CHAPTER 2 TIME RESPONSE ANALYSIS 21 TIME RESPONSE The time response of the system is the output of the closed loop system as a function of time. It i denoted by c(t). The time response can be obtained by solving the differential equation governing the system. Alternatively, the response c(t) can be obtained from the transfer function of the system and the input to the system. won C8) Gs) The closed loop transfer function, —S) - 9) _ 1e closed loop transfer function, Ris) Ge) HG The Output or Response in s-domain, C(s) is given by the product of the transfer function and the input, R(s). On taking inverse Laplace transform of this product the time domain response, ¢(t) can be obtained. -Me) v2} Response in s-domain, C(s) = R(s) M(s) (2.2) Response in time domain, o(t) = C'{C(s)}= £4 Ris)xMis)} sen(23) where, M(s)=—-S@)_ 1+G(S)H(s) The time response of a control system consists of two parts : the transient and the steady state response. The transient response is the response of the system when the input changes from one state to another. The steady state response is the response as time, t approacties infinity. Ris) Cs) RS) ey > ( ips ST espome 8 fsa \(or Output). | =>. M(s)=-_2)__ [H(s}j«—— G(s)A(s) Fig 2.1 : Closed loop system 2.2 TESTSIGNALS ‘The knowledge of input signal is required to predict the response of a system. In most of the systems the input signals are not known ahead of time and also it is difficult to express the input signals mathematically by simple equations. The characteristics of actual input signals are a sudden shock, a sudden change, a constant velocity and a constant acceleration. Hence test signals which resembles these characteristics are used as input signals to predict the performance of the system. The commonly used test input signals are impulse, step, ramp, acceleration and sinusoidal signals. The standard test signals are, 1. a) Step signal 2. a) Ramp signal 3. a) Parabolic signal b) Unit step signal b) Unit ramp signal —_b) Unit parabolic signal 4, Impulse signal 5. Sinusoidal signal(Gieptar F Time Response Analysis) 2.2 Since the test signals are simple functions for time, they can be easily generated in laboratories. The mathematical and experimental analysis of control systems using these signals can be carried out easily. The use of the test signals can be justified because of a correlation existing between the response characteristics of a system to a test input signal and capability of the system fo cope with actual input signals. STEP SIGNAL The step signal is a signal whose value changes from zero to A at t= 0 and remains constant at A for t> 0. The step signal resembles an actual steady input to a system. A special case of step signal is unit step in which A’is unity. 10 The mathematical representation of the step signal is, W=1 5 t20 =0;t<0 RAMP SIGNAL The ramp signal is a signal whose value increases linearly with time 1) from an initial value of zero at t= 0. The ramp signal resembles a constant velocity input to the system. A special case of ramp signal is unit ramp signal in which the value of A is unity. The mathematical representation of the ramp signal is, r()=At ; t20 0 PARABOLIC SIGNAL In parabolic signal, the instantaneous value varies as square of the (9 time from an initial value of zero at t = 0. The sketch of the signal with respect to time resembles a parabola, The parabolic signal resembles a. 4,54}-------- ++ constant acceleration input to the system. A special case of parabolic signal is unit parabolic signal in which A is unit Qn) > Fig 2.2 : Step signal. 012? Fig 2.3 : Ramp signal. ‘The mathematical representation of the parabolic signal is, 05a : ae ois st WaT 120 Fig 2.4 : Parabolic signal. =0 ;t The unit impulse signal is a special case, in which A is unity. The impulse signal is denoted by &(t) and > te > mathematically it is expressed as, Fig 2.5 + Impulse signal. a(t)=00; t=0 and fomar-a =t40 ed (2.7)2.3 Gaara stoma Trgtneerng > Since a perfect impulse cannot be achieved in practice itis usually approximated by a pulse of small width but with area, A. Mathematically an impulse signal is the derivative of a step signal. Laplace transform of the impulse function is unity. TABLE tandard Test Signals Name of the signal Time domain equation Laplace transform of of signal, r(t) the signal, R(s) A Step A Unit step l | i s A Ramp At = 1 Unitramp t zg 2 A Parabolic = 3 e 1 Unitparabotic = ra Impulse a(t) 1 | 2.3 IMPULSE RESPONSE The response of the system, with input as impulse signal is called weighing function or impulse response of the system: It is also given by the inverse Laplace transform of the system transfer function, and denoted by m(1). Impulse response, m(t) = £" {R(s) M(s)} = £7 [MSP (2.8) GG) = where, MO)= SaSHD R(s) = I, for impulse] Since impulse response (or weighing function) is obtained from the transfer function of the system, itshows the characteristics of the system. Also the response for any input can be obtained by convolution of input with impulse response. 24 ORDEROF ASYSTEM The input and output relationship of a control system can be expressed by n® order differential equation shown in equation (2.9). e ge ee 4 a Boga PO + aa Gar PUL) +e ee PO) +. Farge PO + 2a PCD = bo a(t) at gt d aT Ut) +b, 5 g(t) ct By a(t) + wn f2.9) +b Tara) +b, Gee Ot Ba Ge AE) + Bn (ED where, p(t) = Output /Response ; q(t)=Input / Excitation. The order of the system is given by the order of the differential equation governing the system. If the system is governed by n® order differential equation, then the system is called 2 order system.‘Response 2.4 Alternatively, the order can be determined from the transfer function of the system. The transfer function of the system can be obtained by taking Laplace transform of the differential equation governing the system and rearranging them as a ratio of two polynomials in s, as shown in equation (2.10). Pls) _ bys" + bys™ "+b, baa St bm se2e10) S) ays*+ajs a3" +0, 1843, Transfer function, T(s) where, P(s) = Numerator polynomial Q(s) = Denominator polynomial The order of the system is given by the maximum power of s in the denominator potynomial, Q(s). Here, Q(s) =a, s"-+a, “+ as? + sta sta, Now, n is the order of the system When n = 0, the system is zero order system. When n = 1, the system is first order system. When n = 2, the system is second order system and so on. Note : The order can be specified for both open loop system and closed loop system. | ‘The numerator and denominator polynomial of equation (2.10) can be expressed in the factorized form as shown in equation (2.11). PES) _ (S42 SF 2g )onnelSt Zp) vne(Q11) QS) (S+Py)(S+ Pa).--(S+ Pa) where, 2, 2, are zeros of the system. Pr» Pp» ~ Now, the value of m gives the number of poles in the transfer function. Hence the order is also given by the number of poles of the transfer function. Ti)= P, are poles of the system. Nate : The zeros and poles are critical value, of 8, at which the fimction Ti) attains extreme values 0 or co When s takes the value of a zero, the function T(s) will be zero. When s takes the value of la pole, the function T(s). will be infinite. 2.5 REVIEW OF PARTIAL FRACTION EXPANSION The time response of the system is obtained by taking the inverse Laplace transform of the product of input signal and transfer function of the system. Taking inverse Laplace transform requires the knowledge of partial fraction expansion. In control systems three different types of transfer function are encountered. They are, Case 1: Functions with separate poles. Case 2. : Functions with multiple poles. Case 3: Functions with complex conjugate poles. The partial fraction of all the three cases are explained with an example. Case 1: When the transfer function has distinct poles K Let, M9) = Tp) Gp)2.5 By partial fraction expansion, T(s) can be expressed as, no-—K— B 8 s(S+p,)(S+P2) S S+P) S+Pz ‘The residues A, [Link] C are given by, A=T6) x4... B=T6) x G+P) C= Ts) x (+ Pake py == Example Let, T(s) = a NS) ED By partial fraction expansion, T(s) can be expressed as, T(s)= 2 + S(S+1)(8+2) 8 stl st+2 A is obtained by multiplying T(s) by s and letting s — 0. 2 -—2 x} -— a =o gt FD Ho GENEID,» 1x2 B is obtained by multiplying T(s) by (s +1) and letting s = -1. 2 -—2 s(F2),__, --U-1+2) | 2. ALB A=T6) «4, B=T(s)x etn, xGrDl, 2 __ (s+ 1) (+2) C is obtained by multiplying T(s) by (s +2) and letting s = -2. _ 2 2 C=T(s) x (s+2)| “ye x (+2) weal. 21g-—2— 2 Case 2: When the transfer function has multiple poles K Let, T(s)=——————— > Oren eps By partial fraction expansion, T(s) can be-expressed as, kK A_ B c¢_, > T(s)=$ 5 = ++ + sS+p:)(stp2) § StP, +P.) (S+P2) The residues A, B, C and D are given by, A=T@) x44 B=Ts) x (S+P)],_ 5, d com) x Gem, Do G{Me xterm] Example Let, T(s)= 2 . s(st 1) (s+2)7 By partial fraction expansion, T(s) can be expressed as, a()2 —*-- 4+ 8+ So D sS+1)(st2y 8 (+1) (s+2)pera Tine Re sts 2.6 A is obtained by multiplying T(s) by s and letting s = 0. | - _ 2 . 2 | A=TO) x4, Wie GHeDL., 1. B is obtained by multiplying T(s) by (s +1) and letting s 2 2 2 Ba T(s)x(s+D|_,=————— xs]. = | =< > x6 Da Sangre 8 | ser Ce . |. C is obtained by multiplying T(s) by (s +2)’ and letting s = -2. 2 +, x(s+2 s(s+1) (s+2)?* C=Tis)x(s+ »L, D is obtained by differentiating the product T(s) (s +27 with respect to s and then letting s = -2. y 6 4f. 2] 208-1) 2262) +H) as ds | s(6+1) Sty | CC2+n? 5 15. =? __, 4 2,1, sGt(st2e os stl (+2 842 D= Shr x(st a Tis) Case 3 : When the transfer function has complex conjugate poles K Let, T(s) = —————— +p) @ + bs+e) By partial fraction expansion, T(s) can be expressed as, 1%) K A, BstC_ ee(212) “Grp @ tbstc) stp) S+bste The residue A is given by, A=T(s) x (s+p,)) Ls The residues B and C are solved by cross multiplying the equation (2.12) and then equating the coefficient of like power of s. Finally express ‘T(s) as shown below, 11) = A Be (xtyhex+2ay ty? S+p) So +bs+e Let us express, s? + bs, in the form of (x+y), This will require addition and subtraction of an extra term (b/2). Ts) = eg BS A b (sy (ey stp, of?) ae [b 22 22.7 Leontral systems ingineering Example 1 Let, Foe TO" Gap ess By partial fraction expansion, 1%) 1 A Bs+C =} __-4.44 Gt2@ stl) st2 Sesel A is obtained by multiplying T(s) by (s +2) and letting s = -2. 1 2 A=T(s) x(s+2) +3 t t Lea 4 Cyp=241 3 To solve B and C, cross multiply the following equation and substitute the value of A. Then equate the’ like power of s. L A _BstC | (8+2)(# +841) ssl =? S | 1=A(s? +8+1)+(Bs+O) (s+2) 1 2 1 ; ={s+=] +[1- =(P +8+1)+Bs? +2Bs+Cs+2C (> 3) “U ‘) 3 a =(s+0.5) +075 1a 545+ 54s! +2Bs4C5+2C 1 ‘On equating the coefficient of s’ terms, 0= 37 B; -. On equating the coefficient of stems, g=14284C ; 3 _ 3 s+1) 3(8+s+1) a 3 (s+ 0.5) +0.75 2.6 RESPONSE OF FIRST ORDER SYSTEM FOR UNIT STEP INPUT The closed loop order system with unity feedback is shown in fig 2.6. R46 1 cs) RE) Lt] og * {Ts} = 114-Ts I Fig 2.6 : Closed loop for first order system. The closed loop transfer function of first order system, © RG®) If the input is unit step then, 1(4) =1 and R(s)= * 1 1d . itus-domain, C(s)=R@)-——=1_1_ The response in s- domain, Cs) =RS)T 55 = Say ayGiapter E:T Responso Analysis > 2.8 By partial fraction expansion, L | -T_,J . “ +4) sti T WOT AHCG) xg, 1 1 OH 8)=— ——T | fers} Soe sta ‘The response in time domain is given by. =o Yew@ =H te 7 (2.13) 5 T) ‘The equation (2.13) is the response of the closed loop first order system for unit step input, For step input of step value, A, the equation (2.13) is multiplied by A. st For closed loop first order system, Unit step response = | Step response = ae] t When, 0, c(t) When, 1T, e(t) = When, 2T, oft) When, 3T, ot) =1-e When, AT, c(t) When, t = ST, c(t) When, t = », o(t) =~1-e*=1 Here T is called Time constant of the system, In a time of ST, the system is assumed to have attained steady state. The input and output signal of the first order system is shown in fig 2.7.2.9 x(t) + oft) 4 ¥ 1=0 t oO T 2T 3T AT » t Fig 2.7a : Unit step input. Fig 2.76 : Response for Unit step input. Fig 2.7 : Response of first order system to Unit step input. 2.7 SECOND ORDER SYSTEM ‘The closed loop second order system is shown in fig 2.8 Ms) R(s) 2 cs) , \s?+ Xo,s+0% ° Fig 2.8 : Closed loop Jor second order system. The standard form of closed loop transfer function of second order system is given by, RS) £8), oy (2.14) R@) 9 +2fo,s+0, where, @, = Undamped natural frequency, rad/sec. € = Damping ratio. The damping ratio is defined as the ratio of the actual-damping to the critical damping, The response c(t) of second order system depends on the value of damping ratié. Depending on the value of ©, the system can be classified into the following four cases, Case I Case 2 Undamped system, e=0 Under damped system, = 01, 5 =to9toe6! “ine system isoverdamped = (2.19) When0<<1, 8,5) =-Co, 20,0 —1 =o, to,yCD 0-0) =o, 20-1 fI-2 =o, +0, y1-F =e, jms OA complex conjugate £345 | the system is underdamped siee(2.20) where, 4 =0,y1-0 Here ©, is called damped frequency of oscillation of the system and its unit is rad/see. RESPONSE OF UNDAMPED SECOND ORDER SYSTEM FOR UNIT STEP INPUT The standard form of closed loop transfer function of second order system is, Cs) _ o, Ris) = +200,5+0, For undamped system, z= 0. - OS) _ On Ro) +0 222) When the input is unit step, 1(()= I and R(s)= + “ + Fors” Fret cftt=2 | £fc0s ot}== 25 . 5 | ¢ +0 s ‘Time domain response, o(t)= C'{C(s)} = £" 1 I-cos@t ot (2.24)cs ny Dh on eden apc ew een nenn eee eens, 1 Ip--f---------\e- eee kee 9 * 9 > Fig 2.9.0; Input. Fig 2.9.b : Response. Fig 2.9 : Response of undamped second order system for unit step input. Using equation (2.24), the response of undamped second order system for unit step input is sketched in fig 2.9, and observed that the response is completely oscillatory. f | Note : Every practical system has some amount of damping. Hence undamped system does not exist in practice. The equation (2.24) is the response of undamped closed loop second order system for unit step input. For step input of step value A, the equation (2.24) should be multiplied by A. | ~ For closed loop undamped second order system, Unit step response = 1— cos @,t Step response = A(1 — cos «,1) 2.7.2___ RESPONSE OF UNDERDAMPED SECOND ORDER SYSTEM FOR UNIT STEP INPUT The standard form of closed loop transfer function of second order system is, cs) o, Ris) © 22 sao Ris) s*+2ta,s+o%, For underdamped system, 0 < ¢ <1 and roots of the denominator (characteristic equation) are complex conjugate. The roots of the denominator are, s=-Co, +0,J@=1 Since¢<1, ¢ isalso less then 1, andso 1- Fy 2tp,s+e? 220) Let us add and subtract (0 ? to the denominator of second term in the equation (2.26). a1 ee + O8)=7 2s © +ako,s+Cw.)+@.—Co +2605 (s+Go,) +04 = - we 8 (8+C0,/ +04 (s+bo,) +05 2.27) Let us multiply and divide by ©, in the third term of the equation (2.27). ‘The response in time domain is given by, =f) =i s+So, Sep ye a= eer} = +0,) +04 Seal lon ee Foe S cosojt+ 6 sino) = rs (sino x C+ cosagt x We) (t) in a standard form as shown below. = 1-6 "cosa gt Se eSatsing gt =1— eo fomae Og Tre Let us ex] [Note ; On constructing right angle triangle with ¢ and \\-' 1 we get sin = ie Ye tan = feThe equation (2.28) is the response of under damped closed loop second order system for unit step input. For step input of step value, A, the equation (2.28) should be multiplied by A. For closed loop under damped second order system, Hint 2 er sin (ogt +0); O= tan ECS i | Unit step response =1- z g [ g-sont Step response. = Al 1- | Lie Using equation (2.28) the response of underdamped second order system for- unit step input is sketched and observed that the response oscillates before settling to a final value. The oscillations depends on the value of damping ratio. rt) ott) t ; ] me] 148); O=tant PS | | sin (t+) an || 0 t Fig 2.10.a + Input. Fig 2.10.b : Response. Fig 2.10 : Response of under damped second order system for unit si 2.7.3 RESPONSE OF CRITICALLY DAMPED SECOND ORDER SYSTEM FOR UNIT STEP INPUT The standard form of closed loop transfer function of second order system is, CG) RS) Pitho,stor 1. For critical damping 2 ; BO 2.29) s’+20,5+02 (s+0,)" f When input is unit step, r(t) = 1 and R(s) = V/s. . The response in s-domain, 5) ee RO) o 1 @; co RO Toa “3 @o, “364 By partial fraction expansion, we can write, oO; A B c c(y-—22 =A 9)" Tero, 8 Gro)? A=sxC(s), o> Gre B=(s+o,)?x co), Ze = fo+0,7 xa] =et) =1-e*"(1+0,t) The equation (2.31) is the response of critically damped closed loop second order system for unit step input. For step input of step value, A, the equation (2.31) should be multiplied by A. :. For closed loop critically damped second order system, Unit step response = 1-6"*"(I+0,1) Step response = ali- eels. o,t)] Using equation (2.31), the response of critically damped second order system is sketched as shown ’n fig 2.11 and observed that the response has no oscillations. rt) Oa 1 It ay 0 Fig 2.11.a + Input. Fig 2.11.b : Response. Fig 2.11 : Response of critically damped second order system for unit step input. 2.7.4 _ RESPONSE OF OVER DAMPED SECOND ORDER SYSTEM FOR UNIT STEP INPUT The standard form of closed loop transfer function of second order system is, Cs) on Ris) s+ 2fo,s+05 For overdamped system ¢ > 1. The roots of the denominator of transfer function are real and distinct. Let the roots of the denominator be s,, s,- SS =—Go, £0, 6 [ge to/e-1| swn(232) Let ,=-sands,=-s .s)=G@,-@,y6°-1 82=00, +0, '=1 ‘The closed loop transfer function can be written in terms of s, and s, as shown below. CO) ee (2.35) RG) S+%oseor (Gty)G*S) ZO, 8+ 0, ,215 For unit step input r(t) = 1 and R(s) = 1/s. a 2 (3) = R(s)- 22 = —_2 ___ = ROE say ee (s+5) (+8) By partial fraction expansion we can write, 2 c= oO, uA, Be ae S(+5) GH) $ Sts, SHS @? A=sxC(5)jco= 8x" SESE), 8S = on [00 -eayeP=1 [Beaten 2 On = Ba (s+8) C8), = s+), ~+5) = oR - ony 5, |Co, +0, 407-1400, +onye?=1 20, =1) 5 2yer=1 C= Cs) x(s+ 5) 0 BTS ait o(t) = 1-8 fe wWe-1\ Ss A236 where, s,=60,-@,y@-1 $= SO, t+ OnyS ‘The equation (2.36) is the response of overdamped closed loop system for unit step input. For step input of value, A, the equation (2.36) is multiplied by A. -. For closed loop over damped second order system, = where, s,=C0,-@,yC?-1 = 60, +0, 16-1 Unit step response = 1- Step response0 t * t Fig 2.12. : Input. Fig 2.12.5 : Response. Fig 2.12 : Response of over damped second order system for unit step input. Using equation (2.36), the response of overdamped second order system is sketched as shown in fig 2.12 and observed that the response has no oscillations but it takes longer time for the response to reach the final steady value. 2.8 TIME DOMAIN SPECIFICATIONS The desired performance characteristics of control systems are specified in terms of time domain specifications. Systems with energy storage elements cannot respond instantaneously and will exhibit iransient responses, whenever they are subjected to inputs or disturbances. The desired performance characteristics of a system of any order may be specified in terms of the transient response to a unit step input signal. The response of a second order system for unit-step input with various values of damping ratio is shown in fig 2.13. e(t), ro Fig 2.13.0: Input. Fig 2.13.b : Response. Fig 2.13 : Unit step response of second order system. The transient response of a system toa unit step input depends on the initial conditions. Therefore to compare the time response of various systems it is necessary to start with standard initial conditions. The most practical standard is to start with the system at rest and so output and all time derivatives before +=0 will be zero. The transient response of a practical control system often exhibits damped oscillation ‘before reaching steady state. A typical damped oscillatory response of a system is shown in fig 2.14. ‘The transient response characteristics of a control system fo a unit step input is specified in terms of the following time domain specifications. 1. Delay time, t, 2. Rise time, t, 3, Peak time, t, 4. Maximum overshoot, M, 5, Settling time, t,Allowable error 2% or 5% out & w t Fig 2.14 : Damped oscillatory response of second order system for unit step input. ‘The time domain specifications are defined as follows. 1, DELAY TIME (t,) : It is the time taken for response to reach 50% of the final value, fo the very first time. It is the time taken for response to raise from 0 to 100% for the ver first time. For underdamped system, the rise time is calculated fron 0 to 100%. But for overdamped system it is the time taken by the response to raise from 10% to 90%. For critically damped system, i is the time taken for response to raise from 5% to 95%. It is the time taken for the response to reach the peak value the ver first time. (or) It is the time taken for the response to reach the peal overshoot, M,, [Link](M,)_: Its defined as the ratio of the maximum peak value fo the final value where the maximum peak value is measured from final value. Let, o(s0) = Final value of c(t). o(tp) = Maximum value of e(t). (ty 2. RISE TIME (f) 3. PEAK TIME t) Now, Peak overshoot, M, = 2" (23 oa) % Peak overshoot, %M, = a 100 238 ees 5, SETTLING TIME (t) : It is defined as the time taken by the response to reach and stay with a specified error. It is usually expressed as % of final value. The usua tolerable error is 2 % or 5% of the final value. EXPRESSIONS FOR TIME DOMAIN SPECIFICATIONS Rise time (t) ‘The unit step response of second order system for underdamped case is given by, Att=t, c(t) = c(t) =1 (Refer fig 2.14).