Transient Response Analysis of First and Second Order Systems

CHAPTER 3A
Transient Response
Transient response 1
A real Control
system
Modelling of
physical systems
and Model
manipulation
Analysis
Time domain Frequency

analysis domain
analysis
Root Locus
analysis
Time response
y(t) = ytr(t) + yss(t)
Transient response Steady state response

1.4
All real stable

1.2
systems exhibit
1 transient
phenomena to
Response, y(t)
0.8
some extent
0.6 before the
steady state is
0.4
reached.
0.2
0
0 5 10 15 20 25 30
Time, s
Transient response: the part of the time response that
goes to zero as time becomes very large.
lim ytr t   0
t 
The steady-state response: the part of the total response that
remains after transient has died out.
 In the design problem, specifications are usually

given in terms of the transient and steady-state
performance, and controllers are designed so that the
specifications are all met by the controlled system.
Test signals
Step function Ramp function Parabolic function
First order systems
C s  1

Rs  Ts  1
Unit step response of first order systems:
Rs  
1
C s  
1 1
s Ts  1 s
C s   
1 1
s s  1 / T 
Expanding into partial fractions:
ct   1  e
t / T
Taking inverse Laplace transform:
, t 0
Unit step response of first order systems
Exercise: find the unit ramp and unit impulse
response of a first order system
Second order systems
Step response of a second-order system
The closed-loop transfer function of the system shown in previous slide is
which can be rewritten as
The closed-loop poles are complex conjugates if B 2-4JK<0 and they

are real if B 2-4JK > 0. In the transient-response analysis, it is
convenient to write
Where  is called the attenuation; ωn, the undamped natural frequency;

and ζ, the damping ratio of the system. The damping ratio ζ is the ratio of
the actual damping B to the critical damping Bc or
Second order systems
the second order system,
shown before, can be modified
to that shown in Figure and the
closed-loop transfer function
C(s)/R(s) can be written as:
This form is called the standard form of the second-order system

The dynamic behavior of the second-order system can then be described in
terms of two parameters ζ and ωn.
Underdamped
Undamped
Critically damped
Overdamped
Unit step response of second order systems
Unit step response of second order systems
Unit-step response curves of a second order system
Transient response specifications
Unit-step response curve showing td, tr, tp, Mp, and ts.
Second-Order Systems and Transient-Response Specifications
we may obtain the peak time by differentiating c(t) with
respect to time and letting this derivative equal zero. Since
Since the peak time corresponds to the first peak overshoot, Then
The peak time tp corresponds to one-half cycle of the frequency of damped

oscillation. Transient response 21
The settling time corresponding to a 2% or
5% tolerance band may be measured
in terms of the time constant T=1/ζωn for
different values of ζ.The results are shown
in Figure. For 0<ζ<0.9, if the 2% criterion
is used, ts is approximately four times the
time constant of the system. If the 5%
criterion is used, then ts is approximately
three times the time constant. Note that
the settling time reaches a minimum value
around ζ=0.76 (for the 2% criterion) or
ζ=0.68 (for the 5% criterion) and then
increases almost linearly for large values
of ζ.
The discontinuities in the curves of the
shown Figure arise because an
infinitesimal change in the value of ζ can
cause a finite change in the settling time.
Note that the settling time is inversely proportional to the product of the
damping ratio and the undamped natural frequency of the system. Since the
value of ζ is usually determined from the requirement of permissible
maximum overshoot, the settling time is determined primarily by the
undamped natural frequency ωn
This means that the duration of the transient period may be varied, without
changing the maximum overshoot, by adjusting the undamped natural
frequency ωn.
Example: Consider the system shown in Figure, where ζ=0.6 and ωn=5 rad/sec.
Obtain the rise time tr, peak time tp, maximum overshoot Mp, and settling time ts
when the system is subjected to a unit-step input.

Transient Response Analysis of First and Second Order Systems

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CHAPTER 3A

Time domain Frequency

Transient response Steady state response

All real stable

 In the design problem, specifications are usually

Step function Ramp function Parabolic function

which can be rewritten as

The closed-loop poles are complex conjugates if B 2-4JK<0 and they

Where  is called the attenuation; ωn, the undamped natural frequency;

This form is called the standard form of the second-order system

The peak time tp corresponds to one-half cycle of the frequency of damped

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