ENG2016M

Introduction To
Control
Transient Response &
steady state error
 Learning Outcome
Able to describe/explain/analyze.
The transient behaviour of first order and
second order system.
The steady-state error for any SISO
system subjected to standard inputs
The effect of disturbance and how to
minimize it

Transient response &

Steady state error 2
 Transient Response - Overview

First order system response with different

standard input.
Second order system response with unit-step
input.
Underdamped system performance
parameter.
Higher Order System

Transient response &

Steady state error 3
 Transient Response
It is a time response behavior of the
system output which relates to:
How quickly a system responds?
Any overshoot/undershoot?
How close a system comes to instability?
Any oscillations (not desirable)?
Want to control it accurately

Transient response &

Steady state error 4
 Transient Response
Any complex system can be assembled
using first order and second order system.
Important to understand the behavior of
these TWO systems with respect to time.

Transient response &

Steady state error 5
 First order system

Consider a first order system as shown

below. Example an RC system.

T- the time constant, will determine how quickly the

system moves toward steady state
1 the DC gain
Power of s is one . called first order system

Transient response &

Steady state error 6
 Unit-step response of the
first-order system

Transient response &

Steady state error
7
 Unit-step response of the
first-order system

Response time is the

length of time the
response curve to
reach and stay within
2% line of the final
value.
Transient response &
Steady state error 8
 Unit-step response of the
first-order system
Time constant, T is the time for e-t/T decay
to 37% or for step response to rise to 63%
Rise time, Tr =2.2T(response rise from 0.1
to 0.9 of the final value)
Settling time, Ts=4T (response stay within
2% of the final value)

Transient response &

Steady state error 9
 Unit-ramp response of first-
order systems

Transient response &

Steady state error 10
 Unit-ramp response of the
first-order system

Transient response &

Steady state error 11
 Unit-impulse response of
first-order system

Transient response &

Steady state error 12
 First order system -
Conclusion
The response of the derivative of an input
signal can be obtained by differentiating
the response of the system to the original
signal.
The response of the integral of an input
signal can be obtained by integrating the
response of the system to the original
signal.
Transient response &
Steady state error 13
 Second order systems
Consider a servo system as an example of a
second order system.

The controller has a gain K, inertia J and viscous

friction B.
Transient response &
Steady state error 14
 Second order systems
Suppose we need to control the output
position with the input position r.
Equation for the load is

T = torque produced by the controller with

gain K.

Transient response &

Steady state error 15
 Second order systems
Take Laplace transform

Transient response &

Steady state error 16
 Second order systems

Transient response &

Steady state error 17
 Second order systems

Transient response &

Steady state error 18
 Second order systems

Transient response &

Steady state error 19
 Unit-step input response of
second-order system.

Transient response &

Steady state error 20
 Unit-step input response of
second-order system.

Transient response &

Steady state error 21
 Unit-step input response of
second-order system.

Transient response &

Steady state error 22
 Unit-step input response of
second-order system.

Transient response &

Steady state error 23
 Unit-step input response of
second-order system.

Transient response &

Steady state error 24
 Unit-step input response of
second-order system.

Transient response &

Steady state error 25
 Unit-step input response of
second-order system.
Transient response of second-order system specification
1. Delay time, td: time required for the response to reach half the
final value the very first time.
2. Rise time, tr : time required for the response to rise from 10% to
90% of the final value. For underdamped second-order system, 0%
to 100% rise time normally used. For overdamped system, 10% to
90% rise time is normally used.
3. Peak time, tp: time required for the response to reach the first
peak of the overshoot.
4. Maximum overshoot, Mp:

5. Settling time, ts: time required for the response to reach and stay
within a range about the final value (usually 2% or 5%)

Transient response &

Steady state error 26
 Unit-step input response of
second-order system.

Transient response &

Steady state error 27
 Derivation of second order system
unit-step response parameters
Applicable to underdamped case:

Transient response &

Steady state error 28
Derivation of second order system
unit-step response parameters

Transient response &

Steady state error 29
Derivation of second order system
unit-step response parameters

Transient response &

Steady state error 30
Derivation of second order system
unit-step response parameters

Transient response &

Steady state error 31
Derivation of second order system
unit-step response parameters

Transient response &

Steady state error 32
Derivation of second order system
unit-step response parameters

Transient response &

Steady state error 33
Derivation of second order system
unit-step response parameters

4.605 4.605
Or t s 4.605T for 1% criteria
n

Transient response &

Steady state error 34
 Transient response of higher
systems

Transient response &

Steady state error 35
 Transient response of higher
systems

Transient response &

Steady state error 36
 Transient response of higher
systems
Few important notes:
If all the poles are located in the left-half of the s-plane, then
the relative magnitude of the residues determine the important
of the components in the expanded form of C(s).
A pair of closely located pole and zero will effectively cancel
each other
If a pole located far away from the origin, the residue at this
pole may be small and the transient response is small and
short, therefore can be neglected.
Terms in the expanded form of C(s) having very small
residues contribute very little to the transient response and
can be neglected.
By applying above practice, we can approximate the higher order system
with lower system.
Transient response &
Steady state error 37
 Transient response of higher
systems
Rule of thumb:
Any poles 5 times larger to the left than
the dominant poles, they can be ignored

Transient response &

Steady state error 38
 Example
Discuss the validity of a second order
system approximation for the following
third order system.

(i) Gs
700
s 20s 2 4s 100
(ii ) Gs
360
s 4s 2 4s 100
Transient response &
Steady state error 39
 Example
Solution:
(i)
The second-order approximation is valid, since
the dominant poles have a real part of 2 and the
higher-order pole is at 15, i.e. more than five-
times further.

(ii)
The second-order approximation is not valid,
since the dominant poles have a real part of 1
and the higher-order pole is at 4, i.e. not more
than five-times further.
Transient response &
Steady state error 40
 Steady-state error - Overview

Steady-state error derivation

Static error constants position, velocity and
acceleration
Steady-state error for disturbance

Transient response &

Steady state error 41
 Steady-state error
Error = ref input signal output feedback
signal

Transient response &

Steady state error 42
 Steady-state error

Transient response &

Steady state error 43
 Steady-state error

Transient response &

Steady state error 44
 Type of system

N refer to system type.

Higher the N, better accuracy, BUT worst
stability.
Compromise the value of N
If N=0, open loop gain K directly related to
the steady state error.

Transient response &

Steady state error 45
 Test waveforms for evaluating steady-
state errors of position control systems

Transient response &

Steady state error 46
 Static Position Error
Constant, KP

Let Then,

Transient response &

Steady state error 47
 Static Position Error
Constant, KP

Transient response &

Steady state error 48
 Static Velocity Error
Constant, KV

Let

Then,

Transient response &

Steady state error 49
 Static Velocity Error
Constant, KV
sG(s)

sG(s)

This means that type 1 system always has a finite

error with a ramp input. Refer to the plot.
Transient response &
Steady state error 50
 Static Velocity Error
Constant, KV

Transient response &

Steady state error 51
 Static Velocity Error
Constant, KV
sG(s)

Transient response &

Steady state error 52
 Static Acceleration Error
Constant, Ka

Transient response &

Steady state error 53
 Static Acceleration Error
Constant, Ka

Transient response &

Steady state error 54
 Summary

Transient response &

Steady state error 55
 Steady-state Error for
Disturbance

Transient response &

Steady state error 56
 Steady-state Error for
Disturbance

Transient response &

Steady state error 57
 Steady-state Error for
Disturbance

Transient response &

Steady state error 58
 References
1. Control systems Engineering 3ed by
K.Ogata
2. Control systems Engineering 3ed by Nise

Transient response &

Steady state error 59