Transient Response and Steady State Error

EEA81
EEA81180
1801
1
Analog & Digital Control Systems
Lecture 3-4
Transient Response and

Steady State Error
Lecturer:
Dr. Wahidin Wahab M.Sc.
Aries Subiantoro, ST. MSc.
Electrical Engineering Department
University of Indonesia
Transient Response of
Systems
To Unit Step Function
Unit Ramp Function
Unit Impulse Function
30/09/2015
Wahidin Dept.EE - University Of Indonesia
Transfer Functions
Hence transfer function G(s)=Y(s)/X(s) is :
b0 s m + b1s m 1 + ... + bn 1s + bn N ( s )
G ( s) =
=
n
n 1
a0 s + a1s + ... + an 1s + an D( s )
Roots of D( s ) = 0 are known as the system poles
Roots of N(s) = 0 are known as the system zeros
Where an and bn, n=0, 1, 2, . . . N are constant coefficients.
n = order of the system
Block Diagram :
X(s)
15 September 2011
Y(s)
Dept.Electrical Engineering University of Indonesia
Order of a System
N =0 Zero order System
N =1 First order System
N =2 Second Order System
N =3 Third Order System
-
n-th order System
Zero Order System

Consider the block diagram below:
R(s)
C(s)
K is the System Gain

This is simply an Amplifier.
C(s) = K . R(s)
Dr. E.
First Order System

Consider simple closed loop system with

an integrator in feed-forward path
R(s)
+
K
Ts
C(s)
R(s)
K
Ts + 1
C(s)
K is the System Gain

T is the Time Constant
Harga Kutub(Pole) : -1/T
Dr. E.
Second Order Systems

General form of 2nd order transfer

function
n2
C ( s)
= 2
R ( s) s + 2 n s + n2
= damping ratio of system
n = undamped natural frequency
C(s)/R(s)
Time domain performance of a 2nd order system

is linked to these two quantities ie. and n
Dr. E.
Higher Order Systems

Consider general transfer function of the

form
M
K (s + zi )
G ( s) =
i =1
(s + p ) (s
j
j =1
+ 2 k k s +
k =1
m zeros, at least q real poles,

and at most r pairs of complex conjugate poles
Dr. E.
2
k
How do
these Systems Behave ???
Lets do some analysis on it
Dr. E. Palmer 2000 , Queensland University of Technology
First Order System

Consider simple closed loop system with an

integrator in feed-forward path
R(s)
C(s)
+
30/09/2015
1
Ts
R(s)
1
Ts + 1
C(s)
10
First Order System

Unit Step Response
r(t)
1
1 1
R( s) = , C ( s) =
s
Ts + 1 s
1
T
1
1
C (s) =
=
s Ts + 1 s s + 1
T
1
1
C (s) =
s s+ 1
T
c(t ) = 1 e
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1.0
R(s)
t
T
r(t) = 1
1
Ts + 1
C(s)
11
First Order System

Unit Step Response%

Initial slope = 1/T
R(s)
1
Ts + 1
C(s)
1.0
0.632
t=T
c(t ) = 1 e
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Time
c(t)
T
2T
3T
4T
5T
0.632
0.865
0.95
0.982
0.993
12
Unit Step Response
c(t ) = 1 e
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13
First Order System

Unit Ramp Response
R(s)
1
R( s) = 2
s
1
Ts + 1
C(s)
1
1
C ( s) =
2
Ts + 1 s
r(t)
1
1
C ( s) =
2
Ts + 1 s
2
T
1 T
C (s) = 2 +
s
s Ts + 1
c(t ) = t T + Te
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r(t) = t
1.0
t
T
1.0
t
14
First Order System

R(s)
Unit Ramp Response
Error in tracking ramp input
1
Ts + 1
C(s)
Define error as e(t ) = r (t ) c(t )

t

= t c(t ) = T 1 e T
Steady State Tracking Error
= lim{e(t )} = T
t
There will be always be a small offset determined

by The time constant of the system.
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15
First Order System

Unit Ramp Response

amplitudo
R(s)
1
Ts + 1
C(s)
r(t)
c(t)
Steady State error = T
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16
First Order System

Unit Impulse Response
R(s)
1
Ts + 1
C(s)
1 1
c(t ) = L
= e
+ 1 T
Ts +1
1
t
T
Note that the unit impulse response of an LTI system

is simply the inverse Laplace Transform of the
transfer function
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17
Transient Response
- First Order System
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Unit step response = derivative of unit

ramp response
Unit impulse response = derivative of unit
step response
18
Example from Ogata

Liquid level controller - p140 Ogata
R(s)
+
Kp
R
RCs + 1
Kv
H(s)
Kb
Block reduction to get :

R(s)
X(s)
1/Kb
K
Ts + 1
H(s)
K = K p K v RK b
T = RC
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19
Example from Ogata

Consider response to step change in
reference input r(t)
H (s)
K
=
X ( s ) Ts + 1 + K
Step response
K
1
H (s) =
Ts + 1 + K s
Splitting into partial fractions
R(s)
X(s)
1/Kb
K
Ts + 1
H(s)
K 1
K
1
=

1+ K s 1+ K s + 1+ K
T
Note that this is equivalent to step change in x(t)
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20
Example from Ogata

K 1
K
1
H (s) =

1+ K s 1+ K s + 1+ K
T
taking the inverse LT of both sides
t
K
T1
h(t ) =
1 e
,
1 + K
T
T1 =
1+ K
t0
Note that this could also be found from the Final Value Theorem of Laplace Transforms
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21
Example from Ogata

using the final value theorem
h( ) = lim{s H ( s )}
s 0
K
1
= lims

s 0
Ts + 1 + K s
K
=
1+ K
Note that using the Final Value theorem, we do not require to find the
inverse Laplace transform and it makes calculations much easier.
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22
Example from Ogata

Since x( ) = 1.0
Steady state error or offset
K
1
= 1
=
1+ K 1+ K
1.0
Note that this offset could be eliminated by placing an integrator (K/s) in

the feed-forward path
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23

General form of Second order transfer function

2
n
C ( s)
= 2
R ( s) s + 2 n s + n2
= damping ratio of system

n = undamped natural frequency
Time domain performance of a 2nd order system
linked to these two quantities, and n.
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Three Cases as the

Case 1 : 0 < < 1
Case 2 : = 1
Case 3 : > 1
Effect of Damping Ratio:

Underdamped
Critically Damped
Overdamped
24
Case 1 : Underdamped 0 < < 1

The Step Input : r(t) =1 R(s) = 1/s

The output response is c(t) :
where
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25
System Poles are complex conjugate.

Damped oscillatory Response.
Note that if the damping ratio is zero system will

undergo sustained undamped oscillations
= 0 c( t ) = 1 cos n t
Note also that if the damping ratio >1 then
response is OVERDAMPED and
system will not oscillate
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26
Case 2: Critically Damped = 1

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System poles are equal and real.

The Laplace Transform of the output Response is
27
Case 3 : Overdamped > 1

System poles are real and distinct.

The Laplace Transform od the Output C(s) is :
The Step Response is :
Step response = sum of two decaying exponential functions

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28
Typical Response of a Second Order System
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29
Unit Step Response Curves of Second Order System n=1.0 rad/sec
2
Underdamped
= 0.1
1.8
= 0.7
1.6
Critically damped
= 0.2
1.4
Overdamped
= 0.8
= 0.4
c(t)
1.2
1
0.8
= 0.9
0.6
= 1.0
0.4
0.2
= 2.0
0
0
= 0.6
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10
12
14
Time - seconds
30
Unit Step Response Curves of Second Order System n=1.0 rad/sec
Underdamped
Critically damped
Overdamped
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31
Performance of Second Order Systems

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Underdamped systems respond fastest but will

oscillate about steady state value
Overdamped systems tend to be sluggish
but No oscillation.
Critically damped systems give the quickest rise
time without overshoot and No oscillation.
32
Transient Response Specifications

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Means of specifying the desired performance of a

control system
Frequently specified in terms of response to unit
step input
33
Terms
Delay Time, td
Rise Time, tr
Peak time, tp
Maximum Overshoot, Mp
Settling Time, ts
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34

Delay Time
Time to reach 50% of final value for the first time
Example - Unit Step Response
1.0
0.5
td
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35

Rise Time
Time for system to go from 0-100% of final value
or 10-90%, or 5-95%
1.0
tr
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36

Peak Time
Time for system to reach first peak
1.0
tp
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37

Maximum Percent Overshoot

Maximum percent value of response from steady
state value

Mp
1.0
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38

Maximum Percent Overshoot

Mp =
c(t p ) c( )
c( )
100

Mp
1.0
c()
c(t)
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39

Settling Time
Time for response to reach and stay within a
certain range of the steady state value - typically
5% or 2%
1.0
Allowable tolerance
ts
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40

Desirable Response
fast and well damped
damping ratio should be between 0.4 and 0.8
too small a damping ratio leads to a poorly
damped response too much overshoot
too large a damping ratio leads to a sluggish
response
Conflict between max. rise time and allowable overshoot
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41
Second Order Systems and

Transient Response Specs.
Second Order system pole locations
Poles
s1 , s2 = j d
= n ,
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d = n 1
42

Second Order system pole locations
j
s1
x
Poles
s1 , s2 = j d
= n ,
d = n 1 2
x -=
n
s2=s*1
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Note = cos
43

Rise Time
d
tr =
tan
=
d
d

Note that for a small rise time d must
1
be large.
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44

Peak Time
tp =
d
See Ogata pp.152 - 153 for details of proof.
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45

Maximum Overshoot
Mp =e
2
1
100%
See Ogata p.153 for details of proof.

Note that this ONLY depends on damping ratio
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46

Settling Time
Speed of decay of response depends on

value of time constant
After 3 time constants system will be within

5% of its final value
t s (5%) =
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n
47

Settling Time
After 4 time constants system will be within

2% of its final value
These Settling Time formulae are very
4
important to be remembered as settling time
t s (2%) =
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is a very common control system spec.
48

Settling Time
inversely proportional to product of damping ratio
with natural frequency
damping ratio is usually set by max. overshoot
therefore settling time determined by choosing n
once damping ratio has been set.
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49
Example
Consider the closed loop system shown below. Determine the
values of Kh & K such that the max. overshoot to a step input is
0.2 and the peak time is 1 second. Also determine the rise time
and settling time. Assume J=1, B=1
+
R(s)
K
Js + B
1
s
C(s)
Kh
Need to reduce this to a single loop

30/09/2015
50
Example
+
R(s)
K
s (Js + B + KK h )
Reduced system
C(s)
Closed loop T.F.

C(s)
K
= 2
R(s) Js + (B + KK s )s + K
B + KK h
=
,
2 KJ
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n =
K
J
51
Example
Max Overshoot
Mp =e
2
1
= 0.2

= 1.61
1 2
= 0.456
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52
Example
Peak Time
tp =
=1
d
d = 3.14
d
n =
= 3.53
1 2
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53
Example
Now natural frequency is

K
n =
= 3.53 K = 12.5
J
B + KK h
=
= 0.456 K h = 0.178
2 KJ
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54
Example
Rise Time

tr =
,
d
d
= tan = 1.10

1
t r = 0.65
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55
Example
Settling Time
2% settling time =
5% settling time =
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= 2.48 sec
= 1.86 sec
56
Impulse Response of
Second Order System

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Simply inverse Laplace transform of transfer

function
or derivative of unit step response
different expressions for max. overshoot
see Ogata pp. 158-160
57
Significance of Pole Locations

Real and negative

impulse response is a stable exponential decay
Real and positive

impulse response is an unstable exponential rise
Complex with negative real parts

impulse response is oscillatory and stable
damped oscillation
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58

Complex with positive real parts

impulse response is oscillatory and unstable
undamped oscillation
angle of complex pole w.r.t. negative real

axis = cosine of damping ratio Note = cos
magnitude of complex pole = natural
frequency
Note that complex poles ALWAYS occur in conjugate pairs
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59
30/09/2015
60

Consider general transfer function of the form

M
K (s + zi )
G(s) =
i =1
(s + p ) (s
j
j =1
+ 2 k k s + k2
k =1
M zeros, at least q real poles, & at most r pairs of complex

conjugate poles
30/09/2015
61

The response to a unit step input is determined as
1
C ( s) =
s
K (s + z i )
i =1
(s + p ) (s
j
j =1
+ 2 k k s + k2
k =1
This can then be expanded by the method

of partial fractions.
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62
Expanding by partial fractions

bk (s + k k ) + ck k 1
a
C(s) = +
+
2
2
s j =1 s + p j k =1
s + 2 k k s + k
q
aj
2
k
Response of higher order system = sum

of a set of first and second order responses
Residues
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63

Time domain response is then
q
c(t ) = a + a j e
p jt
j =1
r
+ ck e
k k t
+ bk e k k t cos k 1 k2 t
k =1
2
k
sin k 1 t
k =1
Relative size of each component determined by system residues

which relate to system zeros.
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64

Note that components of c(t) corresponding to

poles with large negative real parts will decay rapidly
shorter settling times
More dominant poles are those with longer settling

times
closer to the imaginary axis in the s-plane
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65
Additional Pole in 2nd Order Model
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66
Step Response Change Due to

Extra poles
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67
Dominant Poles
Relative dominance of pole determined by ratio of

real parts
If ratio of real parts is greater than 5 & no zeros are
close by then the closed loop poles closest to the
imaginary axis will dominate the system response.
Useful for getting an approximate idea of system
behaviour.
Make sure of underlying assumptions before using.
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68
Transfer Functions in MATLAB

Transfer functions may be implemented in Matlab

using the tf command
tf.m has syntax

sys = tf (num, den) where num and den are
arrays containing the coefficients of the numerator
and denominator polynomials
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69

For example to implement the transfer function
1
G ( s) =
we could write in Matlab
s + 10
num = [1];
den = [1 10];
G = tf (num, den);
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70

Or to implement the transfer function
s+5
G ( s) = 2
we could write in Matlab
s + 2 s + 10
num = [1 5];
den = [1 2 10];
G = tf (num, den);
In this way Matlab has the transfer function stored as variable G which it
can use in the control design tools you are going to use.
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71
A Useful Trick
Sometimes the numerator or denominator polynomial

you are given will not be conveniently in the expanded
form for example s 2 + 5s + 6 but might be given as
(s + 2)(s + 3)
Although in this instance it is should be an easy matter to expand it may
be time consuming when you have many 1st and second order factors
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72
A Useful Trick
Suppose we are given (s + 2 )(s + 3)
As a quick alternative to going through the algebra
to expand this out, type in Matlab
a1 = [1 2];
a 2 = [1 3];
a = conv(a1, a 2);
The resulting array a contains the expanded form of (s+2)(s+3) By the
way the conv stands for convolution and the operation is in fact a
discrete convolution.
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73
Parameter Sensitivity
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System parameters may be only measured

approximately or may vary over time
Sensitivity factors have been derived to indicate how
sensitive a system transfer function is to changes in
parameters
74
Pole-Zero Cancellation
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Sometimes it may be possible to cancel the effect of

an unwanted pole by placing a zero over the top of it.
Provided the location of the zero is known exactly
this is not a problem.
Generally a dangerous procedure if system
parameters are uncertain or may change with time
75
Pole-Zero Cancellation
This is especially true if pole to be cancelled is
unstable
Example
1 s 1
1
Gequiv ( s ) =
=
s 1 s + 1 s + 1
1
s 1
Unstable pole
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1
s 1
s 1
s +1
Unstable pole cancelled by zero

in this block
76
Homeworks
Ogata Chapter 4 : A4-3, B4-2, B4-3 (3rd Edition)

Nise chapter 4: 26, 29, 54, 57, 58
Project 1: Modeling & Matlab usage:

Ogata No. A4-15 and A4-16 (3rd Edition)
Homeworks is due next week
Projects is due for 2 week
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77

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EEA81

Transient Response and

Wahidin Dept.EE - University Of Indonesia

Zero Order System

Consider the block diagram below:

K is the System Gain

First Order System

Consider simple closed loop system with

K is the System Gain

Second Order Systems

General form of 2nd order transfer

Time domain performance of a 2nd order system

Higher Order Systems

Consider general transfer function of the

m zeros, at least q real poles,

Dr. E. Palmer 2000 , Queensland University of Technology

First Order System

Consider simple closed loop system with an

Wahidin Dept.EE - University Of Indonesia

First Order System

Unit Step Response

Wahidin Dept.EE - University Of Indonesia

First Order System

Unit Step Response%

Wahidin Dept.EE - University Of Indonesia

Unit Step Response

Wahidin Dept.EE - University Of Indonesia

First Order System

Unit Ramp Response

First Order System

Unit Ramp Response

Error in tracking ramp input

Define error as e(t ) = r (t ) c(t )

Steady State Tracking Error

There will be always be a small offset determined

Wahidin Dept.EE - University Of Indonesia

First Order System

Unit Ramp Response

Steady State error = T

Wahidin Dept.EE - University Of Indonesia

First Order System

Unit Impulse Response

Note that the unit impulse response of an LTI system

Wahidin Dept.EE - University Of Indonesia

Unit step response = derivative of unit

Wahidin Dept.EE - University Of Indonesia

Example from Ogata

Block reduction to get :

Wahidin Dept.EE - University Of Indonesia

Example from Ogata

Wahidin Dept.EE - University Of Indonesia

Example from Ogata

Wahidin Dept.EE - University Of Indonesia

Example from Ogata

Wahidin Dept.EE - University Of Indonesia

Example from Ogata

Note that this offset could be eliminated by placing an integrator (K/s) in

Wahidin Dept.EE - University Of Indonesia