Adaptive Control

Lecture 4
Transient Response Analysis Of Control
Systems

Dr. Abusabah I. A. Ahmed

abusabah22@hotmail.com
Lecture Outline
❑Introduction
❑Time Response of Systems
❑Standard Test Signals
❑First Order System
❑Impulse Response of 1st Order System
❑Step Response of 1st Order System
❑Practical Determination of Transfer Function of 1st
Order Systems
❑Second Order Systems
❑Time Domain Specifications
❑Practice Problems

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 Introduction
❑In time-domain analysis the response of a dynamic
system to an input is expressed as a function of time.
❑System Response is defined as the output of a system
when subjected to an input which is a function of time
or frequency.
❑Usually, the input signals to control systems are not
known fully ahead of time.
❑Time Response of the system is the output (response)
which is a function of time, when the input
(excitation) is applied.

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 Time Response of Systems
❑ When the response of the system is changed form rest or
equilibrium it takes some time to settle down.
❑ Transient response is the response of a system from rest or
equilibrium to steady state.

❑ The response of the 6

x 10
-3
Step Response

system after the Step Input

transient response is 5

called steady state 4

response. Response
Amplitude

Steady State Response

2
Transient Response
1

0
0 2 4 6 8 10 12 14 16 18 20
Abusabah I. A. Ahmed Time (sec) 6
Time Response of Systems
❑The response of the system after the transient response is called
steady state response.
❑It is sufficient to analyze the transient response using a step
input.
❑ The steady-state response is defined as the behaviour of the
system as t approaches infinity after the transients have died
out.
❑ The steady-state response depends on system dynamics and the
input quantity.
❑ It is then examined using different test signals by final value
theorem.
❑ The commonly used test input signals to study the response of
the standard system which are first order and second order
systems.
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Standard Test Signals
❑ Impulse signal
✓ The impulse signal imitate
the sudden shock
characteristic of actual input δ(t)

signal.
A t=0
 (t ) =  A

0 t0
t
✓ If A=1, the impulse 0

signal is called unit

impulse signal.
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Standard Test Signals
❑ Step signal
✓ The step signal imitate
the sudden change
u(t)
characteristic of actual
input signal. A

A t ≥0
u (t ) =
0 t <0 0
t

✓If A=1, the step signal is

step signal
called unit

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Standard Test Signals
❑ Ramp signal r(t)

✓The ramp signal imitate

the constant velocity
characteristic of actual
input signal.
t

 At t0
0

r(t ) = 
0 t0 r(t)

ramp signal with slope A

✓If A=1, the ramp signal
is called unit ramp r(t)

signal
unit ramp signal

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Standard Test Signals
❑ Parabolic signal p(t)

✓The parabolic signal imitate

the constant acceleration
characteristic of actual input
signal.
 At 2
t
0

 t0
p(t)

p(t ) =  2
0 t0
 parabolic signal with slope A

✓ If A=1, the parabolic p(t)

signal is called unit

parabolic signal. Unit parabolic signal

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Standard Test Signals
A t =0
❑ Impulse δ(t ) = L{ (t )} =  ( s) = A
0 t ≠0

A t0 A
❑ Step u( t ) =  L{u(t )} = U ( s ) =
0 t0 S

 At t0 A
❑ Ramp r(t ) =  L{ r ( t )} = R( s ) =
0 t0 s2

 At 2
 t0 2A
❑ Parabolicp(t ) =  2 L{ p(t )} = P( s ) =
0 t0 S3

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First Order Systems
❑The order of a system is defined as being the highest
power of derivative in the differential equation, or
being the highest power of (s) in the denominator of
the transfer function.
❑A first-order system only has s to the power one in
the denominator, while a second-order system has
the highest power of s in the denominator being two.
❑ General form

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 First Order Systems
❑ The first order system has only one pole.
C( s ) K
=
R( s ) Ts + 1
Where K is the D.C gain and T 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.
❑ D.C Gain of the system is ratio between the input
signal and the steady state value of output.

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 First Order Systems
❑The first order system given below.
10
G( s ) =
3s + 1
D.C gain is 10 and time constant is 3 seconds.

And for following system

3 3/ 5
G( s ) = =
s+5 1 / 5s + 1

D.C Gain of the system is 3/5 and time constant is

1/5 seconds.

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 Impulse Response of 1st Order System

❑ Consider the following 1st order system

δ(t)

K
1
R(s ) C(s )
Ts + 1
t
0

K K /T
R( s) =  ( s) = 1 C( s ) = C( s ) =
Ts + 1 s + 1/ T
❑ To represent the response of the system in time domain we need to
compute inverse Laplace transform of the above equation.
 C  K −t / T
L−1   = Ce − at c(t ) = e
s+a T
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Impulse Response of 1st Order System
K −t / T
• If K=3 and T=2s then c(t ) = e
K/T*exp(-t/T) T
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
Time
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Impulse Response of 1st Order System

Example 4-1

Impulse response of a 1st order system is given

below. c(t ) = 3e −0.5t

Find out
– Time constant T
– D.C Gain K
– Transfer Function

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Impulse Response of 1st Order System
Solution
The Laplace Transform of Impulse response of a system is
actually the transfer function of the system.
Therefore taking Laplace Transform of the impulse response
given by following equation.

c(t ) = 3e −0.5t
3 3
C( s ) = 1 =   (s)
S + 0.5 S + 0.5

C( s ) C( s ) 3 C( s ) 6
= = =
 ( s ) R( s ) S + 0.5 R( s ) 2 S + 1
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Step Response of 1st Order System
The input is the step function which is defined as follows:

Therefore, the output in this case is called Step Response

In order to find out the inverse Laplace of the above equation,

we need to break it into partial fraction expansion

Taking Inverse Laplace of above equation

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Step Response of 1st Order System
• If K=10 and T=1.5s then (
c(t ) = K 1 − e −t / T )
K*(1-exp(-t/T))
11

10

9 Step Response

8
steady state output 10
7 D.C Gain = K = =
Input 1
6
63%
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time
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 Practical Determination of Transfer Function
of 1st Order Systems
❑For example, assume the unit 𝐾 = 0.72
step response given in this
figure.
❑From the response, we can
measure the time constant, that
is, the time for the amplitude to
reach 63% of its final value. 𝜏 𝑖𝑠 0.13 𝑠𝑒𝑐

❑K is simply steady state value

❑The transfer function is obtained as:

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Second Order Systems
❑ Compared to the simplicity of a first-order system, a second-
order system exhibits a wide range of responses that must be
analyzed and described.
❑ Varying a first-order system's parameter (T, K) simply
changes the speed and offset of the response

❑ Whereas, changes in the parameters of a second-order system

can change the form of the response.
❑ A second-order system can display characteristics much like a
first-order system or, depending on component values, display
damped or pure oscillations for its transient response.

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Second Order Systems
A general second-order system is characterized by
the following transfer function.

C( s )  n2
=
R( s ) s 2 + 2 n s +  n2

𝜔𝑛 un-damped natural frequency of the second order system,

which is the frequency of oscillation of the system without
damping.

𝜉 damping ratio of the second order system, which is a measure

of the degree of resistance to change in the system output.
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 Second Order Systems
Example 4-2
Determine the un-damped natural frequency and damping ratio
of the following second order system.
C( s ) 4
= 2
R( s ) s + 2 s + 4
Compare the numerator and denominator of the given transfer
function with the general 2nd order transfer function.
C( s )  n2
=
R( s ) s 2 + 2 n s +  n2

n2 = 4  n = 2 rad / sec

 2 n s = 2s
s 2 + 2 n s + n2 = s 2 + 2s + 4   n = 1
Abusabah I. A. Ahmed   = 0.5 23
Second Order Systems
Second Order Systems categories C( s )  n2
=
R( s ) s 2 + 2 n s +  n2

Two poles of the system are −  n +  n  2 − 1

−  n −  n  2 − 1

According the value of  , a second-order system can be set

into one of the four categories:
1. Overdamped - when the system has two real distinct poles
(  >1). jω

δ
-c -b -a

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Second Order Systems
Second Order Systems categories
jω

2. Underdamped - when the

system has two complex
conjugate poles (0 < <1) -c -b -a
δ

jω

3. Undamped - when the system has

two imaginary poles (  = 0). δ
-c -b -a

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Time Domain Specifications
For 0< <1 and ωn > 0, the 2nd order system’s response due to a
unit step input looks like

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Time Domain Specifications
The rise time is the time required for the response to rise from 10% to
90%, 5% to 95%, or 0% to 100% of its final value.
The peak time is the time required for the response to reach the first peak of
the overshoot.
The delay (td) time is the time required for the response to reach half the
final value the very first time.

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Time Domain Specifications
❑ The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steady-state
value of the response differs from unity, then it is common
to use the maximum percent overshoot. It is defined by

❑ The amount of the maximum (percent) overshoot directly

indicates the relative stability of the system.

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Time Domain Specifications
The settling time 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%).

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Time Domain Specifications
Rise Time Peak Time

 −  −  
tr = = t = =
d  1 −  2
p
d n 1 −  2 n

Settling Time (2%)

4 Settling Time (5%)
t s = 4T =
 n 3
t s = 3T =
 n Maximum Overshoot

−
1− 2
Mp =e  100
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Time Domain Specifications
Example 4-3

Find 𝜔𝑛 , ζ, 𝑀𝑃 , 𝑡𝑚𝑎𝑥 , 𝑡𝑟 and 𝑡𝑠

Solution

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Time Domain Specifications

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Time Domain Specifications

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Time Domain Specifications
Example 4-4

Solution

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Time Domain Specifications

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Time Domain Specifications

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Practice Problems
1. Consider the system shown in following figure, if you
know that it has a big overshoot (81.2%), very low damping
ratio (0.066) and too much settling time (20 sec.) for 2%.
a. Add a velocity feedback to improve the transient response
of the system.
b. Draw the new block diagram.
c. Find K so that the peak overshoot of 25% is obtained in
step response.
d. Find the corresponding rise time and settling time.

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Practice Problems
2. Consider the system shown in following figure, where
damping ratio is 0.6 and natural undamped frequency
is 5 rad/sec. Obtain the rise time tr, peak time tp,
maximum overshoot Mp, and settling time 2% and
5% criterion ts when the system is subjected to a unit-
step input.

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 Thank You

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