Time Domain Analysis

Introduction
• In time-domain analysis the response of a dynamic
system to an input is expressed as a function of
time.

• It is possible to compute the time response of a

system if the nature of input and the mathematical
model of the system are known.

• Usually, the input signals to control systems are

not known fully ahead of time.

• It is therefore difficult to express the actual input

signals mathematically by simple equations.
 Standard Test Signals
• The characteristics of actual input signals are a
sudden shock, a sudden change, a constant
velocity, and constant acceleration.

• The dynamic behavior of a system is therefore

judged and compared under application of
standard test signals – an impulse, a step, a
constant velocity, and constant acceleration.

• The other standard signal of great importance is a

sinusoidal signal.
 Standard Test Signals
• Impulse signal
– The impulse signal imitate the
sudden shock characteristic of
actual input signal. δ(t)

A
A t=0
 (t ) = 
0 t0
0 t

– If A=1, the impulse signal is

called unit impulse signal.
 Standard Test Signals
• Step signal
– The step signal imitate
the sudden change u(t)

characteristic of actual
A
input signal.

A t0 t
u( t ) =  0
0 t0

– If A=1, the step signal is

called unit step signal
 Standard Test Signals
• Ramp signal r(t)

– The ramp signal imitate

the constant velocity
characteristic of actual
input signal.
0 t

 At t0
r(t ) = 
r(t)

0 t0 ramp signal with slope A

– If A=1, the ramp signal r(t)

is called unit ramp
signal unit ramp signal
 Standard Test Signals
p(t)
• Parabolic signal
– The parabolic signal
imitate the constant
acceleration characteristic
of actual input signal. 0 t

 At 2 p(t)

 t0
p(t ) =  2
0 t0
parabolic signal with slope A
 p(t)

– If A=1, the parabolic

signal is called unit
parabolic signal. Unit parabolic signal
 Relation between standard Test Signals
A t=0
• Impulse  (t ) = 
t0
d
0
 dt
A t0
• Step u( t ) = 
0 t0 d
 dt
 At t0
• Ramp r(t ) = 
t0
0 d
dt
  At 2
 t0
• Parabolic p(t ) =  2
0 t0

 Laplace Transform of Test Signals

• Impulse
A t=0
 (t ) = 
0 t0

L{ (t )} =  ( s ) = A

• Step
A t0
u( t ) = 
0 t0

A
L{u(t )} = U ( s ) =
S
 Laplace Transform of Test Signals

• Ramp  At t0
r(t ) = 
0 t0

A
L{ r(t )} = R( s ) =
s2
• Parabolic  At 2
 t0
p(t ) =  2
0 t0

A
L{ p(t )} = P( s ) = 3
S
 Time Response of Control Systems
• Time response of a dynamic system response to an input
expressed as a function of time.

Process

• The time response of any system has two components

• Transient response
• Steady-state response.
 Time Response of Control Systems
• When the response of the system is changed from equilibrium it
takes some time to settle down.

• This is called transient response.

-3
x 10 Step Response
6

Step Input
5
• The response of the

Steady State Response

system after the transient 4
Response
Amplitude

response is called steady 3

state response. 2 Transient Response

1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 Time Response of Control Systems
• Transient response depend 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 the

input quantity.

• It is then examined using different test signals by final value

theorem.
 First Order Process
• The first order system has only one pole.
y(s) K
=
f (s)  s + 1
• Where K is the gain and τ is the time constant of
the system.

• Time constant is a measure of how quickly a 1st

order system responds to a unit step input.

• Gain of the system is ratio between the input

signal and the steady state value of output.
 First Order Process
dy (t )
a1 + a0 y (t ) = bf (t )
dt
dy (t )
a1 / a0 + y (t ) = b / a0 f (t );
dt
when a0  0
dy (t )
p + y (t ) = K p f (t ) • Note that gain and
dt
time constant define
Kp
G p ( s) = the behavior of a first
 ps + 1 order process.
 y(s) Kp
G p (s) = =
f (s)  p s + 1
Step input change of magnitude of M
M
f (s) =
s
Kp M
y(s) =
 ps + 1 s
−t
p
y ' (t ) = M K p (1 − e )
 y
t
y
___
y 0 0
τ 0.632
y 2τ 0.865
Chapter 5

3τ 0.950
4τ 0.982
5τ 0.993
t
τ
Note: Large τmeans a slow response.

17
 First Order Process

0.95 MKp
0.63 MKp y(t)

Dy

u Du
t
0 p 3 p
The first order processes are characterized by
• Their capacity to store material, energy or
momentum
• Their resistance associated with the flow of
mass, energy or momentum in reaching the
capacity.

In other words,
A process that possesses a capacity to store
mass or energy and thus act as a buffer between
inflowing and outflowing streams will be modeled
as a first order system
 Determine the Process Gain and
Process Time Constant from Gp(s)
16
G p (s) =
s+2
Rearrange to standard form
Kp 8
G p (s) = =
 p s + 1 0.5 s + 1
Then  p and K p can be determined directly
 p = 0.5
Kp = 8
 𝑦(𝑠) 16
𝐺𝑃 𝑠 = =
𝑓(𝑠) 𝑠 + 2
If input changes by unit step

1
𝑓 𝑠 =
𝑠
16 1
𝑦 𝑠 =
𝑠+2𝑠
Apply Partial Fraction & Inverse Laplace Transform
𝑦 𝑡 = 8(1 − 𝑒 −2𝑡 )
Estimate of First-Order Model from
Process Response
Dy
Kp =
Df
p = settling time
4

Settling time = 4 p
 2 % close to steady state response
Our controller output (CO) to measured
process variable (PV) relationship.
In particular, when the CO changes:
• Process gain, Kp, describes the direction and
how far the PV moves
• Time constant, τp, describes how fast the PV
responds
• Dead time, td, describes how much delay
occurs before the PV first begins to move
A thermometer having a time constant
of 0.1 min and gain of 1 is at a steady
state temperature of 80°C. At t = 0 ,
the thermometer is immersed in a
bath maintained at 100°C at.
Determine the time needed for
thermometer to read 90°C & 98°C.
 𝑡
−
𝑦 ′ 𝑡 = 𝑀K 𝑝 (1-𝑒 τ𝑝 )

M = 100 – 80 = 20
τ𝑝 = 0.1
K𝑝 = 1
𝑦′ 𝑡 = 𝑦 𝑡 − 𝑦 0
𝑡
−0.1
90 − 80 = 20 ∗ 1 ∗ 1 − 𝑒

𝑡 = 0.0693 𝑚𝑖𝑛
𝑡
−0.1
98 − 80 = 20 ∗ 1 ∗ 1 − 𝑒

𝑡 = 0.2302 𝑚𝑖𝑛
 Impulse Response of 1st Order System
• Consider the following 1st order system
δ(t)

K
R(s ) C(s )
1

 s +1
t
0

R( s ) =  ( s ) = 1

K
C (s) =
 s +1
 Impulse Response of 1st Order System
K
C (s) =
 s +1
• Re-arrange following equation as

K /
C (s) =
s +1/
• In order to compute the response of the system in time domain
we need to compute inverse Laplace transform of the above
equation.
K
−1  C 
−t / 
L   = Ce − at c(t ) = e
s+a 
 Impulse Response of 1st Order System
K
• If K=3 and τ=2s then c(t ) = e −t / 

K/T*exp(-t/T)
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
Time
 Step Response of 1st Order System
• Consider the following 1st order system
K
R(s ) C(s )
 s +1
1
R( s ) = U ( s ) =
s
K
C (s) =
s( s + 1)
• In order to find out the inverse Laplace of the above equation, we
need to break it into partial fraction expansion (page 867 in the
Textbook) K K
C (s) = −
s  s +1
 Step Response of 1st Order System
1  
C ( s ) = K  − 
 s  s +1
• Taking Inverse Laplace of above equation

(
c(t ) = K u (t ) − e −t / )
( )
• Where u(t)=1
− t /
c(t ) = K 1 − e
• When t= τ (time constant)

( )
c(t ) = K 1 − e −1 = 0.632K
 Step Response of 1st Order System
• If K=10 and τ =1.5s then (
c(t ) = K 1 − e −t / )
K*(1-exp(-t/T))
11

10

9 Step Response

8
steady state output 10
7 D.C Gain = K = =
Input 1
6
63%
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time
 Step Response of 1st order System
• System takes five time constants to reach its
final value.
 Step Response of 1st Order System
• If K=10 and τ=1, 3, 5, 7 (
c(t ) = K 1 − e −t / )
K*(1-exp(-t/T))
11
10
T=1s
9

8 T=3s
7
T=5s
6
c(t)

5 T=7s

4
3
2
1
0
0 5 10 15
Time
 Step Response of 1st Order System
• If K=1, 3, 5, 10 and τ=1 (
c(t ) = K 1 − e −t / )
K*(1-exp(-t/T))
11
10
K=10
9

8
7
6
K=5
c(t)

5
4
K=3
3
2
K=1
1
0
0 5 10 15
Time
 Pulse Response of 1st Order System
• Consider the following 1st order system

f (s ) K y (s )
 s +1
M A
M − As
f (s) = (1 − e )
t= 0 t= A s
y(s) K
G (s) = =
f (s)  s + 1
K M
y(s) = (1 − e − As )
 s +1 s
 Pulse Response of 1st Order System
K M
y(s) = (1 − e − As )
 s +1 s
 1 1 
y ( s ) = M K  −e − As

 s ( s + 1) s ( s + 1) 

• In order to compute the response of the system in time domain

we need to compute inverse Laplace transform of the above
equation.
− t / − ( t − A) /
y (t ) = M K [(1 − e ) − (1 − e )]
 First Order System with a Zero
C ( s ) K (1 + s )
=
R( s)  s +1
• Zero of the system lie at -1/α and pole at -1/τ.

• Step response of the system would be:

K (1 + s )
C (s) =
s( s + 1)
K K ( −  )
C (s) = +
s ( s + 1)
K −t / 
c(t ) = K + ( −  )e
T
 First Order System With Delays
• Following transfer function is the generic
representation of 1st order system with time
lag.
C (s) K − st d
= e
R( s)  s + 1
• Where td is the delay time.
First Order System With Delays
C (s) K − st d
= e
R( s)  s + 1

Unit Step
Step Response

t
td