TIME DOMAIN ANALYSIS

Chapter 3
Time Domain Analysis
• Time domain analysis analyses the system response
given by the system for the applied excitation which is the
function of time
• Analysis means how the system response varies w.r.t.
time for a given input
 Time Response
• The response given by the system which is function of the
time to applied excitation, is called time response.

Fig 4.1 Sivanagaraju, S., and L. Devi, Control Systems Engineering, New Academic
Science, 2011. ProQuest Ebook Central, Chapter 4, P.No 154.
Fig 4.1 Sivanagaraju, S., and L. Devi, Control Systems Engineering, New
Academic Science, 2011. ProQuest Ebook Central, Chapter 4, P.No 154.
Transient Response Ctr(t):
• The output variation during the time it takes to achieve its
final value is called as transient response.
• The time that is required to achieve the final value is
called transient period,
• The transient response is defined as that part of the time
response that goes to zero as time becomes large.
Steady State Response
• It is the part of the time response which remains after
complete transient response has vanished from the
system output.
• The steady state response, when compared with the input
or the desired response indicates the final accuracy of the
system.
• The difference is the steady state error.
Steady State Error

Fig 4.2

Fig 4.2 Sivanagaraju, S., and L. Devi, Control Systems Engineering, New
Academic Science, 2011. ProQuest Ebook Central, Chapter 4, P.No 154.
Standard Reference signals
• Until now, we have developed a mathematical model of a
system from its physical laws andrepresented by a block
diagram.
• But we should relate theory to practice. But in practice
many signals are available which are the functions of time
and can be used as reference inputs,
• for various control systems. These signals are step,
ramp, parabolic and impulse inputs etc.
• These signals are most commonly used as reference
inputs and are defined as standard test signals.
Step Input
• The most widely used input is the step input or function in
testing dynamic behaviour of control system. Fig. 4.2
shows a step input.

Fig 4.2 Sivanagaraju, S., and L. Devi, Control Systems Engineering, New
Academic Science, 2011. ProQuest Ebook Central, Chapter 4, P.No 154.
Step Input
Ramp Input
• From t ≥ 0 the value of the function rises uniformly at a
constant rate B, called the slope of the ramp, as shown
• in Fig. 4.3.

Fig 4.3 Sivanagaraju, S., and L. Devi, Control Systems Engineering, New
Academic Science, 2011. ProQuest Ebook Central, Chapter 4, P.No 155.
Ramp Input
Parabolic Input

Fig 4.4 Sivanagaraju, S., and L. Devi, Control Systems Engineering, New
Academic Science, 2011. ProQuest Ebook Central, Chapter 4, P.No 156.
Parabolic Input
Impulse Signal
• A unit impulse is defined as a signal which has zero value
everywhere except at t = 0, where its magnitude is finite.

Fig 4.5 Sivanagaraju, S., and L. Devi, Control Systems Engineering, New
Academic Science, 2011. ProQuest Ebook Central, Chapter 4, P.No 157.
Impulse Input
• Mathematically
Time Domain Specifications
• Characteristics of a transient response arising from the
nature of oscillation. They are, for a unit step function
• (i) delay time td,
• (ii) rise time tr,
• (iii) peak time tp,
• (iv) maximum overshoot Mp and
• (v) settling time ts.
Time Domain Specifications
Delay time td
• It is the time for the response to reach half (50%) of its
final value.
 Rise Time
• It is the time required by the step function response to reach from 10
to 90% or 0 to 100% of its final value (steady state).
• For undamped systems, 0 to 100% is used and
• for overdamped systems 10 to 90% rise time is used.

Fig 4.23, 4.24, Sivanagaraju, S., and L. Devi, Control Systems Engineering, New Academic Science, 2011. ProQuest Ebook
Central, Chapter 4, P.No 175.
Peak time tp
• It is the time taken by the controlled system to reach the
peak of the first overshoot.
Maximum overshoot Mp
Settling time ts:
• It is the time required by the system to reach and settle
within a prescribed percentage of the final or steady value
Computation of Time Domain Specifications