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This document provides an introduction to time-domain analysis and design of control systems. It discusses time responses, classification of responses into transient and steady-state, and specifications for analyzing first-order and second-order system responses including time constant, rise time, settling time, overshoot, and damping ratio. Examples are provided for calculating steady-state error and response characteristics for different system types.

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Magarsaa Qana'ii
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27 views62 pages

Untitled

This document provides an introduction to time-domain analysis and design of control systems. It discusses time responses, classification of responses into transient and steady-state, and specifications for analyzing first-order and second-order system responses including time constant, rise time, settling time, overshoot, and damping ratio. Examples are provided for calculating steady-state error and response characteristics for different system types.

Uploaded by

Magarsaa Qana'ii
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© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
Download as pdf or txt
Download as pdf or txt
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Mettu University

Faculty of Engineering and Technology

Department of Electrical and Computer Engineering

Introduction to control Engineering

Year-III

Semester-II
Prepared by: Gebregeworgis Tadesse (MSc.)
Time‐Domain Analysis and
Design of Control Systems

 Time response has utmost importance for the design


and analysis of control systems
 During analysis of responses, the variation of output
with respect to time can be studied and it is known as
time response
 To obtain satisfactory performance of the system, the
output behavior of the system with respect to time
must be within the specified limits
 From time response and corresponding results, the
stability of system, accuracy of system and complete
evaluation can be studied easily
Classification of time responses

 Due to the application of an excitation to a


system, the response of the system is
known as time response and it is the
function of time
 There are two parts of responses of any
system; i. transient response and ii. Steady
-state responses
Transient response

 By transient response, we mean that


which goes from the initial state to the
final state.
 From the transient response, we get the
following information
The time interval after which the system
responds taking the instant of the
application of excitation as reference
The total time it takes to achieve the
output for the first time
Cont..
Whether or not the output shoots beyond
the desired value and how much
Whether or not the output oscillates about
its final value
The time that it takes to settle to the final
value
Steady –state response

 Steady-state response, we mean the


manner in which the system output
behaves as ‘t’ approaches infinity
 From this type of response, we get the
following information
The time that output takes to reach the
steady –state value
Whether or not any error exists between
the desired and the actual value
Cont..
Whether this error is constant, zero, or
infinite
 Thus the system response c(t) may be
written as
c(t) = ctr(t) + css(t)
Steady state error
A desire feature of a control system is the faithful
following of its reference input by the output, how
ever if the actual output of a control system during
steady state deviation from the reference input i.e. the
desired output, the system is said to be a steady state
error.
Cont..
Positional error coefficient
 Is associated with step input applied to
control system and it is determined as
follows:
Velocity error coefficient
 Is associated with unit ramp input applied
to control system and it is determined as
follows:
Cont..
Acceleration error coefficient
 Is associated with unit parabolic input
applied to control system and it is
determined as follows:
Cont..

𝑒 1
𝑠𝑠=
𝑘𝑎

Types transfer function and steady state error


The steady state error depends on the types of open loop transfer
function of a closed-loop control system. An estimation of steady
state error for a specified input in terms of forward path gain of
an open loop transfer function.
Type ‘0’ with unit step input
The open-loop transfer function is given below;
Cont..
Type ‘0’ with unit ramp input
 The open-loop transfer function is given
below;
Type ‘0’ with unit parabolic input
 The open-loop transfer function is given
below;
𝑘𝑎 = lim 𝑠 2 𝐺(𝑠)𝐻(𝑠)
𝑆→0
Type ‘1’ with unit step input

 The open-loop transfer function is given


below;
Type ‘1’ with unit ramp input

 The open-loop transfer function is given


below;
Type ‘1’ with unit parabolic input

 The open-loop transfer function is given


below;
Type ‘2’ with unit step input
 The open-loop transfer function is given
below;
Type ‘2’ with unit ramp input
 The open-loop transfer function is given
below;
Type ‘2’ with unit parabolic
input
 The open-loop transfer function is given
below;
Example 1.
 Find the steady state error with an input
signal of unit step?

Answer ess=0

And it is type one system


Example 2.
First order systems
 We now discuss first-order systems
without zeros to define a performance
specification for such a system. A first-
order system without zeros can be
described by the transfer function shown
below. If the input is a unit step, where
R(s)=1/s, the Laplace transform of the
step response is C(s), where
Cont..
𝑑𝑦
𝑎1 + 𝑎0 𝑦 = 𝑏0 𝑥
𝑑𝑡
𝑎1 𝑑𝑦 𝑏0
+𝑦 = 𝑥
𝑎0 𝑑𝑡 𝑎0
𝑎1 𝑏0
= 𝜏 , Where 𝜏 is the time constant and =𝑘
𝑎0 𝑎0
𝜏𝑠 + 1 𝑦 = 𝑘𝑥
𝑦 𝑘
=
1
𝑥 𝜏𝑠 + 1
𝑦 𝑘 1
𝜏
= 1 if k=1 and = 𝑎
𝑥 𝑠+ 𝜏
𝜏
Cont..
 Then finally the transfer function of the
first order is:
𝑦 𝑎
=
𝑥 𝑠+𝑎
Cont..
 And the inverse transform of this system
is
 C(t)=cf(t)+cn(t)=1-e-at
 Where the input pole at the origin
generated the forced response cf(t)=1, and
the system pole at –a, generated the
natural response cn(t)=-e-at
Cont..
 Let us examine the significance of
parameter a, the only parameter needed to
describe the transient response. When
t=1/a,

 Or
Time constant
We call 1/a the time constant of the
response.
Rise time ,Tr
 Rise time is defined as the time for the
waveform to go from 0.1 to 0.9 of its final
value. Rise time is found by solving the
following equations:
 C(t)=cf(t)+cn(t)=1-e-at
Then the rise time will be:
Settling time, Ts
 Settling time is defined as the time for the
response to reach, and stay with in, 2% of
its final value.
 Let c(t)=0.98 and solve for time t, from
C(t)=cf(t)+cn(t)=1-e-at and we find the
settling time to be
Exercise
 A system that the transfer function,
G(s)=50/(s+50) with step input signal.
Find the time constant, Tc, settling time,
Ts, and rise time, Tr.
Second order system
 The quantities can be used to describe the
characteristics of the second order
transient response just as time constant
describe the first order system response.
The two quantities are called natural
frequency and damping ratio.
 The differential equation of the second
order system is given by:
Cont..
𝑑2 𝑦 𝑑𝑦
𝑎2 2 + 𝑎1 + 𝑎0 𝑦 = 𝑏0 𝑥
𝑑𝑡 𝑑𝑡
𝑎2 𝑑2 𝑦 𝑎1 𝑑𝑦 𝑏0
2
+ +𝑦 = 𝑥
𝑎0 𝑑𝑡 𝑎0 𝑑𝑡 𝑎0
𝑎2 1 𝑎1 2𝜉
Let = and =
𝑎0 ɷ𝑛 2 𝑎0 ɷ𝑛
𝑦(𝑠) 𝑘ɷ𝑛 2
Finally = 2
𝑥(𝑠) 𝑠 +2𝜉ɷ𝑛 𝑠+ɷ𝑛 2
If k=1
𝑦(𝑠) ɷ𝑛 2
= 2
𝑥(𝑠) 𝑠 + 2𝜉ɷ𝑛 𝑠 + ɷ𝑛 2
Transient Response Specifications
of a Second Order System
Cont..
 Delay Time The delay time Td is the time
needed for the response to reach half of its
final value i.e. the first time
 Rise Time The rise time Tr is the time
required for the response to rise from 10%
to 90%, 5% to 95%, or 0% to 100% of its
final value. For under damped second
order systems, the 0% to 100%
Cont..
 Peak Time The peak time Tp is the time
required for the response to reach the first
peak of the overshoot
 Maximum (percent Overshoot) The
maximum percent overshoot Mp is the
maximum peak value of the response
curve [the curve of c (t) versus t ],
measured from c (∞). If c (∞)=1, the
maximum percent overshoot is 100% Mp
Cont.

 Settling Time The settling time Ts is the


time required for the response curve to
reach and stay within 2% of the final
value. In some cases, 5%instead of 2%, is
used as the percentage of the final value
Cont..
 Comments If we specify the values of Td ,
Tr , Tp , Ts and Mp , the shape of the
response curve is virtually fixed as shown.
Second‐Order Systems and
Transient‐Response‐Specifications
 The response for a unit step input of an
under damped second order system (0 <ζ
< 1) is given by
Cont..
Cont..
 A family of curves c (t) plotted against t
with various values of ζ is shown
Cont..
 Delay Time We define the delay time by
the following approximate formula
Cont..
 Rise Time. We find the rise time Tr by
letting c( Tr ) =1
Cont..
 Or

Where β is defined in Figure as shown below


Cont..
Cont..
 Peak Time We obtain the peak time Tp by
differentiating c (t), with respect to time
and letting this derivative equal zero. That
is,
Cont..
 Since the peak time Tp corresponds to the
first peak overshoot (n =1) , we have ωdTp
=π. Then

The peak time Tp corresponds to one half‐cycle of the frequency


damped oscillations.
Maximum Overshoot Mp The maximum overshoot Mp occurs at the
peak
Cont..

Since c (∞) =1, the maximum percent overshoot is


Cont..
 Settling Time
 Based on 2%criterion the settling time Ts
is defined as:
Cont..
 Similarly for 5%we can get
Cont..
Cont..
Cont..
category pole C(t)

Overdamped Two real: - σ1, -σ2 K1e- σ1t+ K2e- σ2t


Underdamped Two complex: - σd ±jɷd Ae- σ1tcos(ɷdt-ɸ)
Undamped Two imaginary: ±jɷn Acos(ɷnt-ɸ)
Critically damped Repeated real: - σd K1e- σ1t+ K2e- σ1t
Cont..
 We can characterize the response of
second-order systems using two
parameters: i.e. natural frequency and
damping ratio.
Cont..
Cont..

Where a= 2ξɷn b=ɷn2


Example
Question???
Thank you!!

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