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Chapter 4 of the Control System (EMEng4201) discusses time domain analysis, focusing on the response of dynamic systems to various input signals. It covers the characteristics of standard test signals, the distinction between transient and steady-state responses, and the time responses of first and second order systems. The chapter also includes exercises for calculating natural frequency, damping ratio, and identifying response types based on system poles.

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2 views

ch-4-1

Chapter 4 of the Control System (EMEng4201) discusses time domain analysis, focusing on the response of dynamic systems to various input signals. It covers the characteristics of standard test signals, the distinction between transient and steady-state responses, and the time responses of first and second order systems. The chapter also includes exercises for calculating natural frequency, damping ratio, and identifying response types based on system poles.

Uploaded by

amrelasecho507
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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 System (EMEng4201)

CHAPTER 4
TIME DOMAIN ANALYSIS OF CONTROL SYSTEMS

Part-1
Lidiya A.

2022 gc
OUTLINE
1. Introduction
2. Standard test signals
3. Time response of First order systems
4. Time response of second order systems
5. Time response analysis with MATLAB
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.
 In time domain analysis, the time response of a linear dynamic system to an input is
denoted as time’s function c(t).
 We can calculate the time response if the input and model of system is known.

We can obtain mathematical model of a system as we learned in previous chapter.


But it is difficult to express the actual input signals mathematically by simple equations.
The time response of any system has two components:
Transient response and
Steady-state response.
Standard Test Signals
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.
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:
Impulse Signal sudden shock; Step Signal sudden change; Ramp Signal  constant velocity,
and Parabolic Signal  constant acceleration.
Another standard signal of great importance is a sinusoidal signal.
Cont…

Standard Test Signals


Transient and Steady state response
Transient Response: It is denoted by
Part of the response that vanishes with time is called Transient response.
It is the response of the system from rest or equilibrium to steady state.
Steady-State Response: It is denoted by
Part of the system response that is achieved when time approaches to infinity is called
steady-state response.
It is response of the system after transient response.
Review
Cont…
Cont…
Cont…
TIME RESPONSE OF FIRST ORDER SYSTEMS

The power of s in the denominator is one,  first order system


Characteristic equation 
Root of the characteristic equation 
T  Time constant
Impulse Response of Order System 𝐼𝑛𝑝𝑢𝑡 :𝑢 ( 𝑡 )=𝛿(𝑡 )→𝑼 ( 𝒔 )=𝟏

The output ()
 It only has transient () term
 Exponential decaying curve
𝟏
Unit Step Response of Order System 𝐼𝑛𝑝𝑢𝑡 : 𝑢 ( 𝑡 )=1 →𝑼 ( 𝒔 ) =
𝒔

The output ()
 has both transient () and steady state () term
 gradually increases from zero value and finally reaches to one in steady state.
𝟏
Unit Ramp Response of Order System 𝐼𝑛𝑝𝑢𝑡 : 𝑢 ( 𝑡 )=𝑡 → 𝑼 ( 𝒔 )=
𝒔
𝟐

The output ()
 has both transient () and steady state () term
 Follows the unit ramp for all with deviation T
 Since it grows infinitely it is Not Stable
 Same response will be obtain for parabolic input
TIME RESPONSE OF SECOND ORDER SYSTEMS

Natural Frequency: The natural frequency of a second-order


system is the frequency of oscillation of the system without
damping.
Damping Ratio /factor: can be simply defined as a quantity
which compares the exponential decay frequency of the envelope to
the natural frequency.
Root of the characteristic equation
Characteristic equation 
 OR 
We can also write it by introducing as:

𝒔=− 𝝈 𝒅 ± 𝒋 𝝎 𝒅
Where :
  Exponential decay/damping frequency
  Damped Natural Frequency
Second-order response as a
function of damping ratio ()

Response Types based on damping ()

1. Undamped:
 Response: Pure oscillation
 Poles:
(The 2 roots are imaginary)
2. Underdamped:
 Response: Damped oscillation
 Poles:
(The 2 roots are complex conjugate)
3. Critically damped:
 Response: Exponential Decay
 Poles:
(The 2 roots are Real and Equal)
4. Overdamped:
 Response: Exponential Decay
 Poles:
(The 2 roots are Real and Non Equal)
Cont…
Exercise
1. Given the transfer function ,G(s)
i. Find natural frequency() and damping ration ()
ii. Poles of G(s)
iii. Identify what type of response is it?

a)
Exercise
2. Given the poles of a transfer function
i. Identify what type of response is it?
ii. obtain natural frequency() and damping ration ()
iii. Obtain the transfer function (G(s)) of the system

a)
Cont…
Thank You

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