EC 221:

CLASSICAL CONTROL
SYSTEMS ENGINEERING
Instructor: Mr. Mwalongo M, R
Assistant Lecturer
Office No. AB 12 (Admin Block)
E-mail: [email protected]
 LECTURE (5)

Transient Response
 Motivation

 How to know the performance of a control system for

any input signal?

 How to design a control system which meets the

desired response and control requirements?

Time domain analysis and design specifications

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 Motivation
 Once appropriate mathematical models of a system
have been obtained, either in state-space or transfer
function form, we may then analyze these models to
predict how the system will respond in both the time
and frequency domains.

 To put this in context, control systems are often

designed to improve stability, speed of response,
steady-state error, or prevent oscillations.
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 Time Domain Analysis

 Time domain analysis refers to the analysis of system

performance in time.

 The study of evolution of system variables (specifically

output) with time
• How long the system will take to reach a certain value e.g.
speed of the car.

 There are two common ways of analyzing the response of

systems:
1.Natural and Forced response
2.Transient and Steady state response

 In both cases, the complete response of the system is given by

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the combination of both responses.
 Natural and Forced Responses

 Natural response (Zero- input response).

 The system’s response to initial conditions with all

forces set to zero.

 For example in RLC circuit, this would be the

response of the circuit to initial condition( inductor

current or capacitor voltage) with all the

independent voltage and current sources set to

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zero.
 Natural and Forced Responses

 Forced response (Zero state response)

 System’s response to external forces with zero

initial conditions.

 For example in RLC circuit, this would be the

response of the circuit to external voltage and

current sources and zero initial conditions.

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 Transient and Steady Responses

 Transient response

 Part of time response that goes to zero as time

tends to be large.

 This part of time response can be tied to any event

that affects the equilibrium of the system viz.

switching, disturbances, change in input, etc.

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 Transient and Steady Responses

 Steady state response

 Steady state response is the time response of the

system after transient practically vanishes and as

time goes to infinity.

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 Standard Test Inputs

 In most practical systems, the input signal is not

known ahead of time and can be random in nature.

 It is only in some special cases where the input can

be known in advance and expressed analytically.

 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. 10
 Standard Test Inputs

 Control system can thus be analyzed by specifying

particular test input signals and comparing the

responses of various systems to these input

signals.

 In general, control system design specifications are also

based on the response of the system to such test signals.

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 Standard Test Inputs

 Commonly used test signals are:

• step function, (sadden change)

• ramp functions (constant velocity),

• Parabolic (constant acceleration) functions,

• impulse functions (shock)

• Sinusoidal functions

 These inputs are chosen because they capture many of the

possible variations that occur in an arbitrary input signal. 12

Standard Test Inputs

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 Standard Test Inputs

 Which of these inputs to use for analyzing system

characteristics is normally determined by the form of the

input that the system will be subjected to most frequently

during normal operation.

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Transient Response Analysis of First, Second and
Higher Order Systems.

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 First Order Systems

 Systems with only one pole are called 1st order systems.

 Standard block diagram of 1st order systems.

R(s) C(s)
+
-

 The transfer function of a first order system may be

represented as G ( s)  C ( s )  K
R ( s ) s  1 16
 First Order Systems

 The transfer function of a first order system may be

represented as

C (s) K
G ( s)  
R( s ) s  1

Where,
K: Gain
 : system Time constant
-It characterizes the speed of response of system to an input.
-The higher the time constant, the slower the response.
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 First Order Systems

Response to step input

 1  K 
C ( s)  G ( s) R( s) C ( s)    
 s  s  1 
A B
 
s s  1
B
c(t )  A  e t 


 The step response yields a clear vision of the

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system’s transient response.
 First Order Systems

Response to step input

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First-order system response to a unit step
 First Order Systems

 Transient Response performance Specifications

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 First Order Systems

Transient Response performance Specifications

 Settling time, Ts
 The time for the response to reach, and stay within 2% of
final value of the step response

 The 2% settling-time for a first-order system is 4 times the

time constant.
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 First Order Systems

 Influence of Poles on Time Response

 The output response of a system is a sum of
i. Forced response
ii. Natural response

a) System showing an input and an output 22

b) Pole-zero plot of the system
 First Order Systems

 Influence of Poles on Time Response

c) Evolution of a system response. Follow the blue arrows to see 23

the evolution of system component generated by the pole or
zero
 First Order Systems

 Influence of Poles on Time Response

Effect of a real-axis pole upon transient response

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 First Order Systems

 Problem: Find the forced and natural responses for the

following systems.

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 First Order Systems

 Problem: For a system with the transfer function

shown below, find the relevant response specifications.

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G( s) 
s  50

i. Time constant, 
ii. Settling time, ts
iii. Rise time, tr

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 Second Order Systems

 Systems with two poles are called 2nd order systems

 Example
RLC circuit:

MSD:

 General transfer function of second order system can be

written as:
 To study the response of a 2nd order system, its TF is 27

written in terms of certain system parameters.

 Second Order Systems

R(s) Y(s)
+-

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 Second Order Systems

 Natural frequency
 is the angular frequency of oscillation of the system
without damping.

 Damping ratio
 is a dimensionless measure describing how oscillations
in a system decay after a disturbance.

Exponential decay frequency


Natural frequency (rad/s)
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 Damping

 Damping is an effect created in an oscillatory system

that reduces, restricts or prevents the oscillations in
the system.

 Systems can be classified as follows based on

damping effects.

 Over damped systems:

transients in the system exponentially decay to
a steady state without any oscillations.
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 Damping

 Critically damped systems :

transients in the system decay to steady state without
oscillations in shortest possible time.

 Underdamped systems:
The system transients oscillate with the amplitude of
oscillation gradually decreasing to zero.

 Undamped systems:
Systems keeps on oscillating at its natural frequency
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without any decay.
 Damping

 Step responses for 2nd order system damping cases

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 Step response of 2nd order systems

 Depending upon the factors of the denominator we

get four categories of responses.

 If the input is the unit step, a pole at the origin will

be added which yields a constant term in the time-
domain.

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 Step response of 2nd order systems

 2nd order systems

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 Step response of 2nd order systems

400 625
a. G s   2 b. G s   2
s  12 s  400 s  625

900 225
c. G s   2 d. G s   2
s  90s  900 s  30s  225

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 Step response of 2nd order systems

 e.g. Describe the category of the following systems:

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 Underdamped 2nd order systems

 The underdamped second order system is a common

model for physical problems.

 Description of the underdamped response is

necessary for both analysis and design.

 Our first objective is to define transient specifications

associated with underdamped responses.

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 Step response of 2nd order systems

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 Underdamped Step response

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 Underdamped Step response

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 Step response of 2nd order systems

 Case 2: underdamped system

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 Step response of 2nd order systems

 Case 2: underdamped system

 Pole plot of underdamped system

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 Transient Response Specifications

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 Transient Response Specifications

 Peak time, Tp: The time required to reach the first

(maximum) or peak.


Tp  2
n 1

 Settling time, Ts: The time required for the

oscillations to die down and stay within 2% of the
final value.
4
Ts 
 n 44
 Transient Response Specifications

( / 1 2 )
%OS  e 100%

 ln(%OS / 100)
  45
  ln (%OS / 100)
2 2
 Transient Response Specifications

 Rise time, Tr: There is no analytical form for Tr. This

value can be calculated numerically and has been
formed into a table:

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Transient Response Specifications

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 End

 Reading assignment
Chapter 4, Control systems engineering, by
Norman S. Nise

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