Chap No.

3
TIME RESPONSE AND
STABILITY ANALYSIS
(Response characteristic of control
system- Laplace transformationStability criteria-Root locus and
rooth stability criteria)

3.1 Introduction
When a system given an input, there
is a response(output). This response
with time is called time response .
As an example consider command
(input signal) is given to increase the
speed of motor.
The response motor speed versis time
is shown in fig.

 It is assume that the command is given to

increase the speed of motor at time t=0.
The seed of mototr gradually pickupfrom
1000 rpm and move onward 1500 rpm.
But as shown in fig motor does not attain
final speed 1500 rpm instantly. It
overshoot around that value and again
correct it self and finaaly settle down to
its least value. This overshoot is denoted
by Mp.

 Generally response of system has

two part
1.Transient response
2.Steady state response

3.1.1 Transient response

Defination: The variation of output response

during the time ;it takes to reach its
final vaule is called transient response.
It denoted by ct(t).
For example let us sayinput command is
given to lift to move from 0th floor to
the 1st floor the response is shown in
figure.

Thus another definition

That part of the time response which goes to be zero as
time become very large is called transient response.
Thus mathematically it can be express as,
Lt c(t)=0
t
0

From transient response we can know

When the system begins to respond after an input is
given
How much time it takes to respond th output for the first
time
Whether the output shoot beyond the desire value and
how much??
When does it settle to its final value.

3.1.2 Steady state response

The part of response that remains
after the transient have died out is
called as steady staye response it is
denoted by css(t).
From steady state response we can know:
(1)Whether there is any error between the desire and
actual
values??
(2)Whether this error is constant, Zero or finite??

 Total Response c(t):

-Total response of system is addition of
transient response
and steady state response
- Denoted by c(t)
C(t)=Ct(t)+Css(t)

Steady State Error:

The difference between desired output
and actual ouput of systeam called
steady state error.

3.2 Stability and sensitivity of a system

A linear time invarient system is stable if the
following condition are satisfied
1)For bounded input signal, the output should be
bounded
2)If input is not applied to the system, The output
must be zero.
Consider variable x in a system which varied due
toparameter y then sensitivity of system express
as,

3.3 Test Signal

Necessity of test signal:
-To do analysis of system
Types of standard test signal:
1. Step input
2. Ramp input
3. Parabolic input
4. Impulse input

3.3.1 Step input

This signal signifies a sudden change
in the reference input r(t) at time t=0
r(t) =u(t)=1 ;t>0
=0 :t<=0

Step signal of unit magnitude

called unit step input.

 A step of magnitude r is shown as

R*u(t) nd for such case
r(t) = Ru(t) =R ;t>0
=0
;t<0

Laplace of step signal

(a)L{u(t)}=
(b)L{Ru(t)}=

3.3.2 Ramp Input

Signal have constant velocity i.e
constant change in its value.
r(t)=Rt ;t>0
=0
;t<=0
If R=1 Is called unit ramp
Signal.
Its laplace is
L{r(t)}=
For unit ramp L{r(t)}=

3.3.3 Parabolic input

3.3.4 Impulse Input

Input applied instantaneously
called as impulse input.
It is define as,
r(t) = u(t) = 1 ;t=0
=0
;t not equal to zero
Laplace of r(t)=L{u(t)}=1

3.4 Steady state error

derivation

Steady state error is the difference between

desire output and actual output denoted by
ess.
-Consider a simple closed loop system shown
in fig.
Note:- here negative
feedback is use
R(s)= Laplace transform of
input r(t)
B(s)= Laplace transform of feedback signal b(t)
E(s)=laplace transform of error signal e ss
H(s)= transfer function of feedback.

From fig.
E(s)=R(s)-B(s)----1
B(s)=C(s)H(s)-----2
Put value of B(s) in equation ----1
So, E(s)=R(s)-C(s)H(s)
Also C(s)=G(s)E(s)
So, E(s)=R(s)-G(s)E(s)H(s)
E(s)+G(s)E(s)H(s)=R(s)

E(s)

[1+G(s)H9(s)]=R(s)
so,
If positive feedback used than expression is

So error is
For unity feedback H(s)=1

so,

- In denominator + sign indicate negative feedback and

sign indicate positive feed back.
E(s) is the error signal in Laplace domain. In time
domain it is denoted by e(t).

Now, the steady state error is denoed by ess and

given by,
-----(3)

----(3)
use final value theorm in laplace
tranform
If laplace transform of time domain
signal f(t) is F(s) then acording to
theorm,

Applying this theorm to equation (3) we

get,
----(4)

Effect of input on steady state error

As seen from equation steady state

error is depend on two factors
(1) Type of input-R(s)
(2) type of system-G(s)H(s)

 Calculated from three type of input 1)

Step 2)Ramp 3)parabolic.
(1)Step input:Consider a step of magnitude Ais applied as
reference input.
So, for step input r(t)= A for t>0 r(t)=0 for t<0
As we know R(s)=
From equation we have error
But R(s)=

put value of R(s) in equation

But steady state error

so,

Let us introduce position error constant

Kp& Define As
Putting value in equation

This Equation indicate that the steady state

error is controlled by position error coefficient
and magnitude of reference input.

 Ramp input:For ramp input r(t)=At for t>0 AND r(t)=0 for t <=0
So, R(s)=L{r(t)}=
From equation We have error signal
But steady state error

So,

velocity error cofficient= Kv =

so,

(3) Parabolic Signal

r(t)=
for t>0

Acceleration error cofficient Ka=

So,

Laplace Transform
Control Action for dynamic control
system represented by a differential
equation.
And output response of such a dynamic
system to specified input can be obtain
by solving differential equation. System
differential equation is derived according
to physical laws governing a system.
In order to facilitate the solution of a
differential equation .the equation is
transform into an algebraic form by

Basic laplace transform theorm

1)Laplace transform of linear

combination
L[af1(t)+bf2(t)]=aF1(s)+bF2(s)

where f1(t),f2(t) are function of time

and a,b are constant

2)If laplace transform of f(t) is F(s),then

1)
2)
3)
Where f(0+),f(0+),f(0+)are the
value
df (of
t)
f(t),dt
,
at t=(0+)

3) If the laplace transform of f(t) is F(s),

then
1)
2)
3)

4) If the laplace transform of f(t) is F(s),

then

5)If the laplace transform of f(t) is

F(s),then

6)Initial value theorm

7) Final value theorm

partial fraction method

3.5 First order system

Order of system is the highest power of
s in the denominator of closeloop
transfer function
Example:Suppose c(t) is output of any sytem
when r(t) signal is given. And system
follow below equation then it called
first order system.

Transfer function of system is

3.5.1 Time response of a first order

system subject to unit step input
Transfer function of system=
___(1)
Block diagram represent equation shown
in fig.

As the input is unit step function

so,r(t)=1&R(s)=
Put value in eq. no(1) so,

 We have output response

but to analysis with respect to time find
c(t) by taking inverse Laplace.
So ,by using fraction method

Find value of A& B

A=1 And B=
So,

So,

Put t=0 so c(t)=0

t=T so, c(t)=.63.
So,time constant Define as
time takenBy system to reach
63.2% of final value
T=4T,c(t)=.98
When t= c(t)=1 so it is not
possible to get c(t)=1
So it is consider that t=4T system is under equilibrium
and stedy state error ess=.02

The magnitude of the output time

response equal to .632 unit in T
time(one time constant).and
approximately 0.98 unit in 4T time(4
times the time constant)

3.5.2 Effect of time constant on the sped

of the time response of control system
Decrease in the value oftime
constant of acontrol system indicate
that steady state (equilibrium)
reaches earlier
So, lower the time constant ,the time
response of control system shown in
figure

3.5.3 time response of a first

order control system
subjected to unit ramp input

Indicate that during steady

State the output velocity
Matches with the input velo.
But leg behind input by
Time T.

3.5.4 Time response of a first

order control system subject to
unit impulse input

But for implulse input R(s)=1

So,

Laplace transform of unit input function

and corrosponding time response

Conclude that step function is first

derivative of ramp function and
impulse function is a first derivative
of a step function

3.6 Second order system:Some important parameter related to

oscillatory behavior of system:we know that system having two type of response
1)transient response
2) steady state response
A certain time is required for the system to reach to the
steady state value.during the time system oscillate
or its response increases exponentially.
Every system has a tendency to oppose an
ocsillatory behaviours.this called as a damping.
Damping measured by a factor called as damping
ratio. it is denoted by (zeta).
So when is max.it produce maximum opposition to
the oscillatory behavior of system.

 A general expression for the transfer function of a

second order control system is given by

When is zero; that mean there is no opposition to

the oscillatory behaviour of a system then the system
will oscillate naturally.

Thus when =0;the system oscillates with maximum

frequency.this is called natural frequency of
oscillation.
it is denoted by

n.

Second order control system is one wherein the

highest power of s in the denominator of its transfer
function is 2.

3.6.1 Time response of a second order control

system subjected to unit step input

Transfer function of second order

system

R(s) is input. As the input is unit step

function
r(t)=1 and R(s)=

Rewrite term
As
Breaking R.H.S into partial fraction

Equation can be rewrite as,

Take inverse laplace

____1
Since
So, equation 1 can be rewrite as

The time response of a second order

control system given by above equation.
Response is influenced by damping ratio
zeta.

 The case for the value of damping

ratio as
a)<1
b)=0
c)=1
d)>1

Case -a)<1 {underdamped response }

If <1 the time response present

damped oscillation and such system
called under damped response

The response settles within 2%of the

desired value(1 unit) After damping
1
out the oscillation in time 4T. Where

T= time constant=
n

 Case -b)=0 {undamped}

Put =0 in above equation so we have,

c (t ) (1 cos nt )

Case-c)=1 {critically damped}

 Case- d)>1 {over damped}

 Comparison of unit step input time

response of a second order control
system for different value of

Transient response specification of

second order control system
1) The rise time tr:Time needed for the response to reach
from 0 to 100% of the desired value of
output.

2) Maximum overshoot;Mp
At some instance of time the output
exceed and lower than its desired value.
Mp=c(t)max-1

(3)Peak time tp:

The time needed to reach the maximum
overshoot is called peak time & denoted as t p.

(4) The settling time ts:

Time needed to settle down oscillation within
2% of desired value of output.
The settling time for a second order control
system is approx. four times the time const.T
ts=4T
1
ts 4
n

Example
Measurements conducted on a servo
mechanism show the system
response to be C(t)=1+0.2e-60t-1.2e-10t
when subjected to a unit step input.
Obtain the expression for closed loop
transfer function, the damping
ratio,and undamped natural
frequency of oscillation.
Solution:C(t)=1+0.2e-60t-1.2e-10t 1 0.2 1.2
C (s)

Take laplace transform of c(t) s s 60 s 10

As input is unit
So,
1
0.2

(s)
step Rso,

1
s

1.2

C ( s ) s s 60 s 10
0.2 s
1.2 s

1
R( s)
s 60 s 10
s
( s 10)( s 60) 0.2 s ( s 10) 1.2 s ( s 60)

( s 60)( s 10)

Closed loop Transfer function T.F

 Compare the denominator

with term,
n 24.95rad / sec
and
2n 70
70

1.4288
2 n

Thank you