Chapter III

Transient and Steady-State

Response Analyses

1
 3–1 INTRODUCTION
• The time response of a control system consists of
two parts: the transient response and the steady-state
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 time approaches
infinity.

2
• absolute stability—A control system is in
equilibrium if, in the absence of any disturbance or
input, the output stays in the same state.
• A linear time-invariant control system is stable if
the output eventually comes back to its equilibrium
state when the system is subjected to an initial
condition.
• A linear time-invariant control system is critically
stable if oscillations of the output continue forever.
• It is unstable if the output diverges without bound
from its equilibrium state when the system is
subjected to an initial condition (physical system to
a certain extent). 3
 3–2 FIRST-ORDER SYSTEMS

• Unit-step response of first-order systems:

Partial fractions

Inverse Laplace transform

4
 3–2 FIRST-ORDER SYSTEMS

From this Figure, initially output is zero, finally it becomes one.

at t=T, the value of c(t) =0.63

at t=3T, 4T, and 5T, the response reaches 0.95, 0.98, 0.99. 5
• Unit-ramp response of first-order systems:
The output of the system

Partial fractions

Inverse Laplace transform

The error signal e(t) approaches T

6
• Impulse response of first-order systems:

The output of the system

Inverse Laplace transform

Response curve

7
The outputs of linear time-invariant first-order
systems (summary)

For the unit-ramp input, the output

For the unit-step input, the output

For the unit-impulse input, the output

8
 3–3 SECOND-ORDER SYSTEMS
Servo system

Close-loop transfer function

Frequency-damping format

Note that second order system is important in mechanical engineering.

9
• Unit-Step response of second-order system:
– Underdamped case (0<ζ<1):
Transfer function

The output

– Overdamped case (ζ >1)

10
 Unit-step response curves of the system

0.5~0.8 more rapidly than critically damped or overdamped 11

 Transient-Response Specifications
• The delay time is the time required for the response to reach the
half the final value the very first time.
• 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 under-damped second-order systems, the 0% to 100% rise time is
normally used.
– For over-damped systems, the 10% to 90% rise time is commonly used.

• The peak time is

the time required
for the response
to reach the first
peak of the
overshoot.

12
• 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.

• 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%).

13
 For underdamped case (formulas)
1 1  2
• rise time tr 
π  tan (

)

n 1   2

• peak time: π
tp 
n 1   2
• Maximum overshoot Mp e  / 1 2

• Settling time:

14
• Example: Consider the system shown in Figure,
where ζ =0.6 and ω=5 rad/sec. Determine the rise
time, peak time, maximum overshoot, and settling
time when the system is subjected to a unit-step
input.

15
E  R C
n 2
C E
s ( s  2n )

Substituting the first equation into the second one:

n 2
C  (R  C)
s ( s  2n )

Then the closed-loop transfer function

C n 2
 2
R s  2n s  n 2

16
 underdamped case ζ =0.6 and ω=5 rad/sec

1 1  2 1  0.6 2
π  tan ( ) π  tan 1 ( )
 0.6
Rise time tr    0.5536 s
n 1   2 5 1  0.6 2

π π
Peak time tp    0.7854s
n 1   2
5 1  0.6 2

 / 1 2  0.6/ 1 0.62

overshoot Mp e e  0.0948
maximum percent overshoot is thus 9.48%.

Settling time 33
ts    1s
(5% criterion) n 0.6*5
Settling time 4 4
ts    1.33s
(2% criterion) n 0.6*5 17
• Example: Servo System with Velocity Feedback

Simplifying block diagram,

then the closed-loop transfer
function can be derived:

Comparing with the transfer function of

the second-order system, we obtain:

For this system, 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.18
Assume that J=1 kgm2 and B=1 Nm/rad/sec.
  / 1 2
The damping ratio is ζ= 0.456 because of M p  e  0.2

The natural frequency is ωn= 3.53 rad/s because of ζ= 0.456 and

π
tp   1s
n 1   2

Since

19
 1 1  2
π  tan ( )

Rise time tr   0.65s
n 1   2

Settling time 3
(5% criterion) ts   1.86 s
n
Settling time 4
(2% criterion) ts   2.48s
n

20
 Impulse Response of Second-Order Systems
The Laplace transform of a unit-
impulse r(t) is R(s)=1

21
 3–4 ROUTH’S STABILITY CRITERION

• Closed-loop transfer functions

• 1. Write the polynomial in s in the following

form

Left side of the characteristic equation is the

denominator of the closed-loop transfer function. Right
side of the characteristic equation is zero.
22
• If all coefficients are positive, arrange the coefficients of the
polynomial in rows and columns according to the following pattern:

• The necessary and sufficient condition that all roots of characteristic

equation lie in the left-half s plane is that all the coefficients of
characteristic equation be positive and all terms in the first column of
the array have positive signs. 23
• Example : Consider the system shown in Figure.
Determine the range of K for stability.

• closed-loop transfer function

• characteristic equation
• array of coefficients
• rang of K
24
E  R C
K
C E
s ( s  s  1)( s  2)
2

Substituting the first equation into the second one:

K
C  (R  C)
s ( s  s  1)( s  2)
2

Then the closed-loop transfer function

C K
 4
R s  3s 3  3s 2  2 s  K

characteristic equation
The array of coefficients becomes

For stability, K must be positive, and all coefficients in the first

column must be positive.
Therefore,

Question: When does the system become oscillatory?

the oscillation is sustained at constant amplitude.
26
3–5 STEADY-STATE ERRORS IN UNITY-FEEDBACK
CONTROL SYSTEMS

• The closed-loop transfer function is

• transfer function between the error signal e(t) and the

input signal r(t) is

• where the error e(t) is the difference between the

input signal and the output signal.
• the steady-state error is
27
Classification of Control Systems.
• Consider the unity-feedback control system with the following
open-loop transfer function G(s):

• The term sN in the denominator, representing a pole of

multiplicity N at the origin.
• A system is called type 0, type 1, type 2,… , if N=0, N=1,
N=2, … , respectively.

28
 Static Position Error Constant Kp
• The steady-state error of the system for a unit-step input is:

• The static position error constant Kp is defined by

• Thus, the steady-state error in terms of the static position error

constant Kp is given by

29
 Static Velocity Error Constant Kv
• The steady-state error of the system with a unit-ramp input is
given by

• The static velocity error constant Kv is defined by

• Thus, the steady-state error in terms of the static velocity error

constant Kv is given by

30
 Static Acceleration Error Constant Ka
• The steady-state error of the system with an acceleration input
is defined by

• The static acceleration error constant Ka is defined by the

equation

• The steady-state error is then

31
Steady-State Error in Terms of Gain K

32
• Example : the steady-state error for following
a ramp input may be eliminated if the input is
introduced to the system through a
proportional-plus-derivative filter, as shown in
Figure and the value of k is properly set. Note
that the error e(t) is given by r(t)-c(t).

33
The closed-loop transfer function of the system

If the input is an unit ramp, then the steady-state error is

Therefore, if k is chosen as
then the steady-state error for following a ramp input can
34
be made equal to zero
 Example: speed control system

When the controller is Gc  K

In the case of zero reference input, the transfer function

of the speed (output) due to the disturbance torque is:
1
 D
Js  K
For a unit step disturbance
torque, the steady-state
output velocity is
35
It is desired to eliminate as much as possible the speed errors due to
torque disturbances. We should choose a suitable controller Gc.
In the case of zero reference input, the 1
transfer function of the speed (output) due to  D
Js  Gc
the disturbance torque is:

The steady-state output speed due to

a unit-step disturbance torque is

We choose

satisfy the requirement that

36
3–6 EFFECTS OF INTEGRAL AND DERIVATIVE CONTROL
ACTIONS ON SYSTEM PERFORMANCE

C  RE
K
C E
Ts  1
Substituting the first equation into the second one:
Ts  1
E R
Ts  1  K
For the unit-step input, the
steady-state error is
ess  lim e(t )  lim s  E ( s )
t  s 0

 Ts  1 1  1
 lim  s    37
s 0
 Ts  1  K s  1  K
 C  RE
1 K
C  E
Ts  1 s
Substituting the first equation into the second one:
Ts 2  s
E 2 R
Ts  s  K
For the unit-step input, the steady-state error is
ess  lim e(t )  lim s  E ( s )
t  s 0
 Ts 2  s 1 
 lim  s  2  0
s 0
 Ts  s  K s 

38
Assuming that the reference input
is zero or R(s)=0, the transfer
function between C(s) and D(s) is
given by

39
In the absence of the
reference input, or R=0, the
error signal is obtained from

The steady-state error in the response to a unit-step

disturbance torque can be obtained by applying the final-value
theorem as follows:

40
The closed-loop
transfer function is

The steady-state error for

a unit-ramp input is

The characteristic equation is

The effective damping coefficient of this system is

thus B+Kd rather than B.

Since the damping ratio of this system is

41