s)  2n sY ( s)  n2Y ( s)  n2U ( s)

Transfer function of a second-order system:

Y (s) n2
G(s)   2
U ( s) s  2n s  n2
 - damping ratio , will determine how much the system
oscillates as the response decays toward steady state.

n - undamped natural frequency, will determine how fast the

system oscillates during any transient response
Step response of second-order systems
n2 u (t )  1(t );
A 2-order system: G( s)  2 Input :
s  2n s  n2 U (s) 
1
s
Case 1:   1 (underdamped), including  =0 (undamped)

y (t )  1 
1
e nt
sin( nt   ), where  = 1   2

 =tan 1 (  /  )
Case 2:   1 (overdamped)
1
y(t )  1  k1e  t /1
 k2 e  t / 2 where  1,2 
n  n  2  1
Case 3:   1 (critically damped)
y(t )  1  k1et /  k2et / where   1 n
 Step response of second-order systems
n2
A 2-order system: G( s)  2
s  2n s  n2
Case 1:   1 (underdamped),
1
y (t )  1  ent sin( nt   )


Case 2:   1 (overdamped)
y (t )  1  k1et /1  k2et / 2

Case 3:   1(critically damped)

y(t )  1  k1et /  k2et /
 Transient and steady-state response
The time response y(t)
of a control system
is usually divided
1
into two parts:
y(t )  yt (t )  yss (t )

Transient response yt (t ) 0 t
-- defined as the part of the
Steady-state response yss (t )
time response that goes to
-- the part of the time
zero as time becomes very
response that remains after
large.
lim yt (t )  0 the transient has died out.
t 
 n2
A second-order system: G( s)  2
s  2n s  n2
Its characteristic equation: D( s)  s 2  2n s  n2  0

  1: j

s1,2  n  n  2  1 overdamped

0

j
  1: s1,2  n
0 critically damped

0    1: j

s1,2  n  jn 1   2

0 underdamped
j
  0 : s1,2   jn
0
undamped
 n2
A second-order system: G( s)  2
s  2n s  n2
Effects of damping ratio 
(for a given n )
Overshoot M p
The oscillation
 is smaller

rise time t r
The speed of
the response
is slower

We are confronted with a necessary compromise between

the speed of response and the allowable overshoot.
 Note: In control engineering, except those systems
that do not allow any oscillation, usually a control
system is desirable with
- moderate damping (allowing some overshoot)
- quick response speed
- short settling time

Therefore, a second-order control system is usually

designed as an underdamped system.
 Underdamped second-order system

 2 Im
G( s)  2 n s1
s  2n  n
2 d
n

 , damping ratio
n , natural undamped frequency  Re

s1,2  n  jn 1   2 s2 d

   jd  ?
  arccos 
  n , dampting factor
d  n 1   , damped frequency
2 1 2
  arctan

 Time-domain Specifications
1. Steady-state value: yss
Mp
2. Maximum overshoot: Percent overshoot  100%
yss
M p  ymax  yss ;
ymax
3. Peak time: t p Mp error band
How to calculate t p ?
4. Rise time: tr 0.9
yss
5. Settling time: t s

Is there overshoot in
the time response of a 0.1
first-order system? ts
tr tp
In practical applications, the following
criteria are often used：
Rise time : evaluate the response speed of
the system （quickness)
Overshoot: evaluate the damping of the
system (smoothness)
Settling time: reflect both response speed
and damping
 Performance analysis
nt
Unit-step y (t )  1 
e
sin(d t   )，0<  1
response: 1  2
1. Rise Time
e 
wnnttrr
e sin(
y (tr )  1, that is, 1   sin( wddttrr  )) 01
1  2 2

 n tr
1 
e
 0,  d tr    n (n  0, 1, 2,)
1  2
   
tr  
tr is the time needed for d n 1   2
the response to reach the
steady-state value for For a given wn， ζ ↓ ，tr ↓ ；
the first time, so n=1. For a given ζ，wn↑，tr ↓ .
 nt
e dy (t )
y (t )  1  sin(d t   )，0<  1 0
1  2 dt
dy (t )  2
n
2 . Peak time (  n 1   2 )e n t sin d t
dt 1  2
n
 e n t sin d=0
t
1  2
 sin d t p  0  d t p  n (n  0, 1, 2,)
 
tp is the time needed for d t p    t p  
the response to reach the d n 1   2
maximum value for the
first time, so n=1. For a given wn， ζ ↓ ，tp ↓ ；
For a given ζ，wn↑，tp ↓ .
 nt  
sin( d t  )，0< 1 t p  w 
e
y (t )  1 
1  2 d wn 1   2

y (t p )  y ()
3. Overshoot %  100%
 wn t p y ()
e
y (t p )  1  sin(   ) Im
1  2

d
sin(   )   sin    1   2 n
 Re
 / 1 2
 y (t p )  1  e d
Suppose that y ()  1 1 2
  arctan
 / 1 2

Thus  %  e 100%

Overshoot is a function of damping ratio ζ , independent of wn.

Relationship between ( ,n ) and (tr ,t p , %, ts )

   
tr  
d n 1   2 For a given n
   tr  t p 
 
tp  
d n 1   2
   %
 can be calculated by the requirement
 / 1 2
%  e  100% on the overshoot  %.   [0.4,0.8].

3 n   ts 
ts  (  5%)
n Once  is determined,n can be
4 determined based on the requirement
ts  (  2%)
n on error band %.
Example 1: Consider the following unit-feedback system

R(s) 5K A C(s)

- s( s  34.5)

System input is the unit-step function, When the

amplifier gains are KA=200, KA=1500, KA=13.5
respectively, can you calculate the time-domain
specifications of the unit-step response ?

Investigate the effect of the amplifier gain KA on the

system response

55
Solution: The closed-loop transfer function is

G( s) 5K A
 ( s)   2
1  G ( s ) s  34.5s  5K A
1000
K A  200, ( s )  2
s  34.5s  1000

n2  1000, 2n  34.5

34.5
n  31.6(rad / s),    0.545
2n
 According to the formula to calculate the performance
indices, it follows that


tp   0.12(sec)
n 1   2

3
ts   0.174(sec)
n
 / 1 2
%  e 100%  13%
K A  1500
If K A  200, then n  34.5(rad / s);   0.545
 t p  0.12( s), ts  0.174( s),  %  13%

If K A  1500, then n  86.2(rad / s);   0.2

 t p  0.037( s), ts  0.174( s),  %  52.7%

Thus, the greater the KA, the less theξ,the greater the
wn, the less the tp, the greater theб%, while the settling
time ts has no change.  1
K A  13.5 Overdamped

When K A  13.5, n  8.22(rad / s),   2.1

58
When K A  13.5, n  8.22(rad / s),   2.1
When system is over-damped, there is no peak time,
overshoot and oscillation.
The settling time can be calculated approximately:

t s  3T  1.46(sec)
1
 n (   2  1)
T
The settling time is greater than previous cases,
although the response has no overshoot, the transition
process is very slow, the curves are as follows:

59
  c (t )
  0.2( K A  1500 )
1.4
1.2
1.0
0.8
0.6
  2.1( K A  13.5)
0.4   0.545( K A  200)
0.2

0 2 4 6 8 10 12 14 16 18 wn t
Note: When KA increases， tp decreases， tr decreases，
the speed of response increases, meanwhile, the overshoot
increases. Therefore, to improve the dynamic performance
indexes of system, we adopt PD-control or velocity
feedback control，namely, PD compensation 。
60
 Second – Order System
H.W: 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 H.w

20
3. G( s)  2
s  8s  20

61