Control of production processes

(TP 08 )

TRANSIENT RESPONSE

Dr. Samar Akef

American University in
Cairo School of Science
and Engineering
Transient Response:
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
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.
Effect of Pole & Zero on the System Response:
Consider the first-order system that has one real zero at -2 and one real pole at -5, as
shown below, therefore the open-loop T.F. is:
𝐶(𝑠) 𝑆 + 2
=
𝑅(𝑠) 𝑆 + 5
Considering a step input, i.e. R(s) = 1/S;

The first part of c(t) is called the forced response (it is independent on time), but the
second term is called natural response (it is dependent on time)
Another example: Consider the third-order system with open-loop T.F. is:
𝐶(𝑠) 𝑆+3
=
𝑅(𝑠) (𝑆 + 2)(𝑆 + 4)(𝑆 + 5)

2 Dr. Samar Akef

The time response of a control system consists of two parts as shown in Fig. 1;
a) Natural (Transient) response, b) Forced (Steady-state) response.

Fig. 1, Time response

Transient response, we mean that system goes from the initial state to the final state.
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

𝐶(𝑡) = 𝐶𝑡𝑟(𝑡) + 𝐶𝑠𝑠(𝑡)

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.

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

3 Dr. Samar Akef

 Fig. 2, Block diagram and its simplification
The input-output relationship is given by
𝐶(𝑠) 1
=
𝑅(𝑠) 𝑇𝑆 + 1
For a unit step input whose Laplace transform is 1/S, the output C(S) is given by
1 1
𝐶(𝑠) = ×
𝑇𝑆 + 1 𝑆
Using partial fraction,
1 𝑇 1 1
𝐶(𝑠) = − = −
𝑆 𝑇𝑆 + 1 𝑆 𝑆 + 1/𝑇
Taking the inverse Laplace transform
−𝑡
𝑐(𝑡) = 1 − 𝑒 𝜏 𝑓𝑜𝑟 𝑡 ≥ 0, (𝜏 𝑖𝑠 𝑡ℎ𝑒 𝑡𝑖𝑚𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 𝑇)
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

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,
𝑐(𝑇) = 1 − 𝑒−1 = 0.632 = 63.2%
4 Dr. Samar Akef
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.
2.1.1 Testing First Order Systems

Fig.4, Step response of a first order system

Consider the step response of a first order system shown in Fig. 4 (left) above, the
time constant, rise time and settling time are indicated.
By the same way, can you calculate these 3 parameters if the step response is as
shown in Fig. 4 (right)?
The T.F. of the first order system is
𝐶(𝑠) 𝐾 𝐾/𝑇
= =
𝑅(𝑠) 1 + 𝑇𝑆 𝑆 + 1/𝑇
The final value of this system is 0.72, therefore, 63.2% of this value is
0.632×0.72=0.455, the time corresponding this value is the time constant T=0.13 s.
Since the final value is 0.72 = K → K/T = 0.72÷0.13 = 5.6154

5 Dr. Samar Akef

 𝐶(𝑠) 5.6154
=
𝑅(𝑠) 𝑆 + 7.69231
The settling time is after 4T, therefore, Ts = 4×0.13=0.52 s.

2.2 Second-Order Systems

Consider the 2nd order control system shown in Fig. 5, whose T.F. is given as:
𝐶(𝑠) 𝜔𝑛2
=
𝑅(𝑠) 𝑆 2 + 2𝜁𝜔𝑛 𝑆 + 𝜔𝑛 2
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. 5. Standard form of Second-order control system

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

𝜔𝑛2 1
𝐶(𝑠) = 2 ×
𝑆 + 2𝜁𝜔𝑛 𝑆 + 𝜔𝑛 2 𝑆
Using partial fraction, Taking inverse Laplace for the output C(s),

The frequency ωd, is called the damped natural frequency.

𝜔𝑑 = 𝜔𝑛 √1 − 𝜁2
Rewrite the response c(t):

Since ζ=cos(β), therefore sin(𝛽) = √1 − 𝜁2

6 Dr. Samar Akef

Where β (in radians) is defined by Fig. 6.

Fig. 6. Definition of angle β

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. 7.

Fig. 7. Transient response of 2nd order system at different ζ.

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

𝑆2 + 2𝜁𝜔𝑛𝑆 + 𝜔𝑛2 = 0
Complete square of the above equation we get;
2
(𝑆 + 𝜁𝜔𝑛 )2 + (𝜔𝑛 √1 − 𝜁2) =0

7 Dr. Samar Akef

The damping ratio (ζ) is represented by radial line passing through the origin as
shown in Fig. 8. For example, a damping ratio of 0.5 requires that the complex-
conjugate poles lie on the lines drawn through the origin making angles of ±60° with
the negative real axis. (If the real part of a pair of complex-conjugate poles is
positive, which means that the system is unstable, the corresponding ζ is negative.)
The damping ratio determines the angular location of the poles, while the distance of
the pole from the origin is determined by the undamped natural frequency ωn. The
constant ωn loci are circles.

Fig. 8, radial lines represent the damping ratio

As the parameters ζ changes, the location of the system poles S1 and S2 are changed.
Therefore, the dynamic behavior of the second-order system is also changed. 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. 9.

8 Dr. Samar Akef

 Fig. 9. Closed loop poles and transient response

To summarize our observations. The natural response has four different shapes:
1) Undamped Response: poles are pure imaginary at jn, Natural response:
Undamped sinusoid with radian frequency equal to the imaginary part of the poles,
𝐶(𝑡) = 𝐴𝑐𝑜𝑠(𝜔𝑛𝑡 − 𝜑)
2) Underdamped Response: poles are complex at d  jd, Natural response: Damped
sinusoid with an exponential envelope whose time constant is equal to the reciprocal
of the pole’s real part. The radian frequency of the sinusoid, the damped frequency of
oscillation, is equal to the imaginary part of the poles,
𝐶(𝑡) = 𝐴 𝑒−𝜎𝑑𝑡 𝑐𝑜𝑠(𝜔𝑑𝑡 − 𝜑)
3) Critically-damped Response: poles are pure real and equal at −1, Natural
response: One term is an exponential whose time constant is equal to the reciprocal of

9 Dr. Samar Akef

the pole location. Another term is the product of time, t, and an exponential with time
constant equal to the reciprocal of the pole location,
𝐶(𝑡) = 𝐴1 𝑒−𝜎1𝑡 + 𝐴2𝑡 𝑒−𝜎1𝑡
4) Overdamped Response: poles are pure real and not equal at −1, and −2 Natural
response: Two exponentials with time constants equal to the reciprocal of the pole
locations,
𝐶(𝑡) = 𝐴1 𝑒−𝜎1𝑡 + 𝐴2 𝑒−𝜎2𝑡
To become familiar with the four responses of second order system, we take a look at
numerical examples shown in Fig. 10.

Fig. 10, second-order response at different pole location

10 Dr. Samar Akef

 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:
1. Delay Time Td
2. Rise Time Tr
3. Peak Time Tp
4. Maximum Overshoot Mp%
5. Settling Time Ts

These specifications are shown graphically in Fig. 11.

Fig. 11 Transient response specifications

1. Delay Time: The delay time td is the time needed for the response to reach half
(50%) of its final value. We obtain the delay time td by letting c(td) = 0.5
Delay time can be calculated from this formula;
1 + 0.7𝜁
𝑇𝑑 =
𝜔𝑛

2. 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

11 Dr. Samar Akef

 𝜁
𝑐(𝑡𝑟 ) = 1 = 1 − 𝑒 −𝜁𝜔 𝑛 𝑡 𝑟 (cos(𝜔 𝑑𝑡 𝑟 ) + sin(𝜔𝑑 𝑡𝑟 ))
√1 − 𝜁2
Since 𝑒−𝜁 𝜔 𝑛 𝑡 𝑟 ≠ 0, therefore
𝜁
cos(𝜔𝑑𝑡𝑟) + sin(𝜔𝑑𝑡𝑟) = 0
√1 − 𝜁2

√1 − 𝜁2
tan(𝜔𝑑𝑡𝑟) = −
𝜁
1 −1
√1 − 𝜁2 𝜋−𝛽
𝑇𝑟 = 𝑡𝑎𝑛 (− ) =
𝜔𝑑 𝜁 𝜔𝑑

The effect of damping ratio on rise time is shown in Fig. 12.

Fig. 12, Rise time versus damping ratio

3. 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.
𝑑𝑐(𝑡) 𝜁 𝜁𝜔𝑑
= 𝜁𝜔𝑛 𝑒 −𝜁𝜔 𝑛 𝑡 (cos(𝜔 𝑑 𝑡) + sin(𝜔𝑑 𝑡)) + 𝑒 −𝜁𝜔 𝑛 𝑡 (𝜔 𝑑 sin(𝜔 𝑑𝑡) − cos(𝜔𝑑 𝑡))
𝑑𝑡 √1 − 𝜁2 √1 − 𝜁2
The cosine terms in the above equation cancel each other. Therefore, dc(t)/dt,
evaluated at t = tp, can be simplified to
𝑑𝑐 𝜔𝑛
| = sin(𝜔 𝑑𝑡 𝑝 𝑒 −𝜁𝜔 𝑛 𝑡 𝑝 = 0
𝑑𝑡 𝑡=𝑡 𝑝 √1 − 𝜁2
)
Sin (d tp) = 0, This means d tp = 0, , 2, 3, …
12 Dr. Samar Akef
 𝑛𝜋
𝑇𝑝 =
𝜔𝑛 √1 − 𝜁2
Each value of n yields the time for local maxima or minima. The first peak occurs at
peak time (n=1) corresponds to the first peak overshoot, 𝜔𝑑 𝑡𝑝 = 𝜋
𝜋
𝑇𝑝 =
𝜔𝑑
4. 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:

𝐶(𝑡 𝑝 ) − 𝐶(∞)
𝑀𝑎𝑥. %𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 (𝑀𝑝) = × 100%
𝐶(∞)
The maximum overshoot occurs at the peak time. Therefore
𝜋
−𝜁𝜔𝑛 𝜁
𝑀𝑝 = 𝐶(𝑡𝑝) − 1 = −𝑒 𝜔𝑑 (cos(𝜋) + sin(𝜋))
√1 − 𝜁2
𝜋𝜁
−
𝑀𝑝 = 𝑒 √1− 𝜁 2

The effect of damping ratio on the maximum overshoot is shown in Fig. 13.

Fig. 13, Percent overshoot versus damping ratio

5. Settling Time: The settling time ts is the time required for the response curve to
reach and stay within ± 2% or ± 5% of the final value. The settling time is the largest
time constant of the system.

13 Dr. Samar Akef

 The settling time corresponding to ± 2% or ± 5% tolerance band may be measured in
terms of the time constant {T = l/ (ζ ωn)}
Based on 2% criteria, it is found that Ts = 4T
4
𝑇𝑠 = (±2% 𝐶𝑟𝑖𝑡𝑒𝑟𝑖𝑜𝑛)
𝜁 𝜔𝑛
Based on 5% criteria, it is found that Ts = 3T
3
𝑇𝑠 = (±5% 𝐶𝑟𝑖𝑡𝑒𝑟𝑖𝑜𝑛)
𝜁 𝜔𝑛
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.

Effect of moving dominant poles on the response:

1) If the dominant poles are moved vertically with constant real part (Fig. 14)

Fig. 14, Moving poles vertically

2) If the dominant poles are moved horizontally with constant imaginary part as
shown in Fig. 15.

Fig. 15, Moving poles Horizontally

14 Dr. Samar Akef
3) If the dominant poles are moved diagonally with constant angle () (Fig. 16).

Fig. 16, Moving poles diagonally

4) If the dominant poles are moved on a half circle (ωn is constant) see Fig. 17.

Fig. 17, Moving poles on half a circle

The Matlab code and its run for the last case 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?

15 Dr. Samar Akef

"tf" Specifies a SISO transfer function for model h(s) = n(s)/d(s) where n(s) and d(s)
represent the numerator and denominator polynomials, respectively.

>> 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(2𝑆 + 1)
𝑡. 𝑓. =
4𝑆2 + 𝑆 + 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.
Feedback PID controller – How does it work?

16 Dr. Samar Akef

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

17 Dr. Samar Akef

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 above;

Neglecting initial values and using Laplace,

18 Dr. Samar Akef

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

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

19 Dr. Samar Akef

Comments on the above figure:
By increasing kp, rise time is improved (Tr=0.1) and steady-state error is improved
(Ess=0.038) but the system overshoot is deteriorated (Mp~1.1). Settling time (Ts=1.2)
Second trial to solve the system problems raised from using Kp only is by using

𝑈(𝑠) 𝐾𝑝𝑆 + 𝐾𝑖
=
𝐸(𝑠) 𝑆

20 Dr. Samar Akef

Comments on the above figure:
It is important to note that: Eliminated steady-state error, decreased over-shoot But
rise and settling times (Tr & Ts) are deteriorated
Third Trial to solve the system problems is by using Proportional-Derivative
Controller;

21 Dr. Samar Akef

Comments on the above figure:
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)
Fourth Trial to solve the system problems is by using Proportional-Integral-
Derivative (PID) Controller;

22 Dr. Samar Akef

Comments on the above figure:
It is important to note that: Eliminated steady-state error, decreased over-shoot Also
rise and settling times (Tr & Ts) are improved
Example #1
Consider the system shown below, 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 ts when the
system is subjected to a unit-step input.

23 Dr. Samar Akef

Example #2
Consider the control system whose closed loop poles are given below.

Find

24 Dr. Samar Akef

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

The rise time is given by

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

25 Dr. Samar Akef

Example #4
For the system shown below, 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.

The simplified block diagram of the system is:

The overall T.F. is given by:

By comparing, we find that

26 Dr. Samar Akef

Since Mp = 0.2;

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.

27 Dr. Samar Akef

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

From the time response curve we can obtain that:

Mp = 0.254 ζ = 0.4

28 Dr. Samar Akef

Example #6
Given the system shown below, find inertia (J) and friction (B) to yield 20%
overshoot and a settling time (based on 2% criterion) of 2 seconds for a unit step
input of torque T(t).

The DE represent that system is

𝑇(𝑠) = 𝜃(𝑠){𝐽𝑆2 + 𝐵𝑆 + 𝐾}
𝜃(𝑠) = 1
𝑇(𝑠) 𝐽𝑆2 + 𝐵𝑆 + 𝐾
The system characteristic eqn. is given by
𝐽𝑆2 + 𝐵𝑆 + 𝐾 = 0
𝐵 𝐾
𝑆2 + 𝑆 + = 0
𝐽 𝐽
The standard form of 2nd order system is
𝑆2 + 2𝜁𝜔𝑛𝑆 + 𝜔2𝑛 = 0
By comparing coefficients:

𝐾
𝜔𝑛 = √ (1)
𝐽
𝐵
2𝜁𝜔𝑛 = (2)
𝐽
But it is given that Ts = 2 for 2% criterion,
4
𝑇𝑠 = 2 = → 𝜁𝜔𝑛 = 2
𝜁𝜔 𝑛
From (2), B/J = 4
It is given that Mp = 0.2 →  = 0.456
From (1),  = 2J/K

29 Dr. Samar Akef

 𝐽 0.456 0.456 2
√ = →𝐽=( ) × 𝐾 = 0.26 𝑘𝑔. 𝑚2
𝐾 2 2
𝐵
= 4 → 𝐵 = 𝐽 × 4 = 1.04 𝑁. 𝑚. 𝑠/𝑟𝑎𝑑
𝐽

Example #7
The T.F. of a closed-loop, unity feedback control system is

C(S) K
=
R(S) S2 + 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) ωn2
= 2 2
R(S) S + 2ξω Sn + ω n
By Comparing,
n = K
 = 1 / K
Β = cos-1 (1 / K)
d = n 1- 2 = √K(1-1/k) = √(K-1)
Based on 2% criteria, it is found that Ts = 4T,
At K = 10
n = 10 = 3.1623
 = 1 / 10 = 0.31623
Β = cos-1 (1 / 10) = 71.56505 ̊ = 1.24904577 rad
d = K-1 = 3.0
𝜋− 𝛽 𝜋 − 1.24904577
Rise Time (Tr) = = = 0.63085 𝑠𝑒𝑐
𝜔𝑑 3
𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑀𝑝 = 𝑒−𝜋𝜉/√1−𝜉2 = 0.35085 = 35.085%
4 = 4 =4
𝑇𝑠 =
𝜉 𝜔𝑛 0.31623 × 3.1623
At K = 36
n = 36 = 6
 = 1 / 6 = 0.16667

30 Dr. Samar Akef

Β = cos-1 (1 / 6) = 80.40593177 ̊ = 1.4334825 rad
d = 35 = 5.9160798

𝜋−𝛽 𝜋−
Rise Time (Tr) = 1.4334825
= = 0.2938 𝑠𝑒𝑐
𝜔𝑑 √35

𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑀𝑝 = 𝑒−𝜋𝜉/√1−𝜉2 = 0.588 = 58.8%

4 = 4 = 4 𝑠𝑒𝑐
𝑇𝑠
𝜉 𝜔𝑛 0.16667 × 6
=
At K = 100
n = 100 = 10
 = 1 / 10 = 0.1
Β = cos-1 (0.1) = 84.261 ̊ = 1.47063 rad
d = 99 = 9.94987

𝜋− 𝛽 𝜋−
Rise Time (Tr) = = 1.47063 = 0.167938 𝑠𝑒𝑐
𝜔𝑑 √99

𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑀𝑝 = 𝑒−𝜋𝜉/√1−𝜉2 = 0.72925 = 72.925%

4 = 4 = 4 𝑠𝑒𝑐
𝑇𝑠 =
𝜉 𝜔𝑛 0.1 × 10
Rise Time Maximum Overshoot Settling Time
10 0.63085 𝑠𝑒𝑐 35.085% 4 𝑠𝑒𝑐
36 0.2938 𝑠𝑒𝑐 58.8% 4 𝑠𝑒𝑐
100 0.167938 𝑠𝑒𝑐 72.925% 4 𝑠𝑒𝑐
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 #8
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?

31 Dr. Samar Akef

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 + + 20𝑇𝑑𝑆
𝑇𝑖𝑆 𝑆2 + 8𝑆 + 80

H(S) = 1,

80 (1 + 1 + 𝑇𝑑 𝑆)
𝑇𝑖𝑆
𝐺(𝑆) =
𝑆2 + 8𝑆 + 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 𝑆)
𝐺(𝑆) =
𝑆2 + 8𝑆 + 80
80
𝐾𝑝 = lim 𝐺(𝑆) = =1
𝑆→0 80
1 = 1 = 0.5
𝐸𝑠𝑠 =
1 + 𝐾𝑝 1+1
b) Ti =2.0 and Td = 3.5

80 (1 + 1 + 3.5 𝑆)
𝐺(𝑆) = 2𝑆
2
𝑆 + 8𝑆 + 80
∞
𝐾𝑝 = lim 𝐺(𝑆) = =∞
𝑆→0 80
1 = 1 =0
𝐸𝑠𝑠 =
1 + 𝐾𝑝 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
32 Dr. Samar Akef
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
_ 2
𝑆 + 8𝑆 + 80

𝐶(𝑆) 80
=
𝑅(𝑆) 𝑆2 + 8𝑆 + 160
The system characteristic equation is
𝑆2 + 8𝑆 + 160 = 0
The standard form of second order system characteristic equation is
𝑆2 + 2𝜁𝜔𝑛 𝑆 + 𝜔𝑛2 = 0
By comparing the coefficients
ωn = √160 = 12.649 rad/sec
2ξ ωn = 8 → ξ = 0.3162
𝜋𝜁
−
√1− 𝜁 2
Maximum overshoot = 𝑀𝑝 = 𝑒 = 0.35096 = 35.096 %
β = cos-1 0.3162 = 71.5667 = 1.2491 rad
Rise Time Tr
𝜋−𝛽 𝜋 − 1.2491
𝑇𝑟 = = = 0.1577 𝑠𝑒𝑐.
𝜔𝑑 12.649√1 − 0.31622
Peak Time Tp
𝜋 𝜋
𝑇𝑝 = = = 0.2618 𝑠𝑒𝑐.
𝜔𝑑 12.649√1 − 0.31622
Settling Time Ts
3 3
𝑇𝑠 = = 0.75 𝑠𝑒𝑐. (𝐵𝑎𝑠𝑒𝑑 𝑜𝑛 ± 5% 𝑡𝑜𝑙𝑒𝑟𝑎𝑛𝑐𝑒)
𝜁 𝜔𝑛 0.3162 × 12.649
=
4 4
𝑇𝑠 = = 1.0 𝑠𝑒𝑐. (𝐵𝑎𝑠𝑒𝑑 𝑜𝑛 ± 2% 𝑡𝑜𝑙𝑒𝑟𝑎𝑛𝑐𝑒)
𝜁 𝜔𝑛 0.3162 × 12.649
=

33 Dr. Samar Akef