Block Diagram and Transfer Function o00 77

1 dx 1
M.
(d) f) + di' D dt
Transfer function can be defined for
2.
(a) linear time varying system (b) both linear and non-linear system
linear time invariant system (d) non-linear system

3. Open loop transfer function of a closed loop system is defined as

(a) output/feedback signal
(b) actuating signal/feeback signal
ic) feedback signal/actuating signal
(d) outpt/actuating signal
Forward path transfer function of a closed loop system is ratio of
(a) output to actuating signal (b) output to input
(c) output to feedback signal (d) input to output
5
Closed loop transfer function of a system is ratio of
(a) output to actuating signal (b) output to feedback signal
(c) output to input (d) input to error signal
A The overall transfer function of a system shown in Fig. 2.104 is

G G
Fig.2.104.
(a) G,G (6) G, + G
(c) G (d) G- G
Ga
7. The overall transfer function of a system shown in Fig. 2.105 is

R G,

Fig. 2.105.
(a) G,G (b) G, + G,
(c) G, - G, (d) G, - G
8. Laplace transfer of unit step input is
(a) 1 (6)
S

(c) s (a) 2
9. Laplace transform of which of the following function is unity?
(a) unit step function (6) unit ramp function
(c) impulse function (d) parabolic function
10. Laplace transform of output is equal to the transfer function of the system
when the input is
(a) a step signal (b) an impulse signal
(c) a ramp signal (d) a sinusoidal signal
 78 oOO Control Systems
3s + 1
11. Write the characteristic equation of transfer function
+ 5s+ 4

12. Define the following

(a) Transfer function
(6) Laplace transform
(e) Characteristic equation of transfer function
(d) Analogous system
13. What are the two types of mechanical system?
14. What are the basic elements of a mechanical translat1onal system?
l5. What are the basic elements of a rotational mechanical system?
16. What is a block diagram?
17. Why negative feedback is generally preferred in closed loop system?
18. What is the order of a systemn?
19. Give one example of each of following:
(a) First order system
(b) Second order system
20. Find Laplace transform of f(t) where
ft) =2 - 4e3t
Answers
1. (6); 2. (c); 3. (c):; 4. (a): 5. (c); 6. (a):7. (c); 8. (b); 9. (c); 10. (b); 1l. g²+ 5s+As
0; 13. translational, rotational; 14. mass, spring, dash pot; 15. Moment of inerti
(J), rotational frictional coefficient (D), torsonal spring (k).
II. Four Mark Questions:
1. Write the properties of block diagram.
2 What is the significance of block diagram?
3 Write the properties of transfer function?
4. What is the significance of transfer function?
Write the procedure for obtaining transfer function of a system.
6. What are the effects of feedback in a closed loop control system?

III. Ten Mark Questions:

1. Derive transfer function of a closed loop system.
2. Derive the transfer function of a thermometer. Also find the response of
thermometer for a unit step input.
3. Simplify the following block diagram and find its transfer function.
H
R(s)

H.

Fig. 2.106.

Ans.
l+ GgH, +G,H, +GiGs
 Block Diagram and Transfer Function o 0 9
Determinethe transfer function of block diagram shown in Fig. 2.107.

G, + C(s)
R(S)

Fig. 2.107.

Ans. G,G,Gg
1+GH +GzH, +GzH, +GGzH, H, )
Findthe transfer function of the following electrical network.
5.
R .

e,t) R e(t)

Fig. 2.108.
R,Cs
Ans.
1+ RCs +R,Cs)
ADraw the block diagram of network shown in the question 5.
1
(Ans. E(s) R2 E,(s)
R+ 1
Cs

Fig. 2.109.)
7. Draw the block diagramn of an electric network shown in Fig. 2.110. Also find
the transfer function from the block diagram.
R W
W

e(t) e,()

Fig. 2.110.
1

(Ans. E{s) R2+

2+ CS E,(s)
R +Ls

Transfer function
1+ R,Cs
1+ RCs + R,Cs + LCs
CHAPTER

TIME RESPONSE
OF SYSTEM

LEARNING OBJECTIVE 3.1. INTRODUCTION

OIntroduction
OTime Response Time response of a system depends
OOrder of
System function of the system and the son transie
O Test lnputs Response of the output obtained inputapplied
O
Nomenclature Time
of input signal. The variation of affter appyng
oi aoutput
Response of a System time is called time
OFirst Order we apply same
response systemwthle
System input to different
OSecond Order
OSteady State
System the time
if one apply
response sytems,
will be different. Similar
Error
Response and the different inputs to
time response will also besame system
In this chapters, time different
order and second order system response of first
have been
described in details for different input
Time response has two parts like signals.
transient
response and steady state response, both
being considered. Transient response of system
shows variation of output in a very
period of time which is being describedshortby
certain specifications like peak overshot,
risetime, settling time etc. all will be described
in this chapter. Steady state
response shows
variation of output when time tends to infinity
(t ’ o). If the steady state value of output
is different from reference input, then the
system is said to have an error called steady
state error.
Analysis of steady state error based on
static and dynamic error coefficients are
described in details with some examples.

80
 Time Response of System oO 81

3.2. TIME RESPONSE

responseof a control system is
Time time
defined as the variation of output with
respectto when an input signal is applied to the system. It is a plot of
putput
versus time. The time
response of a control svtem Congists of twO
parts,
namely, transient response and steady state response.
() Transient Response: The time response of a control system for a
very short time is called transient response. The transient period is
generally. identified in terms of time constant of the system
(i) Steady State Response: The time response of a control system 18 a
state of the output when time approaches infinity (t ’ oo), Steady
state is achieved after transient period. Steady state period is also
identified in terms of time constant of the control system.
Time response of a typical control system for an input signal is shown
below:

Output
Output C(t)
r(t)
Transient Steady state
(a) Input signal (b) Time response
Fig. 3.1.
The transient part of time response is oscillatory in nature. Thesteady
state part of time response predicts the final value of the system. Thus,
error and accuracy of a control system are obtained from steady state part of
the time response.

3.3. ORDER OF SYSTEM

The order of a system is the highest power of s in the denominator of system
transfer function. Accordingly a system is categorised as first order system,
second order system etc. As the order of the system increases the system is
being more and more complex as higher order system have higher degree of
differential equations governing it.
Thus order of system and their differential equation are given below:
(i) Ifthe highest power of s in denominator of transfer function is one
then it is a first order system.The system is represented by lst degree
differential equation.
(i) In a second order system, the highest power of s in denominator of
transfer function is two. The degree of differential equation of system
1s two.
(u) Athird order system is represented by differential equation of degree
three and the highest power of s in the denominator of transfer function
is 3.

to hiSimilarly other order of system can be descrilbed and categorised according

ghest power of s inthe denominator of transfer function ofthe system.
82 o0 Control Systems
EXAMPLE 3.1.
Findthe order of the system represented by following block
R(s) 3S
C(s) dhagram
Fig. 3.2.
Solution:Transfer function
1
C(s) 8s
R(s) 1+
1
3s
1
3s +1
The highest power of s in denominator is one, so it is afirst
,order system.
EXAMPLE 3.2.
Determine the order of the system represented by following bloc.
diagram.
R(s) C(s)
s(s + 1)

Fig. 3.3.
1
Solution: G(s) = s (s +1)
H(s) = 1
G(s)
Transfer function =
1+G(s) H(s)
1
s(s +1) 1
1 (s + s+1)
1+
s(s +1)
The highest power of s in denominator of transfer function is two, so it is
asecond order system.
EXAMPLE 3.3.
The differential equation governing acontrol system is given by
d'e 5de + 8c = 3r
dt dt
Find the transfer function and order of the system.
 Iime Response of System o00 33

Solution:Taking the Laplace transfer of the differential equation.

sC(s)+ 5s C(s) t 8 C(s) = 3 R(s)
(s2 + 5s + 8) C(s) = 3 R(s)
C(s)
R(s) s + 5s +8

Transfer function=
g+ 58 +8
second order
The highest power of sin denominator is 2. Therefore it is a:
System.
EXAMPLE3.4.
The trraansfer function of a system is given by
C(s) 25
R(s) s + 6s + 25
Bind the order ofthe systenm and the differential equation governing
the system.
is 2.
Galution: () The higher power of s in denominator of transfer function
system.
So. it is a second order
C(s) 25
() R(s) s +6s +25
(s + 6s + 25) C(s)= 25 R(s)
$² C(s) + 6s C(s) + 25 C(s) = 25 R(s)
Taking inverse Laplace transform of both side,

+ 25c = 25 r
di?

3.4. TEST INPUTS

Input to a control system is not known ahead of time. So for analysis of
system certain standard inputs are used generally known as test inputs.
These test inputs are used to obtain the system response which also gives
idea about the performance of system for other complex inputs. The standard
test inputs used to obtain the response of a linear feedback control system
are described below:
3.4.1. Unit Step Input
This function was first introduced by
Heaviside. Aunit step function is represented u(t)
0y u(t) and is expressed mathematically by
equation
u(t) = 1, t>0 Fig. 3.4. Unit step function
= 0, t<0
raphical representation of unit step function is shown in Fig. 3.4.
 84 GO0 Control Systemns

A step function f) is represented by

mathematically and graphically as given below:
ft) =k, t20
f(t)
- 0 <0
So, step function can be expressed with the 0

help of u(1) by
Fig. 3.5.
Step function
ft) = ku(t)
So, either a step input or a unit step input can be used as
test
Properties of Step Function: Astepfunction has two important signals
which make it useful as a test signals. These properties are:
() It has an initial jump in amplitude so it reveals the system properties
respond for asudden change.
(u) lt has a wide range of frequencies in its spectrum which
is
ability tn
to a numerous sinusoidal signals with a wide range of
() Laplace transform of a unit step function is
equivalees,nt
frequenci
£tu(t)} = |u(t) e dt

-St
1

Jo

Laplace transform of a step function of magnitude k is equal to

The Laplace transformer of step function is
of a system to such test input is less simple. So response analysis
complicated.
3.4.2. Ramp Function
Aramp function varies linearly
with time. It is represented as r(t) and is
expressed mathamatically as
r(t) = kt, t0
= 0, t <0
Graphically r(t) is represented as shown in Fig. 3.6.
r(t) k>0
r(t)
t
t+
k<0

Fig. 3.6.
Here, kis the slope of linear Ramp function
unity, then the function is called characteristics of ramp function. When kis
unit ramp function.
 Time Response of System o00 85
functionis also an important test input. It reveals how the system
Ramp
respond}
toaninput signal that changes linearly with time.
Laplacetransform of ramp function is given by

etr(0) =Jr) e"dt

0

34.3. Parabolic Function

Parabolic.function used as atest input where more gradual application
required in comparison to ramp input.
ofinputis by
Itis given r(t)
r(t) = K t>0
2
= 0, t<0
Fig. 3.7. Parabolic
function
For k = 1, r(t) = and it is called unit parabolic
2

function whose Laplace transform is

1
2

3.4.4. Impulse Function

The impulse function has a infinite value at t=0 s(t)
and zero value at any other value of t. Thus, it actsas
an impulse of very very short duration. A unit impulse t
function is represented and expressed by
Fig. 3.8. Impulse
s(t) = o, t=0 function
=0, t#0
for very short
Ihus impulse input is a sudden application of a shock
duration.
Laplace transform of unit impulse function is
£(s ()} = 1
Table 3.1. Laplace transform of test inputs
Graphical representation
Test input Laplace transform
u(t) 4
1. Unit step 1

(Contd.)
B6 OControl Systems

2 Unit rAnp

f(t) 4

B. Unit paraboic
f(t) 4

4 Unit impulse

3.5. NOMENCLATURE OF TIME RESPONSE OF A: SYSTEM

The time response of a system is named according to order of the. system and
input applied to the system. Suppose a step input is applied to a first order
system. The response called step response of first order system. Similar:
accordingly as given in table.
other response are named
Input Response
Order of system
Step, ramp, impulse Step response of first.order, ramp response
First order
of first order, impulse response of irat
order respectively
rams
Second order Step, ramp, impulse Step response of second order.
response of second order, impulse
response of second order respectively

3.6. FIRST ORDER SYSTEM

Fig, 3.9.
The block diagram of closed loop unity feedback system is shown in
1
R(s) ST
C(s)

Fig. 3.9. Block diagram of first order system

1
Here G(s) = 8T
H(s) = 1
C(s) G(1)
Transfer function =
R(s) 1l +G(s) 1 + (s)
1
sT
1 sT +1
1+
sT
 Time Response of System o00 87

The
highest Dower of s in denominator is one. So, this represents a first
ordersystem.

36.1. Response of First Order System

response of first
order system depends on input. The different
The time
of a first order
responsesof system are described below.
Step Response of First Order System: This respon8e isobtained
1. Unit
applying unit step input to a first order system.
by
Transfer function
C(s) 1
R(s) sT +1
1
Eor unit step input r(t) = 1R(s) = S

1
Output C(s) = sT +1 R(s)
1

s(sT +1)
1 T
sT +1
Time response of the system is obtained by taking inverse Laplace transform.
T
g-1 C(s) = S $T +1)

T 1
=1-l
C(t) = sT +1 1
T
-t

= 1-e?
Case I: Time t= T(Time constant)
The value of output C(t) when time t= Tisgiven by
-T
C(t) = 1-e 1 =1 -e-1
=0.632 or 63.2%
Tis known as the time constant of the system. Time constant is defined
as the time required by the signal to attain 63.2% of its final or steady state
Value. A system is faster when time constant is smaller where as it becomes
Sluggish for large time constant.
Case II: t= 2T
-2T
In this case C(t) =1-e T
=1-e2
= 0.864 or 86.4%
88 o0O Control Systems

Case III:t=4T (Settling time, t)

4T
In this case C(t) = 1-e 1
=0.98 or 98%
For a time of 4T, the output is 98% or in other word we say that

time o(t).utput
reaches within 2% of final value. This time is known as settling
t, =4T
Transient and Steady State Responses: Settling time is the
demarcation between transient and steady state part of a control basis of
Response of system upto settling time is transient response.
response is the response of the system beyond settling tÉme.
Graphical Representation: The graphical representation of
Steadysystsetmat.e
response of first order system is shown in Fig. 3.10. unit step
1 2%
0.98
C(t)
0.632

P T 4T
Transient Steady state
Fig. 3.10. Unit step response of first order system
Effect of Time Constant: If the time constant is less, then the steady
state reaches earlier and the system is faster. The system is sluggish or slow
for large time constant. The effect of time constant on response is shown in
Fig. 3.11.

C()
0.632 0.98 0.98

T 4T, 4T,

Fig. 3.11. Effect of time constant T, < T,

Steady State Error: The error of a control system is given by
e(t) = r(t) C(t)
t

= 1-|1-e ?
 Time Response of System o O 89

steadystate error (eg) is the value of error of the system when time
approaches
The infinity.
li mit et
egs t’ o

= limit e T =0
t ’o

EXAMPLE3.5.
response of system shown in Fig, 3.12 subjected to
Findthe time (BTE, Delhi 2014)
unitstepsignal.
5 2
W

V(t) 4 uF V,(0)

Fig. 3.12.
function is
Solution: Transfer
1
V,(s)
V (s) 1+ RCs
where R= 5 2
C= 4 uF=4 x 10-6 F
Time constant T= RC =5 X 4X 10-6 sec
= 20 X 10-6 sec
1
For a unit step signal, input V(s) =
1
V,(s) = 1+ RCs V,(s)
1 1
1+ RCs s
1 RC
1+ RCs

S 1
S +
RC
Time response v,(t) is obtained by taking Laplace inverse

,(t) = g-1 |1 1
S +
RC
90 o Control Systems

1
=
1
RC,
-t
=1-p RC

=1-e T
where T= 20 x 10-6 sec
2. Unit Ramp Response of First Order System
This response is obtained by applying a unit ramp input to a
system.
For unit ramp input,
firrst order
r(t) = t
1
R(s) =
The output is given by
1
C(s) = R(s)
sT +1
1
sT +1

1- sT T2
sT +1

1_7 +T.
1

S +
1
T
The time response of the system is obtained by taking
Laplace inverse.
1 1
£-1 [C(s)] = 1 +T.
1
S +
T
-t
C() = t -T+TeT
Error e(t) = r(t) C(t)
-t
= t-|t- T+TeT

= T-T,7
 91
Time Response of System oCO

Steady state
error is given by

= limit T Te =T
response is shown in Fig. 3.13.
The time r(t
= ) t

ess

C(t)
Lag
time

Fig. 3.13. Unit ramp response of first order system

indicates that the output matches the input but lags behindT
Theresponse error of
time T. Time Tis called lag time. Also a steady state
theinput by system.
unit exists in the error will be less for a smaller time
constant
Thetime lag and steady state
of the system.
System
Unit Impulse Response of a First Order first
3.
obtained when a unit impulse input is applied to a
This response is
order control system.
Here, input r(t) = s(t)
R(s) = 1
is given by
The output of the system
1
· R(s)
C(s) = sT +1
1
sT +1
taking Laplace inverse.
response of the system is obtained by
The time
1
£{Cis)} = - sT +1
1
C(t) = e 1
T s+
T

1
1
st

e
T
T
 Control Systems shownnin Fig. 3.14.
92 o0O systemis
responseof the
The time

C)

Fig. 3.14.
first ordersystem
Table 3.2. Time response of
Output
Input
R(s) C(t)
rU)
1 1 -e
Unit step

r()= 1

t- T- Te
Unit ramp

r(t) =t

1
Unit impulse 1

r) = 6(t)

Examples of 1t Order System

Highest power of s in the denominator of transfer function is the order
of the system. So in afirst order system the power of s in denominator o1
transfer unit isone. Some examples of 1st order system are given below.
1st order system Transfer function Value of time
constant (T)

(i) RC circuit
R

V(0) C VG() V,(s) 1

T= RC
V(s) 1+ RCs

(Contd..)
 Time Response of System o O 93

i)
RLcircuit

L
V0) V,(G) Ls T=
R
V) V(s) R+ Ls

o)Thermometer
T,(8) 1 T= RC
T{s) 1+ RCs

SECOND ORDER SYSTEM

3.7.
the
secondorder control system is one in which the highest power of s in
A tor of
denomina transfer function is two. The block diagram representation
general second order system is shown in Fig. 3.15.
ofa
C (s)
R(s) s (s +280,)

order system
Fig. 3.15. Block diagram of a general second
block diagram is a unity feedback closed loop control system with
This feedback transfer function H(s) as
forwardpath transfer function G(s) and
given below:

G(s) = s(s + 2sO, )

H(s)= 1
where 0, = undamped natural frequency
§= damping factor
The closed loop transfer function is
C(s) G(s)
R(s) 1+G(s) H(s)

s(s + 2 ôao,)
2
1+
s(s+ 28o, )

2
s +2 ôo,8 +O,
=0
+2 o,s + o
Characteristic equation is
94 o0 Control Systems
3.7.1. Unit Step Response of Second Order System
When a unit step input is applied to a second order
Tesponse of output is the unit step response of the system. system, he
For unit step input timg
r(t) =1
1
R(s) = S

The transfer function of the system is given by

C(s)
R(s) + 28 o,s + o,
The output of the system is given by

C(s) = R(s)
+ 26 o,s + O;
1
2
s + 28 o, s + o S
1

+28 o,s +& o, -8u + o s

1

(s + åo, +o(1-8) s
1

(s + ôo,) + o ..1)

where od = damped frequency = /o(1 - 8)

By partial fraction of RHS of equation (1), we obtain

1 s+ 2do,
C(s) =
(s +So,y' +oz (1 -§?)
1 (s +o,)+ ðo,
2
S (s + 8o,}' +
1 s+ ðo,
S
(s +ôo,) + o (s +8o, ) +o
0d
2
(s+ôo, ) + a 0d (s + So,) +o,
The time response of the system is obtained by taking Laplace inverse.

&1{C(s)} = s+ do,
(s + Bo, + o2 (s + So, )² + o#|
 Time Response of System o 0 95

C(t) =
(s + S), +o
g-1 Wd
(s + So, ) + o
= 1 e,-So,t
sin 0Jt

= 1-e-du,t COS 0Jt +

= 1-e-So,t COs 0Jt + sin 0,t

= 1-e cos 0Jt + sin 0t

e ,-So,t
= 1 cos ogt + Ssin ogt )

Put sin = -§2

COs =ò

.: tan o = Or

C(t) = l (sin cos 0jt + cos sin o,t)

,-8o,t
=1 sin (0,,t + )

1s e(t)TOr of System:
and is
The error of second order system for unit steps input
given by
e(t) = (t) - c(t)
e ,-So,t
-öo,t
sin (0gt + sin (0qt + )
1-8
Steady State Value: The value isofgiven
outputby of the system when time
approaches infinity (t ’ o) 1s ess and
= limit C(t) =1
 Systems
96 o 0 Control
for Different 8
Time Response (under damped)
8Z1
(i)Case I: 0 <
2 is positive and theresponse is
Inthis caseJ -
-So,t
C(t) = 1 sin (0,t + 0)

Thus the response has damped oscillation with overshoot and

and is called under damped response. This is shown in Fig. 3.16.

Overshort
unders
(8< 1)
C(t)
Undershort

Fig. 3.16. Time response of under damped second order system

Overshoot and Undershoot: T'he transient response of an underdamnei
system oscillates about the final value with successive overshoot andundershos
The transient response over the final value are called overshoots and that
below final values are called under shoot.
(ii) Case II: 8 = 0 (undamped)
The output of undamped will be obtain by substituting 8 = 0 in equation
of C(t).
-So,t
C(t) = 1 sin (0t + tan-l
1-82
TU
= 1-sin 0,t
2
= 1-cos 0,t
The response of an undamped system is sustained oscillation as shown
in Fig. 3.17.
C(t) 4

(8= 0)
t

Fig. 3.17. Sustained oscillation

 Time Response of System o O0 97
8=1
Case III: (Critically damped)
equals 1then it is a case of
When ö critically damped. The response of
sy'stemforthis case is shown in Fig. 3.18. There is no oscillation when the
1s, critically damped.
SVstem
C(t) 4

Fig. 3.18. Critical damping

CaseIV:: 8> 1 (overdamped)
Forall values of &above 1 give rise to overdamping of system.
The response
of second order system for different value of 8is shown in
Fig.8.19.
C(t)4
8= 0.2
-§= 0.6
1

)=1

Fig. 3.19. Response for different damping

The overdamped system is sluggish.
Second Order System
3.7.2. Transient Response Specification of
signals, but the performance of a
There are various types of input test
terms of transient response fora unit
Control system is usually expressed in response
used as it is easy to generate and
Step input. Step input is generallycomputed mathematically.
0 any other type of input can be
response of an under damped second order control system for a
The time
unit step input is shown in Fig. 3.20. and
damped oscillations with overshoot
Ihe time response exhibits state. The following quantities are used
aershoot before reaching steady
to transient response of the system.
express
) Delay time (t)
() Rise time (t,)
(i) Peak time (t)
(w) Maximum overshoot (M)
(U) Settling time ()
98 o0O Control Systems

Mp 2% or 5%

1.0
----
0.5

tp

Fig. 3.20. Unit step response of a

second order system
(i) Delay Time (t): It is defined as the time
toreach half of the final value for the required for the
first time.
(ii) Rise Time (t): It is defined as the time
required for the
response
reach final value for the first time. response to
Expression Rise Time (t,): The time response equation is
for
e-S0,4,
C(t) = 1
1-82 sin (ogt, + ..)
To obtain t,, substitute t= t,
and C(t) = 1 in equation ()
e
1=1 sin (ogt, +)
e -o,t,
Or
sin (ogt, +¢) =0
eroo,t,
Since, #0,therefore

sin (0, t, + ) = 0
= sin nI
where, n= 1, 2, ... etc.
Put n =1
because for C(t) to reach final value for the first time forn =1
.. sin (o,, t, + Ø) =sin Tt
(O t, + ) = I
 Time Response of System o00 99

t, =

)= tan-l
where
first
Peak Time (t): It is defined as the time required to reach to
(ii) response.
ofthe time
peak
Expression for t,:
e
C(t) = 1 sin (0, t +0)
function is equated to
R maximum value, the first differential of the
zero.
d C0) = 0
dt
1 /eäeyrcos (0zt +p).@s +sin (o,t +¢) . e00(-8 o,) =0

-So,t
cos (0qt +o). 04 sin (ogt + )) ðo, = 0
J1- 8
Since
+ ¢) ©o, =0
:cos (0,t + ). o,- sin (0,t
=0
cos (o,t + o) o, J18 - sin (0,t + ¢) bo,
8=0
(0,t +¢)-§' - sin (o,t+ )
(0,t + o) cos = 0
’ cos (0,t + )sin ) - sin
’ sin (o,t + ¢ ¢) = 0
sin o,t = 0
Iime for various peak of overshoot are
Sino,t = sin nn
first peak and n=1
t= t, for
Sin o, t, =sin n t=Sin I
 100 oo0 Control Systems
(iv) Maximum Overshoot (M,): The
output from the steady state value is called maximum
maximum positive
Mp= C(t)max - C(oo)
C(U)max-l (: steadystate value:
Generally maximum oversoot is expressed in
overshoot.
value and is given by
percentage of
%Mp=
C(O)nax - (oo)-x100
C(oo)
teady tat
C(t)max 1
1
x 100 = M, x 100
Expression for Mp: The maximum value of C() is
time t
e -8o,tp
obtained at the pea
C(t,) = 1 sin (0, tp t )

0, 1-?
= 1-.e
sin| 0d

e
=1 sin (T + ))

14e
Sin o

= 1+

C(t,)-1
Mp= 1

= 1+e Ji-8 -1
- ST
evi-&
% Mp = M, x 100

= e x100
 Time Response of System o00 101

(t): It is the time required for the response

Settling Time to reach
(u) specified range of final value (2% or 5%).
the
yithin 1
constant of the system = T=
Time
then
range1s2%
fthe
4
4T=
Settlingtime=
then
range is 5%
Ifthe
3
3T=
Settling time =
Table 3.3. Transient response specification of a second order system
Transient response Magnitude
specification
1. Delay time t

2. Rise time (t) where tan =

3. Peak time (1,)

4. Maximum overshoot (Mp) Mp=

e 1-2
%M,=
x100

4
5. Settling time (1) for 2% settling range

3
for 5% settling range

Characteristic of system for different damping ratio (Þ)

8>1 ¿ =1 8<1

Overdamped Critically damped Underdamped

Roots are negative Roots are negative Roots are complex
real and distinct real and repetitive with negative real part
Not oscillating Sustation oscillation Oscillating
No over shoot No overshoot Overshoot

Largest t. (rise time) Less t, Less t,