Note extracted from

Control Systems Engineering (CSE), 5th

Edition
Norman S. Nise,
Chapter 4: Transient Response
 Recap
• What is control system
• Element an components of control system
• System representation, process and subsystem of
control system
• Mathematical modeling of control system
• La place function approximation of control system
• Transfer function determination
• Types and classification of control system
• Terminologies of control system
 Objective
• Control system process, subsystem
• System stability for time and transient
response of control system
• For system operation and maintenance
• For system design

IQRA: Students are advised to use part of their

study time read and study this chapter
A. automatic control process
 Control Loops
• An open loop system has no feedback and controller
action is not related to final result. Consider a domestic
central heating system as an example, in which fuel
supply is varied manually or automatically by external
ambient temperature. Room temperature will be
maintained at a reasonable value related to outside
conditions. However room temperature does not control
fuel supply so that this is open loop. The word loop is
really a misnomer.
•
 Control Loops

Control Loops
(Source: Instrumentation and Control Systems by Leslie Jackson)

to the open loop shown, add human operator, so closing the loop
(dotted lines on sketch). This is a manually controlled closed loop
system.
Control system and subsystem
 Automatic control process
• It refers to automatically controlled systems. The control action is
dependent on the output. A detecting or measuring element will
obtain a signal related to this output which is fed to the transmitter.
• From the transmitter the signal is then passed to a comparator.
• The comparator will contain some set or desired value of the
controlled condition which is compared to the measured value
signal.
• Any deviation or difference between the two values will result in an
output signal to the controller. The controller will then take action in
a manner related to the deviation and provide a signal to a
correcting unit.
• The correcting unit will then increases or decrease its effect on the
system to achieve the desired value of the system variable. e.g.
automatic control of the temperature of engine cooling water.
• Note: The comparator is usually built in to the controller unit. The
transmitter, controller and regulating unit are supplied with an
operating medium e.g. compressed air, hydraulic oil or electricity, in
order to function.
Automatic control process
 Automatic control process
• The basic theory involved in the maintenance of an
engineering system, such as boiler water level or jacket
cooling water temperature of a diesel engine, at a
required operating condition without human intervention.

• The majority of such systems employ automatic closed

loop control which may be defined as a system in which,
without humans intervention, the actual value of a
controlled condition, such as level, flow, temperature,
viscosity or pressure is compared with a desired (or set)
value representing the required operating condition, with
corrective action being taken should a deviation or
difference occur between these two values.
 Automatic control process
• To fully understand the theory involved it is necessary to
use terminology peculiar to this subject, such
terminology will, however, be kept to a minimum and is
based on the British Standards Publication BS 1523.
• Some of the more common terms are listed below and
their application to a typical system is shown above. The
operation of a plant under automatic control in order to
control such variables as temperature, level, flow,
viscosity etc., is know as Process Control. Here the
process is the cooling of the lubricating oil in the heat
exchanger.
 Automatic control process
• Working round the system from the Process, the
Controlled Condition is the temperature of the lubricating
oil, and this is monitored by a sensor or Detecting
Element, which could be a filled systems thermometer
connected to a Bourdon tube.
• This operates a nozzle/flapper device which produces a
pneumatic signal, known as the Measured Value, which
is directly related to the temperature of the lubricating oil.
This nozzle/flapper amplifier is known in control
engineering terms as a value signal is taken to a
Comparing Element or Comparator forming part of the
Automatic Controller or Controlling Unit.
 Automatic control process
• Here it is compared (one method is shown) with a signal
representing the required lubricating oil operating
temperature or the Set Value (Set Point) or Desired
Value. (There could be a difference between these terms
which will be explained later in the text).
• If the Set Value and Measured Value are the same, the
beam will not move, but if there is a difference between
these signals, known as the Deviation or Error it means
that the lubricating oil temperature at the outlet from the
cooler is not at the required operating temperature (Set
Point, etc). Action has to be taken to restore it.
• The difference in signal pressures on the diaphragms will
rotate the beam about the pivot, the movement being the
Error Signal and this will operate the Controlling
Element.
Automatic control process
B. System , subsystem stability
analysis
Classification of control system
• First order control system
• Second order control system
Control system
 First order control system (Refer to pg 154,CSE)

i. Time response from the transfer function

ii. Poles and zeros to determine the response
of a control system
iii. Transient response of systems
iv. Approximate higher-order system as first or
second order
Output response, Poles, and Zeros (Pg 154)
• The output response of a system = the forced response
(steady-state response) + natural response (zero input
response)

• The poles of a transfer function are:

(1) the values of the Laplace transform variable, s , that
cause the transfer function to become infinite, or (2) any
roots of the denominator of the transfer function that are
common to roots of the numerator.

• The zeros of a transfer function are:

(1) the values of the Laplace transform variable, s , that
cause the transfer function to become zero, or (2) any
roots of the numerator of the transfer function that are
common to roots of the denominator.
 Control system

a. System showing
input and output;

b. pole-zero plot of
the system;

c. evolution of a
system response.

Figure 4.2 (pg.156)

 Poles

i. A pole of the input function generates

the form of the forced response.
ii. A pole of the transfer function generates
the form of the natural response.
iii. A pole on the real axis generates an
exponential response.
iv. The zeros and poles generate the
amplitudes for both the forced and
natural responses.
Effect of real axis on transient response
fig_04_02

fig_04_02
 Poles Example 4.1
Given the system in fig 4.3 , write output, c(t) in general terms,
specify the forced and natural parts of the solution

1
R( s) =
s s+3 C (s )
( s + 2)( s + 4)( s + 5)

k1 k2 k3 k4
C ( s) = + + +
s s+2 s+4 s+5

Natural response

Forced response

Do exercise 4.1!! c(t ) = k1 + k 2 e −2t + k3e −4t + k 4 e −5t

 First-Order Systems (without zero)
Figure 4.4
a. First-order system
b. pole plot

Input -> unit step , R (s)= 1/s)

a
C ( s ) = R( s )G ( s ) =
s( s + a)

Step response − at
c(t ) = c f (t ) + cn (t ) = 1 − e
Where:
Forced response cf(t)=1, system pole is at –a, generated response is
e − at
 Time constant
• The time constant can be
described as the time for
to decay to 37% of its
initial value. Alternately,
the time constant is the
time it takes for the step
response to rise to of its
final value.

− at −1
e = e = 0.37
t= 1
a
Figure 4.5 First-order system
response to a unit step x (t ) t =1 =1 −e −at =1 −0.37 = 0.63
a t =1
a

The reciprocal of the time constant has the units (1/seconds),

or frequency. Thus, we call the parameter the exponential
frequency.
 Time response terms
In first response change of
parameter result to
change of speed of
response

• Rise time: Rise time is

defined as the time for
the waveform to go from
0.1 to 0.9 of its final
value.

• Settling time: Settling

time is defined as the
time for the response to
reach, and stay within,
2% (or 5%) of its final
value.
 First order transfer function via testing (Refer to pg
159)
• Difficult analytical method
• System boxed up
• Access difficulty
• Identify k and from lab testing

• Time constant (TC)=63% of t

• a=1/TC
• T=K/a
• Substitute values back to the equation

Do exercise 4.2!!
 Second-Order Systems (pg 160)

• Involve wide range of response

• Change of parameter lead to change of form of
response
• Mathematical analysis involve: unit step input
definition->partial fraction expansion->inverse la
place transform
• Solution through pole and zero facilitate
determination of response that bypass
mathematical analysis
Second-Order Systems

Figure 4.7
Second-order
systems, pole
plots,
and step
responses

Changing and give

different types of
response
 Second-Order Systems

Figure 4.10
Step responses for second-order system damping cases

Solve exercise 4.3

 Natural response of second-Order Systems

• 1. Overdamped response:
Poles: Two real at − σ1, −σ 2

Natural response: Two exponentials + time

constants equal to the reciprocal of the
pole location
c(t ) = k1e −σ 1t + k 2 e −σ 2t
Natural response of second-Order
Systems
• 3. Undamped response:
Poles: Two imaginary at ± jω1
Natural response: Undamped sinusoid with
radian frequency = to the imaginary part of the
poles
c(t ) = A cos(ω1t − φ )

• 4. Critically damped responses:

Poles: Two real at − σ1
Natural response: One term ->is an
exponential whose time constant is equal to
the reciprocal of the pole location.
Another term ->is the product of time and an
exponential with time constant equal to the
reciprocal of the pole location
c(t ) = k1e −σ1t + k 2te −σ 1t
 • 2. Underdamped
Figure 4.8 responses:
Second-order step response
components Poles: Two complex at − σ d ± jω d
generated by complex poles

Natural response: Damped

sinusoid + exponential
envelope whose time
constant is equal to the
reciprocal of the pole’s
real part.
The radian frequency of the sinusoid+
(the damped frequency of
oscillation=is equal to the imaginary
part of the poles)

c(t ) = Ae −σ d t cos(ωd t − φ )
Example (Refer to Pg 162)
fig_04_09

fig_04_09
 General second – order system
• Natural Frequency: The natural frequency of a second-order system is the
frequency of oscillation of the system without damping.
• Damping Ratio: The damping ratio is defined as the ratio of exponential
decay frequency to natural frequency.

Consider the general system:

b
Without damping, G( s) =
s 2 + as + b
b
G(s) = ⇒ ωn = b
s2 + b

a 4b − a 2 a 4b − a 2
s1 = − + j , s2 = − − j
2 2 2 2

Exponential decay frequency | σ | a / 2

ζ = = =
Natural frequency ( rad / sec) ω n b

ωn
2

⇒ a = 2ζ ωn ⇒ G( s) = 2
s + 2ζ ωn s + ω n
2
 Figure 4.11
Second-order response as a
function of damping ratio
 Example 4.4 (Pg 167)

fig_04_12
For each of the following system, find the damping ratio, and report the kind of
response

fig_04_12

Transform eqution to required form

Find a and Wn
substitute a and e from the equation
@
>1overdamped,
=1critically damped
<1underdamped
=0undamped
 Underdamped Second-Order Systems
Step response
ωn2 K1 K 2 ( s + ζ ωn ) + K 3ω n 1 − ζ
2
C ( s) = = +
s ( s + 2ζ ωn s + ω n ) ( s + ζ ωn ) 2 + ω n (1 − ζ 2 )
2 2 2
s
ζ
− 1 ⋅ ( s + ζ ωn ) − ωn 1−ζ 2
1 1−ζ 2
= +
( s + ζ ωn ) 2 + ω n (1 − ζ 2 )
2
s

Taking the inverse Laplace transform

 
c(t ) = 1 − e −ζ ωn t  cos ω 1 − ζ 2 t + ζ 2 
sin ω n 1 − ζ t
 n
1−ζ 2 
 
=1−
1−ζ
1
2
e −ζ ωn t
(
cos ω n 1 − ζ 2 t − φ )
where  ζ 
φ = tan  −1 
 1−ζ 2 
 
 Underdamped damping ration variation

Figure 4.13
Second-order underdamped
responses for damping ratio values
Figure 4.14
Second-order
underdamped • Peak time: The time required to
response reach the first, or maximum, peak.
specifications
• Percent overshoot: The amount
that the waveform overshoots the
steady-state, or final, value at the
peak time, expressed as a
percentage of the steady-state
value.

• Settling time: The time required

for the transient’s damped
oscillations to reach and stay
within (or ) of the
steady-state value.
± 2% ± 5%

• Rise time: The time required for

the waveform to go from 0.1 of the
final value to 0.9 of the final value.
Evaluation of peak time(Tp):

Completing the square we have

ωn
ωn 2 ωn 1− ζ 2
L[c (t )] = sC ( s ) = 2 1−ζ 2
s + 2ζ ωn s + ω n
2
=
( s + ζ ωn ) 2 + ω n (1 − ζ 2 )
2

ωn
c (t ) = e −ζ ωn t
sin ω n 1 − ζ 2 t
1−ζ 2

Setting the derivative equal to zero yields

nπ π
ω n 1 − ζ 2 t = nπ or t =
ωn 1− ζ 2 Peak time: tp =
ωn 1 − ζ 2
Evaluation of percent overshoot ( cmax − c final
%OS = ): × 100
c final
− (ζ π/ 1−ζ 2 )
⇒ %OS = e × 100
− (ζ π/ 1−ζ 2 )
c max = c(t p ) = 1 + e
Evaluation of settling time:
The settling time is the time it takes for the amplitude of the decaying
sinusoid to reach o.o2, or

1 − ln(0.02 1 − ζ 2 4
e −ζ ωn t
= 0.02 ⇒ ts = ≈
1−ζ 2 ζ ωn ζ ωn
,
where
4
is the imaginary part of the pole and is called the damped
4
frequency ofπ oscillation,
π and t =
is the magnitude of the real part of the
=
t
pole
= = s
p and is the exponential damping frequency.
ωn 1 − ζ 2 ω d ζ
ωn σd

ωd
σd
fig_04_15

fig_04_15
fig_04_16

fig_04_16
Example 4.5
 ωn 2 ωn 2
G ( s) = 2 =
s + 2ζ ωn s + ωn
2
( s + ζ ωn − jωn 1 − ζ 2 )( s + ζ ωn + jωn 1 − ζ 2 )

Figure 4.17
Pole plot for an underdamped
second-order system
 Figure 4.18
Lines of constant peak timeTp , settling
timeTs , and percent overshoot, %OS
Note: Ts2 < Ts1 ;Tp2 < Tp1; %OS1 <%OS2
 Figure 4.19
Step responses of
second-order
underdamped systems
as poles move:

a. with constant
real part;

b. with constant
imaginary part;

c. with constant
damping ratio
Find peak time, percent overshoot, and settling time from
pole location.

− σ d ± jωd = −3 ± j 7 = −ζ ωn ± jωn 1 − ζ 2

π π 4 4
tp = = ts = =
, ,
2

ωn 1 − ζ 2 ωd %OS = e − (ζ π/ 1−ζ )
× 100 ζ ωn σ d
Design: Given the rotational mechanical system, find J and D to yield
20% overshoot and a settling time of 2 seconds for a step input of
torque T(t).

Figure 4.21
Rotational mechanical system
Under certain conditions, a system with more than two poles or with zeros
can be approximated as a second-order system that has two complex
dominant poles. Once we justify this approximation, the formulae for percent
overshoot, settling time, and peak time can be applied to these higher-order
systems using the location of the dominant poles.
A B ( s + ζ ωn ) + Cωd D
C (s) = + +
s ( s + ζ ωn ) + ωd
2 2
s + αr

Remark:
If the real pole is five times
farther to the left than the
dominant poles, we assume
that the system is
represented by its dominant
second-order pair of poles.

Figure 4.23
Component responses of a three-pole system:
a. pole plot;
b. component responses: nondominant pole is near dominant second-order pair (Case I),
far from the pair (Case II), and at infinity (Case III)
 Example 4.8: Control system engineering

fig_04_24

fig_04_24
System response with zeros (Pg 182, control system engineering)
s+a A B (−b + a ) /(−b + c) (−c + a ) /(−c + b)
T ( s) = = + = +
( s + b)( s + c) s + b s + c s+b s+c

If the zero is far from the poles, then a is large comared to b and c .
1 /( −b + c) 1 /(−c + b)  a
T ( s) ≈ a  + =
 s+b s + c  ( s + b)( s + c)

Figure 4.25
Effect of adding
a zero to a
two-pole system
(−1 ± j 2.828)
 ( s + a)C ( s ) = sC ( s ) + aC ( s )

Figure 4.26
Step response of a nonminimum-phase system
Example 4.8: Control system engineering (Pg. 184)

fig_04_27

fig_04_27
 Effect of nonlinearity on system response

fig_04_29a

fig_04_29a
 Time Domain Solution of State Equations

x (t ) = Ax(t ) + Bu (t )
t
⇒ x(t ) = e x(0) + ∫ e A( t −τ ) Bu (τ )dτ
At
0
t
= Φ(t ) x(0) + ∫ Φ(t − τ ) Bu (τ )dτ
0

where Φ (t ) = e At is called the state-transition matrix.

L[ x(t )] = L[Φ (t ) x(0)] = ( sI − A) −1 x(0)

⇒ L-1[( sI − A) −1 ] = Φ (t )
fig_04_28

fig_04_28
fig_04_29b

fig_04_29b
fig_04_30a

fig_04_30a
fig_04_30b

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fig_04_31a

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fig_04_31b

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fig_04_32

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fig_04_33

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fig_04_34

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fig_04_35

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fig_04_36

fig_04_36
 Home Work
• 1,2,4,6, 10, 12, 13,15,16,, 17,18,21,22, 23,
24, 25,23, 26,27, 53,58,62
fig_04_21

fig_04_21
fig_04_22

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 Summary
• Automatic control process
• System, subsystem and stability analysis
 Test 1
Material to Study for test
 Problem set and short question from Control system engineering book
chapter 1 and 2 and 5
 PPT-L1; PPT-L2; PPT-L3
 Lecture note is a gift
 The basics of control system
 Understand analysis and design objective of control and automation system
 the basics of control system components
 Study example of control system
 Study system representation of and automation system
 Types and classification of control system
 Mathematical modeling of mechanical and electrical control system
 Partial fraction, La place transform and transfer function of control system
 Study the examples and solutions
 Block manipulation