Control Engineering

Lecturer: Phan Anh Tuan

University of Science and Technology of Hanoi

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Module 4: Time response

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 Motivation

• How to quantify the performance (convergence speed, steady-state

error) of a control system for any input signal?
• How to design a control system which meets the desired response
and control requirements?
What timescale 0-60 in 4
0-60 in 30 do I need? seconds
seconds

3
3
 Time domain analysis

System

• Time domain analysis refers to the analysis of system performance in time,

i.e., the study of evolution of system variables (specifically output) with time

• Studying the response of some standard systems to standard inputs can

provide some insight
– Standard systems: first order, second order
– Standard inputs: impulse, step, ramp, parabolic

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 Transient and steady state responses

• Transient response 𝑦𝑡𝑟 (𝑡):

– Part of the time response that goes to zero as time tends to be large
lim 𝑦𝑡𝑟 𝑡 = 0
𝑡→∞
• Steady state response 𝑦𝑠𝑠 (𝑡)
– Steady state response is the time response of a system after transient
practically vanishes and as time goes to infinity

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 Standard test signals

1. Unit impulse signal

A signal which is non-zero only at 𝑡 = 0
and integrates to one
∞

න𝛿 𝑡 =1
−∞
𝓛𝛿 𝑡 =1

2. Unit step signal

A signal that switches to one at a time
instant and stay there indefinitely
1∀𝑡 >0
𝑥 𝑡 =ቊ
0∀𝑡 <0
1
𝓛𝑥 𝑡 =
𝑠 6
 Standard test signals
3. Ramp signal
A signal which increases linearly with
time
𝐴𝑡 ∀ 𝑡 ≥ 0
𝑥 𝑡 =ቊ
0∀𝑡 <0
𝐴
𝐿 𝑥 𝑡 = 2
𝑠

4. Parabolic signal
A signal that switches to one at a time
instant and stay there indefinitely
𝐴𝑡 2
𝑥 𝑡 =ቐ 2 ∀𝑡 ≥0
0∀𝑡 <0
𝐴
𝐿 𝑥 𝑡 = 3
𝑠
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 Standard systems

1. First-order system

2. Second-order system

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 First-order systems

• Example

(𝑠) 𝐾
=
𝑖 (𝑠) 𝜏𝑠 + 1

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 First-order systems
• Basic form: 𝜏𝑦ሶ 𝑡 + 𝑦 𝑡 = 𝑘𝑢(𝑡)

𝑌(𝑠) 𝑘
𝐺(𝑠) = =
𝑈(𝑠) 𝜏𝑠 + 1

• Key parameters:
– 𝜏: Time constant
– 𝑘: DC gain

• Many real systems have this basic form

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 First-order systems
𝑀
• Step response: 𝑅 𝑠 =
𝑠

𝑘 𝑘𝑀 𝑘𝑀 𝑘𝑀𝜏
𝑌 𝑠 = 𝑅 𝑠 = = −
𝜏𝑠 + 1 𝑠(𝜏𝑠 + 1) 𝑠 (𝜏𝑠 + 1)
𝑡
−𝜏
𝑦 𝑡 = 𝐿−1 𝑌 𝑠 = 𝑘𝑀 − 𝑘𝑀𝑒 , 𝑡≥0

𝑡
−
• In this case, 𝑦𝑡𝑟 𝑡 = 𝑘𝑀𝑒 𝜏 and 𝑦𝑠𝑠 𝑡 = 𝑘𝑀

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 First-order systems

For 𝑡 = 𝜏:
𝑘=1 𝑦 𝑡 = 𝑀 1 − 𝑒 −1 = 0.632 𝑀
𝑡
−𝜏
𝑦 𝑡 = 𝑀(1 − 𝑒 ), 𝑡≥0 For 𝑡 = 4𝜏:
𝑦 𝑡 = 𝑀 1 − 𝑒 −4 = 0.98 𝑀 12
First order lag plus time delay model
(FOLPD)

1 (𝑠) 𝑘𝑒 −𝑠𝜏𝑑
=
𝑖 (𝑠) 𝜏𝑠 + 1

𝜏𝑑 : Time delay
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First order lag plus time delay model
(FOLPD)
𝑘𝑒 −𝑠𝜏𝑑 𝜏𝑑 : Time delay
𝐺 𝑠 =
𝜏𝑠 + 1

𝜏𝑑 14
 Second-order systems
• Systems with 2 poles are called 2nd order systems
• Example: An RLC circuit or mass-spring-damper system

2
d x dx
a 2 + b + cx = f
dt dt
L
R

DC
𝑉𝑖 (𝑡) 𝑉0 (𝑡)
C

1
𝑉0 𝑠 = 𝑉 (𝑠) 1
𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1 𝑖 𝑋(𝑠) = 𝐹(𝑠)
𝑀𝑠 2 + 𝑏𝑠 + 𝐾
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 Second-order systems
• Basic form: 𝑦(𝑡)
ሷ + 2𝜔𝑛 𝑦ሶ 𝑡 + 𝜔𝑛2 𝑦 𝑡 = 𝜔𝑛2 𝑢(𝑡)

𝑌(𝑠) 𝜔𝑛2
𝐺(𝑠) = =
𝑈(𝑠) 𝑠 2 + 2𝜔𝑛 𝑠 + 𝜔𝑛2

• Key parameters:
– 𝜔𝑛 : (undamped) natural frequency
– : damping ratio

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 Second-order systems
• Poles found from 𝑠 2 + 2𝜔𝑛 𝑠 + 𝜔𝑛2 = 0

−2𝜔𝑛 ± (2𝜔𝑛 )2 −4(1)𝜔𝑛2

Poles =
2(1)
= − 𝜔𝑛 ± 𝜔𝑛 2 − 1

• Behavior changes fundamentally with 

1. ( = 0) poles are imaginary (undamped)
2. ( < 1) poles are complex (underdamped)
3. ( = 1) repeated real poles (critically damped)
4. ( > 1) distinct real poles (overdamped)

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 Second-order systems
y(t)

Im(j )

( = 0) undamped
Re( )

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 Second-order systems
y(t)

Im(j )

X X

( = 0) undamped
Re( )

X X
y(t)

(0 <  < 1) underdamped

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 Second-order systems
y(t) y(t)

Im(j )

X X

( = 0) undamped ( = 1) crit damped

XX Re( )

X X
y(t)

(0 <  < 1) underdamped

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 Second-order systems
y(t) y(t)

Im(j )

X X

( = 0) undamped ( = 1) crit damped

X XX X Re( )

X X
y(t) y(t)

(0 <  < 1) underdamped ( > 1) overdamped

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 0.9
Over Damped
Critically damped
0.8
Damping=0.71
0.7 Damping=0.35
0.6 Damping=0.07
0.5
x(t)

𝑦(𝑡)
0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8
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Seconds
 Examples
• Find the damping ratio and natural frequency and thus indicate expected
response characteristics

x + 5 x + 2 x = 2  overdamped ,   1
x + 2 2 x + 2 x = 2  critically damped ,  = 1
x + 2 x + 2 x = 2  underdamped ,  = 1 = 0.71
2
x + x + 2 x = 2  underdamped ,  = 0.5 = 0.35
2
x + 0.2 x + 2 x = 2  underdamped ,  = 0.1 = 0.07
2
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 Underdamped second-order systems
Poles = − 𝜔𝑛 ± 𝑗 𝜔𝑛 1 − 2 <1

𝜎 = 𝜔𝑛

𝜔𝑑 = 𝜔𝑛 1 − 2
(Actual oscillation frequency)

𝑐𝑜𝑠𝛽 = 

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 Underdamped second-order systems

• Underdamped step response (𝑢 𝑡 = 1(𝑡))

1
𝑈 𝑠 =
𝑠
𝜔𝑛2
𝑌 𝑠 = 𝐺 𝑠 𝑈(𝑠) =
𝑠(𝑠 2 + 2𝜔𝑛 𝑠 + 𝜔𝑛2 )
1 𝑠+𝜎 𝜎 𝜔𝑑
= − −
𝑠 𝑠 + 𝜎 2 + 𝜔𝑑 2 𝜔 𝑑 𝑠 + 𝜎 2 + 𝜔𝑑 2

𝜎
𝑦 𝑡 = 𝓛−1 (𝑌 𝑠 ) = 1 − 𝑒 −𝜎𝑡 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝑠𝑖𝑛𝜔𝑑 𝑡 , 𝑡 ≥ 0
𝜔𝑑

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 Underdamped second-order systems

2 behaviors: Decay and Oscillation

𝑦(𝑡)

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 Underdamped second-order systems

𝑦(𝑡)

Note the decay

slows down as
damping
decreases as real
part of root gets
smaller

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 Underdamped second-order systems

−𝜎𝑡
𝜎
Step response 𝑦 𝑡 =1−𝑒 𝑐𝑜𝑠𝜔𝑑 𝑡 + 𝑠𝑖𝑛𝜔𝑑 𝑡 , 𝑡 ≥ 0
𝜔𝑑

Several important
properties for specifying
a system come from its
step response

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 Underdamped second-order systems

• Rise time: (𝑡𝑟 ) time required for response to rise from 10% to 90% (or 0% to
100%)
– Wouldn’t want to use 0% to 100% definition for overdamped systems

• Settling time: (𝑡𝑑 ) time required for response to reach and stay within 2% of
final value

• Peak time: (𝑡𝑝 ) time required for response to reach first peak of the
overshoot

• Maximum overshoot: (𝑀𝑝 ) maximum peak value measured from steady

state (often as %)

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Underdamped second-order systems

Performance Exact formula Approximate

measure formula
𝑡𝑠 : Settling time −ln(0.02 1 − 2 ) 4
𝜔𝑛 𝜔𝑛
𝑡𝑝 : Peak time 𝜋 𝜋 𝜋 𝜋
= =
𝜔𝑛 1 − 2 𝜔𝑑 𝜔𝑛 1 − 2 𝜔𝑑
𝑀𝑝 : Maximum 𝜋 𝜋
− −
over shoot 1−2 1−2
𝑒 𝑒
𝑡𝑟 : Rise time 1 1
(𝜋 (𝜋
(0% to 100%) 𝜔𝑛 1 − 2 𝜔𝑛 1 − 2
− 𝑐𝑜𝑠 −1 ) − 𝑐𝑜𝑠 −1 )

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 Underdamped second-order systems
• Constant property lines

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𝑡𝑠 ≈
𝜎

𝜋
𝑡𝑝 =
𝜔𝑑

𝜋
−
1−2
𝑀𝑝 = 𝑒

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𝑦(𝑡)

𝑦(𝑡)

𝑦(𝑡)

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Second order system plus time delay model
(SOSPD)
• Second order system plus time delay model (SOSPD)

𝜔𝑛2 −𝜏𝑑 𝑠
𝐺 𝑠 = 2 𝑒
𝑠 + 2𝜔𝑛 𝑠 + 𝜔𝑛2

𝜏𝑑 : Time delay

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 Exercise

• Study step test rule for deriving approximate models (page 315, Ref
2)
• Apply to approximate the following models by FOLPD:

0.8
𝐺 𝑠 =
(10𝑠 + 1)(30𝑠 + 1)(3𝑠 + 1)
• Verify the approximation by simulation

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 Exercise
• Given the transfer function:
100
𝐺 𝑠 = 2
𝑠 + 15𝑠 + 100
find 𝑇𝑝 , 𝑀𝑝 , 𝑇𝑠 and 𝑇𝑟

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 Exercise

• Design the value of gain 𝐾, for the feedback control system of figure
below so that the system will respond with a 10% overshoot

𝑅(𝑠) 𝐾 𝑌(𝑠)
+
- 𝑠(𝑠 + 5)

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 Summary
• Second-order systems
– Underdamped, critically damped, overdamped

• Important characteristics
– Settling time, peak time, maximum overshoot

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