REGULATION AND CONTROL

TRANSIENT AND STEADY STATE RESPONSE 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

the system are known.

 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

various control systems.

 This basis may be set up by specifying particular test signals and by comparing the response of various

systems to these input signals.

 Many design criteria are based on the response to such test signals or on the response of systems to

changes in initial conditions (without any test signals).

 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,

and constant acceleration.

 The dynamic behavior of a system is therefore judged and compared under application of standard test

signals – an impulse, a step, a constant velocity, and constant acceleration.

 Another standard signal of great importance is a sinusoidal signal.

 Cont’d

 Impulse signal
δ(t)
 The impulse signal imitate the sudden shock
characteristic of actual input signal.
A

A t0
 (t )  
0 t0 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 t0
u( t )  
0 t0
0 t

 If A=1, the step signal is called unit step signal

 Cont’d
r(t)

 Ramp signal
 The ramp signal imitate the constant
velocity characteristic of actual input
signal.
0 t
r(t)
 At t0
r (t )  
0 t0 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
 t0
p( t )   2
0 t0 0 t

 If A=1, the parabolic signal is called
unit parabolic signal.
Relation between standard Test Signals
A t0 d
Impulse  (t )  
 0 t0 dt

A t0 d
Step u( t )  
0 t0
 dt
 At t0
r (t )   d
Ramp 0 t0
dt
  At 2
 t0
p( t )   2
Parabolic 0 t0

Laplace Transform of Test Signals
A t0
Impulse  (t )  
0 t0

L{ (t )}   ( s )  A

A t0
Step u( t )  
0 t0

A
L{u(t )}  U ( s ) 
S
 Cont’d
 At t0
r (t )  
Ramp 0 t0

A
L{r (t )}  R( s )  2
s
 At 2
 t0
Parabolic p( t )   2
0 t0

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

 The time response of any system has two components

 Transient response
 Steady-state response.
 Cont’d
 When the response of the system is changed form rest or equilibrium it takes some

time to settle down.

 Transient response is the response of a system from rest or equilibrium to steady

-3
x 10 Step Response
6
state. Step Input
5

Steady State Response

 The response of the system after the 4

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.

 It is therefore sufficient to analyze the transient response using a step input.

 The steady-state response depends on system dynamics and the input quantity.

 It is then examined using different test signals by final value theorem.

Absolute stability, relative stability and steady state error
 The most important characteristic of the dynamic behavior of a control system is absolute stability-

that is, whether the system is stable or unstable.

 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

steady state error. This is indicative of the accuracy of the system.

TIME DOMAIN ANALYSIS OF 1ST ORDER SYSTEMS
Introduction

 The first order system has only one pole.

C( s ) K Vo ( s ) 1
 
R( s ) Ts  1 Vi ( s ) 1  RCs
 Where K is the D.C gain and T is the time constant of the system.

 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.

 And for following system

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
sa 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

8 steady state output 10

• If K=10 and T=1.5s then D.C Gain  K  
7 Input 1
6
63%

 
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

• If K=10 and T=1, 3, 5, 7 8 T=3s

7

 
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

 System takes five time constants to reach

its final value.
 Cont’d
K*(1-exp(-t/T))
11

10
K=10
9

• If K=1, 3, 5, 10 and T=1 7

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

 Impulse response of a 1st order system is given below.

c(t )  3e 0.5t
 Find out
 Time constant T
 D.C Gain K
 Transfer Function
 Step Response
 Cont’d
 The Laplace Transform of Impulse response of a system is actually the transfer
function of the system.
 Therefore taking Laplace Transform of the impulse response given by following
equation.
c(t )  3e 0.5t
3 3
C( s )  1    (s)
S  0. 5 S  0. 5
C( s ) C( s ) 3
 
 ( s ) R( s ) S  0. 5
C( s ) 6

R( s ) 2S  1
 Cont’d

 Impulse response of a 1st order system is given below.

c(t )  3e 0.5t
 Find out
 Time constant T=2
 D.C Gain K=6
C( s ) 6
 Transfer Function 
R( s ) 2S  1
 Step Response
 Also Draw the Step response on your notebook
 Cont’d

 For step response integrate impulse0response

c(t )  3e .5t
0.5t
 c( t )dt  3  e dt

c s (t )  6e 0.5t  C
 We can find out C if initial condition is known e.g. cs(0)=0
0  6e 0.50  C
C6
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

 Often it is not possible or practical to obtain a system's transfer function analytically.

 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

Unit Step Response of 1st Order Systems with Zeros

14
• If T<α the response of the system would look like
13

C ( s ) 10(1  2 s )


Unit Step Response

R( s ) 1. 5s  1 12

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

 Where td is the delay time.

 Cont’d

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

 Cruise Control of vehicle

V (s) 1

U ( s ) ms  b
TIME DOMAIN ANALYSIS OF 2ND ORDER SYSTEMS
Introduction

 Compared to the simplicity of a first-order system, a second-order system exhibits a

wide range of responses that must be analysed and described.
 Varying a first-order system's parameters (T, K) simply changes the speed and offset
of the response
 Whereas, changes in the parameters of a second-order system can change the form
of the response.
 A second-order system can display characteristics much like a first-order system or,
depending on component values, display damped or pure oscillations for its
transient response.
 Cont’d
 A general second-order system (without zeros) is characterized by the following
transfer function.

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

  damping ratio of the second order system, which is a measure

of the degree of resistance to change in the system output.

n  un-damped natural frequency of the second order system, which

is the frequency of oscillation of the system without damping.
Example 3
 Determine the un-damped natural frequency and damping ratio of the following
second order system.
C( s ) 4
 2
R( s ) s  2s  4
 Compare the numerator and denominator of the given transfer function with the
general 2nd order transfer function.
C( s )  n2
 2
R( s ) s  2 n s   n2
2
n 4   n  2 rad / sec  2 n s  2 s
  n  1
s 2  2 n s   n2  s 2  2s  4
   0. 5
 Cont’d

C( s )  n2
 2
R( s ) s  2 n s   n2

 The closed-loop poles of the system are

  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

 For 0< <1 and ωn > 0, the

2nd order system’s
response due to a unit step
input looks like
 Cont’d

 The delay (td) time is

the time required for
the response to reach
half the final value
the very first time.
 Cont’d
 The rise time 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 underdamped second
order systems, the 0% to
100% rise time is
normally used. For
overdamped systems, the
10% to 90% rise time is
commonly used. 70
 Cont’d

 The peak time is the time

required for the response
to reach the first peak of
the overshoot.

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

 The settling time is the time

required for the response
curve to reach and stay
within a range about the final
value of size specified by
absolute percentage of the
final value (usually 2% or
5%).
Step Response of underdamped System
C( s )  n2 Step Response n2
 2 C (s) 
R( s ) s  2 n s   n2 s s 2  2 n s  n2 
 The partial fraction expansion of above equation is given as
1 s  2 n
C( s )   2
s s  2 n s   n2

 n2 1   2 
1 s  2 n
C( s )   2
s  2 n 2 s s  2 n s   2 n2   n2   2 n2

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

if   0. 1 and  n  3 rad / sec 1

0.8

0.6

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. 5 and  n  3 rad / sec 0.6

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 
 

above equation can be re - writen as

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 
0e  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 
0e  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   

Put ωd  ωn 1-ζ 2 in above equation

  n  
  
 n 1 2
 cos     100
M p   e  sin  
2
  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

 Settling time (5%) criterion

 Time consumed in exponential decay up to 95% of the input.

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

Settling Time (4%)

3 3
ts  ts   1s
 n 0. 6  5
 Cont’d

Maximum Overshoot


1 2
Mp e  100

3. 1410.6

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

Since J  1 kgm 2 and B  1 Nm/rad/sec

C (s) K
 2
R ( s ) s  (1  KK h ) s  K
 Comparing above T.F with general 2nd order T.F
C( s )  n2
 2
R( s ) s  2 n s   n2
(1  KK h )
n  K  
2 K
 Cont’d
n  K (1  KK h )
 
• Maximum overshoot is 0.2. 2 K
• The peak time is 1 sec

tp 
d
3. 141

 1
ln( e
1 2
)  ln 0. 2 n 1   2
3. 141
n 
1  0. 4562
 n  3.53
 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 ss   n 
2

• The partial fraction expansion of above equation is given as

 n2 A B C
  
s s   n  s s   n s   n 2
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

 Step Response of over damped system

 Time domain analysis of higher order systems
Next lecture

 Transient response analysis 2