Important time domain specifications are following
Delay time Td
Rise time Tr
Peak time Tp
Peak overshoot Mp
Settling time Ts
Let us see each of the above mentioned specification.
- Delay time Td
It is the time required for the response to reach half of its final value from the zero instant. It is denoted by td. It is given by formula,
- Rise time Tr
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.
- Peak time Tp
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.
- Peak overshoot Mp
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,
Percentage of peak overshoot % Mp can be calculated by using this formula.
- Settling time Ts
It is the time required for the response to reach the steady state and stay within the specified tolerance bands around the final value. The settling time is denoted by ts.