5system Response

ME2142 Feedback Control Systems
1

System Transient/Time Response

2
System Response
For a stable system, the system response consists of two parts. One is transient
response, and the other is steady-state response. The magnitude of the transient
response decreases with time and ultimately vanishes leaving only the steady-state
response.
3
For an unstable system, the magnitude of the system response increases with time.
t
Output
System Response
4
System Characteristic Equation
Consider a system with a transfer function, G
c
(s) as shown
G
c
(s)
System
Input Output
R(s) C(s)
The systems characteristic equation is given by
0 ) ( = s D
c
with

where N
c
(s) and D
c
(s) are polynomials of s.
) (
) (
) (
) (
) (
s D
s N
s G
s R
s C
c
c
c
= =
Note that the characteristic equation is a property of the
system and is not dependent on the input.
5
Examples
Spring-mass-damper (Slide 9: Modelling of Physical Systems)

Transfer Function

Characteristic Eqn:
K bs ms
K bs
s X
s X
s G
i
o
+ +
+
= =
2
) (
) (
) (
0
2
= + + K bs ms
R-C circuit (Slide 12: Modelling of Physical Systems)

Transfer Function

Characteristic Eqn:
1
1
+
=
RCs E
E
i
o
0 1= + RCs
Closed-loop feedback system (Slide 9: Block Diagram Algebra)

Transfer Function

Characteristic Eqn:
GH
G
R
C
+
=
1
0 1 = +GH
6
The roots of this equation are the closed-loop poles.

Characteristic equation
0 ) ( = s D
c
) (
) (
) (
) (
) (
s D
s N
s G
s R
s C
c
c
c
= =
If all the roots, p
i
, are negative, then the transient response
will eventually die away as t increases.
Consider a typical case, in which each root, x
i
=p
i
of this
equation is a real number and is distinct from each other. Thus
each root will contribute a term in the time response of
the system
But if any of the roots is positive real value, then the
transient response will grow without bounds as time
increases. The system is unstable.
t p
i
e
... ... ) ( + + =
t p
i
Ae t c
7
For a given dynamic system, we attempt to answer the
following questions:

System Response
We will
Use standard test inputs to excite system and
analyze the response.
Identify the relationship between the performance
characteristics and the system parameters.
How to determine the characteristics of the system
response?
How to compare it with that of another system?
How to identify whether the system response will
adequately meet our needs (stability, error, etc.)?
How to know the system response subject to
different inputs?
8
2) Ramp input

0 0
0 ) (
< =
> =
t
t At t r
2
) (
s
A
s R =
At
t = 0
r(t)
t
System Response Test Signals
1) Step input

0 0
0 ) (
< =
> =
t
t A t r
s
A
s R = ) (
A
t = 0
r(t)
t
When A = 1, we have a unit step input.
We can study the system response to sudden changes in input.
When A = 1, we have a unit ramp input.
We can study the system response to gradual changes in input.
9
4) Sinusoidal input

0 0
0 sin ) (
< =
> =
t
t t A t r e
t
r(t)
t = 0
3) Impulse input
is an impulse function
or a Dirac delta function

) 0 ( ) ( o A t r =
A s R = ) (
A
t = 0
r(t)
t
System Response Test Signals
When A = 1, we have a unit impulse input.
We can study the system response to sudden shocks or impacts.
We can analyze the system response in frequency domain.
(the main topic in the second half of course)
Using test signals (1) to (3) are often known as time response or
transient response analyses, while using test signal (4) is known as
frequency response analyses .
10
System Response First-order Systems
A first-order system can always be written in the standard form

T is known as the time constant, which may determine the speed of
response.
1 ) (
) (
+
=
Ts
K
s R
s C
Examples
Spring-damper system (Slides 7-8 of Modelling of Physical Systems)

.
K bs
K
s X
s Y
+
=
) (
) (
K
b
T
Ts
=
+
= with
1
1
RC circuit (Slide 12 of Modelling of Physical Systems)

.
RC T
Ts RCs E
E
i
o
=
+
=
+
= with
1
1
1
1
11

with

.
1 ) (
) (
+
=
Ts
K
s R
s C
Response to a unit step input
s
s R
1
) ( =
Thus ) (
1
) ( s R
Ts
K
s C
+
=
s T s
T K 1
) / 1 (
/
+
=
T s
B
s
A
/ 1 +
+
Multiplying both sides by s and letting s=0 gives A = K
Multiplying both sides by (s+1/T) and letting s = -1/T gives B = -K

Therefore

T s
K
s
K
s C
/ 1
) (
+
=
Using tables

) 1 ( ) (
/ / T t T t
e K Ke K t c

= =
0 for > t
12
Response to a unit step input
) 1 ( ) (
/ T t
e t c

= For K = 1
Note: The smaller the time constant T, the faster the response.
The shape is always the same.
13

with

1 ) (
) (
+
=
Ts
K
s R
s C
Response to a unit ramp input
Thus ) (
1
) ( s R
Ts
K
s C
+
=
2
1
) (
s
s R =
2
1
) / 1 (
/
s T s
T K
+
=
) / 1 (
2
T s
KT
s
KT
s
K
+
+
For K = 1,

) 1 ( ) (
/ T t
e T t t c

=
with the error
e(t) = r(t) c(t)

Using tables

0 for > t
) ( ) (
/ T t
Te T t K t c

+ =
) 1 (
/ T t
e T

=
r(t)
t = 0
r(t)
t
e
ss
=T
c(t)
14

with

1 ) (
) (
+
=
Ts
K
s R
s C
Response to a unit impulse input
1 ) ( = s R
Thus
T s
T K
Ts
K
s C
/ 1
/
1
) (
+
=
+
=
Or
T t
e
T
K
t c
/
) (

=
For K = 1,

T t
e
T
t c
/
1
) (

=
r(t)
t = 0
1/T
t
15
The transient response all contains the term which is determined by
the root of the characteristic equation and the parameter T.
T t
e
/
Response to
Unit Impulse
T t
e
T
K
t c
/
1
) (

=
1 ) (
) (
+
=
Ts
K
s R
s C
Properties
Characteristic Equation
T
s Ts
1
0 1 = = +
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, c
2
(t) is the derivative of c
3
(t), and c
1
(t) is the
derivative of c
2
(t) .
For a linear time-invariant system, the response to the derivative of an
input can be obtained by taking the derivative of the response to the input.
Unit Step
) 1 ( ) (
/
2
T t
e K t c

=
Unit Ramp
) ( ) (
/
3
T t
Te T t K t c

+ =
16
Block diagram
Permanent Magnet DC Motor
e
i
R
a
L
a
e
e
K J
b
T
e
The Permanent Magnet DC motor.

Governing equations

e
e a a
K
dt
di
L i R e + + =
i K T
t
=
e
e
b
dt
d
J T + =
I s L R K E
a a e
) ( + = O
I K T
t
=
O + = ) ( b Js T
+
-
E
I
a a
R s L +
1
O
e
K
t
K
T
b Js +
1 O
e
K
+
-
E
O
e
K
O
e
K
) )( ( b Js R s L
K
a a
t
+ +
17
+
-
E
O
e
K
O
e
K
) )( ( b Js R s L
K
a a
t
+ +
The Permanent Magnet DC motor.

Commonly

L
a
is small, and can then be neglected.

Block diagram then becomes
E +
-
O
e
K
b Js
R K
a t
+
/
GH
G
E +
=
O
1
) (
/
1
) (
/
b Js
R K K
b Js
R K
a e t
a t
+
+
+
=
a e t
a t
R K K b Js
R K
/
/
+ +
=
1 +
=
s
K
t
a e t
a t
R K K b
R K
K
/
/
with
+
=
a e t
R K K b
J
/ +
= t
Permanent Magnet DC Motor
18
a e t
R K K b
J
/ +
= t
Speed Control of the DC Motor
1 + s
K
t
E O
The response to a unit step input is
shows here.

Questions: Can we make the response
faster?

t = 0 t
K
O
With speed feedback

1 + s
K
t
E O Error
+
-
V
K
c
Controller
1
1
1
+
+
+
=
O
s
K K
s
K K
V
c
c
t
t
K K s
K K
c
c
+ +
=
1 t
1 '
'
+
=
s
K
t
K K
c
+
=
1
' with
t
t
K K
K K
K
c
c
+
=
1
'
The characteristic equation is still first-order, but the time constant is now
smaller, thus the system has faster response.
Motor by
itself
19
System Response Second-order Systems
A second-order system will be of the form

where a, b, c, d and e are constants.

c bs as
es d
s X
s Y
+ +
+
=
2
) (
) (
Standard Form:

We can re-write

c bs as
es d
s X
s Y
+ +
+
=
2
) (
) (
a
c
s
a
b
s
s
a
e
a
d
+ +
+
=
2
with and
a
c
n
=
2
e
a
b
n
= ,e 2
2 2
2
2 1
2
) (
) (
) (
n n
n
s s
K s K
s R
s C
e ,e
e
+ +
+ =
20
Examples
RLC circuit (see Modelling of Physical Systems)

.
1
1
) (
) (
2
+ +
=
RCs LCs s E
s E
i
o
with and
LC
n
1
2
= e
L
R
n
= ,e 2
LC
s
L
R
s
LC
1
1
2
+ +
=
Spring-mass-damper
.
K bs ms
K bs
s X
s X
i
o
+ +
+
=
2
) (
) (
m
K
s
m
b
s
m
K
s
m
b
+ +
+
=
2
with and
m
K
n
=
2
e
m
b
n
= ,e 2
21
Closed-Loop Position Feedback System
V O
1 + s
K
t
s
1 u
G
c
controller
E +
-
R
where G
c
is a proportional gain K
p
u
E +
-
R
) 1 ( + s s
K K
p
t
with
t
e
K K
p
n
=
2
t
,e
1
2 =
n
t
,
K K
p
1
2
1
=
natural frequency
damping ratio ,
e
n
K K s s
K K
GH
G
R
p
p
+ +
=
+
=
O
2
1 t
In standard format
2 2
2
2
n n
n
s s R e ,e
e
+ +
=
O
Characteristic equation:
0 1 = +GH
0
2 8 2
) 2 ( 5
1
2
=
+ +
+
s s
K
22
Examples: Determine the value of gain K for the closed-loop system, which has an
undamped natural frequency of 4. What is the damping factor?
R C
-
+
2
K
2 8 2
5
2
+ + s s
0 10 2 8 2
2
= + + + K s s
0 2 5 1 4
2 2 2
= + + + + +
n n
s s K s s e e
16 4 ) 5 1 (
2 2
= = + = K
n
e
3 = K
4 2 =
n
e
5 . 0 =
23

Consider
2 2
2
2
n n
n
s s R e ,e
e
+ +
=
O
Time Response Second-order Systems
For , the roots are equal and the system is so called
critically damped.
1 = ,
n
p e =
2 , 1
The roots of the characteristic equation are
1
2
2 , 1
= , e ,e
n n
p
For , the roots are both real and unequal
and the system is so called overdamped.
1 > , 1
2
2 , 1
= , e ,e
n n
p
For , the roots are a pair of complex conjugates 1 0 < < ,
where is called the damped natural frequency and
the response is underdamped.
d n
j p e ,e =
2 , 1
2
1 , e e =
n d
24
Step Response Second-order Systems
Therefore

with an input
s
s R
1
) ( =
2 2
2
2
n n
n
s s R e ,e
e
+ +
=
O
s s s
n n
n
1
) 2 (
2 2
2
e ,e
e
+ +
= O
This represents a decaying oscillatory response depending upon with
a frequency of oscillation of .
Underdamped Response
1 0 < < ,
,
d
e
From tables (Entry 24 in Tables), we have
) sin(
1
1 ) (
2
| e
,
,e
+
=

t
e
t c
d
t
n
2
0
t
| < <
0 > t
|
|
.
|
\
|

=

,
,
|
2
1
1
tan
2
1 , e e =
n d
From tables (Entry 18 in Transform tables with ), we have
n
a e =
) 1 (
1
) (
) (
1
2 2
at at
ate e
a
t c
a s s

=
+
25
We have
s s s
n n
n
1
) 2 (
2 2
2
e ,e
e
+ +
= O
Critically Damped Response
1 = ,
This represents a non-oscillatory response with an exponentially
decaying transient component and a zero steady-state error. The speed
of decay of the transient response depends upon the parameter .
n
e
t
n
t
n n
te e t c
e e
e

= 1 ) (
0 > t giving for
( )
s
s
n
n
1
2
2
e
e
+
=
26
We use Entry 17 in Transform tables.


s s s
n n
n
1
) 2 (
2 2
2
e ,e
e
+ +
= O
Overdamped Response 1 > ,
s s s
n n n n
n
) 1 )( 1 (
2 2
2
+ + +
=
, e ,e , e ,e
e
0 > t
bt at
e C e C

+ + =
2 1
1
for , C
1
and C
2
are constants.
The response is non-oscillatory, starts initially with and
exponentially rises to .
0 ) 0 ( = c
1 ) ( = c
If , 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.
b a >> 1 >> ,
) ( a s +
) )( (
2
b s a s s
n
+ +
=
e
1
2
+ = , e ,e
n n
a 1
2
= , e ,e
n n
b with and
2
n
ab e = We have
(
+ =
)
2
(
1
1 ) (
bt at
ae be
b a ab
t c
n
e
so that
27
Step Response Second-order systems
Normalized response curves
For fast response,
is usually
desirable.
7 . 0 ~ ,
If no overshoot is
required,
is usually used.
1 > ,
28
Transient Response Specifications
Maximum overshoot:

% 100
) (
) ( ) (

=
c
c t c
M
p
p
Delay time
Rise time:
10% - 90%, or
5% - 95%, or
0% - 100%
Peak time
Settling time: time to
reach and stay within
specified limits, usually
2% or 5%.
Five measures of transient performance based on 2
nd
-order underdamped response
29
Measures of Transient Performance
We have
) sin(
1
1 ) (
2
| e
,
,e
+
=

t
e
t c
d
t
n
|
|
.
|
\
|

=

,
,
|
2
1
1
tan
1 ) ( =
r
t c giving 0 ) sin( = +| e
r d
t
0 = +| e
r d
t
Thus we have
Rise Time
r
t
which gives

2
1 , e e =
n d
or
t | e = +
r d
t
, 0 >
d
e . 0
2
> >|
t
, which can not be satisfied, since
, 0 >
r
t
d
r
t
e
| t
=
30
We have
) sin(
1
1 ) (
2
| e
,
,e
+
=

t
e
t c
d
t
n
|
|
.
|
\
|

=

,
,
|
2
1
1
tan
Peak Time
p
t
2
1 , e e =
n d
0
1
) (sin
) (
2
=
=

=
p n
p
t
n
p d
t t
e t
dt
t c d
,e
,
e
e
giving
0 sin =
p d
t e
or , 3 , 2 , , 0 t t t e =
p d
t
Therefore for the first peak.
d
p
t
e
t
=
31
We have
) sin(
1
1 ) (
2
| e
,
,e
+
=

t
e
t c
d
t
n
|
|
.
|
\
|

=

,
,
|
2
1
1
tan
Maximum Overshoot
2
1 , e e =
n d
p
M
As
Therefore
( ) 1 =
p p
t c M
( )
( ) | | | e t e
e t e
+
=

d d
d n
e
/ sin
1
2
/
( ) | t
t
+
=
|
.
|
\
|

sin
1
2
1 /
2
e
t |
.
|
\
|

=
2
1 /
e M
p
( )
2
1 sin sin | | t = = +
32
We have
) sin(
1
1 ) (
2
| e
,
,e
+
=

t
e
t c
d
t
n
|
|
.
|
\
|

=

,
,
|
2
1
1
tan
Settling Time
2
1 , e e =
n d
s
t
The curves gives the
envelope curves of the transient response.
) 1 / ( 1
2
,
,e

t
n
e
is found to be approximately
where
s
t
T t
s
4 =
T t
s
3 =
(2% criterion)
(5% criterion)
n
T
,e
1
=
33
Summarization First-order Systems
Transient response is exponential.
One dynamic parameter: time constant T. The smaller this is, the
faster the response.
At t=T sec, response will reach 63.2% of final step.
At t=4T sec, response will settle to within 2% of final value.

34
Summarization Second-order systems
Normalized response curves
Two dynamic
parameters:

Undamped natural
frequency,

Damping ratio.

35
Summarization - Transient Response Specifications
Maximum overshoot:

% 100
) (
) ( ) (

=
c
c t c
M
p
p
Settling time: 4T to
within 2% of the final
value.

Five measures of transient performance based on 2
nd
-order underdamped response
n
T
,e
1
=
36
End

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