Lecture 5
Lecture 5
Lecture 5
ECEg Department
Institute of Technology
University of Gondar
Lecture notes
4. Time Domain Analysis of Control Systems
4.1. Introduction
â By transient response, we mean that which goes from the initial state to
the final state.
4. Time Domain Analysis of Control Systems
4.1. Introduction
0, t < 0 0, t<0
1. Step signal r (t) = 2. Ramp r (t) =
A, t ≥ 0. At, t ≥ 0.
0, t<0 0, t 6= 0
3. Acc. r (t) = 4. Impulse r (t) =
At 2 /2, t ≥ 0. ∞, t = 0.
4. Time Domain Analysis of Control Systems
4.1. Introduction
â If the output of a system at steady state does not exactly agree with the
input, the system is said to have steadystate error.
â In analyzing a control system, we must examine transient-response behavior
and steady-state behavior.
4. Time Domain Analysis of Control Systems
4.2. First order systems
1 1
C (s) =
τs + 1 s
1 τ 1 1
C (s) = − = − (3)
s τs + 1 s s + 1/τ
â Eq. (4) states that initially the output c(t) is zero and finally it becomes
unity.
â One important characteristic of such an exponential response curve c(t)
is that at t = τ the value of c(t) is 0.632, or reached 63.2% of its total
change.
1 1
C (s) =
τ s + 1 s2
1 τ τ2
C (s) = − + (6)
s2 s τs + 1
â As t approaches infinity, e −t/τ approaches zero, and thus the error signal
e(t) approaches τ .
â The error in following the unit-ramp input is equal to τ for sufficiently large
t, and it is small for smaller τ .
4. Time Domain Analysis of Control Systems
4.2. First order systems
1
C (s) =
τs + 1
â For the unit-step input, which is the derivative of unit-ramp input, the
output c(t) is
â Finally, for the unit-impulse input, which is the derivative of unit-step input,
the output c(t) is
1 −t/τ
c(t) = e for t ≥ 0 (11)
τ
4. Time Domain Analysis of Control Systems
4.2. First order systems
â For this case, the integration constant is determined from from the zero
output initial condition.
â This is a property of linear time-invariant systems.
â Linear time-varying systems and nonlinear systems do not possess this prop-
erty.
4. Time Domain Analysis of Control Systems
4.2. First order systems
2. Rise time (tr ) is the time required for the response to rise from 10% to
90% of its final value.
3. Settling time (ts ) is the time taken to reach 98% of its final value.
Mostly, ts ≥ 4τ .
4. Time Domain Analysis of Control Systems
4.2. First order systems
2. Rise time (tr ) is the time required for the response to rise from 10% to
90% of its final value.
3. Settling time (ts ) is the time taken to reach 98% of its final value.
Mostly, ts ≥ 4τ .
Example: Find the performance specifications τ , tr and ts for the following
RC circuit where ei is a unit step function and the capacitor was initially
fully discharged.
4. Time Domain Analysis of Control Systems
4.2. First order systems
Eo (s) 1
= (12)
Ei (s) RCs + 1
τ = 10
J c̈ + B ċ = τ
C (s) 1
= 2
τ (s) Js + Bs
C (s) K K /J
= 2 = 2 (16)
R(s) Js + Bs + K s + (B/J)s + (K /J)
â Such a system where the closed-loop transfer function possesses two poles
is called a second-order system.
4. Time Domain Analysis of Control Systems
4.3. Second order systems
â The closed-loop poles are complex conjugates if B 2 − 4JK < 0 and they
are real if B 2 − 4JK ≥ 0.
â In the transient-response analysis, it is convenient to write
K B
= ωn2 , = 2ζωn = 2σ
J J
4. Time Domain Analysis of Control Systems
4.3. Second order systems
C (s) ωn2
= 2 (17)
R(s) s + 2ζωn s + ωn2
4. Time Domain Analysis of Control Systems
4.3. Second order systems
â In the next discussion, the response of the second order system to a unit-
step input will be solved.
4. Time Domain Analysis of Control Systems
4.3. Second order systems
ωn2
C (s) = (18)
(s 2 + 2ζωn s + ωn2 )s
â From Eq. (19), it can be seen that the frequency of transient oscillation is
the damped natural frequency ωd and thus varies with the damping ratio
ζ.
â The error signal for this system is the difference between the input and
output and is
4. Time Domain Analysis of Control Systems
4.3. Second order systems
p !
e −ζωn t 1 − ζ2
e(t) = r (t) − c(t) = p sin ωd t + tan−1 for t ≥ 0
1 − ζ2 ζ
c(t) = 1 − cos(ωn t)
â Thus, from Eq. above ωn is the frequency at which the system output
would oscillate if the damping were decreased to zero.
4. Time Domain Analysis of Control Systems
4.3. Second order systems
â If the two poles of C (s)/R(s) are equal (s1,2 = −ωn ), the system is said
to be a critically damped one.
â For a unit-step input, R(s) = 1/s and C (s) can be written
ωn2
C (s) = (20)
(s + ωn )2 s
â In this case, the two poles of C (s)/R(s) are negative real and unequal.
â For a unit-step input, R(s) = 1/s and C (s) can be written
ωn2
C (s) = p p (22)
(s + ζωn + ωn ζ 2 − 1)(s + ζωn − ωn ζ 2 − 1)s
1 1
p p p p
1 2 2
2 ζ − 1(ζ + ζ − 1) 2 ζ − 1(ζ − ζ 2 − 1)
2
= + p − p
s (s + ζωn + ωn ζ 2 − 1) (s + ζωn − ωn ζ 2 − 1)
4. Time Domain Analysis of Control Systems
4.3. Second order systems
â Note that two second-order systems having the same ζ but different ωn ,
will exhibit the same overshoot and the same oscillatory pattern.
â Such systems are said to have the same relative stability.
â From Fig below, an underdamped system with 0.5 < ζ < 0.8 gets close to
the final value more rapidly than a critically damped or overdamped system.
4. Time Domain Analysis of Control Systems
4.3. Second order systems
1 Delay time, td , is the time required for the response to reach half the final
value the very first time.
2 Rise time, tr , is the time required for the response to rise from 10% to
90% (for overdamped s/m), 5% to 95%, or 0% to 100% (for underdamped
s/m) of its final value.
3 Peak time, tp , is the time required for the response to reach the first peak
of the overshoot.
4 Maximum (percent) overshoot, Mp ,: is the maximum peak value of the
response curve measured from final value. It is defined by
c(tp ) − c(∞)
Mp = × 100%
c(∞)
5 Settling time, ts ,: is the time required for the response curve to reach and
stay within a range about the final value of usually 2% or 5%. It is related
to the largest time constant of the control system.
Since e −ζωn tr 6= 0
ζ
cos(ωd tr ) + p sin(ωd tr ) = 0
1 − ζ2
p
−1 1 − ζ2
ωd tr = − tan
ζ
4. Time Domain Analysis of Control Systems
4.3. Second order systems
ωd t r = π − β
π−β
∴ tr = (23)
ωd
2 Peak time tp : Referring to Eq. (19), we may obtain the peak time by
differentiating c(t) w.r.t time and letting it equal zero. Since
!
dc(t) ζ
= ζωn e −ζωn t cos(ωd t) + p sin(ωd t)
dt 1 − ζ2
!
−ζωn t ζωd
+e ωd sin(ωd t) − p cos(ωd t)
1 − ζ2
4. Time Domain Analysis of Control Systems
4.3. Second order systems
â Then:
dc(t) ωn
=p e −ζωn tp sin(ωd tp ) = 0 =⇒ sin(ωd tp ) = 0
dt t=tp 1 − ζ2
ωd tp = 0, π, 2π, 3π . . .
â Assuming that the final value of the output is unity, Mp is obtained from
Eq. (19) as
Mp = c(tp ) − 1
!
−ζωn (π/ωd ) ζ
= −e cos(π) + p sin(π)
1 − ζ2
√ 2
= e −(σ/ωd )π = e −(ζ/ 1−ζ )π (25)
â The speed of decay of the transient response depends on the value of the
time constant.
â It is important to note that the Equations (23) to (27) are valid only for
the standard second-order system defined by Eq. (17).
4. Time Domain Analysis of Control Systems
4.3. Second order systems
Example: Consider the second order system shown in pp. 22, where ζ =
0.6 and ωn = 5 rad/sec. Obtain the rise time tr peak time tp maximum
overshoot Mp and settling time ts , when the system is subjected to a
unit-step input.
Solution: For the given values of ζ and ωn , the damped natural frequency
and the attenuation is:
p
ωd = ωn 1 − ζ 2 = 4
σ = ζωn = 3
Then:
π−β 3.14 − β
tr = =
ωd 4
where
ωd 4
β = tan−1 = tan−1 = 0.93 rad
σ 3
4. Time Domain Analysis of Control Systems
4.3. Second order systems
And
3.14 − 0.93
tr = = 0.55 sec
4
The peak time is:
π 3.14
tp = = = 0.785 sec
ωd 4
Maximum overshoot:
3 3
ts = = = 1 sec for 5% criterion
σ 3
4. Time Domain Analysis of Control Systems
4.4. Steady state errors in unity feedback control systems
â The transfer function between the error signal e(t) and the input signal
r (t) is
E (s) C (s) 1
=1− =
R(s) R(s) 1 + G (s)
1
ess =
1 + Kp
4. Time Domain Analysis of Control Systems
4.4. Steady state errors in unity feedback control systems
Kv = lim sG (s)
s→0
Ka = lim s 2 G (s)
s→0
â The following table summarizes the steady-state errors for type 0, type 1,
and type 2 systems when they are subjected to various inputs.
â A LTI control system is stable if the output eventually comes back to its
equilibrium state when the system is subjected to an initial condition.
â A linear time-invariant control system is critically stable if oscillations of
the output continue forever.
â A control system is stable if and only if all closed-loop poles lie in the
left-half s plane.
â Most linear closed-loop systems have closed-loop transfer functions of the
form
C (s) b0 s m + b1 s m−1 + . . . + bm−1 s + bm B(s)
= n n−1
=
R(s) a0 s + a1 s + . . . + an−1 s + an A(s)
â The evaluation of the bi ’s is continued until the remaining ones are all zero.
Similarly, ci and di are obtained from:
b1 a3 − a1 b2 b1 a5 − a1 b3 b1 a7 − a1 b4
c1 = ; c2 = ; c3 = ...
b1 b1 b1
and
c1 b2 − b1 c2 c1 b3 − b1 c3
d1 = ; d2 = ...
c1 c1
â This process is continued until the nth row has been completed.
4. Time Domain Analysis of Control Systems
4.5. Stability analysis of control systems
Routh’s stability criterion states that the number of roots of Eq. (29) with
positive real parts is equal to the number of changes in sign of the coefficients
of the first column of the array.
Example: Use Routh’s stability criterion to check the stability of the system
having the following characteristic equation.
s 4 + 2s 3 + 3s 2 + 4s + 5 = 0
s4 1 3 5
s3 2 4 0
s2 1 5
s1 -6
s0 5
â Special Case(1): If a first-column term in any row is zero, but the remaining
terms are not zero: the zero term is replaced by a very small positive number
and the rest of the array is evaluated.
â For example, consider the following equation:
s 3 + 2s 2 + s + 2 = 0
s3 1 1
s2 2 2
s1 0≈
s0 2
â If the sign of the coefficient above the zero () is the same as that below
it, it indicates that there are a pair of imaginary roots.
4. Time Domain Analysis of Control Systems
4.5. Stability analysis of control systems
â Special Case(2): If all the coefficients in any derived row are zero, the
auxiliary polynomial is then formed from the coefficients of the prior row.
â Example consider:
s5 1 24 -25
s4 2 48 -50 ←Auxiliary polynomial P(s)
s3 0 0
dP
P(s) = 2s 4 + 48s 2 − 50 =⇒ = 8s 3 + 96s
ds
â The terms in the 3rd row are replaced by the coefficients of the last equation,
that is, 8 and 96.
4. Time Domain Analysis of Control Systems
4.5. Stability analysis of control systems
s5 1 24 -25
s4 2 48 -50
s3 8 96 ←Coefficients of dP(s)/ds
s2 24 -50
s1 112.7 0
s0 -50
â We see that there is one change in sign in the first column of the new array.
Thus,the original equation has one root with a positive real part.
4. Time Domain Analysis of Control Systems
4.5. Stability analysis of control systems
s4 1 3 K
s3 3 2 0
s2 7/3 K
s1 2 − 9K /7
s0 K