ME413SystemsDynamics&Control Chapter10:TimeDomainAnalysisandDesignofControlSystems

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Because systems that stores energy cannot respond instantaneously, they exhibit a transient
response when they are subjected to inputs or disturbances. Consequently, the transient response
characteristicsconstituteoneofthemostimportantfactorsinsystemdesign.

In many practical cases, the desired performance characteristics of control systems can be
given intermsof transientresponse specifications. Frequently, such performance characteristics are
specifiedintermsofthetransientresponsetounitstepinput,sincesuchaninputiseasytogenerate
and is sufficiently drastic. (If the response of a linear system to a step input is known, it is
mathematicallypossibletocomputethesystemsresponsetoanyinput).

The transient response of a system to a unit stepinput depends on initial conditions. For
convenience in comparing the transient responses of various systems, it is common practice to use
standard initial conditions: The system is at rest initially, with its output and all time derivatives
thereofzero.Thentheresponsecharacteristicscanbeeasilycompared.

TransientResponseSpecifications. The transient response of a practical

control system often exhibits damped oscillations before reaching a steady state. In specifying the
transientresponsecharacteristicsofacontrolsystemtoaunitstepinput,itiscommontonamethe
following:

1. Delaytime,
d
T
2. Risetime,
r
T
3. Peaktime,
p
T
4. Maximumovershoot,
p
M
5. Settlingtime,
s
T

These specifications are

definednextandareshownin
graphicallyinFigure1021.

Chapter10:
TimeDomainAnalysisofandDesign
ofControlSystems

A.Bazoune
10.5 TransientResponseSpecificationsofaSecondOrderSystem
ME413SystemsDynamics&Control Chapter10:TimeDomainAnalysisandDesignofControlSystems

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DelayTime. The delay time
d
T is the time needed for the response to reach half of its
finalvaluetheveryfirsttime.

RiseTime. The rise time

r
T is the time required for the response to rise from 10% to
90%,5%to95%,or0%to100%ofitsfinalvalue.Forunderdampedsecondordersystems,the0%to
100%risetimeisnormallyused.Foroverdampedsystems,the10%to90%risetimeiscommon.

PeakTime. Thepeaktime
p
T isthetimerequiredfortheresponsetoreachthefirstpeak
oftheovershoot.

Maximum(percentOvershoot). The maximum percent overshoot

p
M is the
maximum peak value of the response curve [the curve of ( ) c t versus t ], measured from ( ) c . If
( ) 1 c = , the maximum percent overshoot is 100%
p
M . If the final steady state value ( ) c of
the response differs from unity, then it is common practice to use the following definition of the
maximumpercentovershoot:

( )
( )
( )
100 Maximum percent overshoot %
p
C t C
C

=

SettlingTime. Thesettlingtime
s
T isthetimerequiredfortheresponsecurvetoreachand
staywithin 2%ofthefinalvalue.Insomecases, 5%insteadof 2%,isusedasthepercentageofthe
finalvalue.Thesettlingtimeisthelargesttimeconstantofthesystem.

Comments. If we specify the values of

d
T ,
r
T ,
p
T ,
s
T and
p
M , the shape of the response
curveisvirtuallyfixedasshowninFigure10.22.

Figure1022 Specificationsoftransientresponsecurve.

AFewCommentsonTransientResponseSpecifications.

Inadditionofrequiringadynamicsystemtobestable,i.e.,itsresponsedoesnotincreaseunbounded
with time (a condition that is satisfied for a second order system provided that 0 , we also
requiretheresponse:
tobefast
doesnotexcessivelyovershootthedesiredvalue(i.e.,relativelystable)and
toreachandremainclosetothedesiredreferencevalueintheminimumtimepossible.
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SecondOrderSystemsandTransientResponseSpecifications.
Theresponseforaunitstepinputofanunderdampedsecondordersystem ( ) 0 1 < < isgivenby
( )
2
2
1 sin cos
1
1 sin cos
1

= +

n n
n
t t
d d
t
d d
c t e t e t
e t t
(1013)
or

( )
2
1
2
1
1 sin tan
1

= +

n
t
d
e
c t t (1014)

Afamilyofcurves ( ) c t plottedagainst t withvariousvaluesof isshowninFigure1024.

2
2 2
2
n
n n
s s

+ +

14243
Input
t
( ) u t
1

0 2 4 6 8 10 12 14 16 18 20
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
Step Response
Time (sec)
A
m
p
lit
u
d
e
=0.2
0.5
0.7
1
2
5
Output
_______________
144424443

Figure1024 Unitstepresponsecurvesforasecondordersystem.

DelayTime. Wedefinethedelaytimebythefollowingapproximateformula:
1 07 .
d
n
T

+
=

RiseTime. Wefindtherisetime
r
T byletting ( ) 1
r
c T = inEquation(1013),or

( )
2
1 1 sin cos
1

= = +

n r
T
d d r r r
c T e T T (1015)
Since 0

n
t
e ,Equation(1015)yields

ME413SystemsDynamics&Control Chapter10:TimeDomainAnalysisandDesignofControlSystems

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2
sin cos 0
1

+ =

d d r r
T T
or
2
1
tan

=
d r
T
Thus,therise
r
T is

2
1
1 1
tan

=


=


d d
r
T
(1016)

where isdefinedinFigure1025.Clearlytoobtainalargevalueof
r
T wemusthavealargevalue
of .

j
n

2
1
n

d
j

( )
( )
1
1 2
2
1
cos
or sin 1
1
or tan

=
=

Figure1025 Definitionofangle

PeakTime. Weobtainthepeaktime
p
T bydifferentiating ( ) c t inEquation(1013),with
respecttotimeandlettingthisderivativeequalzero.Thatis,
( )
2
sin 0
1

= =

n
t
n
d
e
dc t
t
dt

Itfollowsthat
sin 0 =
d
t
or
0, , 2 , 3 ,... , 0,1,2..... = = =
d
t n n

Sincethepeaktime
p
T correspondstothefirstpeakovershoot ( ) 1 n = ,wehave =
d p
T .Then
2
1

= =

p
d
n
T
(1017)
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Thepeaktime
p
T correspondstoonehalfcycleofthefrequencydampedoscillations.
MaximumOvershoot
p
M The maximum overshoot
p
M occurs at the peak
=
p d
T .Thus,fromEquation(1013),

( )
( )
{
2
1
1
0
1
sin cos
n
d
p p
M c T e

=

=
+

= =
1442443

or

2
1
p
M e

=
(1018)

Since ( ) 1 c = ,themaximumpercentovershootis

2
1
100 % %
p
M e

=

The relationship between the damping ratio and the maximum percent overshoot is shown in
Figure1026.Noticethatnoovershootfor 1 andovershootbecomesnegligiblefor 07 . > .

Figure1026 Relationshipbetweenthemaximumpercentovershoot %
p
M anddampingratio .

SettlingTime
s
T Basedon 2%criterionthesettlingtime
s
T isdefinedas:

( )
( ) 4
002
002
002
ln
ln
.
.
.
n s s
n n
n s
T
T T
e

= =

ME413SystemsDynamics&Control Chapter10:TimeDomainAnalysisandDesignofControlSystems

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( )
4
2%Criterion
n
s
T

=
(1019)

Similarlyfor 5%wecanget

( )
3
5%Criterion
n
s
T

=
(1020)

REVIEWANDSUMMARY

TRANSIENTRESPONSESPECIFICATIONSOFASECONDORDERSYSTEM

TABLE1. UsefulFormulasandStepResponseSpecificationsfortheLinear
SecondOrderModel ) (t f x k x c x m = + + & & & wherem,c,kconstants

1. Roots
m
mk c c
s
2
4
2
2 , 1

=
2. Dampingratioor mk c 2 / =
3. Undampednaturalfrequency
m
k
n
=
4. Dampednaturalfrequency
2
1 =
n d

5. Timeconstant
n
c m / 1 / 2 = = if 1

6. StabilityProperty Stableif,andonlyif,bothrootshavenegativerealparts,thisoccursif
andonlyif,m,c,andkhavethesamesign.

7. MaximumPercentOvershoot:Themaximum%overshoot
p
M isthemaximumpeakvalueofthe
responsecurve.
2
1 /
100

= e M
p

8. Peaktime:Timeneededfortheresponsetoreachthefirstpeakoftheovershoot

2
1 /
p n
T =

9. Delaytime:Timeneededfortheresponsetoreach50%ofitsfinalvaluethefirsttime

1 07 .
d
n
T

10. Settling time: Time needed for the response curve to reach and stay within 2% of the final value

4
s
n
T

=
11. Risetime:Timeneededfortheresponsetorisefrom(10%to90%)or(0%to100%)or(5%to95%)of
itsfinalvalue
r
d
T

= (SeeFigure1025)

ME413SystemsDynamics&Control Chapter10:TimeDomainAnalysisandDesignofControlSystems

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SOLVEDPROBLEMS

Example1

Figure420 (forExample1)

ME413SystemsDynamics&Control Chapter10:TimeDomainAnalysisandDesignofControlSystems

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Example2

Figure421 (forExample2)

Solution

FirstThetransferfunctionofthesystemis

ME413SystemsDynamics&Control Chapter10:TimeDomainAnalysisandDesignofControlSystems

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Example3(Example102intheTextbookPage520521)

Determinethevaluesof
d
T ,
r
T ,
p
T ,
s
T whenthecontrolsystemshowninFigure1028is
subjecttoaunitstepinput

( )
1
1 + s s
( ) C s ( ) R s

Figure1028 ControlSystem

Solution

Theclosedlooptransferfunctionofthesystemis
( )
( )
( )
( )
2
1
1 1
1
1
1
1
C s s s
R s s s
s s
+
= =
+ +
+
+

Noticethat 1
n
= rad/sand 05 . = forthissystem.So
2 2
1 1 05 0866 . .
d n
= = =
RiseTime.

=
d
r
T
where
( ) ( )
1 1
08661 105 sin sin . .
d n


= = = rad
or
( ) ( ) ( )
1 1 1
05
105
cos cos cos
d
.
ra .
n n


= = =
=

Therfore,
1.05
2.41
0.866

= =
r
T s
PeakTime. 363
0866
.
.
p
d
T

= = = s
DelayTime.

( ) 1 07 05 1 07
135
1
. . .
.
d
n
T

+ +
= = = s

j
n

2
1
n

d
j

MaximumOvershoot:
181
2 2
1 05 1 05
0163 163
. . .
. . %
p
M e e e

= = = = =
Settlingtime:
4 4
8
05 1 .
s
n
T

= = =