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Transient Response Analysis

Instructor: Dr. Ahmed Kareem Al-Bakri

CHAPTER # 6 TRANSIENT RESPONSE ANALYSES

1. Introduction
It was stated previously in lecture #1 that the first step in analyzing a control system
was to derive a mathematical model of the system. Once such a model is obtained,
various methods are available for the analysis of system performance.
Typical Test Signals: The commonly used test input signals are those of step
functions, ramp functions, acceleration functions, impulse functions, sinusoidal
functions, and the like. With these test signals, mathematical and experimental
analyses of control systems can be carried out easily since the signals are very simple
functions of time.
If the inputs to a control system are gradually changing functions of time, then a ramp
function of time may be a good test signal. Similarly, if a system is subjected to
sudden disturbances, a step function of time may be a good test signal; and for a
system subjected to shock inputs, an impulse function may be best. Once a control
system is designed on the basis of test signals, the performance of the system in
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response to actual inputs is generally satisfactory. The use of such test signals enables
one to compare the performance of all systems on the same basis.
The time response of a control system consists of two parts as shown in Fig. 1;
a) Transient response
b) Steady-state response.

Fig. 1, Time response

By transient response, we mean that which goes from the initial state to the final
state.
By steady-state response, we mean the manner in which the system output behaves as
t approaches infinity. Thus the system response C(t) may be written as

where Ctr(t) is the transient response and Css(t) is the steady-state response.
The transient response of a practical control system often exhibits damped
oscillations before reaching a steady state. 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 error is indicative of the accuracy of the system. In analyzing a control system,
we must examine transient-response behavior and steady-state behavior.

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2. Transient Response
2.1 First-Order system
Consider the first-order system shown in Fig. 2.

Fig. 2, Block diagram and its simplification

The input-output relationship is given by

For a unit step input whose Laplace transform is 1/S, the output C(S) is given by

Using partial fraction,

Taking the inverse Laplace transform

The above equation indicates that initially (at t = 0) the output c(t) is zero and finally
(at t = ∞) it becomes unity as shown in Fig. 3.

Fig. 3. Time response of a first-order system

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One important characteristic of such an exponential response curve c(t) is that at t = T

the value of c(t) is 0.632, or the response c(t) has reached 63.2% of its final value.
This may be easily seen by substituting t = T in c(t). That is,

By the same way, in two time constants (t = 2T), the response reaches 86.5% of the
final value. At t = 3T, the response reaches 95% of its final value. At t = 4T, the
system response reaches 98.2% of its final value. Finally at t = 5T, the response
reaches 99.3% of the final value. Thus, for t ≥ 4T, the response remains within 2% of
the final value. As seen from the equation of c(t), the steady state value (c(t) = 1) is
reached mathematically only after an infinite time. In practice, however, a reasonable
estimate of the response time is the length of time the response curve needs to reach
and stay within the 2% line of the final value, or four time constants.
2.2 Second-Order Systems
Consider the 2nd order control system shown in Fig. 4, whose T.F. is given as:

This form is called the standard form of the second-order system, where ζ and ωn are
the damping ratio and undamped natural frequency, respectively.

Fig. 4. Standard form of Second-order control system

For a unit-step input ( R(S) = 1/S ), C(s) can be written

Using partial fraction,

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The frequency ωd, is called the damped natural frequency.

 =
 1 −
Taking inverse Laplace for the output C(s),

This result can be obtained directly by using a table of Laplace transforms tables.
If we plot the output C(t) versus time, such kind of plot is dependent on the two
parameters ζ and ωn. A family of curves at different values of ζ is shown in Fig. 5.

Fig. 5. Transient response of 2nd order system at different ζ.

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The characteristic equation of any 2nd order system is given by:

Complete square of the above equation we get;

As the parameters ζ changes, the location of the system poles S1 and S2 are change.
Therefore, the dynamic behavior of the second-order system is also changes. The
nature of the roots s1 and s2 of the characteristic equation with varying values of
damping ratio ζ can be shown in the complex plane as shown in Fig. 6.

Fig. 6. Closed loop poles and transient response

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2.2.1 Transient‐‐Response Specifications

The transient response of a practical control system often exhibits damped
oscillations before reaching a steady state. In specifying the transient‐response
characteristics of a control system to a unit‐step input, it is common to name the
following terms:

These specifications are shown graphically in Fig. 7.

Fig. 7 Transient response specifications

Delay Time: The delay time td is the time needed for the response to reach half (50%)
of its final value.
Delay time can be calculated from this formula;

Rise Time: The rise time tr is the time required for the response to rise from 10% to
90%. Or the time required to rise from 0% to 100% of its final value.
We obtain the rise time tr by letting c(tr) = 1

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Since ≠ 0, therefore

Where β is defined by Fig. 8, as the angle in radians.

Fig. 8. Definition of angle β

Peak Time: The peak time tp is the time required for the response to reach the first
peak of the overshoot.
We may obtain the peak time by differentiating c(t) with respect to time and letting
this derivative equal zero.

The cosine terms in the above equation cancel each other. Therefore, dc(t)/dt,
evaluated at t = tp, can be simplified to

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This means
Since the peak time corresponds to the first peak overshoot,
  = 

Maximum (percent Overshoot): The maximum percent overshoot Mp is the

maximum peak value of the response curve [the curve of c(t) versus t ], measured
from c (∞) . If c (∞) =1, the maximum percent overshoot is Mp × 100%. If the final
steady state value c (∞) of the response differs from unity, then it is common
practice to use the following definition:

The maximum overshoot occurs at the peak time. Therefore


 =   

Settling Time: The settling time ts is the time required for the response curve to reach
and stay within ± 2% of the final value. In some cases, 5% instead of 2%, is used as
the percentage of the final value. The settling time is the largest time constant of the
system.
The settling time corresponding to ± 2% or ± 5% tolerance band may be measured in
terms of the time constant {T = l/ (ζ ωn)}
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Based on 2% criteria, it is found that Ts = 4T

Based on 5% criteria, it is found that Ts = 3T

Summary:

Matlab software package can be used to calculate and plot the step response of the
second order system. The following m-file can be used.
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Therefore the step response at different value of zeta is given below

In the previous Matlab code we consider some Matlab functions such as tf and step.
What is tf and step? and how can we use them?
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"tf" Specifies a SISO transfer function for model h(s) = n(s)/d(s)

>> h = t f (num, den )
What are num & den?
row vectors listing the coefficients of the polynomials n(s) and d(s) ordered in
descending powers of s

draw the step response of the T.F

100(2 + 1)
. . =
4 +  + 1

Steady-State Error
The difference between the input and output of a system in the limit as time goes to
infinity, and it will be discussed in more details in next chapter.

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Feedback PID controller – How does it work I?

As shown in the feedback control system given above, the type of controller used is
PID controller. The PID terms are stand for:
P: Proportional,
I: Integral,
D: Derivative

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These correlations may not be exactly accurate, because Kp, Ki, and Kd are
dependent on each other. In fact, changing one of these variables can change the
effect of the other two.

Consider the Mass (m), spring (k), and damper (b) problem given in the above figure.

Neglecting initial values and using Laplace,

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From the system response shown above, the Mass-spring and damper system, is
suffering from the following problems:

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First Trial to solve the system problems is by using Proportional Controller;

Rise time is improved (Tr=0.1) and steady-state error is improved (Ess=0.95) but the
system overshoot is deteriorated (Mp~1.1). Settling time (Ts=1.2)
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Second Trial to solve the system problems is by using Proportional-Derivative

Controller;

Rise time and steady-state error are not affected. But the system overshoot is
improved (Mp~1.05) and settling time is improved (Ts~0.5)
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Third Trial to solve the system problems is by using Proportional-Integral Controller;

It is important to note that: Eliminated steady-state error, decreased over-shoot

But rise and settling times (Tr & Ts) are deteriorated
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Fourth Trial to solve the system problems is by using Proportional-Integral-

Derivative (PID) Controller;

It is important to note that: Eliminated steady-state error, decreased over-shoot

Also rise and settling times (Tr & Ts) are improved
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Example #1
Consider the system shown in Fig. 9, where ζ = 0.6 and ωn = 5 rad/sec. Let us obtain
the rise time tr, peak time tp, maximum overshoot Mp, and settling time tp when the
system is subjected to a unit-step input.

Fig. 9.

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Example #2
Consider the control system whose closed loop poles are given in Fig. 10.

Fig. 10.

Find

Example #3
Determine the values of Td, Tr, Tp and Ts for the control system shown in Fig. 11.

Fig. 11
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The rise time is given by

So we must calculate the angle β first based on Fig. 12, as follows:

Fig. 12

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Example #4
For the system shown in Fig. 13, 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.

Fig. 13, Block diagram of a servo system

The simplified block diagram of the system is:

The overall T.F. is given by:

By comparing, we find that

Since Mp = 0.2;

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Since Peak time = 1, then

Then kh can be determined as:

Therefore the rise time (tr) can be calculated as:

where

Therefore, Tr=0.65 sec.

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Example #5
When the system shown in Fig. 14 (a) is subjected to a unit-step input, the system
output responds as shown in Fig.14 (b). Determine the values of K and T from the
response curve.

Fig. 14, Control system and its step response

From the time response curve we can obtain that:
Mp = 0.254 ζ = 0.4

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Report:

Determine the values, of K and k of the closed-loop system shown in Fig. so that the
maximum overshoot in unit-step response is 25% and the peak time is 2 sec. Assume
that J = 1 kg-m2.

Example #6
The T.F. of a closed-loop, unity feedback control system is

C(S) K
=
R(S) S + 2S + K

If the system gain (K) is set at three different values of 10, 36 and 100
- Calculate the rise time, maximum overshoot, and settling time at each value of K,
- At which value of K the system response is superior.

This is a good example for proportional controllers (P-Controllers)

The general form of the second-order system is

C(S) ω(
=
R(S) S + 2ξω( S + ω(
By Comparing,
ωn = √K
ξ = 1 / √K
Β = cos-1 (1 / √K)
ωd = ωn √1- ξ2 = √K(1-1/k) = √(K-1)
Based on 2% criteria, it is found that Ts = 4T,

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Electrical 012
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K, Techniques
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At K = 10

ωn = √10 = 3.1623
ξ = 1 / √10 = 0.31623
Β = cos-1 (1 / √10) = 71.56505 ̊ = 1.24904577 rad
ωd = √K-1 = 3.0
− 0  − 1.24904577
Rise Time (Tr) = = = 0.63085 7 8

 3
9:;<=< >? @7ℎ>> B = C/ C 
= 0.35085 = 35.085%
4 4
FG = = =4
H
 0.31623 × 3.1623

At K = 36
ωn = √36 = 6
ξ = 1 / 6 = 0.16667
Β = cos-1 (1 / 6) = 80.40593177 ̊ = 1.4334825 rad
ωd = √35 = 5.9160798

− 0  − 1.4334825
Rise Time (Tr) = = = 0.2938 7 8

 √35

9:;<=< >? @7ℎ>> B = = 0.588 = 58.8%

C/ C 

4 4
FG = = =47 8
H
 0.16667 × 6
At K = 100
ωn = √100 = 10
ξ = 1 / 10 = 0.1
Β = cos-1 (0.1) = 84.261 ̊ = 1.47063 rad
ωd = √99 = 9.94987

− 0  − 1.47063
Rise Time (Tr) = = = 0.167938 7 8

 √99

9:;<=< >? @7ℎ>> B = = 0.72925 = 72.925%

C/ C 

4 4
FG = = =47 8
H
 0.1 × 10
Rise Time Maximum Overshoot Settling Time
10 0.63085 7 8 35.085% 47 8
36 0.2938 7 8 58.8% 47 8
100 0.167938 7 8 72.925% 47 8
Dr. AHMED MUSTAFA
Kareem HUSSEIN
27 Instructor: Dr. Ahmed Al-Bakri
 Instructor: Dr. Ahmed Kareem Al-Bakri
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Al-Awsat Technical University
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4th class Room No. 1
Al-Musiab Technical College
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Electrical Power012
3&
K, Techniques
Engineering  ‫
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Email: [email protected]

Based on information given in the table, by increasing the system gain from 10 to 100, the
rise time and steady-state error are decreased (improved) which is V.Good. On the other
hand, the Maximum overshoot is increased (deteriorated).

Example #7
A 3-term (PID) controller is used to control a process with unity feedback as shown
in Fig. 3, where Ti and Td are the integral and derivative time constant, respectively.
For unit step input,

a) If Td = 3.5, and the integral term is ignored, calculate the steady-state error,
b) If Ti = 2.0, and Td as given in (a), calculate the steady-state error,
c) Which steady-state error obtained from (a) and (b) is better. Why?
d) If both derivative and integral terms are ignored, calculate the damping ratio,
maximum overshoot, rise time, peak time and settling time, then draw a free-hand
sketch for the system output c(t).

PID Controller Process

R(S) + E(S) C(S)
20 4
_ 20 + + 20F 
FM   + 8 + 80

H(S) = 1,
1
80 L1 + + F N
FM 
K() =
 + 8 + 80
Since unit step input, we calculate the position error coefficient Kp
a) Ti is set to ∞ to ignore the integral term
Td = 3.5
80(1 + 3.5 )
K() =
 + 8 + 80
80
O = lim K() = =1
Q→S 80
1 1
TGG = = = 0.5
1 + O 1+1

Dr. AHMED
Instructor: Dr. AhmedMUSTAFA HUSSEIN
Kareem Al-Bakri
28
 Instructor: Dr. Ahmed Kareem Al-Bakri
E٣٥١١

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Al-Musiab Technical College
Electrical./

Power012
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b) Ti =2.0 and Td = 3.5

1
80 L1 ++ 3.5 N
K() = 2
 + 8 + 80
∞
O = lim K() = =∞
Q→S 80
1 1
TGG = = =0
1 + O 1+∞
c) the steady-state error in case (b) is better than that of (a) because the integral term
is employed, therefore the system type is increased by one, so that the error is
reduced to 0.
d) Ti is set to ∞ to ignore the integral term
Td is set to 0 to ignore the derivative term
The overall system is shown in the figure below

Process
R(S) + E(S) C(S)
80
_
 + 8 + 80

V() 80
=
W()  + 8 + 160
The system characteristic equation is
 + 8 + 160 = 0
The standard form of second order system characteristic equation is
 + 2
  +
 = 0
By comparing the coefficients
ωn = √160 = 12.649 rad/sec
2ξ ωn = 8 → ξ = 0.3162
XY
Z[\ Y
Maximum overshoot =  = = 0.35096 = 35.096 %
β = cos-1 0.3162 = 71.5667° = 1.2491 rad

Dr. AHMED
Dr. AhmedMUSTAFA HUSSEIN
29 Instructor: Kareem Al-Bakri
 Instructor: Dr. Ahmed Kareem Al-Bakri
E٣٥١١

Al-Furat F
 !"‫
א‬#"‫
א‬$%&
Al-Awsat Technical University
‫
א‬

J
‫ 



א‬
4th class Room No. 1
Al-Musiab Technical College
./

Electrical Power012
3&
K, Techniques
Engineering  ‫
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א‬
Email: [email protected]

Rise Time Tr
−0  − 1.2491
F] = = = 0.1577 7 8.

 12.649√1 − 0.3162
Peak Time Tp
 
F = = = 0.2618 7 8.

 12.649√1 − 0.3162
Settling Time Ts
3 3
FG = = = 0.75 7 8. (^97 _ >` ± 5% >b @9`8 )

 0.3162 × 12.649
4 4
FG = = = 1.0 7 8. (^97 _ >` ± 2% >b @9`8 )

 0.3162 × 12.649

Dr. AHMED
Instructor: MUSTAFA
Dr. Ahmed HUSSEIN
Kareem Al-Bakri
30