TRANSIENT RESPONSE ANALYSISTIME RESPONSE + TIME RESPONSE of a system is defined as the behavior of a system under the effect of an input which is assumed to be applied at ¢=0 with zero initial conditions. + TIME RESPONSE consists of two parts: 1. Steady-state response ; The manner in which the system behaves as ¢> 00. 2. Transient response _ : The part of response between initial state and final state. * Inthe analysis and design of control systems, a common basis of comparison exist for the transient performances of various systems. This is usually done by using particular test input signals and comparing the responses. used in most transient } commonly response used analysis + For Linear Time-Invariant (LTI) systems, if the response to any one of these test inputs is given, the others can be obtained. If ¥(s)=Gyy(s)X(s) then Y igp(8)=Gyy(8)=Y¥ spl 8) 8=¥ up 8)87=Y gel 8) 8°SINGULARITY FUNCTIONS AND RESPONSES 0) Ho) no) Unit Step a a 6-2 nn) h y= Fhe 1) 7 and = Lr) £[R0)] =1 Lino) =Us System: Ys x Y(s)=G(S)X(s) Responses Yg()= G68) Yop(S)=GO)I5 a Yap = Sl) Vid — Yup) 0 7 Unit Ramp =f mot Lin] =U? Ygs(8)= GUS? gf YateSTEP INPUTS ZC VEOH RESTONSE OF FIZST O@DER een M1 = br ty Plot of 9) ve t TAERE | ame [y= fer toe -t/t I STANDARD Keo line > Fest 7 wat core > kx Li-e ovsrems ay com Kee Ts Rue + JDRFEKENTATOR| Fest onpEe, aniae K Pune S INTEGRATORRESPONSE OF SECOND ODE SYSTEMS TD STEP INDUTS xthyaxehity FERRER) vane. pececr eee yee for tro Rot of yt) ve t 8 tana = K TWX, a ot al th oe -t/e Ay kctoss Lite oti, Tate tle SEE ols [EA Seba] OE EEE) SE a|+ see | a Ele [4 le ze kOe t/t | To-T t/t a gaa] SEStO. | xe + Fe te) = Ban) rs a 3 8s fe Beant ~ eo cos (ton Vime ee (dB) Sears shoot alt lay) “ae € sin Conv) ] alt 12 ae - a SIG 8 MLE ISS | Kecsont) | KX, (4 — cwsuont + Teen sinarnt > Bul FragRESPONSE OF SPECIAL SECOND ORDER SYSTEMS To STEP INPUTS ~‘H=XohCt) TeaNsFem T ( | "FoneTiont NAME, yo fer tro Pot of yt) vet 7 systems Ks wits Puce Tey 2STS41 DIFFERENTIATOR stent Kceeriy | STEMS SCis41> Fee WrtEGearoe SYSTEMS, Te fe kG) | aus InresearoeTRANSIENT RESPONSE SPECIFICATIONS * Usually unit step input is used due to its simplicity and completeness in defining the dynamic character of the system. * Itis also customary to normalize the output with its steady-state value if the steady-state value of the output is not unity (Le. y,,#1). allowable zone WHO/ Ys * The major requirements of the transient response is: 1 Speed of response : Fast reaction of the system to the inputs. 2.Relative stability : Response is free from excessive oscillations, both in size and duration.SPECIFICATIONS DESCRIBING TRANSIENT RESPONSE WO / Yes allowable zone 1, Delay time (¢,): * Time for the response to reach half of its final value for the first time. * ylty + Measure of speed of response (t,\, speed 7) 2. Rise Time (t,): * Time for the response to reach from 6,+y,, to (1-5,)-V.5 5 Vs + Measure of speed of response (t,\, speed 7) + Common values for 6,are 0 (underdamped systems) and 0.05 & 0.1 (overdamped systems) * If 5,=0, t, = ¢, (crossing time)SPECIFICATIONS DESCRIBING TRANSIENT RESPONSE WHO / Yes allowable zone, 3, Peak time (¢,): * Time for the response to reach the first peak value. + Measure of speed of response (t, \,, speed 7) 4. Percent overshoot (P.0) or Maximum overshoot (M,): If y,=1 9% M,=yl(t,)-1 If y,41 > Ponstel «100 [9%] Ves * Measure of relative stability (P.O or M, 7, relative stability \ )SPECIFICATIONS DESCRIBING TRANSIENT RESPONSE WHO / Yes allowable zone 5, Settling time (¢,): + Time for the response to reach and stay within a range +5,-y,, + Generally 6, is 0.02 or 0.05 + Measure of relative stability _(t, 7, relative stability \ ) * Speed and Relative Stability requirements conflict with each other !!! * Any measure taken to increase the speed of the system usually results in a decrease in its relative stabilityand vice versa.SPECIFICATIONS FOR AN UNDERDAMPED SECOND ORDER SYSTEM * Roots of characteristic equation (i.e. Poles) underdamped 0 < {<1 OF ION real imaginary 0=0,N1-8 sinB=V1-€° — cosB=C— tanf=SPECIFICATIONS FOR AN UNDERDAMPED SECOND ORDER SYSTEM Unit Step Response (Tys+1 Y¥(s)=G(s)-X(s) 3% = ¥(s)Je= ost) S42E0,st0; +), The inverse Laplace transform of (1): Font c- y(t}=l-e "| cos wt + * V or y(t}=1-Ae*'cos(w,t-9) (2) where and andSPECIFICATIONS FOR AN UNDERDAMPED SECOND ORDER SYSTEM + Rise Time (t,) for 0 - 100% rise time (t= ¢.): y(t,)=1 from (2) > —Ae*""cos(wyt,-9) > Ae*cos(0,1,-9)=0 > cos(w4t,-—)=0 > wt, 9=% > Te 1 IfT,=0 > wy, (a/2+n12—B) > + For small t, (i.e. fast speed of response) {should be small * w, should be large Ift, < Tis desired, where T is a given value: Ve a-cos '€SPECIFICATIONS FOR AN UNDERDAMPED SECOND ORDER SYSTEM » Peak Time (¢,) b(t,)=0 from(2) > ~~ p(t,)=ALa,e §-he95(wyt,—@)t Awe "sin wyt,—g)=0 eS" cos(wyt,—g)tV1—-E°e > Ao, ‘-sin(o,t,-9)|=0 > tan(w,t,—¢) ~tan (5 -B)= tan [n—(F—B)]=tan(F +B) v1-€ > ayt, —9= FB alt 1 p ay (E+b+0)) > (ated: IfT,=0 > ¢, =a (xI2+f+x/2—B) > |t,=ae + For small ¢, (i. fast speed of response) Im * (should be small ber > n/T * w, should be large ° n/T =o, S 4 Ift, < Tis desired, where Tis a given value: tT 9 w, 2% wo, aeSPECIFICATIONS FOR AN UNDERDAMPED SECOND ORDER SYSTEM + Maximum Overshoot (M,) M,=y(t,)-1 from(2) > M,=1-Ae 608 (@4t,-)-1 > M,=-Ae os(w,t,—~) and 1, =a,(4 + B+p)= +A+9) Bepeo) cos + p)=|4e" sin( 6) aan | + For small M, (i.e, better relative stability) + Cshould be large (Conflicting with the requirement for t, and ¢, !!!) + Mpis independent of « If Mp < Mis desired, where M is a given value: 4 5 bs)SPECIFICATIONS FOR AN UNDERDAMPED SECOND ORDER SYSTEM + Settling Time (t,) yO The response curve always remains within a pair of envelope curves !!! from the top curve > 1+de**—1=8, from the bottom curve > 1-(1—A4e*”*")=8, tent o, LA EO hy HE =n > = Ae 6, fo,t.=m 5 Eo, IMs, If T,=0 >SPECIFICATIONS FOR AN UNDERDAMPED SECOND ORDER SYSTEM for small € —In(1/6,) _ In(1/0.02) _ to, ~ Eo, for 2% In(1/3,)_ in(1/0.05) to, ~ £0, for 5% * The above expressions for ¢, are fairly good for 0 <¢<0.9 + For small ¢, (i.e. better relative stability) * (should be large * w, should be large If t, < Tis desired, where Tis a given value: 3@r4) ep > a, > 3(or4) fo, oer Tr 3(or 4) TEXAMPLE The closed-loop transfer function of a system is given as: wo? G(s)= s42E0,sto7 a)Determine and plot the permissible region of poles in the complex plane so that the system response to a unit step input has less than 20% overshoot occuring at a time shorter than 5 s with a settling time less than 8 s using 2% criteria. b)Determine the values of {and w, so that M,=0.05 and ¢,=2 s ( '%) Determine the corresponding ¢, and system poles and mark the locations of the poles on the same plot drawn for part (a).SOLUTION a) > % + BK Jag) POS20% Stan imo) 62.9' (588 > 52g 9 0,23=0.628 4 1,<852%) 9 82 > Fo, b) M,=0.05 2% f=tan '|——*—]=464° % €=cosp= »=00 p=tan | fos) = £=cos B=0.69 7 _ 4 4 le x 28(2%) > 2=5o, 259 yA 29 TAs P,,=-€o,+jo, > allowabld zone for poles allowabld zone for polesTRANSIENT RESPONSE OF HIGHER ORDER SYSTEMS The transfer function of an nth order system which does not possess any multiple poles is given by: KT] (s+zi) i s+ pT] it 2€,0,s+o;) where it is assumed that the system has: i. mdistinct zeros (-zi) ii. q distinct poles (-pj) iii. r complex conjugate poles (— FOI * Then, the order of the system is given as: mn=q42r] * If Y(s) is the response to a unit step input X(s)=1/s, partial fraction expansion results in: “ b,(stE,a,)+e,0,V 1- a S+D; $428.0, 5402 or in time domain: a er steady-state ay ae + « output eH 1*order responses 2" order underdamped responses (exponential decays) (exponential decaying oscillations) [b,cos(a, V1-E?r)+e, sin(w, V1—220)}TRANSIENT RESPONSE OF HIGHER ORDER SYSTEMS 1.The necessary and sufficient condition for a system to be stable is that all its poles must have negative real parts. 2.The poles closer to the imaginary axis dominate the system behavior (DOMINANT POLES) 3.Zeros cancel the effect of poles near them. If the ratio of the real parts is more than five, and if there is no zero near it, the pole further away from the imaginary axis may be neglected. hm wOEXAMPLE A control system has the following closed-loop transfer functio} 10s+29 (s°+2.5+2)(s°+28s+75) Find the settling time ¢, for 2% criteria. Poles of the system s'#2s#2=0 9 S4+289475=0 > Zeros of the system 10s+29=0 > Gls)= 10(s+2.9) a “(5°42 942)(s43)(s+25) (s°42942)25 s°42942EXAMPLE A position control system with P-control and rate feedback is shown in the following figure. Itis desired to have an underdamped closed -loop system with the following requirements. + Frequency of damped oscillations (w,) is between 2 rad/s and 3 rad/s, * Damping ratio (Z) between 0.7 and 0.8. a) Show the region on the complex s-plane satisfying both of these requirements. b) For the step response of this closed-loop system, determine and indicate the pole locations on your plot to satisfy the following requirements. i, Minimum undamped natural frequency (w,) ii, Minimum rise time (¢,) iii, Smallest maximum overshoot (M,) and settling time (¢,) ) Find KP and KT for the smallest maximum overshoot and settling time. d) If the controller gain is adjusted so that the undamped natural frequency is 4.2 rad/s, where can the closed-loop poles be located in order to satisfy the requirements given above.SOLUTION b) pole iti for poles d) allowable region for poles a) allowable region Re -4.00 “2.94 -2.67 -1.96 B=36.87°