Lecture Transient Response Analysis
Lecture Transient Response Analysis
Analysis
1
Introduction
• In time-domain analysis the response of a dynamic system to an
input is expressed as a function of time.
• Usually, the input signals to control systems are not known fully
ahead of time.
System
Step Input
5
• The response of the
Response
Amplitude
state response. 2
Transient Response
1
0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
Time Response of Control Systems
• Transient response depend upon the system poles only and not
on the type of input.
A
A t0
(t )
0 t0
0 t
characteristic of actual
A
input signal.
A t0 t
u( t ) 0
0 t0
At t0 r(t)
r (t )
0 t0
ramp signal with slope A
r(t)
– If A=1, the ramp signal is
called unit ramp signal unit ramp signal
Standard Test Signals
p(t)
• Parabolic signal
– The parabolic signal
imitate the constant
acceleration characteristic
of actual input signal. 0 t
At 2 p(t)
t0
p( t ) 2
0 t0
parabolic signal with slope A
p(t)
– If A=1, the parabolic signal
is called unit parabolic
signal. Unit parabolic signal
Relation between standard Test Signals
A t0
• Impulse (t )
0 t0
d
dt
A t0
• Step u( t )
t0 d
0
dt
At t0
• Ramp r (t )
0 t0 d
dt
At 2
• Parabolic
p( t ) 2
t0
0 t0
Laplace Transform of Test Signals
• Impulse
A t0
(t )
0 t0
L{ (t )} ( s ) A
• Step
A t0
u( t )
0 t0
A
L{u(t )} U ( s )
S
Laplace Transform of Test Signals
• Ramp At t0
r (t )
0 t0
A
L{r (t )} R( s )
s2
• Parabolic At 2
t0
p( t ) 2
0 t0
2A
L{ p(t )} P( s )
S3
First Oder System
• The first order system has only one pole.
C( s ) K
R( s ) Ts 1
• Where K is the D.C gain and T is the time constant of
the system.
3 3/ 5
G( s )
s 5 1 / 5s 1
1 K
R(s ) C (s )
Ts 1
t
0
R( s ) ( s ) 1
K
C( s )
Ts 1
Impulse Response of 1st Order System
K
C( s )
Ts 1
• Re-arrange above equation as
K /T
C( s )
s 1/ T
1
c(t)
0.5
0
0 2 4 6 8 10
Time
Step Response of 1 Order System st
1
R( s ) U ( s )
s
K
C( s )
s Ts 1
• In order to find out the inverse Laplace of the above equation, we
need to break it into partial fraction expansion
Forced Response Natural Response
K KT
C( s )
s Ts 1
Step Response of 1 Order System st
1 T
C( s ) K
s Ts 1
• Taking Inverse Laplace of above equation
c(t ) K u(t ) e t / T
• Where u(t)=1
c(t ) K 1 e t / T
• When t=T
c(t ) K 1 e 1 0. 632K
Step Response of 1st Order System
• If K=10 and T=1.5s then
c(t ) K 1 e t / T
K*(1-exp(-t/T))
11
10
9 Step Response
8
steady state output 10
7 D.C Gain K
63% Input 1
6
c(t)
2
Unit Step Input
1
0
0 1 2 3 4 5 6 7 8 9 10
Time
Step Response of 1st Order System
• If K=10 and T=1, 3, 5, 7
c(t ) K 1 e t / T
K*(1-exp(-t/T))
11
10
T=1s
9
8 T=3s
7
T=5s
6
c(t)
5 T=7s
4
3
2
1
0
0 5 10 15
Time
Step Response of 1 order System
st
10
K=10
9
6
K=5
c(t)
4
K=3
3
2
K=1
1
0
0 5 10 15
Time
Relation Between Step and impulse
response
• The step response of the first order system is
c(t ) K 1 e t / T K Ke t / T
dc(t ) d
dt
dt
K Ke t / T
dc(t ) K t / T
e
dt T
Example 1
• Impulse response of a 1st order system is given below.
c(t ) 3e 0.5t
• Find out
– Time constant T
– D.C Gain K
– Transfer Function
– Step Response
Example 1
• The Laplace Transform of Impulse response of a
system is actually the transfer function of the system.
• Therefore taking Laplace Transform of the impulse
response given by following equation.
c(t ) 3e 0.5t
3 3
C( s ) 1 (s)
S 0. 5 S 0. 5
C( s ) C( s ) 3
( s ) R( s ) S 0. 5
C( s ) 6
R( s ) 2S 1
Example#1
• Impulse response of a 1st order system is given below.
c(t ) 3e 0.5t
• Find out
– Time constant T=2
– D.C Gain K=6
– Transfer Function C ( s ) 6
– Step Response R( s ) 2S 1
– Also Draw the Step response on your notebook
Example#1
• For step response integrate impulse response
c(t ) 3e 0.5t
0.5t
c( t )dt 3 e dt
c s (t ) 6e 0.5t C
0 6e 0.50 C
C6
c s (t ) 6 6e 0.5t
Ramp Response of 1 Order System st
K
R(s ) C (s )
Ts 1
1
R( s )
s2
K
C( s )
s 2 Ts 1
• The ramp response is given as
c(t ) K t T Te t / T
Example#1
• If initial Conditions are not known then partial fraction
expansion is a better choice
C( s ) 6
R( s ) 2S 1
1
since R( s ) is a step input , R( s )
s
6
C( s )
s 2 S 1
6 A B
s 2 S 1 s 2 s 1
6 6 6
s 2 S 1 s s 0. 5
c(t ) 6 6e 0.5t
Ramp Response of 1 Order System st
10
Unit Ramp
Ramp Response
8
6
c(t)
4
error
2
0
0 5 10 15
Time
Ramp Response of 1 Order System st
10 Unit Ramp
Ramp Response
8
6
c(t)
2 error
0
0 5 10 15
Time
Parabolic Response of 1st Order System
• Consider the following 1st order system
K
R(s ) C (s )
Ts 1
1 K
R( s ) Therefore, C( s )
s 3
s 3 Ts 1
• Do it yourself
Second Order Systems
• A general second-order system is characterized by the
following transfer function.
C( s ) n2
2
R( s ) s 2 n s n2
C( s ) 4
2
R( s ) s 2s 4
n2 4 n 2 rad / sec
2 n s 2 s
n 1
s 2 2 n s n2 s 2 2s 4
0. 5 35
Time-Domain Specification
For 0< <1 and ωn > 0, the 2nd order system’s response due to a
unit step input looks like
36
Time-Domain Specification
• The delay (td) time is the time required for the response to
reach half the final value the very first time.
37
Time-Domain Specification
• The rise time is the time required for the response to rise from 10%
to 90%, 5% to 95%, or 0% to 100% of its final value.
• For underdamped second order systems, the 0% to 100% rise time is
normally used. For overdamped systems, the 10% to 90% rise time is
commonly used.
Time-Domain Specification
• The peak time is the time required for the response to reach
the first peak of the overshoot.
39
39
Time-Domain Specification
The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steady-state
value of the response differs from unity, then it is common to
use the maximum percent overshoot. It is defined by
40
Time-Domain Specification
• The settling time is 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%).
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END OF LECTURE