Transient and Steady State Response

Analysis

Dr.Eng. Abdel Gayed Fathy

1
 Introduction
• In time-domain analysis the response of a dynamic system to an
input is expressed as a function of time.

• It is possible to compute the time response of a system if the

nature of input and the mathematical model of the system are
known.

• Usually, the input signals to control systems are not known fully
ahead of time.

• For example, in a radar tracking system, the position and the

speed of the target to be tracked may vary in a random fashion.

• It is therefore difficult to express the actual input signals

mathematically by simple equations.
 Time Response of Control Systems
• Time response of a dynamic system response to an input
expressed as a function of time.

System

• The time response of any system has two components

• Transient response
• Steady-state response.
 Time Response of Control Systems
• When the response of the system is changed form rest or
equilibrium it takes some time to settle down.

• Transient response is the response of a system from rest or

equilibrium to steady state.
-3
x 10 Step Response
6

Step Input
5
• The response of the

Steady State Response

system after the transient 4

Response
Amplitude

response is called steady 3

state response. 2
Transient Response
1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 Time Response of Control Systems
• Transient response depend upon the system poles only and not
on the type of input.

• It is therefore sufficient to analyze the transient response using a

step input.

• The steady-state response depends on system dynamics and the

input quantity.

• It is then examined using different test signals by final value

theorem.
 Standard Test Signals
• Impulse signal
– The impulse signal imitate the
sudden shock characteristic of
actual input signal. δ(t)

A
A t0
 (t )  
0 t0
0 t

– If A=1, the impulse signal is

called unit impulse signal.
 Standard Test Signals
• Step signal
– The step signal imitate
the sudden change u(t)

characteristic of actual
A
input signal.

A t0 t
u( t )   0
0 t0

– If A=1, the step signal is

called unit step signal
 Standard Test Signals
r(t)
• Ramp signal
– The ramp signal imitate
the constant velocity
characteristic of actual
input signal. 0 t

 At t0 r(t)
r (t )  
0 t0
ramp signal with slope A

r(t)
– If A=1, the ramp signal is
called unit ramp signal unit ramp signal
 Standard Test Signals
p(t)
• Parabolic signal
– The parabolic signal
imitate the constant
acceleration characteristic
of actual input signal. 0 t

 At 2 p(t)

 t0
p( t )   2
0 t0
parabolic signal with slope A
 p(t)
– If A=1, the parabolic signal
is called unit parabolic
signal. Unit parabolic signal
 Relation between standard Test Signals
A t0
• Impulse  (t )  
0 t0
d
 dt
A t0
• Step u( t )  
t0 d
0
 dt
 At t0
• Ramp r (t )  
0 t0 d
dt
  At 2
• Parabolic 
p( t )   2
t0
0 t0

 Laplace Transform of Test Signals

• Impulse
A t0
 (t )  
0 t0

L{ (t )}   ( s )  A

• Step
A t0
u( t )  
0 t0

A
L{u(t )}  U ( s ) 
S
 Laplace Transform of Test Signals

• Ramp  At t0
r (t )  
0 t0

A
L{r (t )}  R( s ) 
s2
• Parabolic  At 2
 t0
p( t )   2
0 t0

2A
L{ p(t )}  P( s ) 
S3
 First Oder System
• The first order system has only one pole.
C( s ) K

R( s ) Ts  1
• Where K is the D.C gain and T is the time constant of
the system.

• Time constant is a measure of how quickly a 1st

order system responds to a unit step input.

• D.C Gain of the system is ratio between the input

signal and the steady state value of output.
 First Oder System
• The first order system given below.
10
G( s ) 
3s  1
• D.C gain is 10 and time constant is 3 seconds.

• And for following system

3 3/ 5
G( s )  
s  5 1 / 5s  1

• D.C Gain of the system is 3/5 and time constant is 1/5

seconds.
 Impulse Response of 1st Order System
• Consider the following 1st order system
δ(t)

1 K
R(s ) C (s )
Ts  1
t
0

R( s )   ( s )  1

K
C( s ) 
Ts  1
 Impulse Response of 1st Order System
K
C( s ) 
Ts  1
• Re-arrange above equation as

K /T
C( s ) 
s  1/ T

• In order to represent the response of the system in time domain

we need to compute inverse Laplace transform of the above
equation.
K t / T
1 
C   at c(t )  e
L    Ce T
sa
 Impulse Response of 1st Order System
K t / T
• If K=3 and T=2s then c( t )  e
T
K/T*exp(-t/T)
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
Time
 Step Response of 1 Order System st

• Consider the following 1st order system

K
R(s ) C (s )
Ts  1

1
R( s )  U ( s ) 
s
K
C( s ) 
s Ts  1
• In order to find out the inverse Laplace of the above equation, we
need to break it into partial fraction expansion
Forced Response Natural Response
K KT
C( s )  
s Ts  1
 Step Response of 1 Order System st

1 T 
C( s )  K   
 s Ts  1 
• Taking Inverse Laplace of above equation


c(t )  K u(t )  e t / T 
 
• Where u(t)=1
c(t )  K 1  e t / T
• When t=T

 
c(t )  K 1  e 1  0. 632K
 Step Response of 1st Order System
• If K=10 and T=1.5s then 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11

10

9 Step Response

8
steady state output 10
7 D.C Gain  K  
63% Input 1
6
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time
 Step Response of 1st Order System
• If K=10 and T=1, 3, 5, 7 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11
10
T=1s
9

8 T=3s
7
T=5s
6
c(t)

5 T=7s

4
3
2
1
0
0 5 10 15
Time
 Step Response of 1 order System
st

• System takes five time constants to reach its

final value.
 Step Response of 1st Order System
• If K=1, 3, 5, 10 and T=1 
c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11

10
K=10
9

6
K=5
c(t)

4
K=3
3

2
K=1
1

0
0 5 10 15
Time
 Relation Between Step and impulse
response
• The step response of the first order system is

 
c(t )  K 1  e t / T  K  Ke t / T

• Differentiating c(t) with respect to t yields

dc(t ) d
dt

dt

K  Ke t / T 
dc(t ) K t / T
 e
dt T
 Example 1
• Impulse response of a 1st order system is given below.

c(t )  3e 0.5t
• Find out
– Time constant T
– D.C Gain K
– Transfer Function
– Step Response
 Example 1
• The Laplace Transform of Impulse response of a
system is actually the transfer function of the system.
• Therefore taking Laplace Transform of the impulse
response given by following equation.
c(t )  3e 0.5t
3 3
C( s )  1    (s)
S  0. 5 S  0. 5
C( s ) C( s ) 3
 
 ( s ) R( s ) S  0. 5
C( s ) 6

R( s ) 2S  1
 Example#1
• Impulse response of a 1st order system is given below.

c(t )  3e 0.5t
• Find out
– Time constant T=2
– D.C Gain K=6
– Transfer Function C ( s )  6
– Step Response R( s ) 2S  1
– Also Draw the Step response on your notebook
 Example#1
• For step response integrate impulse response

c(t )  3e 0.5t

0.5t
 c( t )dt  3  e dt

c s (t )  6e 0.5t  C

• We can find out C if initial condition is known e.g. cs(0)=0

0  6e 0.50  C
C6
c s (t )  6  6e 0.5t
 Ramp Response of 1 Order System st

• Consider the following 1st order system

K
R(s ) C (s )
Ts  1

1
R( s ) 
s2
K
C( s ) 
s 2 Ts  1
• The ramp response is given as


c(t )  K t  T  Te t / T 
 Example#1
• If initial Conditions are not known then partial fraction
expansion is a better choice
C( s ) 6

R( s ) 2S  1
1
since R( s ) is a step input , R( s ) 
s
6
C( s ) 
s 2 S  1

6 A B
 
s 2 S  1 s 2 s  1

6 6 6
 
s 2 S  1 s s  0. 5

c(t )  6  6e 0.5t
 Ramp Response of 1 Order System st

• If K=1 and T=1


c(t )  K t  T  Te t / T 
Unit Ramp Response

10
Unit Ramp
Ramp Response
8

6
c(t)

4
error
2

0
0 5 10 15
Time
 Ramp Response of 1 Order System st

• If K=1 and T=3


c(t )  K t  T  Te t / T 
Unit Ramp Response

10 Unit Ramp
Ramp Response
8

6
c(t)

2 error

0
0 5 10 15
Time
 Parabolic Response of 1st Order System
• Consider the following 1st order system

K
R(s ) C (s )
Ts  1

1 K
R( s )  Therefore, C( s ) 
s 3
s 3 Ts  1

• Do it yourself
 Second Order Systems
• A general second-order system is characterized by the
following transfer function.

C( s )  n2
 2
R( s ) s  2 n s   n2

n un-damped natural frequency of the second order system, which

is the frequency of oscillation of the system without damping.

 damping ratio of the second order system, which is a measure

of the degree of resistance to change in the system output. 34
 Example#3
• Determine the un-damped natural frequency and damping ratio
of the following second order system.

C( s ) 4
 2
R( s ) s  2s  4

• Compare the numerator and denominator of the given transfer

function with the general 2nd order transfer function.
C( s )  n2
 2
R( s ) s  2 n s   n2

 n2  4   n  2 rad / sec
 2 n s  2 s
  n  1
s 2  2 n s   n2  s 2  2s  4
   0. 5 35
 Time-Domain Specification
For 0<  <1 and ωn > 0, the 2nd order system’s response due to a
unit step input looks like

36
 Time-Domain Specification
• The delay (td) time is the time required for the response to
reach half the final value the very first time.

37
 Time-Domain Specification
• The rise time is the time required for the response to rise from 10%
to 90%, 5% to 95%, or 0% to 100% of its final value.
• For underdamped second order systems, the 0% to 100% rise time is
normally used. For overdamped systems, the 10% to 90% rise time is
commonly used.
 Time-Domain Specification
• The peak time is the time required for the response to reach
the first peak of the overshoot.

39
39
 Time-Domain Specification
The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steady-state
value of the response differs from unity, then it is common to
use the maximum percent overshoot. It is defined by

The amount of the maximum (percent) overshoot directly

indicates the relative stability of the system.

40
 Time-Domain Specification
• The settling time is the time required for the response curve
to reach and stay within a range about the final value of size
specified by absolute percentage of the final value (usually 2%
or 5%).

41
END OF LECTURE