GEE338 Linear Control Systems

Chapter 2
Analysis of Control Systems in Time
Domain
Prof. Fawzy Ibrahim and Eng. Medhat Toubar
Electronics and Communication Department
Misr International University (MIU)

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 Chapter Contents
2.1 Definitions
2.2 Response of First Order System
2.2.1 First Order Systems Description
2.2.2 Impulse Response of First Order System
2.2.3 Step Response of First Order System
2.2.4 Ramp Response of First Order System
2.2.5 Summary of response of a LTI first order system
2.3 Response of Second Order Systems
2.3.1 Second Order Systems Description
2.3.2 Second Order Systems – Poles
2.3.3 Step Response of Over Damped Systems
2.3.4 Step Response of Critically Damped Systems
2.3.5 Step Response of Under Damped Systems
2.3.6 Step Response of Undamped Damped Systems

2.4 Higher Order Systems Response

2.5 System Stability and Steady-State Error

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2.1 Definitions
1. Order of the system
• Consider a system defined by the following total or closed loop transfer function:
C ( s ) bm s m  bm 1s m 1    b0 N (s)
T (s)   n 1

R( s) an s  an 1s    a0
n
D( s)
• The order of this system is n which is defined by the highest power s in the
denominator, D(s) as illustrated below:
1st order system 2nd order system 4th order system
C (s) 5 C ( s) 10s C ( s) 10s 2
  2  4
R( s) 4s  1 R( s) s  4s  4 R( s) 3s  2s 3  s 2  4s  3
2. The system type Number
• It is defined as the number of poles at the origin of the open loop transfer
function G(s)H(s). Consider the open loop transfer function of a system as:

bm s m  bm1s m1    b0
G( s) H ( s)  c
s (an s n  an 1s n 1    a0 )
• The system of type c and has an order of n+c.
3 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.1 Definitions
2. The system type Number
Examples:
50
G (s) H ( s)   System of type 0 and 2nd order
( s  1)( s  4)
10s 2  3
G( s) H ( s)  2 4  System of type 2and 6th order
s (3s  2s 3  s 2  4s  3)
3. Standard Test Signals:
i) Impulse-Function
• The impulse signal imitates the sudden shock characteristic of actual input
signal.
Unit Impulse Function
δ(t)
1 t 0
r (t )   (t )    R( s)  1 1
0 t0
Impulse Function t
t 0 0
A
r (t )  A (t )    R( s)  A
0 t0 Unit Impulse Function
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 2.1 Definitions
3. Standard Test Signals:
ii) Step-function
• The step signal imitates the sudden change characteristic of actual input signal.
Unit Step function u(t)
1 t0
r (t )  u (t )    R( s) 
1
1
0 t0 s
Step function 0 t
A t0 A
r (t )  Au (t )    R( s) 
Unit Step function
0 t0 s
iii) Ramp-function r(t)
• The ramp signal imitates the constant velocity
characteristic of actual input signal

 At t0 A
r (t )  Atu (t )    R( s)  2 0 t
0 t0 s
Ramp-function
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2.1 Definitions
3. Standard Test Signals:
iv) Parabolic-function
• The parabolic signal imitates the constant acceleration characteristic of actual
input signal.
 At 2
At 2
 t0
r (t )  p (t )  u (t )   2 A
2  R ( s ) 
0 t  0 3
 s

v) Sinusoidal-function Parabolic-function
• The Sinusoidal signal imitates the transient and steady state characteristic of
actual input signal.
 Asint t0
 A
r (t )  Asin(t)u(t)   R( s) 
0 t0 s2   2

 A cos t t0
  R( s ) 
As
r (t )  A cos(t)u(t)  Sinusoidal-function
0 t0 s2   2
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2.1 Definitions
3. Standard Test Signals:
Relation Between Standard Test Signals is also shown in Fig. 2.1.
• Impulse A t0 d
 (t )  
0 t0
 dt
A t0
• Step u (t )  
0 t0 d
 dt

 At t0
r (t )  
• Ramp  0 t0 d

  At 2 dt

 2 t0
• Parabolic p (t )  
0 t0


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2.1 Definitions
3. Standard Test Signals:
Relation Between Standard Test Signals is also shown in Fig. 2.1.

Fig. 2.1Test waveforms used in control systems

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2.1 Definitions
4. Time Response of Control Systems
• Time response of a dynamic system is response to an input expressed as a
function of time as shown in Fig. 2.2. When the response of the system is
changed form rest or equilibrium it takes some time to settle down.
• The time response of any system has two components:
- Transient response, near t  0.
- Steady-state response, near t  ∞.
• The response or output, c(t) of a system to an input signal, r(t) can be
described as:
c(t )  ctr (t )  css (t )
where ctr(t) is called the transient response, near t  0, while css(t) is the steady-
state response of the system, near t  ∞ (from 3 to 5 and  is the time
constant).

Input Transient
Output
steady
r(t)
System c(t) state
t 0
t∞

Fig. 2.2 (a) Impulse response of Control Systems

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2.1 Definitions
4. Time Response of Control Systems
• Transient response is the response of a system from rest or equilibrium to
steady state. The response of the system after the transient response is called
steady state response as shown in Fig. 2.2.
• Transient response dependents upon the system poles only and not on the
type of input. It is therefore sufficient to analyze the transient response using a
step input. The steady-state response depends on system dynamics, system
type, and the input quantity. It is then examined using different test signals
-3
Step Response
x 10
by final value theorem. 6

Step Input
5

Input Output 4 steady

Transient
System Response state

Amplitude
r(t) c(t) 3

2
r(t)
t 0
1
t∞
0
5 0 2 4 6 8 10
Time (sec)
12 14 16 18 20

0 t
Fig. 2.2 (b) Step response of Control Systems
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2.2 Response of First Order System
2.2.1 First Order Systems Description
• The First order System is described by the following differential equation:
dc(t )
 ac(t )  br (t )
dt
• Where r(t) and c(t) are the inputs and the outputs respectively, a and b are
constants. Take Laplace transform of both sides we have:
s C(s) + a C(s) = b R(s)
• The Standard form system transfer function T(s) is given by:
C (s) b b/a K
T (s)    
R( s ) s  a (1 / a ) s  1 s  1
• Where K is the D.C gain and  is the time constant of the system.
- Time constant is a measure of how quickly a 1st order system responds to a
unit step input and the D.C gain of the system is ratio between the steady state
value of output and the input signal. The first order system has only one pole at
1/ .

K
Fig. 2.3 Block diagram for first order system s  1
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2.2 Response of First Order System
2.2.2 Unit-Impulse Response of First Order System
• Consider the following 1st order system
δ(t) K=1 &  =2s

1 R (s ) K C (s )  
c(t )  0.5e  t / 2 u (t )

0 t s  1
• For r(t) = (t), then:
R( s)  1
K K /
C ( s)  R( s)T ( s)  
s  1 s  1 / 
• Taking Inverse Laplace, the output c(t) is: Fig. 2.4 Unit-impulse response
 K t /   of first order system.
c(t )  g (t )   e  u (t )
 
• For K = 1 and  = 2 sec, the output c(t) is shown in Fig. 2.4.
• System takes from 3 to 5 in order to reach its final value.
Stable system: the system is stable one if its impulse response g(t) approaches
0 as time is very large or g(t)  0 as t  ∞.
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2.2 Response of First Order System
2.2.3 Unit-Step Response of First Order System
• Consider the following 1st order system
u(t)
1  
c(t )  1  e  t / 2 u (t )
K=1 &  =2s
0 t
t r  2.2
• For r(t) = u(t), then: R( s)  1 / s t s  3 for  5%
t s  4 for  2%
K 1   t s  5 for  1%
C ( s )  R ( s )T ( s )   K  
s (s  1)  s s  1 
1 1 
 K  
 s s  1 /   Fig. 2.5(a) Unit-step response
of first order system.
• Taking Inverse Laplace, the output c(t) is:

 
c(t )  K 1  e  t / u (t )
• For K = 1 and  = 2 sec, the output c(t) is shown in Fig. 2.5.
• System takes from 3 to 5 in order to reach its final value.
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2.2 Response of First Order System
 
2.2.3 Unit-Step Response of First Order System
 t /
• For r(t) = u(t), then: c(t )  K 1  e u (t )
• System takes from 3 to 5 in order to reach its final value.

t r  2.2
t r  2.2

t s  3 for  5%
t s  4 for  2%

t s  5 for  1%

Fig. 2.5 (b) Detailed unit-step response of first order system.

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2.2 Response of First Order System
 
2.2.3 Unit-Step Response of First Order System
 t /
• For r(t) = u(t), then: c(t )  K 1  e u (t )

t r  2.2
t s  3 for  5%
t s  4 for  2%
t s  5 for  1%

Fig. 2.5 (c) Detailed unit-step response of first order system.

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2.2 Response of First Order System
2.2.2 Unit-Step Response of First Order System
Performance Specifications of first-order system (Fig. 2.5)
C (s) K
• The system transfer function is T (s)  
R( s ) s  1
• The system step response (K=1) is c(t) = (1 – e-t/) u(t)
Time Constant ()
At t =  in the above equation gives c () = 1 – e-1 = 1 – 0.37 = 0.63
The time constant is the time it takes for the step response to rise to 63% of its
final value.
Rise Time (tr): The rise time is defined as the time taken for the waveform to grow
from 0.1 to 0.9 of the final value and is calculated as follows:
c(t1) = 0.1 = 1 – e-t1/ which gives t1 = 0.11 
c(t2) = 0.9 = 1 – e-t2/ which gives t2 = 2.31 
Therefore, tr = t2 - t1 = 2.31  - 0.11  = 2.2 
Settling Time (ts)
• The settling time is defined as the time taken for the waveform to stay within ±
1% of the final value and is calculated as follows:
c(ts) = 0.99 = 1 – e-ts/ gives ts = 5 
- Similarly, for ± 2% of the final value  c(ts) = 0.98 = 1 – e-ts/ gives ts = 4 
- Also, for ± 5% of the final value  c(ts) = 0.95 = 1 – e-ts/ gives ts = 3 
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2.2 Response of First Order System
2.2.4 Unit-Ramp Response of First Order System   
c(t )  t  2 1  e  t / 2 u (t )
• Consider the following 1st order system Unit Ramp Response
r(t)
10 Unit Ramp
Ramp Response
8

t 6
0

c(t)
4
• For r(t) = tu(t), then: R( s )  1 / s 2
2 K=1 &  =2s
K K K error
C ( s )  R( s )T ( s )  2 
s (s  1)  s 2 ( s  1 /  ) 0
0 5 Time 10 15
K   2 2  1   
  2     K  2    Fig. 2.6 Unit-ramp response of
 s s s 1/  s s s 1/  first order system.
• Taking Inverse Laplace, the output c(t) is:
 
c(t )  K t   1  e  t /  u (t )
• For K = 1 and  = 2 sec, the output c(t) is shown in Fig. 2.6.
• System takes from 4 to 5 in order to reach its final value.
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2.2 Response of First Order System
Example 2.1 0.5t
The impulse response of a 1st order system is given by: c(t )  g (t )  3 e
Find out the following parameters:
a) Transfer function G(s). b) The D.C gain (K) and time constant, .
c) The step response, c(t). d) Check the system stability in time domain
Solution
a) The Laplace Transform of Impulse response of a system, g(t) is actually the
transfer function of the system, G(s). Therefore taking Laplace Transform of the
impulse response is given by following equation:
3 3
C ( s )  R( s )G ( s )  , R( s)  1  G ( s) 
s  0.5 s  0.5
b) The Standard form of a 1st order system transfer function T(s) is given by
C (s) K 3 6
T (s)  
R ( s ) s  1 Compare with G ( s )  
s  0.5 2 s  1
Therefore, The D.C gain, K = 6 and time constant,  = 2 sec.
c) To find the step response, Since the input is step  R(s) = 1/s:
6 6 A B 6 6
C ( s)  R( s)  C ( s)     c(t )  6(1  1e 0.5t )u (t )
2 s  1 s 2 s  1 s 2s  1 s s  0.5
d) The system is stable because its impulse response g(t) approaches 0 as time
is very large or g(t)  0 as t  ∞.
3
g ()  Lim 3e 0.5t  0 or g ()  Lim sG ( s )  Lim s 0
t  s 0 s 0 s  0.5
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2.2 Response of First Order System
Example 2.2 50
st
The Transfer function, G(s) of a 1 order system is given by: G ( s ) 
s  50
Find the time constant, , rise time, tr and settling time, ts2% and check the
system stability in time domain.
Solution
b)The Standard form of a 1st order system transfer function G(s) is given by
C (s) K 50 1
G (s)   Compare with G ( s )   gives g (t )  50e 50 t
R( s ) s  1 s  50 0.02 s  1
• Therefore, The D.C gain, K = 1 and time constant,  = 0.02 sec.
• The rise time is defined as the time taken for the waveform to grow from 0.1 to
0.9 of the final value and is calculated as follows:
c(t1) = 0.1 = 1 – e-t1/ which gives t1 = 0.11 
c(t2) = 0.9 = 1 – e-t2/ which gives t2 = 2.31 
Therefore, tr = t2 - t1 = 2.31  - 0.11  = 2.2  = 0.044 sec
• The settling time is defined as the time taken for the waveform to stay within
± 2% of the final value and is calculated as follows:
c(ts2%) = 0.98 = 1 – e- ts2%/ gives ts2% = 4  = 0.08 sec.
• The system is stable because its impulse response g(t) approaches 0 as time
is very large g(t)  0 as t  ∞.
50
g ()  Lim 50e 50t  0 or g ()  Lim sG ( s )  Lim s 0
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t  s 0 s 0
GEE338 Ch.2 Time Response
s  50 Prof Fawzy Ibrahim
2.2 Response of First Order System
2.2.5 Summary of response of a LTI first order system

input: output:

unite ramp r t   tu (t )  
c(t )  K t   1  e  t /  u (t )
d d
dt dt
unite step r t   u (t )  
c(t )  K 1  e  t / u (t )

d d
dt dt
unite impulse r t    (t )  K t /  
c(t )   e  u (t )
 

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2.3 Response of Second Order Systems
2.3.1 Second Order Systems Description
• The second order System is described by the following differential equation:
2
d c(t ) dc(t )
a2 2
 a1  a0 c(t )  br (t )
dt dt
Where r(t) and c(t) are the inputs and the outputs respectively, a0, a1, a2 and b
are constants. Take Laplace transform of both sides we have:
a2 s C ( s)  a1 sC ( s)  a0 C ( s)  bR( s)
2

• The Standard form system transfer function T(s) is given by:

b
C (s) b a K  2n
T (s)    2
 2
R( s ) a 2 s 2  a1 s  a0 a a s  2  s   2
s  s
2 1 0 n n

a2 a2
Where K is the DC gain, n is called the natural frequency and ξ is the damping
ratio of the system.
• ξ is a measure of the degree of resistance to change in the system output.
• n is un-damped natural frequency of the second order system, which is the
frequency of oscillation of the system without damping.
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2.3 Response of Second Order Systems
2.3.1 Second Order Systems Description
• A general second-order system (without zeros) is shown in Fig. 2.7 and
characterized by the following transfer function:
n2
G( s)   Open-Loop Transfer Function
s( s  2n )

C (s) Kn2
T (s)   2
R ( s ) s  2 n s  n2  Closed-Loop Transfer Function

Fig. 2.7 Block diagram for second order system.

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2.3 Response of Second Order Systems
2.3.1 Second Order Systems Description
• Example 2.3: For the second order system described by the closed loop
transfer function T(s), determine the natural frequency, n, the damping ratio, ξ
and the system gain, K.
C ( s) 4
T (s)   2
R ( s ) s  8s  25
• Solution: Compare with the standard equation we have:
C (s) Kn2
T (s)  
R ( s ) s 2  2 n s  n2
n2  25 and 2 n  8 kn2  4 gives n  25  5   4 / 5  0.8 and k  0.16

• Example 2.4: For the second order system described by the closed loop
transfer function T(s), determine n, ξ and K.
• Solution: Compare with the standard equation we have:
C ( s) 240 60
T ( s)   2  2
R ( s ) 4 s  12s  256 s  3s  64
n2  64 and 2 n  3 kn2  60 gives n  64  8   1.5 / 8  0.18 and k  0.94
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2.3 Response of Second Order Systems
2.3.2 Second Order Systems - Poles
• The second order system Transfer function, for K = 1 is given by:
C ( s) n2
 2
R( s ) s  2n s  n2
• The characteristic polynomial of a second order system is:
s 2  2n s  n2  ( s  s1 )( s  s2 )  0
• The closed-loop poles of the system are:
 2  n  4  2  2n  4  2n
s1 , s1     n   n  2  1
2
s1   n  n   1 2

s 2   n   n  2  1
• According the value of ξ, a second-order system can be set into one of the four
categories:
Case 1: Over damped response (ξ > 1), [s1 and s2 are real and distinct poles].
Case 2: Critically damped response (ξ = 1), [s1 and s2 are real and equal poles].
Case 3: Under damped response (0 < ξ <1), [s1 and s2 are complex conjugates poles].
Case 4: Undamped response (ξ = 0), [s1 and s2 are imaginary poles].
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2.3 Response of Second Order Systems
2.3.3 Step Response of Over Damped Systems
Case 1: Over damped response (ξ > 1)
• The two roots of the characteristic equation s1 and s2 are real and distinct.
jω
s1   n  n  2  1
σ
s 2   n   n  2  1
• The unit step response is calculated as follows:
• The input is unit step, r(t) = u(t)
R( s)  1 / s
• The output of this second order system to step input in the s-plane is:
k  2n k k k
C ( s )  R( s )T ( s )   1 2  3
s ( s  s1)( s  s 2) s s  s1 s  s 2
• The corresponding time domain output (step response) is given by:
c(t )  L1{C (s)}  (k1  k 2 es1t  k 3 es2t )u(t )
1.75
• The time constant,  is given by:   The rise time, tr is: tr  2.2
 n
• The settling time, ts is given by: t s  3 for  5% t s  4 for  2% t s  5 for  1%
25 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
2.3.3 Step Response of Over Damped Systems
Case 1: Over damped response (ξ > 1)
Example 2.5: Calculate and plot the unit step response, calculate also the time
constant, , The rise time, tr and the settling time, ts if the system is described
by: 2
T ( s)  2
s  3s  2
Solution: n  2 and 2n  3 kn  2 gives n  2  1.4   1.5 / 1.4  1.07 and k  1
2 2

• With unit step input, its response is:

2 2 k1 k2 k3
C ( s )  R ( s )T ( s )     
s ( s 2  3s  2) s ( s  1)( s  2) s s  1 s  2
2
k1  s 1 k2  ( s  1)
2
 2
s( s  1)( s  2) s 0 s( s  1)( s  2) s 1
2 1 2
k3  ( s  2) 1 C ( s)  R( s)T ( s)   
1
s( s  1)( s  2) s 2 s s 1 s  2
• Take inverse Laplace transform the output response, c(t) is given by:
c(t )  L1{C ( s)}  [1  2 e  t  e 2t ]u(t ) It is sketched in the Fig. 2.8.
• The time constant,  is given by:  1.75 /  n  1.75 / 1.5  1.167 sec t r  2.2  2.57 sec
• The settling time, ts is given by: t s  3  3.5 sec for  5% t s  4  4.67 sec for  2%
26 of 52 t s  5 for  1% GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
 j
2.3 Response of Second Order Systems
Step Response of Over Damped Systems
Case 1: Over damped response (ξ > 1)
1 t 2 t
- - 
c(t )  L {C ( s)}  [1  2 e  e ]u(t ) 2 1

1.75

 n
t r  2.2
t s  3 for  5%
t s  4 for  2%
t s  5 for  1%

Fig. 2.8 Unit step response an over damped second order systems.
27 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
2.3.4 Step Response of Critically Damped Systems
Case 2: Critically damped response (ξ = 1)
• The two roots of the characteristic equation s1 and s2 are real and equal.
jω

σ s1, 2   n

• The unit step response is calculated as follows:

• The input is unit step, r(t) = u(t) so R ( s )  1 / s
• The output of this second order system to step input in the s-plane is:
kn2 K1 K 2 K3
C ( s)  R( s)T ( s)    
s( s  s1 ) 2 s s  s1 ( s  s1 ) 2
d
k
Where: 1  sC ( s ) | s 0 , k 2  [( s  s1 ) 2 C ( s)] |s  s and k3  ( s  s1 ) 2 C ( s) |s  s
ds 1 1

• The corresponding time domain output (step response) is given by:

c(t )  L1{C (s)}  (k1  k 2 es1t  k 3 tes2t )u(t )
1
• The time constant,  is given by:  The rise time, tr is: tr  2.2
2 n
• The settling time, ts is given by: t s  3 for  5% t s  4 for  2% t s  5 for  1%
28 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
2.3.4 Step Response of Critically Damped Systems
Case 2: Critically damped response (ξ = 1)
Example 2.6: Calculate and plot the unit step response, calculate also the time
constant, , The rise time, tr and the settling time, ts if the system is described
by: T ( s)  4
s 2  4s  4
Solution: n2  4 and 2n  4 kn2  4 gives n  2   2/ 2 1 and k  1
With unit step input, its response is:
4 k1 k2 k3
C ( s )  R ( s )T ( s )    
s ( s 2  4 s  4) s s  2 ( s  2) 2
4 d   4
k1  s 1 k2   ( s  2) 2
4
  2  1
2 
s( s  2) s 0
2
ds  s ( s  2)  s  2 s s  2
4 4 1 1 2
k3  ( s  2) 2  2 C ( s )  R( s )T ( s )    
s( s  2) 2 s 2 s ( s  4 s  4) s s  2 ( s  2) 2
2

• Take inverse Laplace transform the output c(t), the corresponding time domain
output (step response) is given by:
c(t )  L1{C ( s)}  [1  e 2t  2 t e 2t ]u (t ) It is sketched in the Fig. 2.9.
• The time constant,  is given by:   1 / 2 n  1 / 4  0.25 sec and t r  2.2  0.55 sec
• The settling time, t is given by:t  3  0.75 sec for  5% t s  4  1 sec for  2%
s s
29 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems j
2.3.4 Step Response of Critically Damped Systems
Case 2: Critically damped response (ξ = 1)
1 2t 2t

c(t )  L {C ( s)}  [1  e  2 t e ]u (t )
2
(b)
1

2 n

t r  2.2
t s  3 for  5%
t s  4 for  2%
t s  5 for  1%

(a)

Fig. 2.9 Behavior of a critically damped second order system

(a) Step response (b) Poles plot in the s-plane.
30 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
2.3.5 Step Response of Under Damped Systems
Case 3: Under damped response (0 < ξ <1)
• The two roots of the characteristic equation s1 and s2 are complex conjugates
of on another as shown in Fig. 2.10.
 2  n  4  2  2n  4  2n
s1 , s1     n  j  n 1   2    n  j  d
2

s1, 2   n  jn 1   2

s1, 2   n  jd
Where d is called the damped
natural frequency of the system.
The phase angle  as shown in
Fig. 2.10 and is given by:
  cos 1 
Fig. 2.10 The s- plane plot of the pole for an under damped second-order system.

31 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim

2.3 Response of Second Order Systems
2.3.5 Step Response of Under Damped Systems
Case 3: Under damped response (0 < ξ <1)
• The unit step response is calculated as follows:
• The input is unit step, r(t) = u(t)
R( s)  1 / s
• The output of this second order system to step input in the s-plane is:
kn2 K1 K2 K3
C ( s)  R(s)T ( s)  2   
s( s  2n s  n2 ) s s  (n  jd ) s  (n  jd )
• The corresponding time domain output (step response) is given by:
 1 
1 
c(t )  L {C ( s)}  1  e  n t
sin(d t   )  u (t )
   2 
 1 
• Where d is called the damped natural frequency of the system given by:

d  n 1   2
The phase angle  as   cos  or
n 1   2 1  2
• 1
tan   
n 
• A typical time response of a second-order under damped system is shown in
Fig. 2.11.
32 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
2.3.5 Step Response of Under Damped Systems
Case 3: Under damped response (0 < ξ <1)
 1 
1 
c(t )  L {C ( s)}  1  e  n t
sin(d t   )  u (t )
 1  2 
 


tp   
d tr 
d

tr

2 .2

t s  3 /  n for  5%
t s  4 /  n for  2%
t s  5 /  n for  1%

Fig. 2.11 Step response of a second-order under-damped control system

33 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
2.3.5 Step Response of Under Damped Systems
Case 3: Under damped response (0 < ξ <1)
• The transient response as a function of the damping ratio ξ is shown in Fig.
2.12.

  0.5  0
  0 .1
  0.6   0.2
  0.7   0.3
  0.4
output signal

 2

  0.8

time [s]
Fig. 2.12 Step response of a second-order as a function of the damping ratio ξ .
34 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
Case 3: Under damped response (0 < ξ <1)
• For 0< ξ <1 and ωn > 0, the 2nd order system’s response due to a unit is shown
in Fig. 2.13.

maximum tp 
overshoot d  
tr 
Mp d
2 or 5%
tr

2 .2
steady-state 0.5 t s  3 /  n for  5% allowable
value t s  4 /  n for  2% tolerance

t s  5 /  n for  1%

t t ts
d p settling time
peak time
delay time
Fig. 2.13 Transient-response specifications
35 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
Case 3: Under damped response (0 < ξ <1)
• The Transient-response specifications are defined and calculated as follows:
1. Rise-Time (tr): The rise time is the time required for the response to rise from
- 10% to 90% of its final value,  over damped systems (ξ > 1)
- 5% to 95% of its final value,  critical damped systems (ξ = 1)
- 0% to 100% of its final value.  under damped systems (0 < ξ <1)
 
 1   n t 
c(t )  1      u (t )
2 e
sin( t )
1
d
 
 
At the rise time, tr we have:
 
 1   n t r 
c(t )  1     1
2 e
sin( t )
1
d r
 
 
So,
 
sin(d t r   )  0  t r 
d
 n 1   2 
Where   tan 
1  and d  n 1   2
 n 
 
36 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
Case 3: Under damped response (0 < ξ <1)
• The Transient-response specifications are defined and calculated as follows:
2. The peak time tp is the time required for the response to reach the first
(maximum) peak of the overshoot and is calculated as follows:
dc(t ) 
0 sin d t p  0 tp 
dt t t p d
3. Maximum Peak (MP) overshoot : is the maximum peak value of the response
curve measured from unity. At the peak time tp the maximum output is given by:
 
CMax  1  e ( )
sin(   )  1  e ( )
 
2 2
1 1
and 
( )

2
1
MP  Cmax  1  e

4. Maximum Percent Overshoot (P.O): is defined as follows:

Mp 

P.O  x100% 1 2
final value P.O  e x100%
37 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
Case 3: Under damped response (0 < ξ <1)
• The Transient-response specifications are defined and calculated as follows:
5. The settling time ts is the time required for the response curve to reach and
stay within a range about the final value of size specified by absolute
percentage of the final value (usually 2% or 5%).
Settling Time (5%)

1 3
1 ts 
1  e  nt  n
1
2

1  2 Settling Time (2%)

4
ts 
 n
Settling Time (1%)
e  nt
1
1
1 1  2
1  2
Fig. 2.14 Settling time
38 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
Case 3: Under damped response (0 < ξ <1)
Example 2.7 For the system described by following transfer function do:
100
T ( s)  2
s  15s  100
a) Calculate the D.C gain, K, the natural frequency, n and the damping ratio, .
b) Determine the type of the system response.
c) Calculate and plot the unit step or transient response.
d) Calculate the rise time, tr, time constant, , peak time, tP, settling time, ts and
the Percentage Overshoot, PO.
Solution: a) Compare with the standard equation we have:
C ( s) Kn2
T ( s)  
R( s) s 2  2n s  n2
n2  100 and 2 n  15 kn2  100 gives n  10   0.75 and k  1
b) Since (0 < ξ <1) the system is under damped.
c) The unit step or transient response the input r(t) = u(t) and  R(s) = 1/s, so:

2

C ( s )  R( s )T ( s )  n
 k 1
 k 2
 k 3

s( s 2
  s   n)
2
s s  (  n  j  d ) s  (  n  j  d )
n
 1 
1 
c(t )  L {C ( s)}  1  e  n t
sin(d t   )  u (t )
 1  2 
 
39 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
• Example 2.7 Solution: Where d is called the damped natural frequency of the
system and is equal to:    1   2  10 1  0.752  17.5
d n

• The phase angle  as shown in the Fig. 2.10 is given by

  cos 1   cos 1 0.75  41.410  0.723 rad
1 1
  1.512 n  7.5   0.75
1  2
1  0.75
2

• Substitute in the above equation, the unit step or transient response is given
by:  
sin(d t   )  u (t )  1  1.512e 7.5t sin(17.5 t  0.723) u (t )
 1   t
c(t )  1  e n

 1  2 
 
• A typical time response of a second-order under damped system is shown in
Figs. 2.11 and 2.13.
     0.723
d) The rise time, tr, is given by : tr    0.138 sec
 17.5 d
t 1.38
The time constant,  is given by :   r   0.063 sec
2.2 2.2
 
The peak time, tP is given by: t    0.18 sec
d 17.5
p
4
ts 
3
 3 x0.13  0.4 sec ts   4 x0.133  0.533 sec
The settling time, ts is given by:  5%
n
 2%
n
 0.75
 
1 2

The Percentage Overshoot, PO is given by: P.O  e x100%  e 1075 2

x100%  2.84%
40 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
Case 3: Under damped response (0 < ξ <1)
Example 2.8: Consider the system shown in following figure, where damping ratio
is ξ = 0.6 and natural undamped frequency is ωn = 5 rad/sec. Obtain the rise
time tr, peak time tp, maximum Peak overshoot MP, and settling time 2% and
5% criterion ts when the system is subjected to a unit-step input.

Solution:
Rise Time tr is given by:
   1   2 3.141   3.141  0.93
tr  1
   tan ( n
)  0.93 rad  t r 
 tr   0.55s
d  n n 1   2
5 1  0.6 2

The time constant,  is given by :

t 0.55
 r   0.25 sec
2.2 2.2
Peak Time tp is given by:
 tp 
3.141
 0.785s
tp  
d 4
41 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
Case 3: Under damped response (0 < ξ <1)
Example 2.8 Solution:
• Settling Time (2%) ts :

ts 
4 4
 ts   1.33s
n 0.6  5
• Settling Time (5%) ts :
3 3
ts   ts   1s
 n 0.6  5
• Maximum Peak (MP) overshoot:
 3.1410.6
 
1 2
MP  e e 1 0.6 2
 0.095
• Percentage Overshoot (PO) :


1 2
P.O  e  100  9.5%
42 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
Case 3: Under damped response (0 < ξ <1)
Example 2.9 For the control system shown in Figure, determine k and a that
satisfies the following requirements:
a) Maximum percentage overshoot P.O =10%.
b) The 5% settling time ts = 1 sec.

R(s ) k T (s ) 1 C (s )
+
- sa s2

Solution: The closed loop transfer function is given by

 k  1 
  
 
    
C ( s) s a s 2 k k
T ( s)   2
R( s )  k  1  ( s  a)( s  2)  k s  s(a  2)  (2a  k )
1   
 s  a  s  2 
43 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.3 Response of Second Order Systems
Case 3: Under damped response (0 < ξ <1)
Example 2.9 Solution
• The maximum percent overshoot (P.O )is given by:


P.O  e 1 2

10   0.6
100
• For 5%, the settling time ts is given by:
3 3
t   1 n  5
s
 e
n

a  2  2n & 2a  k  n2  0.305

• From these two equations we get a + 2 = 6 then a = 4 and k = 17

44 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim

2.3 Response of Second Order Systems
2.3.6 Step Response of Undamped Damped Systems
Case 4: Undamped response (ξ = 0)
• The two roots of the characteristic equation s1 and s2 are imaginary poles.
jω
 2  n  4  n  4 n
2 2 2

s ,s
1 1
   jn
2
σ s1, 2   jn

• Example 2.7: Calculate and plot the output of the system with the following
transfer function: 4
T ( s) 
s2  4
• Solution: With unit step input, its response is:
4 1 s
C ( s)  R( s) T ( s)   
s ( s 2  4) s s 2  2 2
c(t )  L1{C (s)}  1  sin(n t )u(t )
• A typical time response of a second-order
undamped system is shown.
45 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.4 Higher Order Systems Response
• The natural response of higher-order systems consists of a sum of terms, one
term for each characteristic root:
- For each distinct real characteristic root, there is a real exponential term in the
system natural response.
- For each pair of complex conjugate roots, there is a an exponential sinusoidal
term in the system natural response.
- Repeated roots give additional terms involving power of time times the
exponential.
Example 2.10: Analyze the system with the following transfer function:
 8 s2  5  8 s2  5
T ( s)  4 3 
s  9s  37 s  81s  52 ( s  1)( s  4)( s  4s  13)
2 2

Solution: With unit step input, apply the partial fraction, its response is given by:
1 k k k k4 s  k5
C (s)  T (s)  1  2  3 
s s s  1 s  4 ( s  2) 2  (3) 2
The corresponding time domain output is given by:

c (t )  k1  k 2et  k 3e4t  Ae2t cos(3t  ) u(t )

46 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
 2.4 Higher Order Systems Response
Example 2.11: Analyze the system with the following transfer function:

 7 s3  6 s 2  9s  23
T (s) 
( s  1)( s  4)( s 2  4s  13)( s 2  8s  17)
Solution: With unit step input, apply the partial fraction, its response is given by:

1 k k k k s  k5 k s  k7
C ( s)  T (s)  1  2  3  2 4  26
s s s  1 s  3 s  4 s  13 s  8s  17
The corresponding time domain output is given by:
 1 1 
 1 n1t  2 n 2t
t  3t
c(t )  k1  k 2 e  k3e  A1 e cos(d 1t  1 )  A2 e cos(d 2t   2 )u (t )
 1 12
1  2
2


Where the natural frequencies and damping ratios are given by:
4 4
n1  13  3.6 rad / sec 1   0.55 and n 2  17  4.12 rad / sec 2   0.97
n1 n 2

47 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim

2.5 System Stability and Steady-State Error
Stable system: the system is stable one if its impulse response g(t) approaches
0 as time is very large or g(t)  0 as t  ∞.
Steady state error is the difference between the input reference and the output for
a prescribed test input as t  ∞.
Calculation of the steady state error R(s ) E (s ) C (s )
G (s )
• Consider the feedback control system
• shown in Fig. 2.15.
H (s )
• The closed loop transfer function is given by:
C (s) G (s) Fig. 2.15
T (s)  
R( s) 1  G ( s) H (s)
• The system error is equal to:
E ( s )  R ( s )  C ( s ) H ( s )  R ( s )  E ( s )G ( s ) H ( s )  E ( s )1  G ( s ) H ( s )  R ( s )
1
E (s)  R( s)
1  G (s) H (s)
• By application of final value theorem the steady state error is:
sR ( s )
ess  lim e(t )  lim sE ( s )  lim
t  s 0 s 0 1  G ( s ) H ( s )

48 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim

2.5 System Stability and Steady-State Error
Types of The steady-state error:
• Static Position Error Constant Kp  [Step-error] r (t )  u (t )  R( s)  1 / s
sR ( s ) s 1 1
ess  lim  lim 
s 0 1  G ( s ) H ( s ) s 0 1  G ( s ) H ( s ) s 1  lim G ( s ) H ( s )
s 0
1
K p  lim G ( s ) H ( s ) ess 
s 0 1 K p
• Static Velocity Error Constant Kv  [Ramp-error] r (t )  tu (t )  R( s)  1 / s 2
sR ( s ) s 1 1 1
ess  lim  lim  lim  lim
s 0 1  G ( s ) H ( s ) s 0 1  G ( s ) H ( s ) s 2 s 0 s  sG ( s ) H ( s ) s 0 sG ( s ) H ( s )

1
K v  lim sG ( s ) H ( s ) ess 
s 0 Kv
Static Acceleration Error Constant Ka  [Parabolic-error] r (t )  t / 2 u (t )
2
•
sR ( s ) s 1 1 R( s)  1 / s 3
ess  lim  lim  lim
s 0 1  G ( s ) H ( s ) s 0 1  G ( s ) H ( s ) s 3 s 0 s 2G ( s ) H ( s )

1
K a  lim s 2G( s) H ( s) ess 
s 0 Ka
49 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.5 System Stability and Steady-State Error
Summary of steady-state errors

Input step input ramp input acc. input

r (t )  1 r (t )  t Example of Type 0
r (t )  t 2 / 2
R( s)  1 / s 2 50
Type #
R( s)  1 / s R( s)  1 / s 3 G (s) H (s) 
( s  1)
type 0 1
1 K p
  Example of Type 0
system 50
G (s) H (s) 
type 1
0
1
Kv
 s ( s  1)
system Example of Type 0
1 50
type 2
system
0 0 Ka
G (s) H (s)  2
s ( s  1)
s 1
ess  lim x 
s 1
ess  lim
s 1
Type 0 s 0 1  G ( s ) H ( s )  e lim x x 3
s s 0 1  G ( s ) H ( s )  s 0 1  G ( s ) H ( s ) 
ss
s2 s
s 1 s 1
ess  lim s 1
ess  lim
s ess  lim
x
Type 1 s 0 1  G ( s ) H ( s )  x 2 x 3
s 0 1  G ( s ) H ( s )  s s 0 1  G ( s ) H ( s )  s

s 1
ess  lim s 1
ess  lim
s 1
s ess  lim
x
Type 3 s 0 1  G ( s ) H ( s )  x 2 x 3
s 0 1  G ( s ) H ( s )  s s 0 1  G ( s ) H ( s )  s

50 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim

2.5 System Stability and Steady-State Error
Example 2.12 Find the steady state error of the system shown in Fig. 2.16, when
the reference input r(t) is:
R(s) E (s ) 5 C (s )
a) u(t) b) t(t) 2
c) t /2 u(t) s4
Solution The steady state error is given by
1 2

ess s0
lim sE ( s )  lim R( s) s 1
s 0 1  G ( s ) H ( s )

10 Fig. 2.16
G (s) H (s)  Type 0
( s  1)( s  4)
1 1 ( s  4)( s  1)
 
1  G (s) H (s)  10  ( s  4)( s  1)  10
1  
 ( s  1)( s  4) 
a) For r (t )  u (t ) K p  lim G ( s ) H ( s )  10 / 4
( s  4)( s  1) 1 4 s 0
ess  lim s .  1 1 4
s 0 ( s  4)( s  1)  10 s 14 ess   
1  k p 1  10 / 4 14
( s  4)( s  1) 1
b) For r (t )  t u (t ) ess  lim s . 2 
s 0 ( s  4)( s  1)  10 s
( s  4)( s  1) 1
c) For r (t )  t 2 / 2 ess  lim s . 2 
s 0 ( s  4)( s  1)  10 s
51 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim
2.5 System Stability and Steady-State Error
Example 2.13 Find the steady state error of the system shown in Fig. 2.16, when
the reference input r(t) is:
a) u(t) b) t(t) c) t2/2 u(t) R(s ) E (s ) 10 C (s )
Solution The steady state error is given by s ( s  4)
1
ess  lim sE ( s)  lim
s 0 s 0 1  G ( s ) H ( s )
R( s) Fig.
2.17
10
G (s) H (s)  Type 1
s ( s  4)
1 1 s ( s  4)
  2
1  G (s) H (s)  10  ( s  4 s  10)
1  
 s ( s  4) 
s ( s  4) 1
a) For r (t )  u (t ) ess  lim s . 0
s 0 s ( s  4)  10 s
10 10
b) For r (t )  t u (t ) K v  lim sG ( s ) H ( s )  lim sx 
s ( s  4) 1 4
s 0 s 0 s ( s  4) 4
ess  lim s . 2  1 4
ess  
s 0 s ( s  4)  10 s 10 k v 10
( s  4)( s  1) 1
c) For r (t )  t / 2
2
ess  lim s . 2 
s 0 ( s  4)( s  1)  10 s

52 of 52 GEE338 Ch.2 Time Response Prof Fawzy Ibrahim