Transient and Steady-State

Response Analyses
Instructor: Chia-Ming Tsai
Dept. of Electronics Engineering
National Chiao Tung University
 Contents
• Introduction
• First-Order Systems
• Second-Order Systems
• Higher-Order Systems
• Routh’s Stability Criterion
• Effects of I- and D- Control Actions
• Steady-State Errors in Unity-Feedback Control
Systems
 Introduction
• Typical Test Signals.
– Step/ramp/impulse/sinusoidal functions.
• c(t) = ctr(t) + css(t)
– Transient Response: ctr(t)
• Change from initial state to final state.
– Steady-State Response: css(t)
• The manner in which the output behaves as t .
• Stability.
– Absolute Stability: stable or unstable
(oscillation/divergence)
– Relative Stability.
• Steady-State Error = (Input-Output)|t=
– Indication of accuracy. Unity feedback system
1st-Order System: Unit-Step Response
1
R( s)  T: time constant.
s
1 1
 C ( s) 
Ts  1 s
1 T
C ( s)  
s Ts  1
1 1
 
s s  (1 / T )
 c(t )  1  e t / T

Error :
e(t )  r (t )  c(t )  e t / T
e( )  0
 Unit-Ramp Response
1
R( s) 
s2
1 1
 C (s) 
Ts  1 s 2
1 T T2
C (s)  2  
s s Ts  1
 c(t )  t  T  Tet / T (t  0)

Error :
e(t )  r (t )  c(t )  T (1  e t / T )
 e( )  T
 Unit-Impulse Response

R( s)  1
1
 C ( s) 
Ts  1
1 t / T
c(t )  e (t  0)
T
 Summary
* Unit - Ramp Response :
cur (t )  t  T  Te t / T
 

dcur (t ) d t  T  Te t / T 
dt dt
* Unit - Step Response :  1  e t / T  cus (t )

cus (t )  1  e t / T


dcus (t ) d 1  e t / T


* Unit - Impluse Response : dt dt
1 t / T
1 t / T  e  cui (t )
cui (t )  e T
T
 An Important Property
• Linear and Time-Invariant Systems.
– The response to the derivative of an input signal
can be obtained by differentiating the response of
the system to the original signal.
– The response to the integral of an input signal can
be obtained by integrating the response of the
system to the original signal.
 Proof:
* Consider the linear tim e - invariant systemdefined by
the differential equation :
(n) ( n 1) . (m) ( m 1) .
a0 y  a1 y      an 1 y  an y  b0 x  b1 x      bm 1 x  bm x (n  m)
where x  input and y  output
d  (n) ( n 1) .
 d  ( m) ( m 1) .

  a0 y  a1 y      an 1 y  an y    b0 x  b1 x      bm 1 x  bm x 
dt   dt  
( n 1) (n) ( m 1) ( m)
a0 y  a1 y      an 1 y  an y  b0 x  b1 x      bm 1x  bm x
* Let y '  y and x '  x , we obtain
(n) ( n 1)  (m) ( m 1) 
a0 y  a1 y      an 1 y  an y  b0 x  b1 x      bm 1 x '  bm x '
' ' ' ' ' '

 ( x ' ,y ' ) is also a solution of the system.

 Second-Order Systems (Cont’d)
C ( s)  2
 2 n
R( s) s  2 n s  n
2

• Underdamped case :0<<1

– Complex-conjugate poles.
• Critically damped case : =1
– Repeated real poles.
• Overdamped case : >1
– Two real poles.
Underdamped Case (0<<1)
Characteristic equation : s 2  2 n s  n2  0

d 
1  1  
2 
  tan 
   
 

Complex-conjugate poles
 Underdamped Case (0<<1)
n2
L1 C ( s )  c(t )
C ( s)

R( s ) s   n  jd s   n  jd 
 
d  n 1   : damped natural frequency.
2
 1 e  n t  cos  t   sin d t 
 d
1  2 
1  
* If R( s )  (unit - step function)
s 
e  nt 1   2 
 1 sin  d t  tan 1 
n2 1  2   
 C ( s)  2  
s  2 n s  n2 s for t  0
1 s  2 n  e(t )  r (t )  c(t )
C ( s)   2
s s  2 n s  n2
 
1 s   n  n e  n t  cos  t   sin d t 
    d
1  
s s   n 2  d2 s   n 2  d2
2
 
  for t  0
s   n  n t
L1    e cos d t * For zero damped case,   0,
 s   n   d 
2 2

 c(t )  1- cos ωnt (t  0)

 d   n t
1
L    e sin d t
 s   n 2
  2
d 
Underdamped Case (0<<1)

n t
e

t
2
d
 Critically Damped Case ( =1)

 n t
e
1
R( s)   n t
s te
(unit - step function)
ωn2 1 t
 C (s)  n
s  ωn  s
2

 c(t )  1  e  n t
1  ωnt 
 Overdamped Case ( >1)
1
R( s)  (unit - step function)
s
ωn2
 C ( s) 
 
s  ωn  ωn 1   2 s  ωn  ωn 1   2 s 
1     2 1  n t
 c(t )  1 
 
 
e
2  1    1
2 2

1     2 1  n t

 
 
e
2  1    1
2 2

 e  s1t e  s2t 
n
 1    (for t  0) (1)
2   1  s1
2 s2 

  
where s1     2  1 n , s2     2  1 n 
 Overdamped Case ( >1)
C (s) ωn2

R( s ) s  s1 s  s2 
  
where s1     2  1 n , s2     2  1 n 
* If s1  s2 , the term involving s1 in (1) decays much faster
than the term involving s2 . Then we may neglect th e effect of s1.
C (s) ωn2 s1s2 s
    2 (1st - order system)
R( s ) s  s1 s  s2  s1 s  s2  s  s2

e  s2t
e  s1t
t
Unit-Step Response
Transient-Response Specifications

• Delay time: td
• Rise time: tr
– 0% to 100% for
underdamped.
– 10% to 90% for overdamped.

• Peak time: tp
• Maximum overshoot: Mp
• Settling time: ts
 A Few Comments
• Except for certain applications where oscillations
cannot be tolerated, it is desirable that the transient
response be sufficiently fast and be sufficiently
damped.
• The optimized damping ratio is 0.4 <  <0.8.
• Small value of  (typically  < 0.4) yields excessive
overshoot, and a large value of  (typically  > 0.8)
responds sluggishly.
 Rise Time: tr
 
 c(t )  1  e  n t  cos  t   sin d t  (for t  0)
 d
  2 
 1 
 
 c(t r )  1  1  e  n t r  cos  t   sin d t r 
 d r
  2 
 1 

 cos d t r  sin d t r  0
1  2

1  2
d
tan d t r   
 
1 1   d   
 tr  tan  
d    d
 For a fixed n , if     and d 
 tr  d 
1  1  
2 
  tan 
   
 
 Peak Time: tp
dc 
 n t   
   n e cos d t  sin d t 
dt    2 
 1 
  
e  n t   sin  t  d
cos d t 
 d d
  2 
 1 
 d  n 1   2
n
 sin d t p 
dc  t
 e np 0
dt t t p 1  2
 sin d t p  0
 d t p  0,  , 2 , 3 ,...

 tp 
d
 Maximum Overshoot: Mp

tp 
d
 M p  c(t p )  1

 n  /d 
  
 e  cos   sin  
 1   2 
 1 0


e   /d 
e
 
  / 1 2 

*If c()  1, we must use the following equation:

c( t p )  c( )
 Mp 
c( )
 Settling Time: ts
e  nt  1 1  
2 
c(t )  1  
sin d t  tan  , for t  0
1  2   

* For convenienc e, we commonly define the settling time to be
4 4
t s  4T   (2% criterion)
σ ζωn
3 3
t s  3T   (5% criterion)
σ ζωn

(upper bound)

(lower bound)
 Higher-Order Systems
* The closed - loop transfer function
is given by
C (s) G (s)

R( s) 1  G ( s) H ( s)
* In general,
p( s) n( s )
G (s)  and H ( s ) 
q( s) d (s)
C ( s) p( s)d ( s)
 
R ( s ) q ( s ) d ( s )  p ( s ) n( s )
b0 s m  b1s m 1  ...  bm 1s  bm K ( s  z1 )( s  z 2 )...( s  z m )
 n 1
 ( m  n)
a0 s  a1s  ...  an 1s  an
n
( s  p1 )( s  p2 )...( s  pn )
 (Cont’d)
For a unit - step input, R( s )  1 s .
Case 1 : real and distinct poles :
K ( s  z1 )( s  z 2 )...( s  z m ) a n ai
C (s)    ( m  n)
s ( s  p1 )( s  p2 )...( s  pn ) s i 1 s  pi
ai : residues
* If there is a closed - loop zero close to a closed - loop pole,
i.e., z k  pi .
 ai  ( s  pi )C ( s ) s   p 0
i

K ( z1  pi )  ( z k  pi )  ( z m  pi )
 : tend to be small
 pi ( p1  pi )  ( pi 1  pi )( pi 1  pi )  ( pn  pi )
 A pair of closely located poles and zeros will effectively cancel
each other.
 (Cont’d)
Case 1 : real and distinct poles :
* If a ploe is located very far from the origin, p j  0.
 a j  ( s  p j )C ( s )
s  p j

K ( s m  ) K
 s  p j  nm
: tend to be small for n  m
( s n  ) ( p j )
 The transients due to a remote pole are small and last only
a short time.
 If this is done, it can be reduced to a lower - order system.
 (Cont’d)
Case 2 : real poles and pairs of complex - conjugate poles.
a q aj r
bk s   k k   ck k 1   k2
C (s)     ( q  2r  n)
s j 1 s  p j k 1 s  2 k k s  k
2 2

q r
 c(t )  a   a j e   bk e  ζ k ωk t cos ωk 1  ζ k2 t
 p jt

j 1 k 1
r
  ck e  ζ k ωk t sin ωk 1  ζ k2 t
k 1

* If all closed - loop poles lie in the left - half s plane,

 Steady - state output  c()  a
 To remember
• The poles of the input R(s) yield the steady-state
response terms in the solution.
• The poles of C(s)/R(s) yield the exponential transient-
response terms and/or damped sinusoidal transient-
response terms.
• The zeros of C(s)/R(s) affect the magnitudes and
signs of the residues.
 Dominant Closed-Loop Poles
• The relative dominance of closed-loop poles is
determined by the ratio of the real parts of the closed-
loop poles, as well as by the relative magnitude of the
residues.
• The magnitudes of the residues depend on both the
closed-loop poles and zeros.
• If the ratio of the real parts exceed 5 and there are no
zeros nearby, the effect of the pole with larger real
part can be neglected.
• Quite often they occur in the form of a complex-
conjugate pair.
 Feedback of Derivative of Output
A servo system (A-3-9)

Small La
 Feedback of Derivative of Output

Position
A servo system J  moment of inertia
(A-3-9) B  viscous - friction coefficien t

A tachometer is used instead of

physically differentiating the output
G1 signal to prevent noise amplification.

sC(s)
Position
K ( Js  B)
G1 
1  KK h ( Js  B)
K
 Velocity
Js  B  KK h
 Feedback of Derivative of Output

C (s)
 2
K  B  KK h
R( s) Js  ( B  KK h ) s  K   2 KJ (increased )


n2   K
 2 (unchanged )
s  2 n s  n2  n
J
 Stability Analysis in the s Plane
• The stability is determined
from the location of the Spec: , tS,…
closed-loop poles in the s
plane.
• For system with poles lying
in the right-half s plane, it is (2% error)

unstable.
• Absolute stability can be
achieved by choosing
closed-loop poles lying to
the left of the j-axis.
 Routh’s Stability Criterion
C ( s ) b0 s m  b1s m 1  ...  bm 1s  bm B( s )
 n 1

R( s ) a0 s  a1s  ...  an 1s  an A( s )
n

The procedure in Routh's stability criterion is as follows :

1. Write the characteri stic equation in the following form :
a0 s n  a1s n 1  ...  an 1s  an  0
where ai are real. Assume an  0; that is,
any zero root has been removed.
 Routh’s Stability Criterion
Let A( s )  a0 s n  a1s n 1  ...  an 1s  an
 a0 ( s  r1 )( s  r2 )  ( s  rn )
 a0 s n  a0 (r1  r2    rn ) s n 1
 a0 (r1r2  r2 r3  r1r3  ) s n  2
 a0 (r1r2 r3  r1r2 r4  ) s n 3
   a0 r1r2 r3  rn
0

2. If any of the coefficien ts are zero or negative in the presence

of at least one positive coefficien t, there is a root or roots in the
right - half s plane (including jω axis).
 The systemis unstable.
Routh’s Stability Criterion (Cont’d)
3. If any coefficien ts are positive, a1a2  a0 a3  1 a0 a2
b1  
find the Routh's Table as follows : a1 a1 a1 a3
sn a0 a2 a4 a6 ... a1a4  a0 a5  1 a0 a4
b2  
s n 1 a1 a3 a5 a7 ... a1 a1 a1 a5
s n2 b1 b2 b3 b4 ... a1a6  a0 a7  1 a0 a6
b3  
s n 3 c1 c2 c3 c4 ... a1 a1 a1 a7
s n4 d1 d2 d3 d 4 ... .......
. . . . . . b1a3  a1b2 c1b2  b1c2
c1  d1 
. . . . . . b1 c1
b1a5  a1b3 c1b3  b1c3
. . . . . . c2  d2 
b1 c1
s2 e1 e2
b1a7  a1b4 .......
s 1
f1 c3 
b1
s0 g1 .......
Routh’s Stability Criterion (Cont’d)
First column
• If no zero element in sn a0 a2 a4 a6 ...
the first column. s n 1 a1 a3 a5 a7 ...
s n2 b1 b2 b3 b4 ...
– The number of roots s n 3 c1 c2 c3 c4 ...
with positive real parts s n4 d1 d2 d3 d 4 ...
is equal to the number . . . . . .
of changes in sign of the . . . . . .
coefficients of the first . . . . . .
column of the Routh’s s2 e1 e2
Table. s1 f1
s0 g1
 Example 1
Apply theRouth's stability criterion
to the polynimial : a0 s 3  a1s 2  a2 s  a3  0.

Sol : The Routh's Table is given by

s3 a0 a2
s2 a1 a3
a1a2  a0 a3
s1 0
a1
s0 a3 0
The condition that all roots have
negative real parts is
a1a2  a0 a3
 Example 2
Apply theRouth's stability criterion
to the polynimial : s 4  2 s 3  3s 2  4 s  5  0.

Sol : The Routh's Table is given by

s4 1 3 5 s4 1 3 5
s3 2 4 0 s3 1 2 0 (2)
s2 1 5 s2 1 5
s1 6 0 s1 3 0 (2)
s0 5 s0 5
 Two roots with postive real parts.
Special Case: Zero First-Column Term
s 3  2s 2  s  2  0 (2,  j )
s3 1 1
If the sign above the zero is
s2 2 2
 the same as that below it.
s 1
0 0
0
 A pair of imaginary roots.
s 2
 : a very small positive number.

s 3  3s  2  ( s  1) 2 ( s  2)  0
s3 1 3
If the sign above the zero is
s2 0 2
 2 oppositeto that below it.
s 1
3 0
  One sign change.
0
s 2
 Two sign changes.
 Two roots with positive real parts.
 Special Case: Zero Row
* A zero row will appear when a purely even
polynomial is a factor of the original polynomial.
* If there is any zero row,
 there are roots of equal magnitude j
lying radially oppositein the s plane.
Examples :
s2  a  0
 a 1 2 , a  0
s 
 ja 1 2 , a  0

s 2 n  a  0, a  0
1 2 k 1
j 
sa 2n
e 2n
, k  0 , 1, 2 ,..., 2n-1.
 Special Case: Zero Row (Cont’d)
s 5  2 s 4  24 s 3  48s 2  25s  50  0
s5 1 24  25
 s4 2 48  50  Auxiliary polynomial P( s )
s3 0 0
P( s)  2s 4  48s 2  50  0
P( s )  2 s 4  48s 2  50  s 2  1 ( s  1), s 2  25 ( s   j 5)
dP( s )
 8s 3  96 s
ds
s 5  2s 4  24s 3  48s 2  25s  50  0
 s  2,  1,  j 5
s5 1 24  25
s4 2 48  50
s3 8 96  Coefficien ts of dP( s ) ds
s2 24  50
s1 112.7 0
s 0  50
 Relative Stability Analysis
• Routh’s stability criterion is useful for
absolute stability analysis. ŝ s
• To examine relative stability:
s  sˆ   (  constant) 
F ( s)  F ( sˆ   )  G( sˆ)  0

– The number of roots that lies to the right of the

vertical line s =  can be obtained by applying
Routh’s stability criterion.
 Application

C ( s) K The characteri stic equation is

  4
R( s ) s ( s  s  1)( s  2)  K
2
s  3s 3  3s 2  2s  K  0
s4 1 3 K
s3 3 2 0  9 
2 7 For stability, K  0 and  2  K   0.
 s K   7 
3 14
9 Therefore,  K  0.
s1 2 K 9
7
s0 K
 Offset in 1st-Order Systems (P)
E(s)

T: time constant

1 1
E (s)  R( s)  R( s)
1  G( s) 1
K
Ts  1
1
If R( s )  (unit - step input)
s
Ts  1 1
 E ( s) 
Ts  1  K s
The steady - state error
Ts  1 1
 ess  lim e(t )  lim sE ( s )  lim 
t  s 0 s 0 Ts  1  K K 1
 Offset Elimination

Integral
controller

E ( s) 1 sTs  1
 
R( s) 1  K sTs  1  K
s (Ts  1)
For unit - step input, R( s )  1/s
sTs  1
ess  lim e(t )  lim sE ( s )  lim 2 0
t  s 0 s 0 Ts  s  K

 The offset is eliminated .

 Integral Control Action
• To eliminate the steady-state error, or offset
– Infinite effective DC gain

• Possible oscillatory response is the problem.

– The number of order of the system is increased by 1.
 Response to Disturbances (P)
A servo system (A-3-9)

=0

J  moment of inertia
b  viscous - friction coefficien t

Td
For a step disturbance, D( s ) 
C ( s) 1 s
 2
D( s ) Js  bs  K p s Td Td
ess  lim sE ( s)  lim 2 
s 0 s 0 Js  bs  K
E ( s) C ( s) 1 p s Kp
  2
D( s ) D( s ) Js  bs  K p Td
css  ess 
Kp
 Response to Disturbances (PI)

Kp
Characteristic Eq : Js  bs  K p s 
3 2
0
C (s) s Ti

D( s) Kp Question : Stable or unstable ?
Js 3  bs 2  K p s 
Ti
s ess  lim sE ( s )
E (s)  D( s) s 0
Kp  s2
Js  bs  K p s 
3 2
 lim
1
0
Ti s 0 K s
Js 3  bs 2  K p s  p
Ti
Response to Disturbances (I)

Characteristic Eq : Js 3  bs 2  K  0
 Roots with postive real parts exist. ( 0s1 )
 Unstable systems.
 P Control vs. PD Control

Step response Step response

C (s) Kp C (s) K p (1  Td s )
 2  2
R( s ) Js  K p R( s ) Js  K pTd s  K p
Characteri stic Eq : Js 2  K p  0 Characteristic equation :
 Imaginary roots. Js 2  K pTd s  K p  0
 Oscillatory response.  Roots with negative real parts for
positive values of J , K p , and Td .
 nd
2 -Order Systems (PD)

C ( s) K p  Kd s
 2 If B is small.
R( s ) Js  ( B  K d ) s  K p  Large K p to reduce ess
B  Large K d to reduce overshoot
 For unit - ramp input  ess 
Kp (Keep 0.4    0.7)
B  Kd
 The damping ratio :  
2 KpJ
 Derivative Control Action
• To provide a controller with high sensitivity when
added to a proportional controller.
• Derivative control anticipates the actuating error,
initiates an early corrective action, and tends to
increase the stability of the system.
• It permits the use of a larger gain K, which results in
improved steady-state error.
• It is normally used in PD or PID control action.
 Classification of Control Systems
• Classified according to their ability to follow step
inputs, ramp inputs, parabolic inputs, and so on.
• For a unity-feedback control system with the open-
loop transfer function given by
K (Ta s  1)(Tb s  1)...(Tm s  1)
G( s)  N
s (T1s  1)(T2 s  1)...(Tp s  1)

– The system is called type N (based on the number of

integrations).
– The accuracy is improved as N is increased.
– Increasing N aggravates the stability problem.
 Steady-State Errors: ess

C ( s) G(s) Applyingthe final - value theorem gives


R( s) 1  G ( s) ess  lim e(t )
t 
E ( s) C ( s) 1
 1  sR( s)
R( s) R( s) 1  G ( s)  lim sE( s)  lim
s 0 s 0 1  G ( s )
1
E (s)  R( s)
1  G( s)
 Static Position Error Constant: Kp
For a unit - step input,
s 1 1
ess  lim 
s 0 1  G ( s ) s 1  G ( 0)
The static position error constant is defined by
K p  lim G ( s )  G (0)
s 0

1 For a unit - step input,

 ess 
1 K p
1
* For a type0 system, ess  , for N  0
K (Ta s  1)(Tb s  1)...
1 K
K p  lim K ess  0, for N  1
s 0 (T1s  1)(T2 s  1)...
* For a type1 or higher system,
K (Ta s  1)(Tb s  1)...
K p  lim N   for N  1
s 0 s (T s  1)(T s  1)...
1 2
 Static Velocity Error Constant: Kv
For a unit - ramp input, * For a type0 system,
s 1 sK (Ta s  1)(Tb s  1)...
ess  lim K v  lim 0
s 0 1  G ( s ) s 2 s 0 (T1s  1)(T2 s  1)...
1 1
 lim  lim
s  0 s  sG ( s ) s 0 sG ( s )
* For a type1 system,
sK (Ta s  1)(Tb s  1)...
K v  lim K
The static velocity error constant s 0 s (T1s  1)(T2 s  1)...
is defined by
K v  lim sG( s ) * For a type2 or higher system,
s 0

1 sK (T s  1)(Tb s  1)...
 ess  K v  lim N a 
Kv s 0 s (T s  1)(T s  1)...
1 2
 A Summary on Kv
Type 1
For a unit - ramp input,
1
ess   , for N  0
Kv
1 1
ess   , for N  1
Kv K
1
ess   0, for N  2
Kv
 Static Acceleration Error Constant: Ka
For a unit - parabolic input, * For a type0 system,
t2 s 2 K (Ta s  1)(Tb s  1)...
r (t )  , for t  0 K a  lim 0
2 s 0 (T1s  1)(T2 s  1)...
0, for t  0 * For a type1 system,
s 1
 ess  lim s 2
K (Ta s  1)(Tb s  1)...
s 0 1  G ( s ) s 3 K a  lim 0
s 0 s (T1s  1)(T2 s  1)...
1 1
 lim 2 2  lim 2 * For a type2 system,
s 0 s  s G ( s ) s 0 s G ( s )
s 2 K (Ta s  1)(Tb s  1)...
The static accelerati on error constant K a  lim 2 K
s  0 s (T s  1)(T s  1)...
1 2
is defined by
* For a type3 or higher system,
K a  lim s G ( s )
2
s 0 s 2 K (Ta s  1)(Tb s  1)...
1 K a  lim N 
s  0 s (T s  1)(T s  1)...
 ess  1 2
Ka
 A Summary on Ka
Type 2

For a unit - parabolic input,

ess  , for N  0, 1
1
ess  , for N  2
K
ess  0, for N  3
 A Brief Summary
Step Input Ramp Input Parabolic Input
r (t )  1 r (t )  t r (t )  t 2 2
1
Type0  
1 K
1
Type1 0 
K
1
Type2 0 0
K