MTX Unit 4

Unit 4
Time and Frequency Domain

Analysis
Time Domain Analysis – Unit step Response analysis via
Transient response specifications
(Percentage overshoot, Rise time, Delay time, Steady state error
etc.)
Frequency Domain Analysis – Frequency Domain Parameters -
Natural Frequency, Damping
Frequency and Damping Factor; Mapping of Pole Zero plot with
damping factor, natural frequency and unit step response ;
Introduction to Bode Plot, Gain Margin, Phase Margin
Time Domain Analysis
 Most of the control system, use time as its independent
variable, so it is important to analyze the response given by the
system for the applied excitation which is function of time.
 Analysis of response means to see the variation of output

with respect to time . This output behavior with respect to time
should be within specified limits to have satisfactory
performance of the system.
The complete base of stability analysis lies in the time response

analysis.
TIME RESPONSE:
Time response means how output behaves with respect to time..
 Definition:- The response given by the system which is function of
the time, to the applied excitation is called time response of a control
system.
STEADY STATE:
The final value (state) achieved by the output is called Steady state.
 TRANSIENT RESPONSE: Ct(t)
While output variation within the time it takes to achieve the
steady state is called Transient response of the system.
The time required to achieve the final value is called transient
period.
It is exponential or oscillatory in nature, it is denoted as Ct(t).
Steady State Response: Css(t)
The steady state response is generally the final value achieved by the
system output.
Its significance is that it tells us how far away the actual output is from
its desired value.
This indicates the accuracy of the system.
From steady state response we can get following information about the
system.
1) How much away the system output is from its desired value which
indicate error.
2) Whether this error is constant or varying with time. So the entire
information about system performance can be obtained from transient and
steady state response.
Steady State Error:- ess
The difference between the desired output and the actual output of the
system is called Steady State Error.
This error indicate the accuracy and plays an important role in designing
the system.
Relative stability:-
 The system is said to be relatively more stable or unstable on the
basis of settling time.
 System is called relatively more stable if settling time for that system
is less than that of the other.
 System stability is normally classified as –
1) Absolute stable
2) Relative stable
Settling time:
Settling time is the time required an output to reach and remain within a
given error band following some input stimulus.
Absolute stability means whether system is stable or unstable.
Relative Stability gives the degree of stability or how close it is to instability.
Relative stability of a system is measured by location of dominant roots of the

characteristic equation in the s-plane.
Transient Response specification
The transient response of a practical control system often exhibits
damped oscillations before reaching a steady state. In specifying the
transient‐response characteristics of a control system to a unit‐step input,
it is common to name the following:
Delay Time : This time is represented by td. The time required by the response to reach
fifty percent of the final value for the first time, this time is known as delay time. Delay
time is clearly shown in the time response specification curve.
Td= (1+0.7ɛ)/ωn
Rise Time. The rise time Tr is the time required for the response to rise from 10% to
90%, 5% to 95%, or 0% to 100% of its final value. For under damped second order
systems, the 0% to 100% rise time is normally used. For over damped systems, the 10% to
90% rise time is common.
In order to derive the expression for the rise time we have to equate the expression
for c(t) = 1. From the above we have
solving above equation we have expression for rise time equal to
Substitute ω=ωn & Θ=
π −θ θ is in radian
Tr=
ωd
Peak Time : This time is represented by tp. The time required by the
response to reach the peak value for the first time, this time is known as
peak time. Peak time is clearly shown in the time response specification
curve.
On differentiating the expression of c(t) we can obtain the expression
for peak time. dc(t)/ dt = 0 we have expression for peak time,
Settling Time : This time is represented by Ts. The time required by the
response to reach and within the specified range of about (two percent to five
percent) of its final value for the first time, this time is known as settling time.
Settling time is clearly shown in the time response specification curve.
Maximum Overshoot : It is expressed (in general) in percentage of the
steady state value and it is defined as the maximum positive deviation of the
response from its desired value. Here desired value is steady state value.
The maximum percent overshoot Mp is the maximum peak value of the

response curve [the curve of c (t) versus t ], measured from c (∞) . If c (∞)
=1, the maximum percent overshoot is 100% p M × . If the final steady
state value c (∞) of the response differs from unity, then it is common
practice to use the following definition of the
Frequency Domain Analysis
•The frequency response is the steady-state response of a system to
a sinusoidal input signal.
•The advantage of frequency response analysis is that stability of a

closed-loop system can be determined from the frequency response
of an open-loop system, be it Bode plot, Nyquist plot or Log-
magnitude versus phase plot.
Frequency Response
 The response of a system can be partitioned into both the transient
response and the steady state response. We can find the transient response
by using Fourier integrals.
 The steady state response of a system for an input sinusoidal signal is

known as the frequency response.
 If a sinusoidal signal is applied as an input to a Linear Time-Invariant

(LTI) system, then it produces the steady state output, which is also a
sinusoidal signal. The input and output sinusoidal signals have the same
frequency, but different amplitudes and phase angles.
Frequency Domain Specifications
The frequency domain specifications are resonant peak, resonant frequency and
bandwidth.
Consider the transfer function of the second order closed loop control system as,
ᶓ=𝛿
Damping ratio
Resonant Frequency
It is the frequency at which the magnitude of the frequency response has peak value
for the first time. It is denoted by ωr. At ω=ωr, the first derivate of the magnitude
of T(jω)is zero.
ω=ωn
Resonant Peak
It is the peak (maximum) value of the magnitude of T(jω). It is denoted
by Mr.
Mr=
Resonant peak in frequency response corresponds to the peak overshoot in the time
domain transient response for certain values of damping ratio , So, the resonant peak
and peak overshoot are correlated to each other.
Bandwidth:-
It is the range of frequencies over which, the magnitude of T(jω) drops to
70.7% from its zero frequency value.
Compare Time Domain and frequency domain techniques for analysis of
system. (8m)
Time Response Frequency Response
Determining the response of higher order Determining the response of higher order
systems is more difficult. systems is much easier.
No unified method exists for designing a Graphical method exists for designing the
system which meets the time domain system in order to meet its specifications.
specification.
Less convenient in measuring the More convenient in measuring the

sensitivity of the system for noise and sensitivity of the system for noise and
parameter variations. parameter variations.
Mathematical model is necessary for Real data obtained for the physical
analyzing the performance of the system. systems are enough for analyzing the
performance of the system.
Cannot be applied to a non-linear system. Can be applied to a non-linear system.

Gain Margin:-
Gain margin is defined as the magnitude of reciprocal of the open loop
transfer function, evaluate at the phase crossover frequency which is the
frequency at which the phase is – 1800.
Phase Margin:-
Phase margin, a measure of relative stability, is defined as 1800 plus the
phase angle of the open loop transfer function at unity gain.
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Unit 4

Time and Frequency Domain

 Analysis of response means to see the variation of output

The complete base of stability analysis lies in the time response

Relative Stability gives the degree of stability or how close it is to instability.

Relative stability of a system is measured by location of dominant roots of the

solving above equation we have expression for rise time equal to

Substitute ω=ωn & Θ=

The maximum percent overshoot Mp is the maximum peak value of the

•The advantage of frequency response analysis is that stability of a

 The steady state response of a system for an input sinusoidal signal is

 If a sinusoidal signal is applied as an input to a Linear Time-Invariant

Time Response Frequency Response

Less convenient in measuring the More convenient in measuring the

Cannot be applied to a non-linear system. Can be applied to a non-linear system.

Link for Numerical on Controller

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