CONTROL SYSTEMS II

By MR KG ILUNGA, MSc Eng (UKZN),

Electrical Engineering
Mangosuthu University of Technology
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 LAYOUT

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▪ SECTION 1-Introduction to Control Systems
▪ SECTION 2-Mathematical Modelling of Control Systems in
Frequency Domain: Application of Laplace Transform
▪ SECTION 3-Behaviour Analysis of Control Systems: Time
Response of First and Second-order Control Systems
▪ SECTION 4-Reduction of Multiple Subsystems
▪ SECTION 5-Steady-State Errors
▪ SECTION 6-Mathematical Modelling in Time Domain: State-
Space Representation

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SECTION 3

TIME RESPONSE OF
FIRST AND SECOND-
ORDER CONTROL
SYSTEMS

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 LEARNING OUTCOMES

• Use poles and zeros of transfer functions to determine the time

response of a control system
• Describe quantitatively the transient response of first-order
systems
• Write the general response of second-order systems given the pole
location
• Find the damping ratio and natural frequency of a second-order
system
• Find the settling time, peak time, percent overshoot, and rise time
for an
underdamped second-order system

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Introduction
▪ In Section 2, we saw how transfer functions can represent
linear, time-invariant systems.
▪ After the engineer obtains a mathematical representation of a
subsystem, the subsystem is analyzed for its transient and
steady-state responses to see if these characteristics yield the
desired behavior.
▪ This chapter is devoted to the analysis of system transient
response.

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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.
• It is possible to compute the time response of a system if the
nature of input and the mathematical model of the system are
known.
• Usually, the input signals to control systems are not known fully
ahead of time.
• It is therefore difficult to express the actual input signals
mathematically by simple equations.
• The characteristics of actual input signals are a sudden shock, a
sudden change, a constant velocity, and constant acceleration.
• The dynamic behavior of a system is therefore judged and
compared under application of standard test signals – an
impulse, a step, a constant velocity, and constant acceleration.
Another standard signal of great importance is a sinusoidal
signal
 Introduction
• The concept of poles and zeros, fundamental to the analysis of and
design of control system, simplifies the evaluation of system
response.
• The poles of a transfer function are:
i. Values of the Laplace Transform variables s, that cause the transfer
function to become infinite.
ii. Any roots of the denominator of the transfer function that are
common to roots of the numerator.
• The zeros of a transfer function are:
i. The values of the Laplace Transform variable s, that cause the
transfer function to become zero.
ii. Any roots of the numerator of the transfer function that are
common to roots of the denominator.
Influence of Poles on Time Response
• The output response of a system is a sum of
i. Forced response
ii. Natural response

a) System showing an input and an output

b) Pole-zero plot of the system
Influence of Poles on Time Response

c) Evolution of a system response. Follow the blue

arrows to see the evolution of system
component generated by the pole or zero
 Influence of Poles on Time Response

Effect of a real-axis pole upon transient response:

Pole on real axis generates an exponential response. Thus, the farther
to the left a pole is on the negative real axis, the faster the
exponential transient response will decay to zero

a) First-order system
b) Pole plot of the system
 First-Order System
• General form:
C (s) K
G(s) = =
R( s ) s + 1

• Problem: Derive the transfer function for the following circuit

1
G (s) =
RCs + 1
 First-Order System
• Transient Response: Gradual change of output from initial to the
desired condition.
• Block diagram representation:

K Where,
R(s) C(s)
s + 1 K : Gain
 : Time constant
• By definition itself, the input to the system should be a step
function which is given by the following:

1
R(s) =
s
 First-Order System
• General form:

C (s) K
G(s) = = C(s) = G(s) R(s)
R( s ) s + 1

• Output response:
 1  K 
C ( s ) =   
 s  s + 1 
A B
= +
s s + 1
B
c(t ) = A + e −t 

 First-Order System
• Problem: Find the forced and natural responses for the following
systems
First Order System

First-order system response to a unit step

 Transient Response Specifications

• Time constant, 
• The time for e-at to decay 37% of its
1
initial value. Or time it takes for the step =
Response to rise to 63% of its final value a

• Rise time, tr
• The time for the waveform to go
2.2
from 0.1 to 0.9 of its final value. tr =
a

• Settling time, ts
• The time for the response to reach,
and stay within 2% of its final value. 4
ts =
a
 Transient Response Specifications

• Problem: For a system with the transfer function shown below, find
the relevant response specifications

50
G ( s) =
s + 50

i. Time constant, 
ii. Settling time, ts
iii. Rise time, tr
 Tutorial

• Consider the following

Unit step response obtain
from experiment,
Find the transfer function of
The system
 Second-Order System
• General form:
Kn2
G (s ) = 2
s + 2n s + n2
Where,
K : Gain
ς : Damping ratio
n : Undamped natural frequency

• Roots of denominator:

s 2 + 2 n s + n2 = 0

s1, 2 = − n  n  2 − 1
 Second-Order System
• Natural frequency, n
• Frequency of oscillation of the system without damping.

• Damping ratio, ς
• Quantity that compares the exponential decay frequency of the
envelope to the natural frequency.

Exponential decay frequency

=
Natural frequency (rad/s)
Second-Order System
Type of response pole cases
Second-Order System
Second-Order System

• Problem: Find the step response for the following transfer

function

G (s ) = 2
225
s + 30s + 225
• Answer:

c(t ) = 1 − e−15t − 15te−15t

Second-Order System
Second order System
• Step responses for second-order system damping cases
 Second-Order System
TUTORIAL 1 : For each of the transfer function, find the values of ς
and n, as well as characterize the nature of the response.

G (s ) =
a) 800
2s 2 + 24s + 800

G (s ) = 2
b) 2700
3s + 270s + 2700

G (s ) = 2
225
c) s + 30s + 225

G (s ) = 2
625
d) s + 625
 Second-Order System

Underdamped Second-Order Systems

Consider the following second order system

We Assume that
The inverse Laplace will be

Where
 Second-Order System
• Second-order response components generated by complex poles
 Second-Order System
• Second-order underdamped responses for damping ratio value
 Transient Response Specifications

• Second-order underdamped response specifications

 Transient Response Specifications
• Rise time, Tr
• The time for the waveform to go from 0.1 to 0.9 of its final value.
1  1−  2 
Tr = tan  −
−1 
n 1 −  2   
 
 Transient Response Specifications

• Peak time, Tp 
• The time required to reach the first Tp = 2
or maximum peak. n 1 − 

• Settling time, Ts 4
• The time required for the transient’s Ts =
n
damped oscillation to reach and stay
within ±2% of the steady-state value.
 Transient Response Specifications
• Percent overshoot, %OS
• The amount that the waveform overshoots the steady-state, or final
value at peak time, expressed as a percentage of the steady-state
value.
Cmax − Cfinal
%OS =  100
Cfinal

  
− 

c = 1+ e
 1+ 2 
 
max

− ( / 1− 2 )
%OS = e 100 %

− ln(%OS / 100)
 =
 2 + ln 2 (%OS / 100)
 Second-Order System
• When 0 < ς < 1, the transfer function is given by the following.

Kn2
G(s ) =
(s + n + jd )(s + n − jd ) Where, d = n 1 −  2
• Pole position:
 Second-Order System
• Pole plot for the underdamped second-order system
 System Performance
• Percent overshoot versus damping ratio
 System Performance
• Lines of constant peak time Tp, settling time Ts and percent
overshoot %OS

Ts2 < Ts1

Tp2 < Tp1
%OS1 < %OS2
 System Performance
• Step responses of second-order underdamped systems as poles
move

a) With constant
real part
b) With constant
imaginary part
 System Performance
• Step responses of second-order underdamped systems as poles
move

c) With constant damping ratio

TUTORIAL 1 (See Problem 4.2 of chapter 4-Time response
of Anastasia’s book)
The transfer function of a control system:
G (s ) =
k
s 2 + 10s + k
where k is the gain of the system. Suppose that the input signal is the unit-
step function
and compute for k = 10, 100, and 1000
a. The undamped natural frequency ωn.

b. The damping ratio
c. The damped natural frequency ωd.
d. The roots of the characteristic equation s1,2.
e. The maximum value of the gain k in order to have real negative roots of the
characteristic equation.
TUTORIAL 2 (Continued)

f. The maximum percent overshoot %OS.

g. The time response of the system y(t).
h. Discuss the influence of the amplifier gain k upon
the specifications of the system.
TUTORIAL 2 (see problems of time response in the
Norman’s book)
For each of the three unit step responses shown in
Figure 4 (a), (b) and (c), find the transfer function of the system.

Figure 4: Unit step response

TUTORIAL 2
• The response of the first order can be estimate as G ( s ) = K
s+a
• From the graph we can read Cfinal =2
• Let find 63% of 2= 1.26
• The time constant can be read on the graph at 1.26. T=0.024 Second
• Let find the value of a 1
a= =
1
= 50
T 0.02

• The dc gain K = C final  a = 2  50 = 100

• The transfer function is G ( s ) = 100

s + 50
 TUTORIAL 2

Cmax = 13.75
Cfinal = 11.25

cmax − c final 13.75 − 11.25

OS = = = 0.22 or 22%
c final 11.25

Figure 4: Unit step response (Continued)

 TUTORIAL 3 (see problems of time response in the
Norman’s book)

For each pair of second-order system specifications

that follow, find the location of the second-order
pair of poles.

a. %OS = 12%; Ts = 0.6 second

b. %OS = 10%; Tp = 5 seconds
c. Ts =7 seconds; Tp = 3 seconds
TUTORIAL 3

a) − ln Os − ln 0.12
 = = = 0.56
 + ln Os
2 2
 + ln 0.12
2 2

4 4
Ts = = 0.6  n = = 11.9 rad / s
n 0.6  0.56

s1,2 = −n  jn 1 −  2 = −6.67  j 9.88

− ln Os − ln 0.1
 = = = 0.591
b)  + ln Os
2 2
 + ln 0.1
2 2

 
Ts = = 5  n = = 0.779 rad / s
n 1 −  2
5 1−  2

s1,2 = −n  jn 1 −  2

TUTORIAL 4 (see problems of time response in the
Norman’s book)

Find the transfer function of a second-order

system that yields a 15% overshoot and a
settling time of 0.7 second.
 TUTORIAL 5 (see problems of time response in the
Norman’s book)

For the system shown in Figure 5, do the following:

a. Find the transfer function G(s) =X(s)/F(s)
b. Find ζ, ωn, ωd ,%OS, Ts, Tp, Tr , and Cfinal for a unit-step input.

Figure 5: Translational mechanical system with a SDF