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Lec 5

The document discusses time response concepts for second order systems including rise time, peak time, maximum overshoot, and settling time. It provides examples to calculate these metrics for underdamped systems based on natural frequency, damping ratio, and damping coefficient. Solved examples determine values for natural frequency and damping coefficient to achieve a given peak time and percentage overshoot.

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0% found this document useful (0 votes)
40 views37 pages

Lec 5

The document discusses time response concepts for second order systems including rise time, peak time, maximum overshoot, and settling time. It provides examples to calculate these metrics for underdamped systems based on natural frequency, damping ratio, and damping coefficient. Solved examples determine values for natural frequency and damping coefficient to achieve a given peak time and percentage overshoot.

Uploaded by

ahmed Emad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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‫بسم هللا الرحمن الرحيم‬

Faulty of Engineering
Mechatronics Engineering Dept.

Automatic Control & Applications Course

Lec 5
Time Response

DR. M. Arafa 20/3/2024


Lecture (5): Time Response

➢ Time Response of Second Order System (Underdamped Case)

➢ Solved examples about Time Response

➢ Steady-state Error

➢ Error Coefficients
(2) Unit-step Response of the
Second Order System
Second Order System
𝜔𝑛 2
𝑌 𝑠 𝑠 𝑠+2ζ𝜔𝑛 𝜔𝑛 2 𝜔𝑛 2
• 𝑇. 𝐹 = = 𝜔𝑛 2
= =
𝑅 𝑠 1+ 𝑠 𝑠+2ζ𝜔𝑛 +1 𝑠 2 +2ζ𝜔𝑛 𝑆+𝜔𝑛 2
𝑠 𝑠+2ζ𝜔𝑛

𝜔𝑛 2
• 𝑌 𝑠 = 𝑅(𝑠)
𝑠 2 +2ζ𝜔𝑛 𝑆+𝜔𝑛 2
𝑅(𝑠) + 𝜔𝑛 2 𝑌(𝑠)
The characteristic equation is − 𝑠 𝑠 + 2ζ𝜔𝑛
𝑠 2 + 2𝜁𝜔𝑛 𝑆 + 𝜔𝑛 2 = 0
The Roots of the characteristic equation

−2𝜁𝜔𝑛 ± 2𝜁𝜔𝑛 2 − 4𝜔𝑛 2 −2𝜁𝜔𝑛 ± 2𝜔𝑛 𝜁 2 − 1


𝑠1,2 = =
2 2

= −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 where: • 𝜻 is the damping ratio

• 𝝎𝒏 is the natural frequency > 0


𝒔𝟏,𝟐 = −𝜻𝝎𝒏 ± 𝝎𝒏 𝜻𝟐 − 𝟏

±
Illustrative Example for the Different Cases of a Second-order Response
Illustrative Example for the Different Cases of a Second-order Response
Unit-step Response Curves of a Second-order System for Different Values of 𝜻
Unit-step response of the second order system: Overdamped case
• 𝜁>1
• 𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 (real and unequal)
Assume that 𝑠1,2 = −𝑘1 , −𝑘2

𝜔𝑛 2 𝜔𝑛 2
⇒𝑌 𝑠 = =
𝑠(𝑠 2 +2𝜁𝜔𝑛 𝑠+𝜔𝑛 2 ) 𝑠(𝑠+𝑘1 )(𝑠+𝑘2 )
𝑦 𝑡

𝐴 𝐵 𝐶
= + +
𝑠 𝑠+𝑘1 𝑠+𝑘2
1
∴ 𝑦 𝑡 = 𝐴 + 𝐵𝑒 −𝑘1𝑡 + 𝐶𝑒 −𝑘2𝑡 (Note that A=1)
𝜻 = 𝟏𝜻 = 𝟐
𝜻=𝟑
𝜻=𝟒

• NO oscillation
• Pure exponential
𝑡
• Damping is so high
• The system is referred to as overdamped System
Unit-step response of the second order system: Critically damped case
r(t) R(s)
• 𝜁=1 𝑡𝑒 −𝑎𝑡 1
• 𝑠1,2 = −𝜔𝑛 (real and equal) (𝑠 + 𝑎)2

𝜔𝑛 2 𝜔𝑛 2 𝐴 𝐵 𝐶
𝑌 𝑠 = 2 2 = 2 = + +
𝑠(𝑠 + 2𝜔𝑛 𝑠 + 𝜔𝑛 ) 𝑠(𝑠 + 𝜔𝑛 ) 𝑠 (𝑠 + 𝜔𝑛 ) (𝑠 + 𝜔𝑛 )2

∴ 𝑦 𝑡 = 𝐴 + 𝐵𝑒 −𝜔𝑛 𝑡 + 𝐶𝑡𝑒 −𝜔𝑛 𝑡 (Note that A=1) 𝑦 𝑡

• NO oscillation, Pure exponential


1
• Faster response
• The system is referred to as Critically Damped System

𝑡
Unit-step response of the second order system: underdamped case

• 0<𝜁<1
• 𝑠1,2 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 (1 − 𝜁 2 ) (complex conjugate)

𝜔𝑛 2 𝐴 𝐵𝑠 + 𝐶
𝑌 𝑠 = = + 2
𝑠(𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 ) 𝑠 𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2
2 2

𝑒 −𝜁𝜔𝑛 𝑡
𝑦 𝑡 =1− sin( 𝜔𝑑 𝑡 + ∅)
1− 𝜁2
where:
• 𝜔𝑑 = 𝜔𝑛 (1 − 𝜁 2 ) rad/sec is called damped frequency
• ∅ = 𝐶𝑜𝑠 −1 (𝜁)
• The system is referred to as underdamped system
0.9

0.1

𝒕𝒓

Transient Response Specifications of a Second-order System: underdamped case


Transient response specification of the second order system: underdamped case

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

• Rise time, 𝑡𝑟

• Peak time, 𝑡𝑝

• Maximum overshoot, 𝑀𝑃

• Settling time, 𝑡𝑠
(1) Rise time (𝒕𝒓 ):

➢ It is defined as the time required for the response to reach from 10% to 90% of the final
value for the first time.

𝜋−∅
𝑡𝑟 = sec
𝜔𝑑

where:

• 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2

• ∅ = 𝑐𝑜𝑠 −1 (𝜁)
(2) Peak time (𝒕𝑷 ):

➢ It is defined as the time required for the response to reach the first peak of the
overshoot.

𝜋
𝑡𝑃 = sec
𝜔𝑑

where:

• 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2
(3) Maximum Peak or Maximum overshoot (𝑴𝑷 ):

➢ It is defined as the maximum peak value of the response curve measured from the unity
input.

𝑀𝑝 = y 𝑡𝑝 − 1

−𝜁𝜋
𝑀𝑃 = 𝑒 1−𝜁 2
(4) Settling time (𝒕𝒔 ):

➢ It is defined as 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%).

Case of 2% tolerance 4
𝑡𝑠 = sec
𝜁𝜔𝑛

Case of 5% tolerance 3
𝑡𝑠 = sec
𝜁𝜔𝑛
Example 1:

➢ Consider the following feedback system:

𝑌(𝑠)
𝑅(𝑠) + 2
− 𝑠2

𝑠+1

Find 𝑡𝑟 , 𝑡𝑝 , 𝑀𝑃 and 𝑡𝑠 (2% tolerance of error)

Solution:
𝑌 𝑠 2
𝑇. 𝐹 = = 2
𝑅 𝑠 𝑠 + 2𝑠 + 2
𝑌 𝑠 2 𝜔𝑛 2
𝑇. 𝐹 = = 2 =
𝑅 𝑠 𝑠 + 2𝑠 + 2 𝑠 2 + 2ζ𝜔𝑛 𝑆 + 𝜔𝑛 2

𝜋−∅ 3.14−0.785
𝑡𝑟 = = = 2.356 𝑠𝑒𝑐
• 𝜔𝑛2 = 2 ⇒ 𝜔𝑛= 2 𝑟𝑎𝑑/𝑠𝑒𝑐 𝜔𝑑 1

1 𝜋 𝜋
• 2 𝜁 𝜔𝑛 = 2 ⇒ 2𝜁 2 = 2 ⇒ 𝜁 = = 0.707 𝑡𝑃 = = = 3.14 𝑠𝑒𝑐
2 𝜔𝑑 1

• 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 = 2 1 − 0.5 = 1 𝑟𝑎𝑑/𝑠𝑒𝑐
4 4
𝑡𝑠 = = = 4 𝑠𝑒𝑐
• ∅ = 𝑐𝑜𝑠 −1 𝜁 = 45° = 0.785 𝑟𝑎𝑑 𝜁𝜔𝑛 1
( 2)
2
−𝜁𝜋
𝑀𝑃 = 𝑒 1−𝜁 2 = 0.0432
Example 2:

➢ Consider the following feedback system:

𝑅(𝑠) + 𝑌(𝑠)
𝐴
− 𝑠2

1 + 𝐵𝑠

Find the values of A and B that make the system response achieves a peak time (𝑡𝑃 ) value of 5

sec with 50 % maximum overshoot (𝑀𝑃 ).


Given
Solution:
𝜋
𝑌(𝑠) • 𝑡𝑃 = 5 sec ⇒ =5
𝑅(𝑠) + 𝜔𝑑
𝐴
𝑠2 ∴ 𝜔𝑑 = 0.628 𝑟𝑎𝑑/𝑠𝑒𝑐

• 𝑀𝑃 = 50% = 0.5
1 + 𝐵𝑠 −𝜁𝜋
⇒ 𝑀𝑃 = 𝑒 1−𝜁 2 = 0.5

𝑌 𝑠 𝐴 𝜔𝑛 2
𝑇. 𝐹 = = 2 = 2 −𝜁𝜋
𝑅 𝑠 𝑠 + 𝐴𝐵 𝑠 + 𝐴 𝑠 + 2ζ𝜔𝑛 𝑆 + 𝜔𝑛 2 ⇒ = ln( 0.5) = −0.693
1 − 𝜁2
• 𝜔𝑛2 = 𝐴
−𝜁𝜋
• 2 𝜁 𝜔𝑛 = 𝐴 𝐵 ⇒ = −0.693
1− 𝜁2
∴ 𝜁 = 0.215
𝐴𝑠 𝜔𝑑 = 0.628 𝑟𝑎𝑑/𝑠𝑒𝑐

⇒ 𝜔𝑛 1 − 𝜁 2 = 0.628
we has been getting 𝜁 = 0.215
⇒ 𝜔𝑛 = 0.643𝑟𝑎𝑑/𝑠𝑒𝑐

• 𝜔𝑛2 = 𝐴 ⇒ 𝐴 = 0.4136

• 2 𝜁 𝜔𝑛 = 𝐴 𝐵

⇒ 2 (0.215) (0.643) = (0.4136) 𝐵

⇒ 𝐵 = 0.668
Steady-state Error

➢ Steady-state error (𝒆𝒔𝒔 ) is defined as the difference between the desired input value and the

actual value of a system output in the limit as time goes to infinity (i.e., when the response of

the control system has reached steady-state). This means that it represents the system error 𝑒(𝑡)

at infinity.

𝑒𝑠𝑠 = 𝑒 ∞ = 𝑙𝑖𝑚 𝑒(𝑡) = 𝑙𝑖𝑚 𝑠 𝐸(𝑠)


𝑡→∞ 𝑠→0
How to Obtain the Steady-state Error
Consider the following feedback control system:
• 𝑌 𝑠 = 𝐺 𝑠 𝐸(𝑠)
𝑬(𝒔)
• 𝐸 𝑠 =𝑅 𝑠 −𝐻 𝑠 𝑌 𝑠

= 𝑅 𝑠 − 𝐻 𝑠 𝐺 𝑠 𝐸(𝑠)

⇒ 1+𝐻 𝑠 𝐺 𝑠 𝐸 𝑠 =𝑅 𝑠

𝑅(𝑠)
∴ 𝐸 𝑠 =
1+𝐺 𝑠 𝐻(𝑠)

Thus, we can obtain ( 𝑒𝑠𝑠 ) as follow


𝑅(𝑠)
𝑒𝑠𝑠 = lim 𝑠 𝐸(𝑠) = lim 𝑠
𝑠→0 𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠)
Input Effect on the Steady-state Error (Error Coefficients)

𝑅(𝑠)
𝑒𝑠𝑠 = lim 𝑠
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠)

Case(1): Unit-step Input


1
• 𝑟 𝑡 =𝑢 𝑡 ⇒𝑅 𝑠 =
𝑠

𝑅 𝑠 𝑠 1
∴ 𝑒𝑠𝑠 = lim 𝑠 = lim =
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠) 𝑠→0 𝑠(1 + 𝐺 𝑠 𝐻 𝑠 ) 1 + lim 𝐺 𝑠 𝐻 𝑠
𝑠→0

• Let 𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 (it is known as Positional Error Coefficient)


𝑠→0

1
∴ 𝑒𝑠𝑠 =
1 + 𝐾𝑝
Input Effect on the Steady-state Error (Error Coefficients)

Case(2): Unit-ramp Input

1
• 𝑟 𝑡 =𝑡 ⇒𝑅 𝑠 =
𝑠2

𝑅 𝑠 𝑠 1
∴ 𝑒𝑠𝑠 = lim 𝑠 = lim 2 = lim
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠) 𝑠→0 𝑠 (1 + 𝐺 𝑠 𝐻 𝑠 ) 𝑠→0 𝑠 + 𝑠 𝐺 𝑠 𝐻 𝑠

1 1
= =
0 + lim 𝑠 𝐺 𝑠 𝐻 𝑠 lim 𝑠 𝐺 𝑠 𝐻 𝑠
𝑠→0 𝑠→0

• Let 𝐾𝑣 = lim 𝑠 𝐺 𝑠 𝐻 𝑠 (it is known as Velocity Error Coefficient)


𝑠→0

1
∴ 𝑒𝑠𝑠 =
𝐾𝑣
Input Effect on the Steady-state Error (Error Coefficients)

Case(3): Unit-parabolic Input

𝑡2 1
• 𝑟 𝑡 = ⇒𝑅 𝑠 =
2 𝑠3

𝑅 𝑠 𝑠 1
∴ 𝑒𝑠𝑠 = lim 𝑠 = lim 3 = lim 2
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠) 𝑠→0 𝑠 (1 + 𝐺 𝑠 𝐻 𝑠 ) 𝑠→0 𝑠 + 𝑠 2 𝐺 𝑠 𝐻 𝑠

1 1
= 2 =
0 + lim 𝑠 𝐺 𝑠 𝐻 𝑠 lim 𝑠 2 𝐺 𝑠 𝐻 𝑠
𝑠→0 𝑠→0

• Let 𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 (it is known as acceleration Error Coefficient)


𝑠→0

1
∴ 𝑒𝑠𝑠 =
𝐾𝑎
Summary:

1
• For 𝑟 𝑡 = 𝑢 𝑡 ⇒ 𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 ⇒ 𝑒𝑠𝑠 =
𝑠→0 1+𝐾𝑝

1
• For 𝑟 𝑡 = 𝑡 ⇒ 𝐾𝑣 = lim 𝑠 𝐺 𝑠 𝐻 𝑠 ⇒ 𝑒𝑠𝑠 =
𝑠→0 𝐾𝑣

𝑡2 1
• For 𝑟 𝑡 = ⇒ 𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 ⇒ 𝑒𝑠𝑠 =
2 𝑠→0 𝐾𝑎

➢ This means that the steady state error depends on both system type and input.

➢ Remember that the system type is obtained from the open-loop transfer function. It represents the
number of open-loop poles existing at the origin (𝑠 = 0).

𝑠 + 𝑧1 𝑠 + 𝑧2 … … .
𝐺 𝑠 𝐻 𝑠 = 𝒏 , the system type = 𝑛
𝒔 𝑠 + 𝑝1 𝑠 + 𝑝2 … … .
The Steady-state Error Values according to different types of system

Input Unit-step Input Unit-ramp Input Unit-parabolic Input


𝑡2
𝑟 𝑡 =𝑢 𝑡 𝑟 𝑡 =𝑡 𝑟 𝑡 =
Type 2

1
0 ∞ ∞
1 + 𝐾𝑝
1
1 0 ∞
𝐾𝑣
1
2 0 0
𝐾𝑎
Example3:

➢ Consider the following feedback system:

𝐺(𝑠)
Find: 𝑅(𝑠) + 𝑌(𝑠)
2
− 𝑠2
• The open-loop and closed-loop transfer function.

• The system type and order 𝑠+1

𝐻(𝑠)
• The natural frequency (𝜔𝑛 ) and the damping ratio (𝜁)

• The error coefficients 𝐾𝑝 , 𝐾𝑣 and 𝐾𝑎

• The steady-state error for the input 𝑟(𝑡) = 3𝑢(𝑡) − 2 𝑡 2


Solution:

• The open-loop transfer function:

2 (𝑠+1) • Type 2 system


𝐺 𝑠 𝐻 𝑠 =
𝑠2
• 2𝑛𝑑 order system
• The closed-loop transfer function:

𝑌 𝑠 2
𝑇. 𝐹 = = 2
𝑅 𝑠 𝑠 + 2𝑠 + 2

• The natural frequency (𝜔𝑛 ) and the damping ratio (𝜁):


• 𝜔𝑛2 = 2 ⇒ 𝜔𝑛 = 2 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑌 𝑠 2 𝜔𝑛 2 • 2 𝜁 𝜔𝑛 = 2 ⇒ 2𝜁 2 = 2
𝑇. 𝐹 = = 2 = 2
𝑅 𝑠 𝑠 + 2𝑠 + 2 𝑠 + 2ζ𝜔𝑛 𝑆 + 𝜔𝑛 2
1
⇒𝜁= = 0.707
2
• The error coefficients 𝐾𝑝 , 𝐾𝑣 and 𝐾𝑎

𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 = ∞
𝑠→0
• where
𝐾𝑣 = lim 𝑠 𝐺 𝑠 𝐻 𝑠 = ∞
𝑠→0
2 (𝑠+1)
𝐺 𝑠 𝐻 𝑠 =
𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 = 2 𝑠2
𝑠→0

2 𝑡2
• The steady state error for the input 𝑟 𝑡 = 3𝑢 𝑡 − 2 𝑡 = 3𝑢 𝑡 − 4
2

1 1
𝑒𝑠𝑠 =3 −4 = −2
1 + 𝐾𝑝 𝐾𝑎
0
Example 4:

➢ Consider a feedback system has the following open−loop transfer function:

6 𝑠+4
𝐺 𝑠 𝐻 𝑠 =
𝑠+1 (𝑠+2)(𝑠+3)
Find:

• The system type and order

• The closed-loop system poles

• The error coefficients 𝐾𝑝 , 𝐾𝑣 and 𝐾𝑎

• The steady state error for the input 𝑟 𝑡 = 0.5 𝑢(𝑡)


Solution:
➢ As the open-loop transfer function:
• Type 0 system
6 𝑠+4
𝐺 𝑠 𝐻 𝑠 =
𝑠+1 (𝑠+2)(𝑠+3)
• 3𝑟𝑑 order system
• The closed-loop system poles represent the roots of the
characteristic equation (1 + 𝐺 𝑠 𝐻 𝑠 = 0).
1+𝐺 𝑠 𝐻 𝑠 =0

6 𝑠+4
⇒1+ =0
𝑠+1 𝑠+2 𝑠+3 • The system has 3 poles at
⇒ 𝑠+1 𝑠+2 𝑠+3 +6 𝑠+4 =0 𝑠1 = −3.5924
⇒ 𝑠 3 +6 𝑠 2 + 17 𝑠 + 30 = 0 𝑠2 = −1.2038 + 𝑗 2.6271

Thus, the characteristic equation is 𝑠3 = −1.2038 − 𝑗 2.6271

𝑠 3 + 6 𝑠 2 + 17 𝑠 + 30 = 0
• The error coefficients 𝐾𝑝 , 𝐾𝑣 and 𝐾𝑎

𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 = 4
𝑠→0 where
𝐾𝑣 = lim 𝑠 𝐺 𝑠 𝐻 𝑠 = 0
𝑠→0 6 𝑠+4
𝐺 𝑠 𝐻 𝑠 =
𝑠+1 (𝑠+2)(𝑠+3)
𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 = 0
𝑠→0

• The steady state error for the input 𝑟 𝑡 = 0.5 𝑢(𝑡)

1
𝑒𝑠𝑠 = 0.5 = 0.1
1 + 𝐾𝑝

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