3 - Time Response Analysis

Time Response Analysis
Outlines
1. Calculating the Time-Domain Solution
2. Spring-Mass Damper Example
3. Analyzing a Step Response
4. Analyzing an Impulse Response
5. Analyzing a General Time-Domain Simulation
6. Obtaining Time Response Data
7. 2nd Order System
• The time response of a dynamic system provides
information about how the system responds to certain
inputs.
• You analyze the time response to determine the

stability of the system and the performance of the
controller.
• Obtaining the time response of a system involves

numerically integrating the system model in time.
• The LabVIEW Control Design and Simulation
Module provides VIs to help you find these time-
domain solutions.
• You can use these Time Response VIs to analyze the

response of a system to step and impulse inputs.
• You can apply initial conditions to both of these

responses.
• You also can use the Time Response VIs to simulate

the response of the system to an arbitrary input.
Calculating the Time-Domain Solution
• The following equation represents the time-domain

solution for a continuous state-space model.
• Represents any initial conditions of the states in the

model.
• Represents the solution of the model at the initial
conditions. This solution is known as the free
response.
• Represents the state response for

stable systems over time as the inputs
drive the dynamic system from time
• This solution is the forced response.
• The following equation represents the time-
domain solution for a discrete state-space
model.
• In this equation, denotes the discrete free

response.
• denotes the discrete forced response.
Analyzing a Step Response
• The step response of a dynamic system measures how the
dynamic system responds to a step input signal. The following
equations define a unit step input signal.
• The Control Design and Simulation Module contains two VIs

to help you measure the step response of a system and then
analyze that response.
– The CD Step Response VI returns a graph of the step response.
– The CD Parametric Time Response VI returns the following response
data that helps you analyze the step response.
Step Response Definitions
• Rise time (tr)—The time required for the dynamic system response to rise from a lower
threshold to an upper threshold. The default values are 10% for the lower threshold and
90% for the upper threshold.
• Maximum overshoot (Mp)—The dynamic system response value that most exceeds
unity, expressed as a percent.
• Peak time (tp)—The time required for the dynamic system response to reach the peak
value of the first overshoot.
• Settling time (ts)—The time required for the dynamic system response to reach and
stay within a threshold of the final value. The default threshold is 1%.
• Steady state gain— The final value around which the dynamic system response settles
to a step input.
• Peak value (yp)—The value at which the maximum absolute value of the time response
occurs.
Step Response Graph and Associated
Parametric Response Data
Example
This spring-mass damper system described by the
following state-space model:
consider the following values:
The following equations define the state-space model.

spring-mass damper
Example
Example
• You can see that the step input causes this system to settle at a
steady-state value of 0.02 cm.
• When you use the CD Parametric Time Response VI to

analyze the step response of this system, you obtain the
following response data:
• Rise time (tr)— 1.42 seconds

• Maximum overshoot (Mp)— 79.90%
• Peak time (tp)— 4.54 seconds
• Settling time (ts)— 89.89 seconds
• Steady state gain— 0.02 cm
• Peak value (yp)— 0.04 cm
Analyzing an Impulse Response
• The impulse response of a dynamic system measures how
the system responds to an impulse input signal. You define
an impulse input signal in the following manner:
1. Continuous systems.Also known as the Dirac delta function
2. Discrete systems—Also known as the Kronecker delta

function
• Use the CD Impulse Response VI to calculate the impulse

response of a dynamic system to a standard impulse input.
Impulse Response Example
• Consider the system described in the Spring-
Mass Damper Example
Analyzing an Initial Response
• The initial response of a dynamic system

measures how the system responds to a set of
non-zero initial conditions.
• Use the CD Initial Response VI to determine

the initial response of a dynamic system.
Example
Mass Damper Example
Analyzing a General Time-Domain Simulation
• A general time-domain simulation of a system involves input signals that
are more general than step, impulse, or initial input signals.
• Use the CD Linear Simulation VI to solve these equations in response to an

arbitrary input signal u into a system.
• This VI determines the response by numerically integrating these equations

at the specified time steps. You can define the time steps with the Delta t
input
• The system model can be continuous or discrete, but the CD Linear

Simulation VI converts continuous models to discrete models using either
the exponential Zero-Order-Hold or the First-Order-Hold method.
• If this conversion is necessary, you must specify Delta t, which becomes

the sampling time. If no conversion is necessary, Delta t must be equal to
the sampling time of the output data u (t)
Example
Mass Damper Example. Figure below shows
how you simulate the response of this system
to a square wave input.
Example
• Notice that the CD Linear Simulation VI converts the
continuous state-space model to a discrete model using the
Zero-Order-Hold method. This conversion uses a Delta t input
of approximately 0.3. This block diagram bundles the state-
space model and the square wave as the input to the Linear
Simulation Graph.
Obtaining Time Response Data
• The Time Response VIs return time response
data that contains information about the time
response of all input-output pairs in the model.
• Use the CD Get Time Response Data VI to

access this information for a specified input-
output pair, a list of input-output pairs, or all
input-output pairs of the system.
2 nd Order System
Example Description:
This example demonstrates how to adjust the parameters and simulate the response of a
continuous second order system. The adjustable parameters are the damping ratio, natural
frequency (rad/s), gain, delay (s) and sampling time (s).

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Time Response Analysis

• You analyze the time response to determine the

• Obtaining the time response of a system involves

• You can use these Time Response VIs to analyze the

• You can apply initial conditions to both of these

• You also can use the Time Response VIs to simulate

• The following equation represents the time-domain

• Represents any initial conditions of the states in the

• Represents the state response for

• In this equation, denotes the discrete free

• The Control Design and Simulation Module contains two VIs

consider the following values:

The following equations define the state-space model.

• When you use the CD Parametric Time Response VI to

• Rise time (tr)— 1.42 seconds

1. Continuous systems.Also known as the Dirac delta function

2. Discrete systems—Also known as the Kronecker delta

• Use the CD Impulse Response VI to calculate the impulse

• The initial response of a dynamic system

• Use the CD Initial Response VI to determine

• Use the CD Linear Simulation VI to solve these equations in response to an

• This VI determines the response by numerically integrating these equations

• The system model can be continuous or discrete, but the CD Linear

• If this conversion is necessary, you must specify Delta t, which becomes

• Use the CD Get Time Response Data VI to

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