8/31/23, 11:11 AM Time Domain Specifications | Tutorialspoint
Time Domain Specifications
Free Domain, SSL, 24/7 Support
Limited Period Offer on Web Hosting. High
Performing Hosting for your Blog or Business.
In this chapter, let us discuss the time domain specifications of the second order system. The step
response of the second order system for the underdamped case is shown in the following figure.
All the time domain specifications are represented in this figure. The response up to the settling
time is known as transient response and the response after the settling time is known as steady
state response.
Delay Time
It is the time required for the response to reach half of its final value from the zero instant. It is
denoted by td .
Consider the step response of the second order system for t ≥ 0, when ‘δ’ lies between zero and
one.
[Link] 1/10
8/31/23, 11:11 AM Time Domain Specifications | Tutorialspoint
−δωn t
e
c(t) = 1 − ( ) sin(ωd t + θ)
−−−−−
√1 − δ 2
The final value of the step response is one.
Therefore, at t = td , the value of the step response will be 0.5. Substitute, these values in the
above equation.
−δωn t d
e
c(td ) = 0.5 = 1 − ( ) sin(ωd td + θ)
−−−−−
√1 − δ 2
−δωn t d
e
⇒ ( ) sin(ωd td + θ) = 0.5
−−−−−
√1 − δ 2
By using linear approximation, you will get the delay time td as
1 + 0.7δ
td =
ωn
Rise Time
It is the time required for the response to rise from 0% to 100% of its final value. This is applicable
for the under-damped systems. For the over-damped systems, consider the duration from 10% to
90% of the final value. Rise time is denoted by tr.
At t = t1 = 0, c(t) = 0.
We know that the final value of the step response is one.
Therefore, at t = t2 , the value of step response is one. Substitute, these values in the following
equation.
[Link] 2/10
8/31/23, 11:11 AM Time Domain Specifications | Tutorialspoint
−δωn t
e
c(t) = 1 − ( ) sin(ωd t + θ)
−−−−−
√1 − δ 2
−δωn t 2
e
c(t2 ) = 1 = 1 − ( ) sin(ωd t2 + θ)
−−−−−
√1 − δ 2
−δωn t 2
e
⇒ ( ) sin(ωd t2 + θ) = 0
−−−−−
√1 − δ 2
⇒ sin(ωd t2 + θ) = 0
⇒ ωd t2 + θ = π
π − θ
⇒ t2 =
ωd
Substitute t1 and t2 values in the following equation of rise time,
tr = t2 − t1
π − θ
∴ tr =
ωd
[Link] 3/10
8/31/23, 11:11 AM Time Domain Specifications | Tutorialspoint
From above equation, we can conclude that the rise time tr and the damped frequency ωd are
inversely proportional to each other.
Peak Time
It is the time required for the response to reach the peak value for the first time. It is denoted by
tp . At t = tp , the first derivate of the response is zero.
We know the step response of second order system for under-damped case is
−δωn t
e
c(t) = 1 − ( ) sin(ωd t + θ)
−−−−−
√1 − δ 2
Differentiate c(t) with respect to ‘t’.
−δωn t −δωn t
dc(t) e −δωn e
= −( ) ωd cos(ωd t + θ) − ( ) sin
−−−−− −−−−−
dt √1 − δ 2 √1 − δ 2
(ωd t + θ)
dc(t)
Substitute, t = tp and dt
= 0 in the above equation.
−δωn t p
e
0 = −( ) [ωd cos(ωd tp + θ) − δωn sin(ωd tp + θ)]
−−−−−
√1 − δ 2
−−−−−
2
⇒ ωn √1 − δ cos(ωd tp + θ) − δωn sin(ωd tp + θ) = 0
−−−−−
2
⇒ √1 − δ cos(ωd tp + θ) − δ sin(ωd tp + θ) = 0
[Link] 4/10
8/31/23, 11:11 AM Time Domain Specifications | Tutorialspoint
⇒ sin(θ) cos(ωd tp + θ) − cos(θ) sin(ωd tp + θ) = 0
⇒ sin(θ − ωd tp − θ) = 0
⇒ sin(−ωd tp ) = 0 ⇒ − sin(ωd tp ) = 0 ⇒ sin(ωd tp ) = 0
⇒ ωd tp = π
π
⇒ tp =
ωd
From the above equation, we can conclude that the peak time tp and the damped frequency
ωd are inversely proportional to each other.
Peak Overshoot
Peak overshoot Mp is defined as the deviation of the response at peak time from the final value of
response. It is also called the maximum overshoot.
Mathematically, we can write it as
Mp = c(tp ) − c(∞)
Where,
c(tp) is the peak value of the response.
c(∞) is the final (steady state) value of the response.
[Link] 5/10
8/31/23, 11:11 AM Time Domain Specifications | Tutorialspoint
At t = tp , the response c(t) is -
−δωn t p
e
c(tp ) = 1 − ( ) sin(ωd tp + θ)
−−−−−
√1 − δ 2
Substitute, tp =
π
ωd
in the right hand side of the above equation.
π
−δωn ( )
⎛e ω
d ⎞ π
c(tP ) = 1 − sin(ωd ( ) + θ)
−−−−−
⎝ √1 − δ
2
⎠ ωd
⎛ −(
δπ
) ⎞
√1−δ 2
⎜ e ⎟
⇒ c(tp ) = 1 − ⎜ ⎟ (− sin(θ))
−−−−−
⎜ √ ⎟
1 − δ2
⎝ ⎠
We know that
−−−−−
2
sin(θ) = √1 − δ
So, we will get c(tp ) as
δπ
−( )
√1−δ 2
c(tp ) = 1 + e
Substitute the values of c(tp ) and c(∞) in the peak overshoot equation.
[Link] 6/10
8/31/23, 11:11 AM Time Domain Specifications | Tutorialspoint
δπ
−( )
√1−δ 2
Mp = 1 + e − 1
δπ
−( )
√1−δ 2
⇒ Mp = e
Percentage of peak overshoot % Mp can be calculated by using this formula.
Mp
%Mp = × 100%
c(∞)
By substituting the values of Mp and c(∞) in above formula, we will get the Percentage of
the peak overshoot %Mp as
⎛ −(
δπ
) ⎞
√1−δ 2
%Mp = ⎜e ⎟ × 100%
⎝ ⎠
From the above equation, we can conclude that the percentage of peak overshoot %Mp will
decrease if the damping ratio δ increases.
Settling time
It is the time required for the response to reach the steady state and stay within the specified
tolerance bands around the final value. In general, the tolerance bands are 2% and 5%. The
settling time is denoted by ts .
The settling time for 5% tolerance band is -
[Link] 7/10
8/31/23, 11:11 AM Time Domain Specifications | Tutorialspoint
3
ts = = 3τ
δωn
The settling time for 2% tolerance band is -
4
ts = = 4τ
δωn
Where, τ is the time constant and is equal to 1
δωn
.
Both the settling time ts and the time constant τ are inversely proportional to the
damping ratio δ .
Both the settling time ts and the time constant τ are independent of the system gain.
That means even the system gain changes, the settling time ts and time constant τ will
never change.
Example
Let us now find the time domain specifications of a control system having the closed loop transfer
function 2
s +2s+4
4
when the unit step signal is applied as an input to this control system.
We know that the standard form of the transfer function of the second order closed loop control
system as
2
ωn
2 2
s + 2δωn s + ωn
[Link] 8/10
8/31/23, 11:11 AM Time Domain Specifications | Tutorialspoint
By equating these two transfer functions, we will get the un-damped natural frequency ωn as 2
rad/sec and the damping ratio δ as 0.5.
We know the formula for damped frequency ωd as
−−−−−
2
ωd = ωn √1 − δ
Substitute, ωn and δ values in the above formula.
−−−−−−−−
2
⇒ ωd = 2√1 − (0.5)
⇒ ωd = 1.732 rad/sec
Substitute, δ value in following relation
−1
θ = cos δ
π
−1
⇒ θ = cos (0.5) = rad
3
Substitute the above necessary values in the formula of each time domain specification and
simplify in order to get the values of time domain specifications for given transfer function.
The following table shows the formulae of time domain specifications, substitution of necessary
values and the final values.
[Link] 9/10
8/31/23, 11:11 AM Time Domain Specifications | Tutorialspoint
Time domain Formula Substitution of values Final value
specification in Formula
Delay time
td =
1+0.7δ
td =
1+0.7(0.5)
td =0.675 sec
ωn 2
Rise time
=1.207 sec
π
π−θ π−( )
tr = 3 tr
ωd tr =
1.732
Peak time
tp =
π
ωd
tp =
π
1.732
tp =1.813 sec
% Peak overshoot
%Mp %Mp % Mp =16.32%
δπ 0.5π
⎛ −( ) ⎞ ⎛ −( ) ⎞
√1−δ 2 √1−(0.5)2
= ⎜e ⎟ = ⎜e ⎟
⎝ ⎠ ⎝ ⎠
× 100% × 100%
Settling time for 2%
ts =
4
tS =
4
ts =4 sec
tolerance band δω n (0.5)(2)
[Link] 10/10