The performance of

feedback control system

AUC401M
 Topics
Transient response
 System performance
System performance is by its:
 transient response and
steady state response
 Transient response
Transient response is the
response that dies with time
It is not permanent in nature
Steady-state response
Response does not die out with
time
Exists for a long time
 Second order system
G s
Y (s)  Rs
1 G s
n 2
Y (s)  2 R  s 
s  2n s  n 2
 Second order system

• With impulse response:

• Y (s)  n 2

s  2n s  n
2 2

• Exists for a long time

• Y (s)   n
2


s s  2n s  n
2 2

 Transient output
1
y (t )  1  e n t
sin d t   

1
y (t )  1  e n t
sin d t   


  1  2
 Response curve

Mpt overshoot

1.0
0.9

0.1

Tr1 Tr Tp Ts
 Definitions
Damping ratio – ζ
Natural frequency – ωn
Damped natural frequency – ωd
 Definitions
Delay time, Td – time to reach 50%
of final value
Rise time, Tr – time to rise from 0-
100%, 5-95%, 10-90%. 0-100% is
used for 2nd order under-damped
Peak time, Tp – time to reach first
peak of the overshoot
 Definitions
Peak value, Mpt – maximum peak
value of the response
Maximum overshoot – the
difference between the Mpt and the
final value fv (Mpt – fv)
Maximum percentage overshoot,
PO – 100 x (Mpt – fv)/fv
 Definitions
Peak value, Mpt – maximum peak
value of the response
Maximum overshoot – the
difference between the Mpt and the
final value fv (Mpt – fv)
Maximum percentage overshoot,
PO = 100 x (Mpt – fv)/fv. Gives
indication of system stability
 Definitions
Settling time, Ts – the for the
response to reach and stay within
a certain range about the final
value eg 2%, 5%
 Peak time
Half the periodic time

Tp  d  n 1   2
d
 
Tp  
d n 1   2
 Rise time
   n
1  2
d
tan d  Tr    
 
1 1  d   
Tr  tan   
d    d
1  d 
  tan  
 
 Maximum % overshoot
Maximum overshoot
 / d    / 1 2 
 
Mp  e e

Maximum percentage overshoot

 / d    / 1 2 
 
Mp  100e  100e
 Settling time
2% settling time:
4 4
Ts  4T  
  n
5% settling time
3 3
Ts  3T  
  n
 Question 1
The maximum overshoot of a
system is 0.2. The peak time for the
system is 1.
Determine the damping ratio
Find the natural frequency
Write the expression for the
response of the system
 Question
Also determine:
The rise the time
The settling time
 Solution: damping ratio
  / 1 2    / 1 2 
 / d   
Mp  e e  
0.2  e
ln  0.2     / 1   2  
1.60944    / 1   2
   
   
2
 2
1  
2
1   2
 
1.60944  1.60944 
  2
 2
1  1  2

 1.60944 
  0.20789
2   0.45595
 Solution: natural frequency
Tp   / d

d   / 1    3.1416rad / s

d  n 1   2

d 3.1416
n    3.52986rad / s
1  2
1  0.20789

n  3.52986rad / s
 Solution: the response
n 2
C s  2
s  2n  n 2

  0.45595 n  3.52986rad / s
2
3.52986
C s  2
s  2  0.45595  3.52986 s  3.52986 2

12.46
C s  2
s  3.2188s  12.46
 Solution: rise time
 
Tr 

  n  0.45595  3.529986  1.6094
d   / 1    3.1416rad / s
 d  1  3.1416 
  tan    tan 
1
  1.0974 rad

   1.6094 
     1.09736
Tr    0.6507 s
d 3.1416
 Solution: settling time

4 4
Ts  2%     2.485s
 1.6094

3 3
Ts  5%     1.864 s
 1.6094
 Question 2
A system is found to have ζ = 0.6 and ωn
= 5 rad/s. the system is subjected to a
unit step input. Determine:
Rise time, tr
Peak time, tp
Maximum overshoot, Mp
Settling time, ts
 Solution: rise time
    n  0.6  5  3
Tr 

d  n 1    5 1  0.6  4rad / s
2 2

 d  1  4 
  tan    tan    0.9273rad
1

  3
     0.9273
Tr    0.5536 s
 4
Solution: max overshoot, peak time
 / d    / 1 2 
 
Mp  e e
 3/4
Mp  e  0.09478 and
 3/4
PO  100e  100  0.09478  9.478%

Tp   / d   / 4  0.7854s
 Solution: settling time

4 4
Ts  2%     1,3333s
 3

3 3
Ts  5%     1s
 3
 Question 3
For the closed loop system
below, determine:
The characteristic equation

+ 81
- s  s  6
 Question 3
Also determine:
Natural frequency
The damped natural frequency
The peak time
The rise time
The percentage overshoot
The settling time
 Solution: characteristic equation
G G
T s   G  81 /  s  6 s 
2
1  GH 1  G

81 /  s  6 s 
2
81 /  s  6 s 
2

T s  
1  81 /  s  6 s 
2
s 2
 6 s  81 /  s  6 s 
2

81
T s  2
 s  6s  81
 s  6 s  81  0
2
 Solution: natural freq.

Comparing :
n 2
and T  s   s 2  2 s   2
81
T s  2
 s  6s  81  n n 

n 2  81

n  9
Solution: damped natural freq.
2n  6;

  6 / 2n  6 /  2  9   0.3333

d  9 1  0.3333  8.4853rad / s
2
 Solution: rise time
       0.3333  9  3
Tr  n

d  n 1    8.4853rad / s
2

 d  1  8.4852 
  tan    tan 
1
  1.231rad

   3 
     1.231
Tr    0.2252s
 4
 Solution: rise, peak time
 / d    / 1 2 
 
Mp  e e
 3/8.485
Mp  e  0.3293 and
 3/4
PO  100e  100  0.3293  32.93%

Tp   / d   / 8.485  0.3702 s
Thank you!!!