Department of Electromechanical Engineering

Course Title: Control System

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Chapter-3: Time Domain Analysis of Control System

1 Introduction

2 Steady state error

3 Analysis of first order system

4 Analysis of second order system

5 Time Domain Specifications of a Second Order System

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 Introduction

Introduction
There are two ways to analyze the functioning of a control system,
time domain and frequency domain analysis.

In time-domain analysis the response of a dynamic system to an

input is expressed as a function of time. The time response can only
be analyzed when the model of system plus nature of input signals
are known.

The behavior of a system that is dynamic in nature is analyzed under

typical test signals. These signals are an impulse, a step, a constant
velocity, constant acceleration and sinusoidal signal.

There are two components of time response of a system:

Transient response
Steady-state response
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Introduction

Transient response is dependent upon the system poles only and not
on the type of input. It is therefore sufficient to analyze the transient
response using a step input.

The steady-state response depends on system dynamics and input

quantity. It is then examined using different test signals by final
value theorem.

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 Steady state error

Steady state error

steady state error is a design specification for a control system. Let
us consider a feedback control system shown below

E (s) = R(s) − B(s)

B(s) = H(s)C (s)
C (s) = G (s)E (s)
Combining the above equations and solve for E(s), we will get
R(s)
E (s) =
1 + G (s)H(s)
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Steady state error

The corresponding error in time domain will be e(t).

Steady state error (ess ): The difference between the desired output
and the final value of any system as time goes to infinity.

ess = lim e(t)

x→∞

Using final value theorem

R(s)
ess = lim e(t) = lim sE (s) = lim s
x→∞ s→0 s→0 1 + G (s)H(s)

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 Analysis of first order system

Analysis of first order system

The following fig. shows a first order system

1
G (s) = Ts and H(s) = 1

The closed loop transfer function of the system is given by

C (s) G (s) 1
= =
R(s) 1 + G (s)H(s) 1 + Ts
1
since G (s)H(s) = Ts is type 1 system. It should not have steady
state error for step input.
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 Analysis of first order system

Unit step response

The response of the system for step input is given by
1 1 1 1
C (s) = R(s) = = −
1 + Ts s(1 + Ts) s s + T1
using inverse Laplace transform
t
c(t) = 1 − e − T

The plot c(t) versus t

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Analysis of first order system

The time constant of the system is T. c(t) → 1 when t → ∞.

In practice, the value of c (t) is within 5% of the final value at t =

3T, and it is within 2% after t = 4T. Therefore, t = 3T or 4T may
be considered as steady state.

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 Analysis of second order system

Analysis of second order system

A general second order system is given by

ωn2
G (s) = s(s+2ζωn ) and H(s) = 1
ωn2
G (s)H(s) =
s(s + 2ζωn )
The closed loop transfer function of the system is
C (s) G (s) ωn2
= = 2
R(s) 1 + G (s)H(s) s + 2ζωn s + ωn2
ωn is the natural frequency, and ζ is the damping factor
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Analysis of second order system

Let us study the effect of pole location before finding the unit step
response. To find the poles of closed loop transfer function, let us
put
s 2 + 2ζωn2 s + ωn2
s1 and s2 are given as
p
s1,2 = −ζωn ± ωn ζ2 − 1
From the above equation the following conclusions can be drawn:
The poles are real and unequal if ζ 2 − 1 > 0
i.e.,ζ > 1 p
The poles are s1,2 = −ζωn ± ωn ζ 2 − 1
Since there are no imaginary terms, the poles lie on the
negative real axis and at unequal places.
The response is over damped.
The poles are real and equal if ζ 2 − 1 = 0
i.e.,ζ = 1
The poles are s1 = s2 = −ζωn
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Analysis of second order system

They lie on the negative real axis.

The response is critically damped.
The poles are complex conjugate if ζ 2 − 1 < 0
i.e., 0 < ζ < 1 p
The poles are s1,2 = −ζωn ± jωn 1 − ζ 2
Due to the existence of both real and imaginary parts the
poles are located on the second and third coordinates.
The response is under damped.
if ζ = 0
The poles are complex with only the imaginary part and lie on
j-axis
The poles are given by s1,2 = ±jωn
The response is undamped

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Analysis of second order system

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Analysis of second order system

Example-1: When switch K open, determine the damping factor

and the natural frequency of the system. If a unit ramp input is
applied to the system, find the steady state error. Take KA = 5

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Analysis of second order system

Example-2: Find the value of ’K’ and ’a’ such that the damping
factor of the system is 0.6 and the steady state error due to a unit
ramp input is 0.25.

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 Analysis of second order system

Unit step response of 2nd order system

Let us obtain the solution for response c(t) to unit step input r (t) =
u(t).
The Laplace transform of r(t) is 1s and C(s) is

ωn2
C (s) =
s(s 2 + 2ζωn s + ωn2 )

Case 1: under damped case (0 < ζ < 1)

1 s + 2ζωn
C (s) = − 2
s s + 2ζωn s + ωn2
1 s + ζωn ζωn
= − p − p
s 2
(s + ζωn ) + (ωn 1 − ζ ) 2 2 (s + ζωn ) + (ωn 1 − ζ 2 )2
2

p
Let ωd = ωn 1 − ζ 2 )2 is the damping frequency
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Analysis of second order system

1 s + ζωn ζωn
C (s) = − 2
−
s (s + ζωn )2 + ωd (s + ζωn )2 + ωd2
1 s + ζωn ζ ωd
= − 2
−p
s 2
(s + ζωn ) + ωd 1 − ζ (s + ζωn )2 + ωd2
2

The response in time domain is

ζ
c(t) = 1 − e −ζωn t cos(ωd t) − p e −ζωn t sin(ωd t)
1 − ζ2
e −ζωn t p
=1− p ( 1 − ζ 2 cos(ωd t) − ζsin(ωd t))
1 − ζ2
√
p 1−ζ 2
where cos(α) = ζ, sin(α) = 1 − ζ 2 and tan(α) = ζ
e −ζωn t
c(t) = 1 − p sin(ωd t + α)
1 − ζ2 17 / 25
 Time Domain Specifications of a Second Order System

Time Domain Specifications of a Second Order System

In specifying the transient-response characteristics of a control sys-
tem to a unit step input, we usually specify the following:

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Time Domain Specifications of a Second Order System

Delay time (td ): It is the time required for the response to

reach 50% of the final value in first attempt.
c(t) = 12 at t = td
From the response

e −ζωn t
c(t) = 1 − p sin(ωd t + α)
1 − ζ2
e −ζωn td
1/2 = 1 − p sin(ωd td + α)
1 − ζ2
1+0.7ζ
The result of this equation is td = ωn
Rise time (tr ): It is the time required for the response to rise
from 0 to 100% of the final value for the underdamped
system.
c(t) = 1 at t = tr
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Time Domain Specifications of a Second Order System

from the response

e −ζωn t
c(t) = 1 − p sin(ωd t + α)
1 − ζ2
e −ζωn tr
1=1− p sin(ωd tr + α)
1 − ζ2
or
e −ζωn tr
p sin(ωd tr + α) = 0
1 − ζ2
since, e −ζωn tr 6= 0, we have
sin(ωd tr + α) = 0
ωd tr + α = π
π−α
tr =
ωd
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Time Domain Specifications of a Second Order System

Peak time (tp ): It is the time required for the response to

reach the first maximum value.
from the response
e −ζωn t
c(t) = 1 − p sin(ωd t + α)
1 − ζ2
at t = tp the slop of the output is zero.

dc(t) e −ζωn t (−ζωn )sin(ωd t + α) + e −ζωn t ωd cos(ωd t + α)

=− p
dt 1 − ζ2
dc(t)
putting dt = 0 and t = tp , we get

e −ζωn tp (−ζωn )sin(ωd tp + α) + e −ζωn tp ωd cos(ωd tp + α)

p =0
1 − ζ2

−ζωn sin(ωd tp + α) + ωd cos(ωd tp + α) = 0, where [e −ζωn tp 6= 0]

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Time Domain Specifications of a Second Order System

p
1 − ζ2
tan(ωd tp + α) = = tan(α)
ζ
ωd tp = nπ, where n = 1, 2, 3, ....

nπ
Therefor tp = ωd

The first overshoot is obtained at n = 1 and the first undershoot is

obtained at n = 2
Peak overshoot (Mp ): It is the difference between the time
response at peak time and the steady state output. it is
defined as,
c(tp ) − c(∞)
%Mp = 100%
c(∞)
−ζωn tp
c(tp ) = 1 − e√ sin(ωd tp + α) and c(∞) = 1 and putting
1−ζ 2
ωd tp = π
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Time Domain Specifications of a Second Order System

√−ζπ √−ζπ
e 1−ζ 2 e 1−ζ 2
%Mp = 1 − p sin(π + α) − 1 = p sin(α)
1 − ζ2 1 − ζ2
√−ζπ
=e 1−ζ 2

Settling time (ts ): It is the time required for the response to

reach and stay within a specified tolerance band ( 2% or 5%)
of its final value.

It is the measure of how fast the system reaches to the steady

state value.

For 2% criterion
ts = 4T where T is time constant
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Time Domain Specifications of a Second Order System

The time constant for the system is given by

1
T =
ζωn

therefore, for 2% criteria

4
ts =
ζωn

Steady-state error (ess ): It indicates the error between the

actual output and desired output as t tends to infinity

ess = lim [r (t) − c(t)]

t→∞

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Time Domain Specifications of a Second Order System

Example-1: For a system having CR(s) (s)

= 20
s 2 +7s+25
, find the expres-
sion of the response for step input.

Example-2: Calculate M, B and K for damping factor ζ = 0.6

and natural frequency of ωn = 2rad/sec, and the system is finally
reached at 1 meter distance. The system is also initially relaxed
(zero initial condition). [f = 9.6N]

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