SHANTILAL SHAH

ENGINEERING COLLEGE
Name :- Rao Pradeepkumar (170430117037)
Rathod Dhaval (170430117038)
Rakholiya Milan (170430117036)

Branch:- I.C. – (Sem-4)

Group No. 10

Sub:- Control system

Topic:- Transient Response Specifications

 Introduction

• By 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 oscillation for its transient response.
 SECOND ORDER SYSTEM
• A general second-order system is characterized by
the following transfer function.

C( s )  n2
 2
R( s ) s  2 n s   n2
 TRANSIENT RESPONSE SPECIFICATIONS
C( s )  n2
 2
R( s ) s  2 n s   n2
n un-damped natural frequency of the second order system, which is
the frequency of oscillation of the system without damping.

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

of the degree of resistance to change in the system output.
 TRANSIENT RESPONSE SPECIFICATIONS
  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
 TRANSIENT RESPONSE SPECIFICATIONS
  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:

2. Underdamped - when the system has two complex conjugate poles (0 < <1)

jω

δ
-c -b -a
 TRANSIENT RESPONSE SPECIFICATIONS
  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:

3. Undamped - when the system has two imaginary poles (  = 0).

jω

δ
-c -b -a
 TRANSIENT RESPONSE SPECIFICATIONS
  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:

4. Critically damped - when the system has two real but equal poles ( = 1).
jω

δ
-c -b -a
 TRANSIENT RESPONSE SPECIFICATIONS
For 0< <1 and ωn > 0, the 2nd order system’s response due to a
unit step input looks like

9
 TRANSIENT RESPONSE SPECIFICATIONS
• The delay (td) time is the time required for the response
to reach half the final value the very first time.

• 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

10
 TRANSIENT RESPONSE SPECIFICATIONS

• The maximum overshoot is the maximum peak value of

the response curve measured from unity.

• 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%).
 Time Domain Specifications (Rise Time)
  
 n t 
c(t )  1  e cos  d t  sin  d t 
 1   2 
 
Put t  t r in above equation
  
c(t r )  1  e  nt r cos  d t r  sin  d t r 
 1   2 
 
Where c(t r )  1
  
0  e  n t r cos  d t r  sin  d t r 
 1   2 
 
  
 e  nt r  0 0  cos  d t r  sin  d t r 
 1   2 
 
 Time Domain Specifications (Rise Time)
  
cos  d t r  sin  d t r   0
 1   2 
 
above equation can be re - writen as

1 2
sin  d t r   cos  d t r


1 2
tan  d t r  


 1   2 
 d t r  tan 1   

 
 
 Time Domain Specifications (Rise Time)

 1   2 
 d t r  tan 1   

 
 


1   1 2 
1  n 
tr  tan   
d  n
 

 
tr 
d   tan 1 a
b
 Time Domain Specifications (Peak Time)
  
 n t 
c(t )  1  e cos  d t  sin  d t 
 1 2 
 
• In order to find peak time let us differentiate above equation w.r.t t.

dc(t )      
 n t  
  n e cos  d t  sin  d t   e n   d sin  d t 
 t d
cos  d t 
dt  1 2   1 2 
   

  2 n  d 
 n t 
0e  n cos  d t  sin  d t   d sin  d t  cos  d t 
 1   2
1   2 
 

  2
  1   2 
0  e  nt  n cos  d t  n
sin  d t   d sin  d t  n cos  d t 
 1   2
1   2 
 
 Time Domain Specifications (Peak Time)
  2
  1   2 
 n t 
0e  n cos  d t  n
sin  d t   d sin  d t  n
cos  d t 
 1   2
1   2 
 
  2 
e  nt  n
sin  d t   d sin  d t   0
 1 2 
 

  2 
e  nt  0  n
sin  d t   d sin  d t   0
 1 2 
 

  2 
sin  d t  n
 d   0
 1 2 
 
 Time Domain Specifications (Peak Time)
  2 
sin  d t  n
 d   0
 1 2 
 
  2 
 n
 d   0
 1 2  sin  d t  0
 

 d t  sin 1 0

0,  , 2 , 
t
d
• Since for underdamped stable systems first peak is maximum peak
therefore, 
tp 
d
 Time Domain Specifications (Maximum Overshoot)

  
 n t p
c(t p )  1  e cos  d t p  sin  d t p 
 1   2 
 

c( )  1
   

M p  1  e n p  cos  d t p  sin  d t p   1  100
 t
  1   2  
   

Put tp  in above equation
d
  n    
M p   e d  cos    
sin 
 
 100
  d
d 2
d 
 d 
  1   
 Time Domain Specifications (Maximum Overshoot)
  n    
M p   e d  cos    
sin 
 
 100
  d
d 2
d 
 d 
  1   
Put ωd  ωn 1-ζ 2 in above equation
  n 
  
 n 1 2  cos      100
M p   e  sin  
2
  1 
   

M p   e
1 2
  1  0   100
 



1 2
Mp e  100
Time Domain Specifications (Settling Time)
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 

  n   n  2  1
1
T 
 n
Real Part Imaginary Part
 Time Domain Specifications (Settling Time)
• Settling time (2%) criterion
• Time consumed in exponential decay up to 98% of the input.

4
t s  4T  T 
1
 n  n

• Settling time (5%) criterion

• Time consumed in exponential decay up to 95% of the input.
3
t s  3T 
 n
THANK YOU....