TIME RESPONSE ANALYSIS We can analyze the response of the control systems in both the time domain and the frequency domain, We will discuss frequency response analysis of control systems in later chapters. Let us now discuss about the time response analysis of control systems. What is Time Response? If the output of control system for an input varies with respect to time, then it is called the time response of the control system, The time response consists of two parts. ® Transient response @ Steady state response ‘The response of control system in time domain is shown in the following figure. c(t) O04. __4~ + Transient Steady State state Here, both the transient and the steady states are indicated in the figure. The responses corresponding to these states are known as transient and steady state responses. Mathematically, we can write the time response c(t) as c(t) = cer(t) +55 (4)Where, a ir(t) is the transient response 1D css(t) is the steady state response Transient Response After applying input to the control system, output takes certain time to reach steady state. So, the output will be in transient state till it goes to a steady state. Therefore, the response of the control system during the transient state is known as transient response. ‘The transient response will be zero for large values of 't., Ideally, this value of 't is infinity and practically, it is five times constant. Mathematically, we can write it as Tim c;,(t) = 0 Steady state Response The part of the time response that remains even after the transient response has zero value for large values of ‘t’ is known as steady state response. This means, the transient response will be zero even during the steady state. Example Let us find the transient and steady state terms of the time response of the control system c(t) = 10 +5e7* 5e" will be zero as t denotes infinity. So, this is the transient term. And the first term 10 remains even as t approaches infinity. So, this is the steady stateterm. Here, the second term Standard Test Signals The standard test signals are impulse, step, ramp and parabolic. These signals are used to know the performance of the control systems using time response of the output. Unit Impulse Signal Aunit impulse signal, 5(t) is defined as6(t) =0 fort 40 and fo" 5(#)dt = 1 The folowing figure shows unit impulse signal 6(t) 0 t So, the unit impulse signal exists only at't’ is equal to zero. The area of this signal under small interval of time around’t’ is equal to zero is one. The value of unit impulse signal is zero for all other values oft’. Unit Step Signal Aunit step signal, u(t) is defined as u(t) =1t>0 =0;t<0 Following figure shows unit step signal. uct) 2So, the unit step signal exists for all positive values oft’ including zero. And its value is one during this interval. The value of the unit step signal is zero for all negative values oft. Unit Ramp Signal Aunit ramp signal, r (t) is defined as st< 0 We can write unit ramp signal, r(t) in terms of unit step signal, u(t) as r(t) = tu(t) Following figure shows urit ramp signal r(t) oO t So, the unit ramp signal exists for all positive values of't’ including zero, And its value increases linearly with respect to't’ during this interval. The value of unit ramp signal is zero for all negative values of t Unit Parabolic Signal A unit parabolic signal, p(t) is defined as, 2 r= 5 t>C =0;t<0We can write unit parabolic signal, p(t) in terms of the unit step signal, u(t) as, 2 t t vt) = Su(0 The following figure shows the unit parabolic signal. p(t) 0 t So, the unit parabolic signal exists for all the positive values oft’ including zero. And its value increases non-linearly with respect to’t’ during this interval. The value of the unit parabolic signal is zero for all the negative values oft. In this chapter, let us discuss the time response of the first order system. Consider the following block diagram of the closed loop control system. Here, an open loop transfer function, 1/sT is connected with a unity negative feedback.We know that the transfer function of the closed loop control eystem hes unity negative feedback as, Cs) _ G(s) Rs) 14+-G(s) Substitute, G(s) = 2b in the above equation Co) or 1 R(s) 140 +1 The power of s is ane in the denominator term. Hence, the above transfer function is of the frst order end the systern is said to be the first order system.We can re-write the above equation as 4 1 Where, 8 (5) is the Laplace transform of the cutput signal c(t), & R¢s) is the Laplace transform of the input signal r(t), and @ Tis the time constant. Follow these steps to get the response (output) of the first order system in the time domain, 2 Take the Laplace transform of the input signal r(t) 2 Consider the equation, C(s) = (aa) Ris) Substitute R(s) value in the above equation Do partial frections of C(s) if required Apply inverse Laplace transform to C'(s) Impulse Response of First Order System Consider the unit impulse signal as an input to the first order system. So, r(t)=8(t) Apply Laplace transform on both the sides. R(s) =1 Consider the equation, O(s) = («~) R(s) Substitute, R(s) = 1in the above equation. Os) (e)o-a! sC+1 sT+1 Rearrange the above equation in one of the standard forms of Laplace transforms,‘The unit impulse response is shown in the following figure. c(t) ry sre The unit impulse response, c(t) is an exponential decaying signal for positive values of 't and it is zero for negative values of ‘t’ Step Response ofFirst Order System Consider the unit step signal as an input to first order system, So, r(t)=u(t)Rio) = 3 Consider the equation, C(s) = (ax) R(s) Substitute, R(s) = 4 in the above equation. o0= (aa) @)=aarey De partial fractions of C(s) 1 AB CO = Tarn ~ > tara 1 A(oT +1) + Be Sp _, Ee s(eT+1) 32+) On both the sides, the denominator term is the same. So, they will get cancelled by each other. Hence, equate the numerator terms. 1=A(sT+1)+Bs By equating the constant terms on both the sides, you will get Substitute, A = 1 and equate the coefficient of the s terms on both the sides. Substitute, A = 1 and B= OG)=S— Apply inverse Laplace transform on both the sides. c(t) = (1 a ol) ue‘The unit step response, c(t) has both the transient and the steady state terms. The transient term = in —sthe~—sunit_—step._—srresponse = is. - en(t) =e Fu The steady state term in the unit step response Cee(t) = ult) is - The following figure shows the unit step <(t) respons 1 The value of the unit step response, c(t) is zero at t = 0 and for all negative values of t. It is gradually increasing from zero value and finally reaches to one in steady state. So, the steady state value depends on the magnitude of the input. Ramp Response of First Order System Consider the unit ramp signal as an input to the first order system. Soxr(t)=tu(t) Apply Laplace transform on both the sides. R= = Consider the equation, C(s) (qx) 2 Substitute, R(s) = in the above equation. = (ea) (=) - aay caeOn both the sides, the denominator term is the same. So, they will get cancelled by each other. Hence, equate the numerator terms. 1=A(sT +1) + Ba(sT +1) +Cs? By equating the constant terms on both the sides, you will get A = 1. Substitute, A = 1 and equate the coefficient of the s terms on both the sides. 0=T+B>B=-T Similarly, substitute B = -T and equate the coefficient of s?terms on both the sides. You will get Substitute A = 1, B = ~T and C=T”in the partial fraction expansion of C(s). 1. & Te oT T Cs) = = - = += = — 2 os tl T(s+2) to >6@)=2- 4 es sth Apply inverse Laplace transform on both the sides. c(t) = (=r +re(2)) ue ‘The unit ramp response, c(t) has both the transient and the steady state terms. The transient term in the unit ramp response is cult) = Te (Fut CONTROL SYSTEMSThe steady state term in the unit ramp response is ~ Cas(t) = (F- Tule, ‘The figure below is the unit ramp response: c(t) ‘The unit ramp response, c(t) follows the unit ramp input signal for all positive values of t But, there is a deviation of T units from the input signal. Parabolic Response of First Order System Consider the unit parabolic signal as an input to the first order system. @ So, r(t) = Fault) Apply Laplace transfarm on both the sides. R@)=5 Consider the equation, C's) = (an) R{s) Substitute R(s) = 4 in the above equation oo = (azz) (3) ara \ CONTROL SYSTEMSDo partial fractions of C(s) 1 A 3 i Bf, PD #(eT +1) 2 tok eo +1 C(s) After simplifying, you wil get the values of A, B, © and D as 4, —-T, T? and —T* respectively, Substitute these values in the above partia fraction expansion of C(s) rm Tt ares Apply inverse Laplace transform on both the sides. ? = eS c(t) = (5 —re+7?—7e(#) u(t) The unit parabolic response, c(t) has both the transient and the steady state terms. ‘The transient term in the unit parabolic response is Cr. () = 9% (Fale ‘The steady state term in the unit parabolic response is e Cis (t) = (5 —Ti+ 7) u(t) From these responses, we can conclude that the first order control systems are not stable with the ramp and parabolic inputs because these responses go on increasing even at infinite amount of time. The first order control systems are stable with impulse and step inputs because these responses have bounded output. But, the impulse response doesn’t have steady state term, So, the step signal is widely used in the time domain for analyzing the control systems from their responses. CONTROL SYSTEMSIn this chapter, let us discuss the time response of second order system. Consider the following block diagram of closed loop control system. Here, an open loop transfer function, « ?/s(s+26n) is connected with a unity negative feedback. We know that the transfer function of the closed loop contral system having rity negative feedback as ls) __ Gls) RG) 1+6@) Substitute, G(s) = eta in the above equation. Cle) Nae) Ris) B) s+ Nuns tuk 1+ (Gam) SONS SO ‘The power of ‘s’ is two in the denominator term. Hence, the above transfer function is of the second order and the system is said to be the second order system. ‘The characteristic equation is - s? + 2du,s+u2 = 0 CONTROL SYSTEMSThe roots of characteristic equetion are - Easasaaa 1 Cla) diy + y/(Qurn)® — deh 906g + Uy VEE 1) 2 2 3 5 = lean Hen VV —1 The two roots are imaginary when 8 = 0. The two roots are real and equal when & The two roots are real but not equal when 5 > 1. The two roots are complex conjugate when 0 <8 < fe can write C(s) equation as, 2 Gof sz) Rle) 5? + duns +03 Where, a a 8 a C{s) is the Laplace transform of the output signal, c(t) R(s) is the Laplace transform of the input signal, (1) nis the naturalfrequency 8 is the damping ratio. Follow these steps to get the response (output) of the second order system in the time domain, Take Laplace transform of the inout signal, r(t). Consider the equation, C(s) = (a __A#¥ 7) Rlo} Fb HR Substitute R(s) value in the above equation. 3o partial fractions of C'(s) if required Apply inverse Laplace transform to C(s) CONTROL SYSTEMSStep Response of Second Order System Consider the unit step signal as an input to the second order system.Laplace transform of the unit step signal is, Rs) = 2 We know the transfer function of the second order closed loop cantral system —s) wh Rs) s? 4 2dune +o case 1:5 Substitute, 5 = 0 in the trensfer function Cle) wh Rls) 5? + ak sew = (a%ig) Re Substitute, R(s) — 2 in the above equation. ce) = ata) @) ~ seh Apply inverse Laplace transform on both the sides. e(t) = (A — cos(ent)) a(t) So, the unit step response of the second order system when /delta =0 will be 8 continuous time signal with constant amplitude and frequency: Case2:5=1 Substitute, /deléa = 1 n the transfer funston Ce) wa R(s) 8? + Quins + wi > 00) = (Giga) RO Subsite, R(a) = Din ite above aquaEsi, 60 (ate) G) 1 We can modify the denominator term of the transfer function as follows — 8? 4 Qduye + ui — {67 +2(s) (Sea) + (uy)? } + o2 — (Sern)? + bw,)? — w (5? — 1) The transfer function becomes, Cla) Ris) +bu,)2— oR — 1) wn = C(s)= R(s) (8 + dian)? — wi (5? — 1) Substitute, R(s) — 2 in the ebove equation Os —_#_ ___)(4)= i © arte) ® (stay ty, VA) s4dan, a4, 821) Do pertial fractions of C(s) C(s) = 8(8 + bid + Wn V5? — 1)(8 + dp — wy VS? — 1) A B ec == +—_—___ + 8 8+ buy tun VEL 8 + Sty — Un V2 1 After simplifying, you will get the values of A, B and C as 1, ———4—____ pliving, 2 2(6+-V67-1)(v.9—-1) CONTROL SYSTEMSan respectively, Substitute these values in above partia de 26-V8 FA) fraction expansion of C(s) 1 1 1 Cle) == —— i @=_+ 2(5 + VP 1)(V57—1) (; boop, +t, VOR — :) - aS) (= 2(6 — V5? —1)(Ve2 —1) ] \s + bon — env) Apply inverse Leplace transform on both the sides Since it is over damped, the unit step response of the second order system when 6 > 1 will, never reach step input in the steady state. Impulse Response of Second Order System The impulse response of the second order system can be obtained by using any one of these two methods. @ Follow the procedure involved while deriving step response by considering the value of R(s) as 1 instead of 1/s. ® Do the differentiation of the step response. The following table shows the impulse response of the second order system for 4 cases of the damping ratio. CONTROL SYSTEMSCondition of Damping rat Impulse response for t= 0 b=0 mm Sita (wy t) 1 tet O Vico tity +4) — dsin(waty +) = 0 = sin(6} cos(wat, +8) — cos(6) sin(wyt, +6) = 0 = sin? — wat, —@) =0 => sin(—watp) = 0 = —sin(ugip) = 0 = vin(watp) =0 > ayty =7 Stp=— - Wa From the above equation, we can conclude that the peak time ty and the damped frequency w¢are inversely proportional to each other. Peak Overshoot Peak overshoot Mpis defined as the deviation of the response at peak time from the final value of response, It is also called the maximum overshoot. Mathematically, we can write it as Mp=c(tp) - c(00) Where,c(tp) is the peak value of the response, c(c0) is the final (steady state) value of the response. CONTROL SYSTEMSAt t=tp, the response c(t) is - batty Clip) = ( ) stat +6) v1-& Substitute, tp = 2 in the rght hand side of the above equation e(tp) =1- We know that sin(0) = /1— So, we will get ¢(tp) as ety) =1 wel) Substitute the values of e(ty) and e(o0) in the peak overshoot equation, Percentage of peak overshoot % M, can be celculated by using this formula x 100% CONTROL SYSTEMSFrom the above equation, we can conclude that the percentage of peak overshoot %Mp ill decrease if the damping ratio 6 increases. Settling time It is the time required for the response to reach the steady state and stay within the specified tolerance bands around the final value. In general, the tolerance bands are 2% and 5%, The settling time is denoted by ts. ‘The settling time for 5% tolerance band is— = =3 Sun ‘The settling time for 2% tolerance band is — 4 45 bun 4r Where, tis the time constant and is equal to 1/5eon. © Both the settling time ts and the time constant t are inversely proportional to the damping ratio 6, 1B Both the settling time ts and the time constant t are independent of the system gain. That means even the system gain changes, the settling time ts and time constant t will never change. Example Let us now find the time domain specifications of a control system having the closed loop transfer function when the unit step signal is applied as an input to this control system. We know that the standard form of the transfer function of the second order closed loop control system as oh 8? + 2duns +2 By equating these two transfer functions, we will get the un-damped natural frequency wn as 2 rad/sec and the damping ratio 6 as 0.5. We know the formula for damped frequency waas tag = Wy VIF CONTROL SYSTEMSJ1-F Wa = Wn y Substitute, w, and d velues in the above formula aus =2y1- 08)? = wg = 1.732 rad/sec Substitute, 5 value in following relation = 0=cos (0.5) = e rad Substitute the above necessary values in the formula of each time domain specification and simplify in order to get the values of time domain specifications for given transfer function, The following table shows the formulae of time domain specifications, substitution of necessary values and the final values CONTROL SYSTEMSTime domain Formula Substitution of Final value specification values in Formula Delay time ta= ta state) ta=0.675 sec Rise time == 4 = ma t,=1.207 sec = Ts Peak time tp=1.813 sec % Peak % My =16.32% overshoot x 100% x 100% 4 4 Setting time tag ts= pa ts=4 sec for 2% tolerance band ‘The deviation of the output of control system from desired response during steady state is known as steady state error. It is represented as @ss. We can find steady state error using the final value theorem as follows. ear = fim e(6) = lim Bis) Where, E{(s) is the Laplace transform of the error signal, e(t) Let us discuss how to find steady state errors for unity feedback and non-unity feedback control systems one by one. CONTROL SYSTEMSSteady State Errors for Unity Feedback Systems Consider the following block diagram of closed loop control system, which is having unity negative feedback. R(s) +, C(s) Where, ® Ris) is the Laplace transform of the reference Input signal r(t) 2 C(s) Is the Laplace transform of the output signal c(t) We know the trensfer function of the unity negative feedback closed loo sontrol system as Cls) G(s) Ris) 1+G(s) CONTROL SYSTEMSR(s)G(s) >) = TT ae) The output of the summing point is - Els) R{s) — C(s) Substitute C(s) value in the above equation. R(e)G(s) 1+G(s) R(s) + R(s)G(s) — R(s)G(s) 1+ (6) Els) = Ris) — => E(s) = _ Re) => Es) ia Substitute H(s) value in the steady state error formula k R(s) ~ 550 T+ Gls) The following table shows the steady state errors and the error constants for standard input signals like unit step, unit ramp & unit parabolic signals. Input signal Steady state error ese Error constant i unit step signal ay lim,s9 G(s) unit ramp signal Ky = limg.s9 8Q(s) unit parabolic signal im.) 8°G(s) Where, Kp, Kv and Ka are position error constant, velocity error constant and acceleration error constant respectively. CONTROL SYSTEMSNote - If any of the above input signals has the amplitude other than unity, then multiply corresponding steady state error with that amplitude. Note - We can't define the steady state error for the unit impulse signal because, it exists only at origin. So, we can’t compare the impulse response with the unit impulse input as t denotes infinity Example Let us find the steedy state error for an input sianal r(t) = (5 + 2+) u(t) By of unity negative feedback contrel system with G(s) = see The given input signal is a combination of three signals step, ramp and parabolic, The following table shows the error constants and steady state error values for these three signals. Input signal Error constant ‘steady state error ri (t) = 5u(t) Ky = lim, 19 G(s) Con a(t) = 2tu(?) Ky =lim,-9 sO(s) ea 00 ra(t) = Gut) Ka =limg 8?G(s) eg =P =1 We will get the overall steady state error, by adding the above three steady state errors Css= Cast *€as74C583 90552040412 1=90=0+041=1 Therefore, we got the steady state error ess as 1 for this example. Steady State Errors for Non-Unity Feedback Systems Consider the following block diagram of closed loop control system, which is having non unity negative feedback. CONTROL SYSTEMSWe can find the steady state errors only for the unity feedback systems. So, we have to convert the non-unity feedback system into unity feedback system. For this, include one unity positive feedback path and one unity negative feedback path in the above block diagram. The new block diagram looks like as shown below. Simplify the above block diagram by keeping the unity negative feedback as it is. The following is the simplified block diagram CONTROL SYSTEMSGs) 1+ G()H(s) — G(s) ‘This block diagram resembles the block diagram of the unity negative feedback closed loop control system. Here, the single block is having the transfer function G(s) / [ 1+G(s)H(s)-G(s)] instead of G(s)-You can now calculate the steady state errors by using steady state error formula given for the unity negative feedback systems. Note - It is meaningless to find the steady state errors for unstable closed loop systems. So, we have to calculate the steady state errors only for closed loop stable systems. This, means we need to check whether the control system is stable or not before finding the steady state errors. In the next chapter, we will discuss the concepts-related stability. The various types of controllers are used to improve the performance of control systems. In this chapter, we will discuss the basic controllers such as the proportional, the derivative and the integral controllers. Proportional Controller The proportional controller produces an output, which is proportional to error signal. u(t) x elt) = u(t) = Kpe(t) Apply Laplace transform on both the sides - U(s) = KpE(s) U(s) = Eis) Pe Therefore, the transfer function of the proportional controller is KPKP. CONTROL SYSTEMSWhere, U(s) is the Laplace transform of the actuating signal u(t) E(s) is the Laplace transform of the error signal e() Kris the proportionality constant The block diagram of the unity negative feedback closed loop control system along with the proportional controller is shown in the following figure. R(s) + E(s) U(s) C(s) Derivative Controller ‘The derivative controller produces an output, which is derivative of the error signal. de(t) dt u(t) = Kp Apply Laplace transform on both sides. U(s) = KpsEXs) Kps ‘Therefore, the transfer function of the derivative controller is Kos. Where, KD is the derivative constant. ‘The block diagram of the unity negative feedback closed loop control system along with the derivative controller is shown in the following figure. CONTROL SYSTEMS‘The derivative controller is used to make the unstable control system into a stable one. Integral Controller ‘The integral controller produces an output, which is integral of the error signal. u(t) = ey feo Apply Laplace transform on both the sides - (9) = BO Ul) _ Kr Ee) 5 Therefore, the transfer function of the integral controller is 2£ Where, KIKI is the integral constant. The block diagram of the unity negative feedback closed loop control system along with the integral controller is shown in the following figure. E(s) U(s) C(s) CONTROL SYSTEMSThe integral controller is used to decrease the steady state error, Let us now discuss about the combination of basic controllers. Proportional Derivative (PD) Controller The proportional derivative controller produces an output, which is the combination of the outputs of proportional and derivative controllers. delt) u(t) = Kpe(t) + Kp Apply Laplace transform on bath sides - U(s) = (Kp + Kps)E(s) U(s) st = KpikKyps Fis) vee Therefore, the transfer function of the proportional derivative controller is Kp+Kps. The block diagram of the unity negative feedback closed loop control system along with the proportional derivative controller is shown in the following figure. R(s) + U(s) C(s) The proportional derivative controller is used to improve the stability of control system without affecting the steady state error. Proportional Integral (PI) Controller ‘The proportional integral controller produces an output, which is the combination of outputs of the proportional and integral controllers. CONTROL SYSTEMSu(t) = Kpe(t) + Ky [eww Apply Laplace transform on both sides ~ U(s) = (Ke S$. =) Es) Therefore, the transfer function of proportional integral controller is Kp + Xt The block diagram of the unity negative feedback closed loop control system along with the proportional integral controller is shown in the following figure. R(s) +K) E(s) U(s) c(s) The proportional integral controller is used to decrease the steady state error without affecting the stability of the control system. Proportional Integral Derivative (PID) Controller The proportional integral derivative controller produces an output, which is the regral and derivative controllers. combination of the outputs of proportional CONTROL SYSTEMSde(t) u(t) = Kpe(t) + Kr / e(t)dt + Kp Apply Laplace transform on both sides - K, ul + Kos) EX) = (Ke+ Us) Kin Fe) =Kp+-4+Kps Therefore, the transfer function of the proportional integral derivative controller isKp +! 4Kps. ‘The block diagram of the unity negative feedback closed loop control system along with the proportional integral derivative controller is shown in the following figure. U(s) C(s) R(s) +, E(s) CONTROL SYSTEMS