Time Response Analysis
INTRODUCTION
Time response analysis is also called time domain analysis. Here, we
study the response, i.e. the output as a function of time.
Total time response c(t) of a control system consists of transient
response dynamic response ct(t) and steady state response css (t).
c(t) = ct(t) + css(t)
where c(t) = total time response
ct(t) = transient response
css(t) = steady-state response.
The transient state of the system remains for a very short time while
steady-state is that stage of the system as time t approaches infinity. A
feedback control system has the inherent capabilities that its parameters
can be adjusted to alter both its transient and steady-state behaviour. In
order to analyse the transient and steady-state behaviour of control
systems, we obtain a mathematical model of the system.
Typical test signals that is, signals which can be generated in the
laboratory are:
Unit step
Unit ramp
Parabolic
Sinusoidal
The nature of the transient response of a system is dependent upon
system poles only and not on the type of input. Therefore, we shall
analyse the transient response to one of the standard test signals. A
step signal is generally used for this purpose. The time consuming
transient analysis need not be carried out for all the test signals by
the final value theorem.
Standard Test Signals
1- Step Signal:
A step signal gives an instantaneous change in the value of the
reference r(t) as shown in Fig. 6.1(a).that is, r(t) = 0; t < 0 and r(t) = A; t >
0. The Laplace transform is,
Fig. 1.1 Standard test signals: (a) Step signal, (b) Ramp signal, (c)
Parabolic signal, (d) Impulse signal
2- Ramp Signal:
A ramp signal gives a constant change in the value of the reference
variable r(t) with respect to time, as shown in Fig. 6.1(b). It is also the
integral of a step signal.r(t) = 0; t < 0 and r(t) = At; t > 0.
The Laplace transform is,
3- Parabolic Signal:
A parabolic signal gives an accelerating change in the value of the
reference variable r(t). This is the integral of ramp signal.
The Laplace transform is, .
4- Impulse Signal:
The unit-impulse signal gives an infinite magnitude to the value of the
reference variable at t = 0 and a zero value everywhere except at t = 0.
Since a perfect impulse cannot be achieved in practice it is
approximated as a pulse of small width and of unit area shown in Fig.
1.1(d). Mathematically, the impulse function r(t) can be written as r(t) =
u(t), where u(t) = 0 for t < 0 and u(t) = 1 for t > 0, that is, u(t) is a unity
step function.
r(t) = 0; t < 0 and r(t) = 1; t = 0.
The Laplace transform is, R(s) =1.
TIME RESPONSE OF FIRST ORDER SYSTEM TO STEP
INPUT
When the maximum power of s in the denominator of a transfer
function is one.
The block diagram of the first order system is shown in Fig.
below
Here
H(s) = 1 for unity feedback
Time Response for Step Function
Now a unit step input is given to the system, then let us analyze
the expression of the output:
,
Taking inverse Laplace transform,\
Therefore,
The unit step response of the above system is shown in Fig. 7.3. It is seen that as time tends to
infinity, the error e(t) goes on reducing and finally becoming zero. The steady state error becomes
zero.
Fig. 7.3 Unit step response of a first order system
The time constant is indicative of how fast the system tends to reach the final value. The speed of
the response can be quantitatively defined as the time for the output to become a particular
percentage of its final value. A large time constant corresponds to a sluggish response and a small
time constant corresponds to a fast response as shown in Fig. 7.4. As shown in Fig. 7.4, time constant
τ1 is greater than τ2 and hence the response is as shown, i.e. it will take more time to reach the final
value.
Fig. 7.4 Effect of time constant on system response
Error is
Steady-state error is given by
RESPONSE OF FIRST ORDER SYSTEM TO RAMP INPUT
The transfer function of a first order system is written as.
Taking inverse Laplace transform,
Therefore, for a ramp input reducing the system time constant improves the speed of response of
the system as well as reduces its steady-state error to a ramp input. We, therefore, need to examine
only the steady state error to ramp input which can also be obtained by applying the final value
theorem as follows.
Thus there is no need of taking inverse Laplace transform, if we use the final value theorem. The
response of a first order system to unit ramp input has been shown in Fig. 7.5(a).
Fig. 7.5 (a) Unit ramp response of a first order system; (b) Impulse response of first order
system7.4 RESPONSE OF FIRST ORDER SYSTEM TO IMPULSE INPUT\
RESPONSE OF FIRST ORDER SYSTEM TO IMPULSE INPUT
For unit impulse input r(t) = u(t) where u(t) is an unit step function. So, R(s) = 1
Steady-state error
