ME2142C5 162 System Response

Chapter 5
System Responses
Chapter Objective:
System Transient/Time Response
Steady-state response
Copyright ME, NUS. All Rights Reserved.

System response
The system response comprises of two parts, transient and steady-
state. Output
Transient Response Steady-state Response
1
ess
Steady-state error
t1
For stable systems, the magnitude of the transient response

decreases with time and ultimately vanishes leaving only the steady-
state response. It is always associated with the component
with
Jan-17 ME2142 Feedback Control Systems 2 C5.2

System Characteristic Equation
Consider the system with the transfer function, as
shown
Input Output
System
with
Where and are polynomials of s.

The systems characteristic equation is given by
Note that the characteristic equation is a property of the

system and is not dependent on the input.
Jan-17 ME2142 Feedback Control Systems C5.3

Spring-mass-damper (Slide C3.8: Modelling of
Physical Systems) m
xo
Transfer Function: K b
Characteristic Eqn: xi
R-C circuit (Slide C3.11: Modelling of Physical

Systems) R
Transfer Function: ei i C eo
+1
Characteristic Eqn:
Closed-loop feedback system (Slide C4.7:
Block Diagram Algebra) R + E
G
C
-
Transfer Function:
B
H
Characteristic Eqn:

Characteristic equation
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.

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 do 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.

System Response Test signals
1) Step input r(t)
t
(Laplace) t=0
When A = 1, we have a unit step input.

Used to study response to sudden changes in input.
2) Ramp input r(t)
At

t
t=0

When A = 1, we have a unit ramp input.
Used to study response to gradual changes in input.

System Response Test signals
r(t)
3) Impulse input
A

where is the unit-impulse
function or Dirac delta function t
t=0

When A = 1, we have a unit impulse input.
Used to study response to sudden shocks or impacts.
4) Sinusoidal input r(t)
t=0
t
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.
System Response First-order systems
A first-order system can always be written in the standard form
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
= = , with
+1
If the transfer function are the same, then the response and will
be the same for the same inputs in and .

Response to a unit step input
with
Thus PFE
where
and
Therefore,
Using Laplace Transform Table, we have

for
Response to a unit step input
For K=1, for
1.2
1
= = 1
1
0.8
0.632
c(t)
0.6
0.4
86.5%
99.3%
95%
63.2%
0.2
0
0 1 2 3 4 5 6
Time (xT)
Note: The smaller the time constant T, the faster the response.
The shape is always the same.

Response to a unit ramp input
with
/
Thus
/ /
/
for
For K=1, r(t)

/
,
r(t)
With the error,
/
c(t)
ess=T
t
t=0
Response to a unit impulse input
with
/ /
Thus
/ /
/
,
For K=1,
/
, 1/T
r(t)
t
t=0

System Response Linear time-invariant systems
Summary of first order responses
Characteristic Equation:
Response to ( )
Unit Impulse Unit Step Unit Ramp
/
/
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.
Note that similarly, is the derivative of and is the derivative
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.
Example of First Order System Response
Ra La
Permanent Magnet DC Motor
b
T
e i Ke J
The Permanent Magnet DC motor.
E + 1 I T 1
Block Diagram La s Ra Kt Js b
-
Ke
Ke
E + Kt
( La s Ra )( Js b)
-
Ke
Ke
Permanent Magnet DC Motor
We have
E + Kt
( La s Ra )( Js b)
-
Ke
Commonly and can be ignored Ke
/ The Permanent Magnet DC motor.

The closed-loop transfer function
Block diagram then becomes
becomes
/
/
E + K t / Ra
Js b

/ -
/
Where
/
Ke
and
/ /

Speed Control of the DC Motor
Motor by itself E 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 t
With speed feedback

V + Error E K
Kc K Kc
s 1
s 1 Kc K K' -
Kc K Controller
V s 1 Kc K 's 1
1
s 1
Kc K
with ' K'
1 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.
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
We can re-write

with and

Example:
RLC circuit (see Chapter 3 Modelling of Physical Systems)
with and
Spring-mass-damper
with and

Closed-Loop Position Feedback System
R + E V K 1
Gc
s 1 s
- controller
With Gc being a proportional gain Kp

R + E K pK
s( s 1)
- natural frequency
damping ratio
In standard format with ,

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
2s 8s 2
Characteristic equation:

Time Response Second-order systems
Consider
The roots of the characteristic equation are

,
For , the roots are a pair of imaginary conjugates
, . is called the undamped natural frequency and the
response is a sustained oscillation.
For , the roots are a pair of complex conjugates

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

, and the system is said to be overdamped.
Step Response Second-order systems
Consider = with =
Taking inverse Laplace transform
= yields
,
= = lim =1
This represents a sustained
Case I: Un-damped system = 0 oscillatory over the unit step
function.
Expressing in its partial
Unit Step Response of 1/(s 2 + 1)
expansion form, 2
1.8
= = + +
1.6
Where 1.4
= | =1 1.2
1
= + |
0.8
= = 0.6
0.4
0.2
0
0 5
Time (s)
10 15

2nd-order systems step response
Case II:Under-damped case: 0 < < 1 From Laplace Transform Table, we have
We have = = 1

1 cos + sin ,
1
Using partial fraction expansion, we have 0 Im
= Using Trigonometry identity, yields
= + = 1 sin + 1
1
, 0
Noting that Re

= +2 + + + = tan ,0< <
= + + 2 + + This represents a decaying oscillatory

= 1, = 1, = 2 response depending upon with a damped
natural frequency of .
=
Unit step response of under damped system
1.4
= 1.2
zeta = 0.5
omega = 1
1
=
0.8

where = 1 0.6
0.4
0.2
0
0 5 10 15
Time (s)

Case III: Critically Damped Response ( )
We have This represents a non-oscillatory
response with an exponentially
= =
decaying transient component. The
Using partial fraction expansion, we speed of decay of the transient
have component depends upon the
parameter .

aa
From Laplace Transform Table, we have
Step response of critically damped system
= , 0 1
0.9
and 0.8
0.7
0.6
0.5
Hence, taking inverse Laplace 0.4
transform on (21) yields 0.3
, 0.2
0.1
0
0 5 10 15
Time (s)

Case IV: Over Damped Response ( )
We have
Step Response of Over Damped System
1
= =
0.9
With 0.8
0.7

= + 1 and 0.6

= 1 0.5
0.4
Using partial fraction expansion, we 0.3
have 0.2
1 1 0.1
=
+ + 0
0 5
Time (s)
10 15
From Laplace Transform Table, we have The response is non-oscillatory, starts

= 1 , 0 initially with 0 = 0 and exponentially
rises to = 1.
. 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

Damping ra/o
( )
0 Sustained oscillation.
0< <1 Damped oscillation.
1 No overshoot, response moves to the target sharply
>1 No overshoot, response is sluggish.
Unit Step Response of 2nd Order System

2
1.8 zeta = 0.5

zeta = 1.0
1.6 zeta = 0.0
zeta = 2.0
1.4
1.2
0.8
0.6
0.4
0.2
0
0 5 10 15
Time (s)

Normalized response curves
For fast response,

0.7 is usually
desirable.
If no overshoot is
required, 1
is usually used.

Transient Response Specifications
Five measures of transient performance based on 2nd-order underdamped response
Maximum (percent)
overshoot:
c(t p ) c( )
Mp 100%
c( )
Delay time
Rise time:
10% - 90%, or
5% - 95%, or
0% - 100% Settling time: time to
reach and stay within
specified limits, usually
Peak time 2% or 5%.

Measures of transient performance
From the under damped step responses, we have

1 2

1 1 2
where and
We can obtain the rise time by letting .

1 2

Rise Time
For , we choose


Transient performance
Maximum Overshoot,
To determine , we first try to determine the peak time . It happens when
is maximum. We can determine by differentiating .
From the under damped step responses, we have
Differentiate yield

2
2
1
2

1 2

1 1 2

Therefore the peak time, .

Transient performance
Maximum Overshoot,
We have

, and
At peak time, , the maximum overshoot,

1 2
=
+2 +

1 2

1 2

/ 1 2

Therefore,

/
=

Measures of transient performance
We have

, and
Settling Time
The curves gives the envelope
curves of the transient response.

ts is found to be approximately
ts 4T (2% criterion)
ts 3T (5% criterion)
where time constant

System Type
Consider the unity-feedback system
R + E C
G
-
With (6-1)
The parameter associated with the term in the denominator

represents the Type of the system. Example: Type 0 if , Type
1 if 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.
Examples of System Types
R + E C
G
-
Type 0 systems: G ( s ) K ; K ;
G(s)
( s 1) (s p1 )( s p2 )
K
G (s)
s2 2 ns
2
n
Type 1 systems: G ( s ) K ; G (s) K ;

s ( s 1) s(s 2 2 ns
2
n )
Type 2 systems: G ( s ) K ; G(s) K ;

2 2
s ( s 1) s (s p1 )( s p2 )
Steady-State Errors Static Error Constants
The same unity-feedback system Error Transfer function

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

t
lim sE ( s )
s 0
sR ( s )
ess lim
s 0 1 G( s)

sR ( s )
ess lim
s 0 1 G( s)
1 s 1 1
For a unit-step input R( s) and e ss lim
s s 0 1 G (s) s 1 G (0)
Static Position Error Constant, Kp is defined as

1
Kp lim G ( s ) G ( 0) and ess
s 0 1 Kp
K (Ta s 1)(Tb s 1) (Tm s 1)

with G ( s ) N
,
s (T1 s 1)(T2 s 1) (T p s 1)
1
Kp K for Type 0 systems ess
1 K
Kp for Type 1 or higher systems e ss 0

sR ( s )
ess lim
s 0 1 G( s)
1 s 1 1
For a unit-ramp input R( s) and ess lim lim
s2 s 0 1 G( s) s 2 s 0 sG ( s )
Static Velocity Error Constant, Kv is defined as
1
Kv lim sG ( s ) and ess
s 0 Kv
K (Ta s 1)(Tb s 1) (Tm s 1)
with G ( s ) N
,
s (T1 s 1)(T2 s 1) (T p s 1)
Kv 0 for Type 0 systems ess
1
Kv K for Type 1 systems ess
K
Kv for Type 2 or higher systems e ss 0

sR ( s )
ess lim
s 0 1 G( s)
For a unit-acceleration input

t2 1 s 1 1
r (t ) for t 0, R( s) and ess lim lim
2 s3 s 0 1 G( s) s 3 s 0 s 2 G( s)
Static Acceleration Error Constant, Ka is defined as
1
Ka lim s 2 G ( s ) and ess
s 0 Ka
K (Ta s 1)(Tb s 1) (Tm s 1)
with G ( s ) N
,
s (T1 s 1)(T2 s 1) (T p s 1)
Ka 0 for Type 0 and Type 1 systems ess
1
Ka K for Type 2 systems ess
K
Ka for Type 3 or higher systems e ss 0
Steady-State Errors - Summary
System Step Input Ramp Input Accel. Input
Type
Type 0
Type1
Type 2
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.
The End


ME2142C5 162 System Response

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Chapter 5

Copyright ME, NUS. All Rights Reserved.

Transient Response Steady-state Response

For stable systems, the magnitude of the transient response

Jan-17 ME2142 Feedback Control Systems 2 C5.2

Where and are polynomials of s.

Note that the characteristic equation is a property of the

Jan-17 ME2142 Feedback Control Systems C5.3

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

Jan-17 ME2142 Feedback Control Systems C5.4

The roots of this equation are the closed-loop poles and

Jan-17 ME2142 Feedback Control Systems C5.5

Jan-17 ME2142 Feedback Control Systems C5.6

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

Jan-17 ME2142 Feedback Control Systems C5.7

Used for frequency response analysis.

is known as the time constant and determines the speed of response.

Jan-17 ME2142 Feedback Control Systems C5.9

Using Laplace Transform Table, we have

Jan-17 ME2142 Feedback Control Systems C5.11

For K=1, r(t)

Jan-17 ME2142 Feedback Control Systems C5.13

The transient response all contains the term / which is determined by

the root of the characteristic equation and the parameter T.

The Permanent Magnet DC motor.

Jan-17 ME2142 Feedback Control Systems C5.16

The response to a unit step input is first

With speed feedback

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

Jan-17 ME2142 Feedback Control Systems C5.18

Jan-17 ME2142 Feedback Control Systems C5.19

With Gc being a proportional gain Kp

In standard format with ,

Jan-17 ME2142 Feedback Control Systems C5.20

Examples: Determine the value of gain K for the closed-loop system to

Jan-17 ME2142 Feedback Control Systems C5.21

The roots of the characteristic equation are

Jan-17 ME2142 Feedback Control Systems C5.23

= + + 2 + + This represents a decaying oscillatory

Jan-17 ME2142 Feedback Control Systems C5.24

Jan-17 ME2142 Feedback Control Systems C5.25

Using partial fraction expansion, we 0.3

From Laplace Transform Table, we have The response is non-oscillatory, starts

Jan-17 ME2142 Feedback Control Systems C5.26

Unit Step Response of 2nd Order System

1.8 zeta = 0.5

Jan-17 ME2142 Feedback Control Systems C5.27

For fast response,

Jan-17 ME2142 Feedback Control Systems C5.28

Jan-17 ME2142 Feedback Control Systems C5.29

Jan-17 ME2142 Feedback Control Systems C5.30

Therefore the peak time, .

Jan-17 ME2142 Feedback Control Systems C5.31

At peak time, , the maximum overshoot,

Jan-17 ME2142 Feedback Control Systems C5.32

The curves gives the envelope

curves of the transient response.

where time constant

Jan-17 ME2142 Feedback Control Systems C5.33

The parameter associated with the term in the denominator

Type 1 systems: G ( s ) K ; G (s) K ;

Type 2 systems: G ( s ) K ; G(s) K ;

The same unity-feedback system Error Transfer function

and the steady-state error is ess lim e(t )