Lecture 5

ME 3115: Instrumentation and Control

Transient and Steady state Response

Presented by
Dr. Md. Rokunuzzaman
Department of Mechanical Engineering
Rajshahi University of Engineering & Technology 1
Outline

 Signal and Systems

 Transient and Steady State Response
 Steady State Error

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 2
Learning Objectives

At the End of the Class you will be able to

 Characterize different types of signals
 Analyze system performance

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 3
 Signal and Systems

Signal: A signal is a function representing a physical quantity or variable, and

typically it contains information about the behavior or nature of the phenomenon. A
signal is denoted by which depends on independent variable .

Continuous Time Signal: A signal is a continuous time signal if is a continuous

variable.

Discrete Time Signal: A signal is a discrete time signal if is a discrete variable. It

is often identified as a sequence of numbers .

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 4
 Signal and Systems

Analog and Digital Signals: If a continuous time signal can take on any
value in the continuous interval , where may be and may be
then the continuous time signal is called an analog signal. If a discrete
time signal can take on only a finite number of distinct values, then this
signal is a digital signal.
Real and Complex Signals: A signal is a real signal if its value is a real
number, and a signal is a complex signal if its value is a complex number.

Deterministic and Random Signals: Deterministic signals are those signals

whose values are completely specified for any given time. Thus a deterministic
Signal can be modeled by a known function of time t.
Random signals are those signals that take random values at any given time
and must be characterized statistically.
Even and Odd Signals
Periodic and non-periodic Signals

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 5
 Transient and Steady State Response
• To analyze the system performance
• Typical Test Signals: 1. step function, 2. ramp function, 3. impulse function, 4.
sinusoidal function etc.
• This signals are analyzed the control system easily when these are very simple
functions of time.
• Which one is better for which system?
• If the inputs to a control system are gradually changing function of time, then a
ramp function of time may be a good test signal. If a system is subjected to a
sudden disturbances, a step function of time may be good test signal and for a
shock inputs an impulse function may be best.
• The time response and frequency response.
The transient response: The response which goes from the initial state to the final
state.
The steady state response: The system output behaves as t approaches infinity

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 6
 Transient and Steady State Response
Signals describe in Math form • Time function
R 𝑡=0
• So the time interval is from
• This signals are analyzed the control system
𝑣 𝑜𝑢𝑡 𝑜𝑝𝑒𝑛𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑙𝑠 easily when these are very simple functions of
𝑣𝑠 time.
Analysis:
Fig 1: A switch network with OT When the switch is in contact
Then (open circuit)
𝑣𝑠 𝑣 𝑜𝑢𝑡
And not in contact
𝑡 (closed circuit)
0
Fig 2: Waveform for output voltage
So in single
Discontinuous function:
A function is said to be discontinuous if it exhibits
points of discontinuity, that is, the function jumps
from one value to another without taking on any
intermediate values.

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 7
 Transient and Steady State Response
Unit step function
Definition: A well known discontinuous function is the unit step function is defined as

1
𝑢𝑜 (𝑡)

0 𝑡

1
𝑢𝑜 (𝑡 −𝑡 0 ) • Waveform:

0 𝑡
𝑡0

1 𝑢𝑜 (𝑡 +𝑡 0 ) • Waveform:

0 𝑡
−𝑡 0
Department of Mechanical Engineering
Rajshahi University of Engineering & Technology 8
 Transient and Steady State Response
Unit ramp function
Definition: A well known discontinuous function is the unit ramp function is defined as

Therefore we can write:

1 𝐴𝑟𝑒𝑎=1× 𝜏=𝜏
0 𝑡 {
𝑢1 (𝑡 )= 0 𝑡 < 0
𝑡 𝑡≥0
𝜏 For higher order:

{
𝑡
0 𝑡<0
𝑢2 ( 𝑡 )= 2 𝑜𝑟 𝑢2 (𝑡 )=2 ∫ 𝑢 1 ( 𝜏 ) 𝑑 𝜏
𝑆𝑙𝑜𝑝𝑒= 𝑅 𝑡 𝑡≥0 −∞

{
𝑡
0 𝑡<0
𝑢3 ( 𝑡 ) = 3 𝑜𝑟 𝑢3 ( 𝑡 ) =3 ∫ 𝑢 2 ( 𝜏 ) 𝑑 𝜏
𝑡 𝑡 ≥0 −∞

{
𝑡
0 𝑡 <0
𝑢𝑛 ( 𝑡 ) = 𝑛 𝑜𝑟 𝑢𝑛 ( 𝑡 )=𝑛 ∫ 𝑢𝑛 −1 ( 𝜏 ) 𝑑 𝜏
𝑡 𝑡≥0 −∞

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 9
 Transient and Steady State Response

Delta function
• Definition: A unit impulse or delta function is the derivative of the unit step function and
is defined as

1
0
−∈ ∈ 𝑡
Area=1 1
2∈
0
−∈ ∈ 𝑡

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 10
 Transient and Steady State Response
Transient response specification: Time-domain
Four measurements are often used to specify a system’s performance: rise time, overshoot,
setting time and steady state error. The definition for them with respect to step response

Rise Time : The time required for the step response to rise from 10 to 90 percent of its final
value.
Maximum percent overshoot:
It is often used to measure the relative stability of a control system. A system with a large
overshoot is not desire.

Setting time: The time required for the step response to decrease and stay within a specified
percent of its final value. A frequently used figure is 5-2 percent.

Steady state error: % difference between the commanded position and the measured
position after the transient has settled down.

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 11
 Transient and Steady State Response

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 12
 Transient and Steady State Response
First order system: 𝑅
Kirchhoff’s law : 1 1
𝑅𝑖+ ∫ 𝑖𝑑𝑡=𝑒 𝑖and
∫ 𝑖𝑑𝑡=𝑒𝑜 𝑒𝑖 𝑖 𝐶 𝑒𝑜
Laplace transform:
1 1
𝐶 𝐶1 1
𝑅𝐼 ( 𝑠 ) + 𝐼 ( 𝑠 ) =𝐸𝑖 ( 𝑠 ) 𝐼 ( 𝑠 )= 𝐸𝑜 ( 𝑠 )
𝐶𝑠 𝐶𝑠
𝐸𝑜 (𝑠 )
1 1
𝐼 (𝑠 ) 𝑅 (𝑠 ) 𝐸 (𝑠 ) 1 𝐶 (𝑠)
𝐶 𝑠 1
finally we can write: = =
𝐸 𝑖 ( 𝑠 ) 𝑅𝐼 ( 𝑠 ) + 1 1 𝐼 ( 𝑠 ) 𝑅𝐶𝑠+1
𝑇𝑠
𝐶 𝑠
𝐶(𝑠) 1 𝟏 𝑅 (𝑠 ) 1 𝐶 (𝑠 )
So first order system: = 𝑪 ( 𝒔 ) = 𝑹(𝒔)
𝑅 ( 𝑠 ) 𝑇𝑠+ 1 𝑻𝒔+𝟏 𝑇𝑠+1
𝟏 𝟏
Unit-step response for first order system: 𝑪 𝒔 = ( )
𝑻𝒔+𝟏 𝒔
𝟏 𝑻 𝟏 𝟏
After partial fraction: 𝑪 ( 𝒔 ) = − = −
𝒔 𝑻𝒔+𝟏 𝒔 𝒔 + ( 𝟏/𝑻 )
Inverse Laplace transform: c
c

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 13
 Transient and Steady State Response
Unit step response for first order: Unit ramp response for first order:

𝟏 𝟏
Unit-ramp response for first order system: 𝑪 ( 𝒔)=
𝑻𝒔+𝟏 𝒔
𝟏 𝑻 𝑻𝟐
𝑪 ( 𝒔) = 𝟐 − + c
𝒔 𝒔 𝑻𝒔+𝟏
Department of Mechanical Engineering
Rajshahi University of Engineering & Technology 14
 Transient and Steady State Response
𝑑𝑖 1 𝐿 𝑅
Second order system:
𝐿 +𝑅𝑖+ ∫ 𝑖𝑑𝑡=𝑒𝑖
𝑑𝑡 𝐶
1
𝑖 𝐶
Kirchhoff’s law:

Laplace transform: 𝐶 ∫ 𝑖𝑑𝑡=𝑒𝑜 𝑒𝑖 𝑒𝑜

1 1 1 1
𝐿𝑠𝐼 ( 𝑠 ) +𝑅𝐼 ( 𝑠 ) + 𝐼 ( 𝑠 ) =𝐸𝑖 ( 𝑠 ) 𝐼 ( 𝑠 )= 𝐸𝑜 ( 𝑠 )
𝐶𝑠 𝐶𝑠
𝐸𝑜 (𝑠 ) 1 𝑅 ( 𝑠 ) 𝐸 (𝑠) 1 𝐶 (𝑠)
finally we can write: = 2
𝐸𝑖 ( 𝑠 ) 𝐿𝐶 𝑠 2+ 𝑅𝐶𝑠 +1 𝐽 𝑠 +𝑇𝑠
1
and
1 𝐽 𝐶 (𝑠 )
𝐺 ( 𝑠 )= 2 ¿ 𝑅 (𝑠 ) 1
𝐽 𝑠 +𝑇𝑠 𝑠 2+ 𝑇 𝑠 2
𝐽 𝑠 + 𝑇𝑠+1
𝐽 𝜔 2
Consider and ∴ 𝐺 ( 𝑠 )=
𝑠 2 +2 𝜁𝜔 𝑠
𝐶( 𝑠) 𝐺 ( 𝑠) 𝜔2
= = 2
𝑅 ( 𝑠 ) 1+ 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 ) 𝑠 + 2 𝜉𝜔 𝑠 +𝜔 2

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 15
 Transient and Steady State Response
𝐶(𝑠) 𝜔2
= 2
𝑅 ( 𝑠 ) 𝑠 +2 𝜉𝜔 𝑠+ 𝜔 2
⇒ 𝑠2 +2 𝜉𝜔 𝑠+ 𝜔2 =0
So the root is

𝑆1 =− 𝜉𝜔+ 𝑗 𝜔 √1 − 𝜉 2
𝑆 2=− 𝜉𝜔 − 𝑗 𝜔 √ 1− 𝜉 2

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 16
 Transient and Steady State Response
Steady State Error:
𝑅 ( 𝑠 ) 𝐸 (𝑠 ) 𝐶 (𝑠 )
𝐶( 𝑠) 𝐺 ( 𝑠) 𝑅 ( 𝑠) 𝐺 ( 𝑠)
= ⇒ 𝐶 ( 𝑠) =
𝑅 ( 𝑠 ) 1+ 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 ) 1+ 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 )
𝐻 (𝑠 )
The Steady state error is calculated by using final value theorem:
𝑅(𝑠)
𝑒 𝑠𝑠 =lim 𝑐 ( 𝑡 ) =lim 𝑠𝐶 ( 𝑠 ) 𝑒 𝑠𝑠 =lim 𝑠 .
𝑡→∞ 𝑠 →0 𝑠→ 0 1+ 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 )
For unity feedback system
𝑅 ( 𝑠) It is clear that the SSE depends on the input
𝑒 𝑠𝑠 =lim 𝑠 .
𝑠→ 0 1+ 𝐺 ( 𝑠 ) And open loop transfer function.
Static Error Coefficient: 𝑅(𝑠)
(a) Static-Position Error Constant : 𝑒 𝑠𝑠 =lim 𝑠 .
𝑠→ 0 1+ 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 )
For unit step input , the SSE is given by
1 1 1 1
𝑒 𝑠𝑠 =lim 𝑠 . = =
𝑠→ 0 𝑠 1+ 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 ) 1+lim 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 ) 1+ 𝐾 𝑃
𝑠→0

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 17
 Transient and Steady State Response
(b) Static-Velocity Error Constant : 𝑅(𝑠)
𝑒 𝑠𝑠 =lim 𝑠 .
𝑠→ 0 1+ 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 )
For unit ramp input , the SSE is given by
1 1 1 1
𝑒 𝑠𝑠 =lim 𝑠 . = =
𝑠 1+ 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 ) 𝑠 +𝑠 lim 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 ) 𝐾 𝑣
2
𝑠→ 0
𝑠→0
𝑅(𝑠)
(c) Static-Acceleration Error Constant : 𝑒 𝑠𝑠 =lim 𝑠 .
𝑠→0 1+ 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 )
For unit parabolic input , the SSE is given by

𝑒 𝑠𝑠 =lim 𝑠 .
𝑠→ 0
1
( 1
𝑠 1+𝐺 ( 𝑠 ) 𝐻 ( 𝑠 )
3
=
)
2 2
1

𝑠→ 0
=
1
𝑠 +𝑠 lim 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 ) 𝐾 𝑎

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 18
 Transient and Steady State Response
𝐸 (𝑠 ) 1
Dynamic Error Coefficient: =
𝑅 ( 𝑠 ) 1+ 𝐺 ( 𝑠 ) 𝐻 ( 𝑠 )
For unity feedback system
𝐸 (𝑠 ) 1
=
𝑅 ( 𝑠 ) 1+ 𝐺 ( 𝑠 )
This equation can be expressed as polynomial form (ascending order of )
𝐸 (𝑠 ) 1 1 1 2
= + 𝑠+ 𝑠 .. ..
𝑅 (𝑠 ) 𝐾 1 𝐾 2 𝐾3
By doing inverse Laplace ..

Steady state error for unit step input

𝑒 𝑠𝑠 =lim 𝑠 .
𝑠→0 [
1 1 1
∙ +
1 1
∙𝑠 +
𝐾1 𝑠 𝐾 2 𝑠 𝐾 3
2 1
∙𝑠 ∙ 2 =
𝑠
1
𝐾1 ]
For other control input different constant value of can be found.

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 19
 Transient and Steady State Response

Home assignment

Q1. When a second order system is subjected to a unit step input, the
values of and . Determine the rise time, peak time,
settling time and peak overshoot.

Q2. Find the dynamic error coefficients of the unity feedback system
whose forward path transfer function

Results Q1. 𝑡 𝑟 =0.403 𝑠;𝑡 𝑃 =0.605 𝑠;𝑡 𝑠 =1.33 𝑠 ; 𝑀 𝑃 =16.3 %

Q2. 𝐾 1=10 , 𝐾 2=11.1 , 𝐾 3 =−52.63

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 20
References

•Modern Control Engineering, 5th Edition, by Katsuhiko Ogata.

•Advanced Control Systems Engineering, Ronald Burns
•Control Systems, Nagoor Kani.

Department of Mechanical Engineering

Rajshahi University of Engineering & Technology 21