ME2142C5

Chapter 5
System Responses
Chapter Objective:
System Transient/Time Response
Steady-state response
Aug-15
Copyright ME, NUS. All Rights Reserved.
ME2142 Feedback Control Systems
C5.1
System response
The system response comprises of two parts, transient and steadystate.
Output
Transient Response
Steady-state Response
ess
Steady-state error
t
t1
For stable systems, the magnitude of the transient response

decreases with time and ultimately vanishes leaving only the steadystate response. It is always associated with the component
with Re
0
Aug-15
C5.2
System Characteristic Equation

Consider the system with the transfer function,
shown
R s
Input
with
G s
as
C s
Output
System
Where
and
are polynomials of s.
The systems characteristic equation is given by
0
Note that the characteristic equation is a property of the
system and is not dependent on the input.
C5.3

Spring-mass-damper (Slide C3.8: Modelling of
Physical Systems)
Transfer Function: G
0
xi
R-C circuit (Slide C3.11: Modelling of Physical

Systems)
Transfer Function:
1
eo
0
E
Transfer Function:
ei
Closed-loop feedback system (Slide C4.7:

Block Diagram Algebra)
R
Characteristic Eqn: 1
Characteristic Eqn:
Characteristic Eqn:
xo
C5.4

R(s)
E(s)
K(s)
U(s)
C(s)
G(s)
+
-
Characteristic equation
H(s)
0
The roots of this equation are the closed-loop poles and
they determine the transient response of the system.
Each root, , of this equation will contribute a term
in
the time response of the system. Or

If all the roots, , have negative real part, then the transient
response will eventually die away as increases.
Otherwise, the transient response will grow without bounds
as time increases. The system is then said to be unstable.
C5.5

Given a dynamic system:
How do we specify the characteristics of the response required?
How do we compare it with another system?
How do we know whether its response will adequately meet our
needs?
How will we know how it will respond to different inputs?
We use
Standard test inputs to excite system and observe response
Classify systems with similar characteristics and identify their
performance characteristics with system parameters.
C5.6
System Response Test signals

1) Step input
r(t)
,
,
0
0
t=0
When A = 1, we have a unit step input.

Used to study response to sudden changes in input.
r(t)
2) Ramp input
,
,
0
0
At
t=0
When A = 1, we have a unit ramp input.

Used to study response to gradual changes in input.
Aug-15
C5.7
System Response Test signals

r(t)
3) Impulse input
where
is the unit-impulse
function or Dirac delta function
t=0
1
When A = 1, we have a unit impulse input.
Used to study response to sudden shocks or impacts.
4) Sinusoidal input
A sin
0
r(t)
,
,
0
0
t=0
Used for frequency response analysis.

Important method. Will be discuss in the second half of module..
Using test signals (1) to (3) are often known as time response or
transient response analysis while using test signal (4) is known as
frequency response.
Aug-15
C5.8
System Response First-order systems

A first-order system can always be written in the standard form
1
is known as the time constant and determines the speed of response.
Examples:
Spring-damper system (Slide C3.6 of Modelling of Physical Systems)
, with
RC circuit (Slide C3.6 of Modelling of Physical Systems)

1
1
, with
1 1
If the transfer function are the same, then the response

be the same for the same inputs in
and
.
Aug-15
and
will
C5.9

Response to a unit step input
with
/
Thus
where
lim
and
lim
1/
Therefore,
C s
1/
Using Laplace Transform Table, we have
1
/ for
Aug-15
0
C5.10

Response to a unit step input
For K=1,
for
Note: The smaller the time constant T, the faster the response.
The shape is always the same.
Aug-15
C5.11

Response to a unit ramp input
with
/
Thus

1
For K=1,
1
With the error,

1
0
/
for
r(t)
r(t)
c(t)
t=0
Aug-15
ess=T
t
C5.12

Response to a unit impulse input
1
with
Thus
/
/

/
For K=1,
/
1/T
r(t)
t=0
Aug-15
C5.13
System Response Linear time-invariant systems

Summary of first order responses
Characteristic Equation:
1
0
Response to (
UnitImpulse
0)
UnitStep
UnitRamp
1
/
The transient response all contains the term
which is determined by
the root of the characteristic equation and the parameter T.
Note that the unit step is the derivative of the unit ramp, and the unit
impulse is the derivative of the unit step.
is the derivative of
and
is the derivative
Note that similarly,
.
of
For linear time-invariant systems, the response to the derivative of an input
can be obtained by taking the derivative of the response to the input.
Aug-15
C5.14
Permanent Magnet DC Motor
La
Ra
Governing equations
K e
The Permanent Magnet DC motor.
Block Diagram
1
La s Ra
Kt
K e
Kt
( La s Ra )( Js b)
K e
Aug-15
1
Js b
Ke
E
Ke
C5.15
Permanent Magnet DC Motor

We have
+
Commonly
and
can be ignored
K e
Ke
The Permanent Magnet DC motor.
The closed-loop transfer function

becomes
Block diagram then becomes
/
/
Where
/
/
and
Aug-15
Kt
( La s Ra )( Js b)
K t / Ra
Js b
Ke
/
C5.16
Speed Control of the DC Motor

E
Motor by itself
K
s 1
The response to a unit step input is first

order with a time constant of .
Can we make the response faster?
t=0
With speed feedback

Kc K
s 1
K K
V
1 c
s 1
with
'
1 K c K
V +
Kc K
s 1 K c K
K'
K'
's 1
Error
Kc
K
s 1
Controller
Kc K
1 Kc K
The resultant system is still first-order but the time constant is now much
smaller, thus a much faster response.
Aug-15
C5.17
System Response Second-order systems

A second-order system will be of the form
with a, b, c, d and e being constants.

Standard Form
2
We can re-write
Aug-15
with
and 2
C5.18

Example:
RLC circuit (see Chapter 3 Modelling of Physical Systems)
1
with
and 2
Spring-mass-damper
with
Aug-15
and 2
C5.19
Closed-Loop Position Feedback System

R +
With
Gc
K
s 1
1
s
controller
Gc being a proportional gain Kp

R +
K pK
s( s 1)
n natural frequency
damping ratio
K pK
R 1 GH s 2 s K p K
In standard format
Aug-15
2
R s 2 n s n2
2
n
with

2
n
Kp K
2n 1
1
2
1
K p K
C5.20

Examples: Determine the value of gain K for the closed-loop system to
have an undamped natural frequency of 4. What will then
be the damping factor?
5
2 s 2 8s 2
Characteristic equation:
1
4
2
Aug-15
01
2
2
8
10
2
0
2
4
16
0.5
C5.21
Time Response Second-order systems

Consider
2
The roots of the characteristic equation are
,
For 0
1, the roots are a pair of complex conjugates

where
1
is called the damped
,
natural frequency and the response is under-damped.
and the system is said to be
For
1, the roots are equal ,
critically damped.
For
,
1, the roots are both real and distinct

1 and the system is said to be overdamped.
Aug-15
C5.22
Step Response Second-order systems

Consider
with
lim
Under-damped Response 0
From Laplace Transform Table, we have
sin
where
1
tan
,0
This represents a decaying oscillatory response depending upon

.
natural frequency of
Aug-15
with a damped
C5.23

1)
Overdamped Response (
We have

1
giving
1
This represents a non-oscillatory response with an

exponentially decaying transient component. The speed
of decay of the transient component depends upon the
.
parameter
Aug-15
C5.24

1)
Critically damped Response (

We have
With
1 and

1
giving
1
,
The response is non-oscillatory, starts initially with

exponentially rises to
1.
0 and
If 1, then and the first exponential term will decay much

faster than the second. The pole
can then be neglected and
the system behaves like a first-order system.
Aug-15
C5.25

Normalized response curves
For fast response,
0.7 is usually
desirable.
If no overshoot is
required, 1
is usually used.
Aug-15
C5.26
Transient Response Specifications

Five measures of transient performance based on 2nd-order underdamped response
Maximum (percent)
overshoot:
Mp
c(t p ) c()
c ()
100%
Delay time
Rise time:
10% - 90%, or
5% - 95%, or
0% - 100%
Settling time: time to

reach and stay within
specified limits, usually
2% or 5%.
Peak time
Aug-15
C5.27
Measures of transient performance

We have
c(t ) 1
Rise Time
tr
e nt
1
sin( d t )
giving sin( d t r ) 0
c(t r ) 1
1 2
Thus d t r tan

1 2
tan

giving
tr
d n 1
1 2
tan

or d t r 0
Aug-15
C5.28

We have
c(t ) 1
Peak Time
e nt
sin( d t )
d n 1
1 2
tan

tp
n
d c(t )
n t p
(sin d t p )
e
0
2
dt t t p
1
giving
sin d t p 0
Therefore
Aug-15
tp
d
or
d t p 0, , 2 , 3 ,
for the first peak.
C5.29

We have
c(t ) 1
e nt
sin( d t )
d n 1
1 2
tan

Maximum Overshoot M p
M p c(t p ) 1
e n ( / d )
1
e ( /
1 2 )
sin[ d ( / d ) ]
sin( )
As sin( ) 1
Therefore
Aug-15
Mp e
( / 1 2 )
C5.30

We have
c(t ) 1
Settling Time
e nt
sin( d t )
d n 1
1 2
tan

ts
The curves 1 (e nt / 1 2 ) gives the

envelope curves of the transient response.
ts
is found to be approximately
t s 4T
(2% criterion)
t s 3T
(5% criterion)
where time constant

Aug-15
C5.31
System Type
Consider the unity-feedback system
R
With
(6-1)
The parameter associated with the term

in the denominator
represents the Type of the system. Example: Type 0 if
0, Type
1 if
1 and so on.
A free s term in the denominator represents an integration. The
higher the type number, the better the steady-state accuracy of the
closed-loop control system.
However, the higher the system type, the greater the problem with
system stability.
Aug-15
C5.32
Examples of System Types

R
Type 0 systems: G ( s )
G ( s)
Aug-15
K
K ;
;
G (s)
( s p1 )( s p 2 )
(s 1)
K
s 2 2 n s n2
K
K
; G ( s)
;
s (s 1)
s ( s 2 2 n s n2 )
K
K
; G (s)
2
2
s
( s p1 )( s p 2 )
s (s 1)
;
C5.33
Steady-State Errors Static Error Constants

The same unity-feedback system
Error Transfer function

E R C
C
1
R
R
R
G
(1 G ) G
1
1 G
1 G
E
1
R 1 G
Thus
E ( s)
1
R( s)
1 G ( s)
and the steady-state error is
ess lim e(t )

t
lim sE ( s )
s 0
sR ( s )
s 0 1 G ( s )
ess lim
Aug-15
C5.34

sR ( s )
s 0 1 G ( s )
ess lim
For a unit-step input
R( s)
1
s
Static Position Error Constant,
and
Kp is defined as
K p lim G ( s ) G (0)
s 0
with G ( s )
1
s
1
s0 1 G (s ) s
1 G ( 0)
ess lim
and
ess
K (Ta s 1)(Tb s 1) (Tm s 1)

,
N
s (T1 s 1)(T2 s 1) (T p s 1)
Kp K
for Type 0 systems
Kp
for Type 1 or higher systems
Aug-15
1
1 K p
1
1 K
ess 0
ess
C5.35

sR ( s )
s 0 1 G ( s )
ess lim
For a unit-ramp input
R( s)
Static Velocity Error Constant,
1
s2
ess lim
Kv is defined as
K v lim sG ( s )
s 0
with G ( s )
s
1
1
lim
s 0 1 G ( s ) s 2
s 0 sG ( s )
and
and
ess
1
Kv
K (Ta s 1)(Tb s 1) (Tm s 1)

,
N
s (T1 s 1)(T2 s 1) (T p s 1)
Kv 0
for Type 0 systems
ess
1
K
K v K for Type 1 systems
ess
K v for Type 2 or higher systems
ess 0
Aug-15
C5.36

sR ( s )
s 0 1 G ( s )
ess lim
For a unit-acceleration input
t2
r (t )
2
for t 0,
R( s)
1
s3
Static Acceleration Error Constant,
and
Ka is defined as
K a lim s 2 G ( s )
s 0
with G ( s )
s
1
1
lim
s 0 1 G ( s ) s 3
s0 s 2 G ( s )
ess lim
and
ess
1
Ka
K (Ta s 1)(Tb s 1) (Tm s 1)

,
N
s (T1 s 1)(T2 s 1) (T p s 1)
Ka 0
for Type 0 and Type 1 systems
K a K for Type 2 systems

Ka
Aug-15
for Type 3 or higher systems

ess
ess
1
K
ess 0
C5.37
Steady-State Errors - Summary

System
Type
Type 0
StepInput
1
1
Type1
Type 2
RampInput
Accel.Input
/2
1
0
Type 0 systems have finite steady-state errors for step inputs and cannot
follow ramp inputs.
Type 1 systems have zero steady-state errors for step inputs, finite errors for
ramp inputs, and cannot follow acceleration inputs.
Type 2 systems are needed to follow ramp inputs with zero steady-state
errors.
In general, the higher the static gain of the open-loop transfer function, G(s),
the smaller the steady-state errors. However, higher gains normally lead to
stability problems.
Aug-15
C5.38
The End
Aug-15
C5.39

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Chapter 5

ME2142 Feedback Control Systems

For stable systems, the magnitude of the transient response

ME2142 Feedback Control Systems

System Characteristic Equation

ME2142 Feedback Control Systems

System Characteristic Equation

R-C circuit (Slide C3.11: Modelling of Physical

Copyright ME, NUS. All Rights Reserved.

Closed-loop feedback system (Slide C4.7:

ME2142 Feedback Control Systems

System Characteristic Equation

Copyright ME, NUS. All Rights Reserved.

ME2142 Feedback Control Systems

System Characteristic Equation

Copyright ME, NUS. All Rights Reserved.

ME2142 Feedback Control Systems

System Response Test signals

When A = 1, we have a unit step input.

When A = 1, we have a unit ramp input.

ME2142 Feedback Control Systems

System Response Test signals

Used for frequency response analysis.

ME2142 Feedback Control Systems

System Response First-order systems

RC circuit (Slide C3.6 of Modelling of Physical Systems)

If the transfer function are the same, then the response

ME2142 Feedback Control Systems

System Response First-order systems

ME2142 Feedback Control Systems

System Response First-order systems

ME2142 Feedback Control Systems

System Response First-order systems

Using Laplace Transform Table, we have

With the error,

ME2142 Feedback Control Systems

System Response First-order systems

Using Laplace Transform Table, we have

ME2142 Feedback Control Systems

System Response Linear time-invariant systems

ME2142 Feedback Control Systems

Permanent Magnet DC Motor

The Permanent Magnet DC motor.

Copyright ME, NUS. All Rights Reserved.

ME2142 Feedback Control Systems

Permanent Magnet DC Motor

The Permanent Magnet DC motor.

The closed-loop transfer function

Block diagram then becomes

ME2142 Feedback Control Systems

Speed Control of the DC Motor

The response to a unit step input is first

With speed feedback

ME2142 Feedback Control Systems

System Response Second-order systems

with a, b, c, d and e being constants.

ME2142 Feedback Control Systems

System Response Second-order systems

Closed-Loop Position Feedback System

Gc being a proportional gain Kp

ME2142 Feedback Control Systems

System Response Second-order systems

Copyright ME, NUS. All Rights Reserved.

ME2142 Feedback Control Systems