Transient and Steady State Response Analysis 1
Transient and Steady State Response Analysis 1
By Tewedage Sileshi
Goal for today’s lecture
Introduction
Standard test signals
Time response of a control system
Time response of a 1st order system
Time response of a 2nd order system
Introduction
After developing a mathematical model various methods are available for the analysis of system
performance.
It is possible to compute the response of a system if the nature of input and the mathematical model of
Usually, the input signals to control systems are not known fully ahead of time.
For example, in a radar tracking system, the position and the speed of the target to be tracked may vary
in a random fashion.
It is therefore difficult to express the actual input signals mathematically by simple equations.
Cont’d
In analyzing and designing control systems, we must have a basis of comparison of performance of
This basis may be set up by specifying particular test signals and by comparing the response of various
Many design criteria are based on the response to such test signals or on the response of systems to
The use of test signals can be justified because of a correlation existing between the response
characteristics of a system to a typical test input signal and the capability of the system to cope with
actual input signals.
Standard Test Signals
The characteristics of actual input signals are a sudden shock, a sudden change, a constant velocity,
The dynamic behavior of a system is therefore judged and compared under application of standard test
Impulse signal
δ(t)
The impulse signal imitate the sudden shock
characteristic of actual input signal.
A
A t0
(t )
0 t0 t
0
If A=1, the impulse signal is called unit impulse
signal.
Cont’d
Impulse signal
Cont’d
Step signal
u(t)
The step signal imitate the sudden change
characteristic of actual input signal.
A
A t0
u( t )
0 t0
0 t
Ramp signal
The ramp signal imitate the constant
velocity characteristic of actual input
signal.
0 t
r(t)
At t0
r (t )
0 t0 ramp signal with slope A
r(t)
If A=1, the ramp signal is called unit
ramp signal
unit ramp signal
Cont’d
Parabolic signal
p(t)
The parabolic signal imitate the
constant acceleration characteristic of
actual input signal.
At 2
t0
p( t ) 2
0 t0 0 t
If A=1, the parabolic signal is called
unit parabolic signal.
Relation between standard Test Signals
A t0 d
Impulse (t )
0 t0 dt
A t0 d
Step u( t )
0 t0
dt
At t0
r (t ) d
Ramp 0 t0
dt
At 2
t0
p( t ) 2
Parabolic 0 t0
Laplace Transform of Test Signals
A t0
Impulse (t )
0 t0
L{ (t )} ( s ) A
A t0
Step u( t )
0 t0
A
L{u(t )} U ( s )
S
Cont’d
At t0
r (t )
Ramp 0 t0
A
L{r (t )} R( s ) 2
s
At 2
t0
Parabolic p( t ) 2
0 t0
2A
L{ p(t )} P( s ) 3
S
Table 3.1 Laplace Transforms for Various Time-Domain Functions
f(t) F(s)
Chapter 3
Time Response of Control Systems
Time response of a dynamic system is response to an input expressed as a function of
time.
System
Response
Amplitude
transient response is called steady state 3
Transient Response
response. 2
0
Cont’d
Transient response dependents upon the system poles only and not on the type of
input.
The steady-state response depends on system dynamics and the input quantity.
A control system is in equilibrium if, in the absence of any disturbance or input, the output stays in the
same state.
A linear time-invariant control system is stable if the output eventually comes back to its equilibrium
state when the system is subjected to an initial condition. It is critically stable if oscillations of the
output continue forever. It is unstable if the output diverges without bound from its equilibrium state
when the system is subjected to an initial condition.
If the output of a system at steady state does not exactly agree with the input, the system is said to have
Time constant is a measure of how quickly a 1st order system responds to a unit step
input.
D.C Gain of the system is ratio between the input signal and the steady state value of
output.
Example 1
For the first order system given below
10
G( s )
3s 1
D.C gain is 10 and time constant is 3 seconds.
3 3/ 5
G( s )
s 5 1 / 5s 1
D.C Gain of the system is 3/5 and time constant is 1/5 seconds.
Impulse Response of 1st Order System
Consider the following 1st order system
δ(t)
K
1
R(s ) C (s )
Ts 1
t
0
R( s ) ( s ) 1
K
C( s )
Ts 1
Cont’d
K
C( s )
Ts 1
K /T
C( s )
s 1/ T
In order to represent the response of the system in time domain we need to
Re-arrange above equation as
compute inverse Laplace transform of the above equation.
A K t / T
1
L Ae
at
c(t ) e
sa T
Cont’d
K/T*exp(-t/T)
1.5
1
• If K=3 and T=2s then
c(t)
3 t / 2
c(t ) e 0.5
2
0
0 2 4 6 8 10
Time
Step Response of 1st Order System
K
R(s ) C (s )
Ts 1
Consider the following 1st order system
1
R( s ) U ( s )
s
K
C( s )
s Ts 1
In order to find out the inverse Laplace of the above equation, we need to break it into
partial fraction expansion
Forced Response Natural Response
K KT
C( s )
s Ts 1
Cont’d
1 T
C( s ) K
s Ts 1
c(t ) K u(t ) e t / T
Taking
Inverse
• Where Laplace of above equation
u(t)=1
c(t ) K 1 e t / T
• When t = T
c(t ) K 1 e 1 0. 632K
Cont’d
K*(1-exp(-t/T))
11
10
9 Step Response
c(t)
t / 1.5
c(t ) 10 1 e
5
2
Unit Step Input
1
0
0 1 2 3 4 5 6 7 8 9 10
Cont’d
K*(1-exp(-t/T))
11
10
T=1s
9
T=5s
t / T 6
c(t ) K 1 e
c(t)
5 T=7s
4
3
2
1
0
0 5 10 15
Cont’d
10
K=10
9
6
K=5
c(t)
5
c(t ) K 1 e t / T 4
K=3
3
2
K=1
1
0
0 5 10 15
Time
Relation Between Step and impulse response
The step response of the first order system is
c(t ) K 1 e t / T K Ke t / T
Differentiating c(t) with respect to t yields
dc(t ) d
dt
dt
K Ke t / T
dc(t ) K t / T
e (impulse response)
dt T
Example 2
c s (t ) 6e 0.5t C
We can find out C if initial condition is known e.g. cs(0)=0
0 6e 0.50 C
C6
c s (t ) 6 6e 0.5t
Cont’d
If initial Conditions are not known then partial fraction expansion is a
better choice C( s ) 6
R( s ) 2S 1
1
since R( s ) is a step input , R( s )
s
6
C( s )
s 2 S 1
6 A B
s 2 S 1 s 2 s 1
6 6 6
s 2 S 1 s s 0. 5
c(t ) 6 6e 0.5t
Ramp Response of 1st Order System
K
R(s ) C (s )
Ts 1
1
R( s )
s2
K
C( s )
s 2 Ts 1
• The ramp response is given as
c(t ) K t T Te t / T
Cont’d
Unit Ramp Response
10
Unit Ramp
Ramp Response
8
• If K=1 and T=1
6
c(t)
c(t ) t 1 e t
4
error
2
0
0 5 10 15
Time
Cont’d
Unit Ramp Response
10 Unit Ramp
Ramp Response
8
• If K=1 and T=3
c(t ) t 3 3e t / 3
6
c(t)
4
2 error
0
0 5 10 15
Time
Parabolic Response of 1st Order System
K
R(s ) C (s )
Ts 1
1 K
R( s ) Therefore, C( s )
s 3
s 3 Ts 1
• Do it yourself
Practical Determination of Transfer Function of 1st Order
Systems
Perhaps the system is closed, and the component parts are not easily identifiable.
The system's step response can lead to a representation even though the inner
construction is not known.
With a step input, we can measure the time constant and the steady-state value, from
which the transfer function can be calculated.
Cont’d
If we can identify T and K from laboratory testing we can obtain the transfer
function of the system.
C( s ) K
R( s ) Ts 1
Cont’d
For example, assume the unit
step response given in figure.
K=0.72
From the response, we can
measure the time constant, that C( s ) 5
is, the time for the amplitude to
R( s ) s 7
reach 63% of its final value.
Since the final value is about T=0.13s
0.72 the time constant is
evaluated where the curve
reaches 0.63 x 0.72 = 0.45, or • Thus transfer function is
about 0.13 second. obtained as:
C( s ) 0. 72 5. 5
K is simply steady state value.
R( s ) 0. 13s 1 s 7. 7
1st Order System with a Zero
C ( s ) K (1 s )
R( s ) Ts 1
Zero of the system lie at -1/α and pole at -1/T.
Step response of the system would be:
K (1 s )
C( s )
s Ts 1
K K ( T )
C( s ) Partial Fractions
s Ts 1
K
c(t ) K ( T )e t / T Inverse Laplace
T
1st Order System with & W/O Zero (Comparison)
C( s ) K C ( s ) K (1 s )
R( s ) Ts 1 R( s ) Ts 1
t / T
c(t ) K 1 e c( t ) K
K
T
( T )e t / T
If T>α the shape of the step response is approximately same (with offset
added by zero)
K
c(t ) K ( n )e t / T
T
n t / T
c(t ) K 1 e
T
Cont’d
Unit Step Response
10
• If T>α the response of the system would look like
9.5
C ( s ) 10(1 2 s ) 9
R( s ) 3s 1 8.5
c(t)
8
10
c(t ) 10 ( 2 3)e t / 3 7.5
3
7 offset
6.5
0 5 10 15
Time
𝐾
𝑜𝑓𝑓𝑠𝑒𝑡=𝐾 + (𝛼 − 𝑇 )
𝑇
Cont’d
C ( s ) 10(1 2 s )
11
10
c(t ) 10 ( 2 1)e t / 1.5
1.5
10
9
0 5 10 15
Unit Step Response of 1st Order Systems with Zeros
14 Cont’d
13
12
Unit Step Response
11
T
10
9 T
8
6
0 5 10 15
Unit Step Response of 1st Order Systems
14 Cont’d
12 T
Unit Step Response
10
T
8
6
1st Order System Without Zero
4
0
0 2 4 6 8 10
Time
Home Work 1
Find out the impulse, ramp and parabolic response of the system given
below.
C ( s ) K (1 s )
R( s ) Ts 1
First Order System With Delays
Following transfer function represents the 1st order system with time lag.
C( s ) K std
e
R( s ) Ts 1
C( s ) K
e std
R( s ) Ts 1
Unit Step
Step Response
t
td
Cont’d
Step Response
10
K 10
8
C( s ) 10 2 s 6
Amplitude
e
R( s ) 3s 1
4
t d 2s
T 3s
0
0 5 10 15
Time (sec)
Examples of First Order Systems
Ra La
B
ia
Armature Controlled D.C Motor (La=0) u eb T J
a nt
o nst
= c
V f
Ω(s)
K t Ra
U(s) Js B K t K b Ra
Examples of First Order Systems
Electrical System
Eo ( s ) 1
Ei ( s ) RCs 1
Examples of First Order Systems
Mechanical System
X o (s) 1
X i (s) b
s 1
k
Examples of First Order Systems
V (s) 1
U ( s ) ms b
TIME DOMAIN ANALYSIS OF 2ND ORDER SYSTEMS
Introduction
n2
G (s) Open-Loop Transfer Function
s ( s 2 n )
C( s ) n2
2 Closed-Loop Transfer Function
R( s ) s 2 n s n2
Cont’d
C( s ) n2
2
R( s ) s 2 n s n2
C( s ) n2
2
R( s ) s 2 n s n2
n n 2 1
n n 2 1
Cont’d
n n 2 1
n n 2 1
Depending upon the value of , a second-order system can be set into one of
the four categories:
jω
1. Overdamped - when the system has two real distinct poles ( >1).
δ
-c -b -a
Cont’d
n n 2 1
n n 2 1
According the value of , a second-order system can be set into one of the four
categories:
<1) jω
2. Underdamped - when the system has two complex conjugate poles (0 <
δ
-c -b -a
Cont’d
n n 2 1
n n 2 1
According the value of , a second-order system can be set into one of the four
categories:
jω
3. Undamped - when the system has two imaginary poles ( = 0).
δ
-c -b -a
Cont’d
n n 2 1
n n 2 1
According the value of , a second-order system can be set into one of the
four categories:
jω
4. Critically damped - when the system has two real but equal poles ( = 1).
δ
-c -b -a
Time-Domain Specification
71
Cont’d
The maximum overshoot is the maximum peak value of the response curve measured
from unity. If the final steady-state value of the response differs from unity, then it is
common to use the maximum percent overshoot. It is defined by
The amount of the maximum (percent) overshoot directly indicates the relative
stability of the system.
Cont’d
1 s 2 n
C( s )
s s n 2 n2 1 2
Cont’d
1 s 2 n
C( s )
s s n 2 n2 1 2
Above equation can be written as
1 s 2 n
C( s )
s s n 2 d2
Where d n 1 2 , is the frequency of transient oscillations and is called
damped natural frequency.
The inverse Laplace transform of above equation can be obtained easily if C(s) is
written in the following form:
1 s n n
C( s )
s s n d s n 2 d2
2 2
Cont’d
1 s n n
C( s )
s s n d s n 2 d2
2 2
n 1 2
1 s n 1 2
C( s )
s s n d
2 2
s n 2 d2
1 s n d
C( s )
s s n d
2 2
1 2 s 2 2
n d
n t
c(t ) 1 e cos d t e nt sin d t
1 2
Cont’d
n t
c(t ) 1 e cos d t e nt sin d t
1 2
c(t ) 1 e n t cos d t sin d t
1 2
• When 0
d n 1 2
n
c(t ) 1 cos n t
Cont’d
c(t ) 1 e n t cos d t sin d t
1.8
1 2 1.6
1.4
1.2
0.8
0.6
0.4
0.2
0
0 2 4 6 8 10
Cont’d
1.4
0.8
0.4
0.2
0
0 2 4 6 8 10
Cont’d
1.4
c(t ) 1 e n t cos d t sin d t
1 2 1.2
1
0.8
if 0. 9 and n 3 rad / sec
0.6
0.4
0.2
0
0 2 4 6 8 10
2
1.8
b=0
b=0.2
Cont’d
b=0.4
1.6
b=0.6
b=0.9
1.4
1.2
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
1.4
Cont’d
1.2
0.8
wn=0.5
0.6 wn=1
wn=1.5
wn=2
0.4 wn=2.5
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Time Domain Specifications of Underdamped system
Time Domain Specifications (Rise Time)
n t
c(t ) 1 e cos d t sin d t
1 2
Put t t r in above equation
n t r
c(t r ) 1 e cos d t r sin d t r
1 2
Where c(t r ) 1
0 e n t r cos d t r sin d t r
1 2
e nt r 0 0 cos d t r sin d t r
1 2
Cont’d
cos d t r sin d t r 0
1 2
1 2
sin d t r cos d t r
1 2
tan d t r
1 2
d t r tan 1
Cont’d
1 2
d t r tan 1
1 1 2
tan 1 n
tr
d n
tr a
d tan 1
b
Time Domain Specifications (Peak Time)
c(t ) 1 e n t cos d t sin d t
1 2
In order to find peak time let us differentiate above equation w.r.t t.
dc(t )
n t
n e cos d t sin d t e n d sin d t
t d
cos d t
dt 1 2 1 2
2
0 e n t n cos d t n
sin d t d sin d t d
cos d t
1 2
1 2
2
1 2
n t
0e n cos d t n
sin d t d sin d t n
cos d t
1 2
1 2
Cont’d
2
1 2
n t
0e n cos d t n
sin d t d sin d t n
cos d t
1 2
1 2
2
e nt n
sin d t d sin d t 0
1 2
2
e nt 0 n
sin d t d sin d t 0
1 2
2
sin d t n
d 0
1 2
Cont’d
2
sin d t n
d 0
1 2
2
n
d 0
1 2 sin d t 0
1
d t sin 0
0, , 2 ,
t
d
Since for underdamped stable systems first peak is maximum peak therefore,
tp
d
Time Domain Specifications (Maximum Overshoot)
t
c(t p ) 1 e n p cos d t p sin d t p
1 2
c( ) 1
M p 1 e n p cos d t p sin d t p 1 100
t
1 2
n
d cos 100
Put tp in above equation M p e sin
d d
d 1 2
d
d
Cont’d
n
M p e d cos
sin
100
d
d 2
d
d
1
1 0 100
2
1
M p e 1 2
Mp e 100
Time Domain Specifications (Settling Time)
c(t ) 1 e n t cos d t sin d t
1 2
n n 2 1
1
T
n
Real Part Imaginary Part
Cont’d
Settling time (2%) criterion
Time consumed in exponential decay up to 98% of the input.
1
T
n
4
t s 4T
n
3
t s 3T
n
Summary of Time Domain Specifications
Rise Time
tr
d n 1 2 Peak Time
Settling Time (2%) tp
d 1 2
4 n
t s 4T
n Maximum Overshoot
3
Settling Time (4%) t s 3T Mp e
1 2
100
n
Example 4
Consider the system shown in following figure, where damping ratio is 0.6 and natural
undamped frequency is 5 rad/sec. Obtain the rise time tr, peak time tp, maximum
overshoot Mp, and settling time 2% and 5% criterion ts when the system is subjected
to a unit-step input.
Cont’d
Rise Time
tr
d
3. 141
tr
n 1 2
2
1
tan 1 ( n ) 0.93 rad
n
3. 141 0. 93
tr 0. 55s
5 1 0. 6 2
Cont’d
Peak Time
Settling Time (2%)
4
tp ts
d n
3. 141 4
tp 0. 785s ts 1. 33s
4 0. 6 5
3 3
ts ts 1s
n 0. 6 5
Cont’d
Maximum Overshoot
1 2
Mp e 100
3. 1410.6
1 0.6 2
Mp e 100
Step Response
1.4
1.2
Cont’d
Mp
0.8
Amplitude
0.6
0.4
Rise Time
0.2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time (sec)
Exercise 1
For the system shown in Figure, determine the values of gain K and velocity-feedback
constant Kh so that the maximum overshoot in the unit-step response is 0.2 and the
peak time is 1 sec. With these values of K and Kh, obtain the rise time and settling
time. Assume that J=1 kg-m2 and B=1 N-m/rad/sec.
Cont’d
Cont’d
n 3.96
(1 KK h )
n K
2 K
3.53 K 0. 456 2 12. 5 (1 12. 5 K h )
3. 532 K K h 0. 178
K 12. 5
Cont’d
n 3.96
4
tr ts
n 1 2 n
t r 0. 65s t s 2. 48s
3
ts
n
t s 1. 86s
Exercise 2
When the system shown in Figure(a) is subjected to a unit-step input, the system
output responds as shown in Figure(b). Determine the values of a and c from the
response curve.
a
s( cs 1)
Exercise 3
Given the system shown in following figure, find J and D to yield 20% overshoot
and a settling time of 2 seconds for a step input of torque T(t).
Cont’d
Cont’d
Home Work 2
Figure (a) shows a mechanical vibratory system. When 2 lb of force (step input) is
applied to the system, the mass oscillates, as shown in Figure (b). Determine m, b,
and k of the system from this response curve.
Step Response of critically damped System
C( s ) n2 Step Response n2
C( s )
R( s ) s n 2 ss n
2
1 1 n
C( s )
s s n s n 2
c(t ) 1 e nt n e nt t c(t ) 1 e nt 1 n t
Reading assignment