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s 2n s n
2 2
s s 2n s n
2 2
Transient output
1
y (t ) 1 e n t
sin d t
1
y (t ) 1 e n t
sin d t
1 2
Response curve
Mpt overshoot
1.0
0.9
0.1
Tr1 Tr Tp Ts
Definitions
Damping ratio – ζ
Natural frequency – ωn
Damped natural frequency – ωd
Definitions
Delay time, Td – time to reach 50%
of final value
Rise time, Tr – time to rise from 0-
100%, 5-95%, 10-90%. 0-100% is
used for 2nd order under-damped
Peak time, Tp – time to reach first
peak of the overshoot
Definitions
Peak value, Mpt – maximum peak
value of the response
Maximum overshoot – the
difference between the Mpt and the
final value fv (Mpt – fv)
Maximum percentage overshoot,
PO – 100 x (Mpt – fv)/fv
Definitions
Peak value, Mpt – maximum peak
value of the response
Maximum overshoot – the
difference between the Mpt and the
final value fv (Mpt – fv)
Maximum percentage overshoot,
PO = 100 x (Mpt – fv)/fv. Gives
indication of system stability
Definitions
Settling time, Ts – the for the
response to reach and stay within
a certain range about the final
value eg 2%, 5%
Peak time
Half the periodic time
Tp d n 1 2
d
Tp
d n 1 2
Rise time
n
1 2
d
tan d Tr
1 1 d
Tr tan
d d
1 d
tan
Maximum % overshoot
Maximum overshoot
/ d / 1 2
Mp e e
d / 1 3.1416rad / s
d n 1 2
d 3.1416
n 3.52986rad / s
1 2
1 0.20789
n 3.52986rad / s
Solution: the response
n 2
C s 2
s 2n n 2
0.45595 n 3.52986rad / s
2
3.52986
C s 2
s 2 0.45595 3.52986 s 3.52986 2
12.46
C s 2
s 3.2188s 12.46
Solution: rise time
Tr
n 0.45595 3.529986 1.6094
d / 1 3.1416rad / s
d 1 3.1416
tan tan
1
1.0974 rad
1.6094
1.09736
Tr 0.6507 s
d 3.1416
Solution: settling time
4 4
Ts 2% 2.485s
1.6094
3 3
Ts 5% 1.864 s
1.6094
Question 2
A system is found to have ζ = 0.6 and ωn
= 5 rad/s. the system is subjected to a
unit step input. Determine:
Rise time, tr
Peak time, tp
Maximum overshoot, Mp
Settling time, ts
Solution: rise time
n 0.6 5 3
Tr
d n 1 5 1 0.6 4rad / s
2 2
d 1 4
tan tan 0.9273rad
1
3
0.9273
Tr 0.5536 s
4
Solution: max overshoot, peak time
/ d / 1 2
Mp e e
3/4
Mp e 0.09478 and
3/4
PO 100e 100 0.09478 9.478%
Tp / d / 4 0.7854s
Solution: settling time
4 4
Ts 2% 1,3333s
3
3 3
Ts 5% 1s
3
Question 3
For the closed loop system
below, determine:
The characteristic equation
+ 81
- s s 6
Question 3
Also determine:
Natural frequency
The damped natural frequency
The peak time
The rise time
The percentage overshoot
The settling time
Solution: characteristic equation
G G
T s G 81 / s 6 s
2
1 GH 1 G
81 / s 6 s
2
81 / s 6 s
2
T s
1 81 / s 6 s
2
s 2
6 s 81 / s 6 s
2
81
T s 2
s 6s 81
s 6 s 81 0
2
Solution: natural freq.
Comparing :
n 2
and T s s 2 2 s 2
81
T s 2
s 6s 81 n n
n 2 81
n 9
Solution: damped natural freq.
2n 6;
6 / 2n 6 / 2 9 0.3333
d 9 1 0.3333 8.4853rad / s
2
Solution: rise time
0.3333 9 3
Tr n
d n 1 8.4853rad / s
2
d 1 8.4852
tan tan
1
1.231rad
3
1.231
Tr 0.2252s
4
Solution: rise, peak time
/ d / 1 2
Mp e e
3/8.485
Mp e 0.3293 and
3/4
PO 100e 100 0.3293 32.93%
Tp / d / 8.485 0.3702 s
Thank you!!!