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Types :
Transient Response :The part of time response that goes to zero after large
interval of time is called transient response ctr(t).
Steady state Response:The part of time response that remains after transient
response is called steady-state response css(t).
Typical Test signals:
The dynamic behavior of a system is compared under application of standard test
signals an impulse, a step, a constant velocity, and constant acceleration.
Test signal Graph R(s)
Step signal: The step signal imitate the sudden A
change characteristic of actual input signal. S
A t0
u (t )
0 t0
This decides the poles of the system. The highest power of s in the
characteristics equation is known as the order of the system.
The number of poles present at the origin is known as the Type number of the
system.
Steady state error and error constants:
Steady state error ess is the difference between the input value and the actual output
response. The steady state error is the important aspect of system behavior by which
system accuracy can be measured.
Expression for steady state error:
Consider a close loop system as shown in below figure .
lim ( e(t ) )
The steady state error ess = t
So
R (S)
lim S
Steady state error ess = s 0 [1+G ( S ) C (S )]
Where
Kv is called as velocity error constant and this will occur commonly in Type 1 system.
Parabolic Input
For a parabolic signal ,
Where
KA is called as Accelaration error constant and this will occur commonly in Type 2 system.
3. For each system shown, evaluate the static error constants and find the expected error for the
standard step, ramp, and parabolic inputs.
FIRST ORDER SYSTEM
Step response :
Consider a first order control system whose block diagram is shown in figure
C (s) 1
=
R (s ) (1+Ts)
1
The output response C(s) =R(s) X (1+Ts)
1
For a step input ,R(s) = S
By partial fraction,
A B
C ( s )= +
s (1+Ts)
So ,
A(1+Ts)+Bs =1
Sub s=0,
A(1+T *0)+B(0)=1
A =1.
1
Sub s=- T , B = -T.
1 (T )
Thus C ( s )= +
s (1+ Ts)
1 T
s (1+Ts)
C(t) = 1 - eT , fort 0.
The step response of the first order system is shown in below figure.
Performance analysis
1. Time Constant(T) : Time constant is the time it takes for a step response to rise to 63% of
its final value.
2. Rise time (Tr) : Time for the response to go from 10% to 90% of its final value. The
formula to find Tr is Tr = 2.2 T.
3. Settling Time(Ts): time for the response to reach, and stay within 2% of its final value.
The settling time formula is Ts = 4T.
The first order system has no overshooting .but it can be stable or unstable
depends on the pole location .If the pole lies in negative side of the plane ,it will be a
stabe.If the pole presents in the positive side of the plane ,the system is an unstable
system.
Impulse Response :
In this case, for an unit impulse input of magnitude r(t) = (t) and R(s) = 1.
So
1
The output response C(s) =R(s) X (1+Ts)
1
C(s) = (1+Ts)
1 t T
c (t ) e
T
The response of a first order system for unit impulse signal is given in below figure.
Time constant: It is the time to decay to 37% of its final value.
s 2 +2 w n+ w2n
2
C (s ) w n
=
R (s)
Where:
n is the natural frequency
Step signal wd t
0< <1 (+)
(1 2)
C(t) = e
w t n ,where =
1 sin
(12 ) tan 1
Impulse wd t
signal ()
C(t) = e
w n t ,
1 sin
(12 )
Step signal w n t
C(t) = 1e (1+ wn t)
=1
Impulse C(t) =t ew tn
signal
Step signal wn e e
s1 t s2t
>1 C(t) =
1 (
) ,where
2 ( 1 )
2 s 1 s2
21 21
and
s 1= wn wn s 2= wn + wn
Impulse wn es t es t
1 2 21
signal C(t) =
( ) where
2 ( 21 ) s 1 s2 s 1= wn wn
21
and
s 2= wn + wn
td
1. Delay time, : It is the time required for the response to reach 50% of the final value
in first attempt.
1+0.7
t d=
n
tr
2. Rise time, : The time required by the system response to reach from 10% to 90% of the
final value for over-damped case, from 0% to 100% of the final value for under-damped case
and from 5% to 95% of the critically value for over-damped case.
t r=
d
1
1
( 2)
Where (2 ) =
d n
=tan1
tp
3. Peak time, : It is the time required for the response to reach the peak of time
response or the peak overshoot.
t p=
d
4. Maximum Peak Overshoot: It is the normalized difference between the time response
peak and the steady output and the amount of max over shoot directly indicates the
relative stability of the system.
2
X 100
(1 )
M p=e
5. Settling time: It is the time required for the response to reach and stay within a
specified tolerance band ( 2% or 5%) of its final value.
For 2% error band,
4
t s=
n
Example Problems:
1. The open loop transfer function of a unity feedback system is given by
K
G ( s )=
s (sT +1) , where K and T are positive constant. By what factor should the
amplifier gain K be reduced, so that the peak overshoot of unit step response of the
system is reduced from 75% to 25%.
2. The open loop transfer function of a unity feedback system is given by
K
G ( s )=
s (sT +1) , where K and T are positive constant. Determine the value of K and
2
d y dy
system described by the equation 2
+ 5 +16 y=9 t .
dt dt
4. A unity feed back is characterized by an open loop transfer function
10
G ( s )=
s +2 s+6 .Find all the time domain specification
2
7.