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LECTURE 02: TRANSIENT RESPONSE
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Transient Analysis

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➢ The Time response analysis is the analysis of time taken by the response of the
system when subjected to an input. The time response consists of two parts.
• Transient response
• Steady state response

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𝐶(𝑡) =? ?
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• We wish to determine the response of the system as a function of time.

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Order of the system

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Order: The order of Differential equations governing the physical system.
The highest power of 's' in denominator of closed-loop transfer function.
Used in transient analysis

Type of the system DO

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Used in steady-state error analysis M
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Number of poles at origin for - loop transfer function G(s)H(s) The
definition of Type varies with the type of error
Transient Analysis

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Step Response of First Order System

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𝐺(𝑠)
𝑇(𝑠) =
1+𝐺(𝑠)𝐻(𝑠)
for ufb
𝑛𝑢𝑚𝑟

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1/𝑠𝑇
= 𝑇(𝑠) =
deno 𝑟 +𝑛𝑢𝑚𝑟
1
1+𝑠𝑇⋅1

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1
=
1+𝑠𝑇

𝑇(𝑠) =

M D1
1 + 𝑠𝑇

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Step Response of First Order System
Time constant- it is the time at which output becomes 63.2% of steady
state value
→ In our case SS value = 1
𝑡
2T
S T 𝑐(𝑡)
0.6321
at 𝑡 = 3𝑇, < 5% error
at 𝑡 = 4𝑇, < 2% error
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4T
0.8646
0.9502
at 𝑡 = 5𝑇, < 1% error

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as time increases, error decreases & accuracy increases.

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5T 0.9816
𝑐(𝑡) = 1 − 𝑒 −𝑡Τ𝑇 𝑢(𝑡൯

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• Tangent to 𝑐(𝑡) at 𝑡 = 0 intersects 𝑆𝑆 value at 𝑡 = 𝑇 (time cons)
Step Response of First Order System

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• Settling time ts = 5T
• Rise time tr = 2.2T
• Delay time td = T ln 2 = 0.693T

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 Impulse Response of First Order System

𝑐(𝑠) =
1/𝑇
𝑠+1/𝑇

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𝑐(𝑡) = 1/𝑇𝑒 −𝑡/𝑇 𝑢(𝑡)

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Tangent at 𝑡 = 0 intersects the SS value ie. 𝑐(𝑡) = 0 at 𝑡 = 𝑇
Transient Response of Second Order System

C(s)

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C(s) =

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c(t)

c(t)

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Summary of a 2nd Order Underdamped System

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𝑟(𝑡) = 𝐴𝑢(𝑡)

𝑐(𝑡) = 𝐴 1 −
𝑒 −𝜉𝜔𝑛 𝑡
1−𝜉 2
sin 𝜔d 𝑡 + 𝜃 𝑢(𝑡)

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𝜔𝛼 = damped freq of oscillation

= 𝜔𝑛 1 − 𝜉 2

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𝜃 = cos −1 𝜉

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• poles are complex conjugate of each other

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poles = −𝜉𝜔𝑛 ± 𝑗𝜔𝛼
Important Characteristics of step Response of Second
Order Underdamped Systems
• Rise time 𝑡𝛾 =
𝜋−𝜃

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% overshoot = 𝑒 −𝜉𝜋/ 1−𝜉 × 100%
2

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𝜔𝑑 max 𝑚 peak
𝜃 = cos −1 𝜉 % overshoot or % undershoot
𝜋 & 𝜃 : radians

• Peak time
=

M D 𝑒 −𝜉𝑛𝜋/ 1−𝜉 2
× 100%

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𝑛 = odd : overshoot
𝑡𝑝𝑜 = 𝑛𝜋/𝜔𝑑 : 𝑛 = odd
𝑛 = even: undershoot

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• Peak overshoot
𝑐 𝑡𝑝 − 𝑐𝑠𝑠 = 𝐴𝑒
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𝑡𝑝𝑢 = 𝑛𝜋/𝜔𝑑 : 𝑛 = even

−𝜉𝜋/ 1−𝜉 2
• delay time 𝑡𝑑 =
• Settling time
2%: 4𝜏 & 5%: 3𝜏
where 𝜏 = 1/𝜉𝜔𝑛
1+0.7𝜉
𝑤𝑛

input = 𝐴𝑢(𝑡)
Step Response of Second Order Undamped System

(i) Poles of second order undamped system lie on j𝜔 axis.

(ii) 2nd order undamped Systems are Marginally stable.

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→ border of stable & unstable

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(iii) Poles of 2nd order undamped system also Lies on the circle of radius 𝜔𝑛 .
𝑐(𝑡) = 1 − cos𝜔𝑛 𝑡 𝑢(𝑡)

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Step Response of Second Order Critically damped System

(2) Critical damped systems are always stable damped

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(1) Poles of 2nd order critical damp system are negative, real, repeated

(4) Settling Time = 6𝑇 =

6

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(3) Poles of second order critical damped system lie on a circle of radius 𝜔𝑛

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𝜔𝑛

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(5) 𝑐(𝑡) = 1 − 1 + 𝜔𝑛 𝑡 𝑒 −𝜔𝑛 𝑡 𝑢(𝑡)

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Step Response of Second Order Over damped System

(2) Pole Location does not lie on a circle radius 𝜔𝑎

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(1) Pole locations of 2nd order over damped system → Real, negative, Distinct

(4) 𝑐(𝑡) = 1 − 𝑎1 𝑒 𝑝1𝑡 − 𝑎2 𝑒 𝑝2 𝑡

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(3) Not Always stable (unstable: 𝜉 = −𝑣𝑒 )

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Nature 𝛏 Nature 𝛕 𝟐% ts Stable
0<𝜉<1 Damped Oscillatory 1/𝜉𝜔𝑛 4𝜏 Stable
Underdamped

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Undamped Oscillatory Marginally stable
Undamped 𝜉=0 ∞ ∞

Critical damped 𝜉=1

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No Oscillation fast settling 1/𝜔𝑛 6𝜏
S stable

Over damped

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1 < 𝜉 < ∞ No oscillation slow settling 1/| dominant pole | 4𝜏 stable

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 Effect of Adding poles and zeroes to Transfer Function
1. If a pole is added to forward transfer function of a closed loop system, it increases
maximum overshoot of the system.

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2. If a pole is added to closed loop transfer function it has effect opposite to that of
case–1.

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3. If a zero is added to forward path transfer function of a closed loop system, it
decreases rise time and increases maximum overshoot.

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4. If a zero is added to closed loop system, rise time decreases but maximum

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overshoot decreases than increases as zero added moves towards origin.
Dominant Pole Method

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Cascading of Second Order System

⇒
𝐶(𝑠)
𝑅(𝑠)
=
𝐾𝜔𝑛 2
2 (𝑠+1/𝑇)
𝑠 2 +2𝜉𝜔𝑛 𝑠+𝜔𝑛

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(1) 1st order pole away from origin as compared order UD poles response: similar

to 2nd order UD system but slower

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Response of Third Order System

𝑇(𝑠) =
𝑘
𝑠 3 +𝑎𝑠 2 +𝑏𝑠+𝑐

Try to decompose 3𝑟𝑑 order system into

Compare both
𝑐 = 𝜔𝑛2 𝑝
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first & 2nd order system

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𝑎 = 2𝜉𝜔𝑛 + 𝑝
𝑏 = 𝜔𝑛2 + 2𝜉𝜔𝑛 𝑝

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𝑘
𝑇(𝑠) = 2
(𝑠+𝑝) 𝑠2 +2𝜉𝜔𝑛 𝑠+𝜔𝑛 Compute p, 𝜉, 𝜔𝑛

=
𝑘

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2 +2𝜉𝜔 𝑝
𝑠 3 + 2𝜉𝜔𝑛 +𝑝 𝑠 2 +𝑠 𝜔𝑛 𝑛
+ 𝜔𝑛2 𝑝
then use previous concept to judge

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nature of response.
Question-1

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For a series RLC network the state diagram is shown below

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Find resonance frequency of the network ______ rad/s

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Question-2

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The above system is (take correct as output & Vs(t) input)
(a) Underdamped
(b) Overdamped
(c) Critically damped
(d) Oscillatory
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Question-3

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𝐾
A second order system has transfer function 𝑇 𝑠 = 2 pole location of
𝑆 2 +2ξ𝜔𝑛 𝑆+𝜔𝑛
the system is shown below

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If the location of the pole is changed keeping  constant and distance from

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origin is changed to 5 also steady state is constant. Find the new peak time of
the system _______ sec.

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Question-4

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There are three 2nd order systems. Their pole location (single) are shown below.
Steady state gain of system S1 is 20, S2 is 30 & S3 is 25. Maximum output of
system S1, S2,S3 will be respectively for input of 10u(t)

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Question-5

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The maximum overshoot for a unity feedback control system having its forward
𝐾

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path transfer function as 𝐺 𝑠 = is to be reduced from 60% to 20%. The
𝑠(𝑠𝑇+1)
system input is unit step input. Determine the factor by which is should be

(a) 1/2
(b) 2
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reduced to achieve the above condition.

(c) 8
(d) 1/8

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Question-6

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Which of the following statement(s) is/are true
Statement-1. Adding a zero to the closed loop transfer function decreases the

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rise time and increases the maximum overshoot of the step response.
Statement-2. Adding a pole to the forward path transfer function generally has
the effect of increasing the maximum overshoot of the closed loop system.
(a) Statement 1
(b) Statement 2

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(c) Both statements are true.
(d) Both statements are false.

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Question-7

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Consider a 2nd order system whose transfer function is given below.
𝐶 𝑠 𝐾
𝑇 𝑠 =
Unit step response is ploted below
𝑅 𝑠

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= 2
𝑆 + 2ξ𝜔𝑛 𝑆 + 𝜔𝑛2
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The ratio of 5th overshoot to the 15th overshoot is 20
Find damping ratio of the system _______.

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Question-8

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In the above question if damping ratio is taken equal to above calculated value
then find the ratio of 1st and 9th overshoot _______.

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Question-9

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K(s−10)
The OLTF of a unity feedback system is , ' K ' is varied from ' 0 ' to ' ∞ '.
(s+100)
The value of K for the system to have a time constant of 0.1sec is
(a) 10
(b) 4.5
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(c) 5.5
(d) 6.7

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Question-10

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In the block diagram shown in fig below, the values of K1 , K 2 for which time
constant is 0.4sec and steady state output is 2 , for a unit step input, are
respectively

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(a) 2.5, 0.5
(b) 4, 0.5

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(c) 5, 0.5
(d) None

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Question-11
C(s) e−s
A step input is applied to a system with the transfer function .

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=
R(s) (1+0.5 s)
The output response will be

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Question-12

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A unity feedback control system of a closed loop transfer function equal to
C(s) 42.25
.

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=
R(s) s( s+6.25)

value at a time equal to

(a) 0 sec
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The unit step response of the system, starting from rest, will have its maximum

(b) 0.56 sec

(c) 5.6 sec

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(d) ∞

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Question-13

The CLTF of the system is

K
s2 +8 s+K

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The maximum peak overshoot permitted in the system is 16%( K > 0)
The maximum value of K is
(a) 14
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(b) 1/64

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(c) 46
(d) 64

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Question-14

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A control system is shown in the following fig. For 𝑘v = 10 the percentage of
peak over shoot is.

(a) 2.2%

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(b) 3.2%
(c) 4.2%

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(d) 5.2%

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Question-15

Time response of a standard 2nd order system to a step input is

1 − ke−2t sin(2𝜋t + 𝜙)

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Number of oscillations by assuming 2% tolerance, before the response settles is
(a) 1
(b) 2
(c) 3
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(d) 4

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Question-13
𝑌5
Find gain
𝑌1

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Question-14

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Question-15

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Consider a simple mass-spring-friction system as given in the figure. K1 , K 2 -
Spring constants, f-Friction, M-Mass, F-Force, x-Displacement The transfer
function
𝑋(𝑠)
of the given system will be
𝐹(𝑠)

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(a)
1
Ms2 +fs+K1 ⋅K2
(b) 2
1

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Ms +fs+K1 +K2
1
(c)

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K ⋅K
Ms2 +fs+ K 1+K2
1 2

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K2
(d)
Ms2 +fs+K1