Electrical and Computer
Engineering
Chapter four
Time Domain Analysis of Control
Systems
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.
※ To analyze and design a control system, we must define and
measure its performance. Based on the desired performance of the
control system, the system parameters may be adjusted to provide
the desired response.
※ Because control systems are inherently dynamic, their
performance is usually specified in terms of both the transient
response and the steady-state response.
※ The transient response is the response that disappears with time.
※ The steady-state response is the response that exists for a long
time following an input signal initiation.
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2
Introduction
※ In order to find the time response of a control system, we first
need to model the overall system dynamics and find its
equation of motion.
※ The system could be composed of mechanical, electrical, or
other sub-systems. Each sub-system may have sensors and
actuators to sense the environment and to interact with it.
※ Next, using Laplace transforms, we can find the transfer
function of all the sub-components and use the block diagram
approach or signal flow diagrams to find the interactions
among the system components.
※ Finally, we can find the overall transfer function of the system
and, using inverse Laplace transforms, obtain the time
response of the system to a test input normally a step input.
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3
Time Domain Analysis
※ The time response of a control system is usually divided
into two parts: the transient response and the steady-
state response.
※ Let y(t) denote the time response of a continuous data
system; then, in general, it can be written as
y(t) yt (t) yss (t)
※ where yt(t) denotes the transient response and yss(t)
denotes the steady-state response.
※ In control systems, transient response is defined as the
part of the time response that goes to zero as time
becomes very large. Thus, yt(t) has the property
lim yt(t) 0
t
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4
Test signals
Figure . Basic time-domain test signals for control systems,
(a) Step function, (b) Ramp function, (c) Parabolic function
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5
The Unit-Step Response and Time-domain
Specifications
※ The response of a control system when the input is a unit-
step function is called the unit-step response.
※ Fig. shown below illustrates a typical unit-step response of
a linear control system.
※ With reference to the unit-step response, performance
criteria commonly used for the characterization of linear
control systems in the time domain are defined as follows:
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7
The Unit-Step Response and Time-domain
Specifications
1. Maximum overshoot. Let y(t) be the unit-step response. Let
ymax denote the maximum value of y(t); yss, the steady-state
value of y(t) ; and ymax >yss. The maximum overshoot of y(t)
is defined as
maximum overshoot = ymax -yss
The maximum overshoot is often represented as a percentage
of the final value of the step response; that is,
The maximum overshoot is often used to measure the relative
stability of a control system. A system with a large
overshoot is usually undesirable. For design purposes, the
maximum overshoot is often given as a time-domain
specification. 8
Cont…
2. Delay time. The delay time td defined as the time required
for the step response to reach 50% of its final value.
3. Rise time. The rise time tr is defined as the time required for
the step response to rise from 10 to 90% of its final value.
4. Settling time. The settling time ts is defined as the time
required for the step response to decrease and stay within a
specified percentage of its final value. A frequently used
figure is 5%.
5. Steady-state error. The steady-state error of a system
response is defined as the discrepancy between the output
and the reference input when the steady state (t →∞) is
reached.
9
Cont …
6. Peak Time. The peak time Tp is the time required for the
response to reach the first peak of the overshoot.
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Steady-State Error
※ Steady-state errors constitute an extremely important aspect of
the system performance, for it would be meaningless to design
for dynamic accuracy if the steady output differed substantially
from the desired value for one reason or another.
※ The steady state error is a measure of system accuracy. These
errors arise from the nature of the inputs, system type and
from nonlinearities of system components such as static
friction.
※ The steady-state performance of a stable control system is
generally judged by its steady state error to step, ramp and
parabolic inputs.
11
Cont …
※ Consider a unity feedback system as shown in the
Figure. The input is R(s) , the output is C(s) , the
feedback signal H(s) and the difference between input
and output is the error signal E(s) .
※ From the above Figure
※ On the other hand
12
Cont …
Substitution of Equation (2) into (1) yields
The steady-state error ess may be found
The above equation shows that the steady state error
depends upon the input R(s) and the forward transfer
function G(s) .
The expression for steady-state errors for various types of
standard test signals are derived next.
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Cont …
1. Unit Step (Positional)
Input
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2. Unit Ramp (Velocity) Input
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3. Unit Parabolic (Acceleration)
Input
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Types of Feedback Control Systems
※ The open-loop transfer function of a unity feedback
system can be written as:
※ where K and T are constants. The system type refers to
the order of the pole of G(s) at s = 0 .
※ Equation (8) is of type n.
※ The system type refers to the order of the pole of G(s) at
s=0. Thus, the closed-loop system having the forward-
path transfer function of Eq. (8) is type n, where
n = 0, 1, 2,. . .
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Types of Feedback Control Systems
※ The total number of terms in the numerator and the
denominator and the values of the coefficients are not
important to the system type, as system type refers only to
the number of poles G(s) has at s = 0.
※ The following example illustrates the system type with
reference to the form of G(s).
※ As s→0 , the term sn dominates in determining the
steady- state error.
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Type-0 System.
If n = 0,
the steady-state errors to various standard inputs are
Thus a system with n = 0, results a constant position error,
25 infinite velocity error and infinite acceleration error
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Type-1 System
If n =1,
the steady-state errors to various standard inputs are
Thus a system with n =1, results a zero position error, a
constant velocity error and infinite acceleration error
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Type-2 System.
If n =2,
the steady-state errors to various standard inputs are
Thus a system with n = 2, results a zero position error,
a zero velocity error and a constant acceleration
error 21
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Steady State Error for Non-unity Feedback
Systems
Add to the previous block two feedback blocks
H1(s) = −1 and H1(s) =1
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Steady State Error for Non-unity Feedback Systems
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Steady State Error for Non-unity Feedback
Systems
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Example 1
※ Consider the feedback control system shown in fig.
below.
For H(s)=1 and a unit ramp input, determine the velocity
error constant and the steady state error.
※ Calculate the steady-state error for the non-unity
feedback case
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2. Reduce the system to an equivalent one with unity feedback.
The resulting forward-path transfer function becomes
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Exercise 1
For the system shown below, find
※ The system type
※ Appropriate error constant associated with the system type, and
※ The steady state error for unit step input
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Time response of second-order
systems
※ What is a second-order system?
※ Second-order systems are described by
second- order differential equations
Exampl
e
A prototype second-order differential
equation: d
d 2 y(t) n2 y(t)
2
n y(t)
dt 2
2
n u(t)
dt
y(t)---output response of the
system;
u(t)---input to the system
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Using Laplace transform and assuming zero
initial conditions, we get:
Transfer function of a second-order
system:
Y
G(s)
(s)(s)
U
- damping ratio , will determine how much the
oscillates as the response decays toward steady state.
system
n - undamped natural frequency, will determine how fast the
system oscillates during any transient response
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Step Response of a General Second-order
System
Consider that a second-order control system with unity
feedback is represented by the block diagram shown in
Fig. below.
The open-loop transfer function of the system is:
where ζ and ωn are real constants. ωn is the
undamped natural frequency and ζ is the damping
ratio. 35
Step Response of a General Second-order
System
The closed-loop transfer function of the system is
(10)
The characteristic equation of the prototype second-order
system is obtained by setting the denominator of Eq. (10)
to zero:
For a unit-step function input, R(s) = 1/s, the output
response of the system is obtained by taking the
inverse Laplace transform of the output transform:
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Step Response of a General Second-order
System
This can be done by referring to the Laplace transform
table.
The result is
Fig. below shows the unit-step responses of y(t) plotted as
functions of the normalized time ωn t for various values of ζ.
As seen, the response becomes more oscillatory with larger
overshoot as ζ decreases. When ζ > 1, the step response does
not exhibit any overshoot; that is, y(t) never exceeds its
final value during the transient.
The responses also show that ωn has a direct effect on the rise
time, delay time, and settling time but does not affect the
overshoot.
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Unit-step responses
of the prototype
second-order system
with various
damping ratios.
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Step Response of a General Second-order
System
39
Step Response of a General Second-order
System
Damping Ratio and Damping Factor
The effects of the system parameters ζ and ωn on the step
response y(t) of the prototype second-order system can be
studied by referring to the roots of the characteristic equation.
The two roots can be expressed as
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Step response of second-order
systems
A 2-order system: G(s)
Case 1: 1 (underdamped),
Case 2: 1 (overdamped)
Case 3: 1(critically
damped)
Example 1
Determine the values of Td , Tr , Tp , Ts when the control
system shown in Figure below is subject to a unit step input
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Example 2
※ For the control system shown below, find the values of K
and Kt so that the damping ratio of the system is 0.6 and
the settling time of the unit-step response is 0.1 sec.
※ Use for the settling time relationship
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Example 3: Consider the following unit-feedback
system
R(s) 5KA 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
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Solution: The closed-loop transfer function
is
G(s) 5KA
(s)
1 s2 34.5s A
G(s) 5K 1000
K A 200,(s)
s2 34.5s
1000
n2 1000, 2
34.5n
34.5
31.6(rad / s), 2
n
n
0.545
According to the formula to calculate the
performance indices, it follows that
t p 1 2 = 0.12(sec)
n
3
ts
n 0.174(sec)
/ 1
%e
2
100%
13%
KA
1500
If K A 200, then n 34.5(rad / s);
0.545 0.12(s),
t p t 0.174(s),
s Mp%, 13%
If K A 1500, then n 86.2(rad / s);
0.2
t p 0.037(s), ts 0.174(s), Mp % 52.7%
Thus, the greater the KA, the less the ξ, the greater the ωn, the
less the tp, the greater the Mp%, while the settling time ts has no
change
1
K A 13.5 Overdamped
When KA 13.5, n 8.22(rad / s),
2.1
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When system is over-damped, there is no peak time,
overshoot and oscillation. The settling time can be
calculated approximately:
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:
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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.
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