EENG 381 Dr.

Ayman AL-KHAZRAJI 1
At the end of this part, you will learn how to:
o find transient response performance (2nd order system - < 1)

o find the steady state error for a unity feedback system

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 Transient response

Step Response of an Under damped 2nd Order System

For definitions, refer to reference book (Nise)- Figure 4.14 (P.178)

Second-order under-damped response specifications

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 Transient response

Step Response of an Under damped 2nd Order System

1. Under damped natural frequency :(ωd).

2. Overshoot:

Percentage Overshoot =

If %OS is given, we can find  using

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 Transient response

Step Response of an Under damped 2nd Order System

3. Peak time (tp):

4. Rise time (tr):

5. Settling time (ts):

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 Transient response

Step Response of an Under damped 2nd Order System

Ex1:

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 Transient response

Step Response of an Under damped 2nd Order System

Check your learning.

HW1

Answer

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 Transient response

Step Response of an Under damped 2nd Order System

Check your learning.
HW2

𝟓
𝒔

Answer

22.36 rad/sec
0.447

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 Transient response

Step Response of an Under damped 2nd Order System

Ex2. For the shown diagram,
a - Develop the closed loop transfer function
b - With no velocity feedback applied (Kv=0),
determine the gain K required for a natural frequency
n of 50 rad/sec.
- What is the damping ratio ?
- Is the system over damped or under damped?
c - What values of gain(K) and velocity feed back(Kv) are required for
a natural frequency n =100 rad/sec, while keeping the overshoot below 25%.
Solution

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 Transient response

Step Response of an Under damped 2nd Order System

then

System is under damped since <1

If %OS=0.25, then

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 Transient response
Check your learning.
Hw3

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 Transient response
Check your learning.

Solution:

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 Transient response
Check your learning.

Solution:

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 Transient response
Check your learning.

Solution:

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 Transient response

Summary of Transient response performance

Second-order under-damped response specifications

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 Steady State Error

Why Steady State Error s important ?

Whenever an input is (or a disturbance) is applied to a system, the system will be in
transient state for some time and finally it arrives to the steady state.
The difference between the steady state value and the input value is called as the steady
state error. It is a measure of the accuracy of a control system.
Ex1. Find steady state error

Solution:
E(s) = R(s) ∓ H(s) C(s)

±
Therefore, error signal depends on the type of input and the system transfer function.

From Final value theorem

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 Steady State Error

A generalized open loop transfer function G(s)H(s) is defined as

The system type is defined by the value of n.

Example: what’s the type of the system

Ans. type 2 system because, n = 2

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 Steady State Error

Steady State Error table for unity feedback

=1 = at =a t2

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 Steady State Error

Example1
Find the steady state errors for inputs of 5u(t), 5t u(t), 5t2u(t) to the system below.
The function u(t) is the unit step.

Solution:

Use
±

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 Steady State Error

Example1
Find the steady state errors for inputs of 5u(t), 5t u(t), 5t2u(t) to the system below.
The function u(t) is the unit step.

Solution:

Use
±

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 Steady State Error

Example1
Find the steady state errors for inputs of 5u(t), 5t u(t), 5t2u(t) to the system below.
The function u(t) is the unit step.

Solution:

Use
±

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 Steady State Error

Example2
For the system shown below, evaluate the static error constants and find the expected
error for the standard step, ramp and parabolic inputs

Solution:

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 Steady State Error

Check your learning

Given the control system shown below find the value of K, so that there is 10 % error in
steady state.

Solution:

The given system is a “type 1” system, Hence the error stated must apply to a ramp input,
since only a ramp yields a finite error in a “type 1” system.

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 Steady State Error

Summary for steady state Error Performance

For unity feedback system,

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