7.

2 Transient Response
7.2.1. Transient Response of Second-order Systems
Look at Fig. 7.2.1. In the open loop transfer function:
a. K is the system static gain
b. T is the system time constant
Figure 7.2.1.
The closed loop transfer function is
( )
( )
( ) ( ) ( )
2

1
Y s K T
M s
F s s T s K T

+ +
!
"hich "e "ill "rite as
( )
( )
2
2
2 2
2
! !
2 2
n
n
n n n
Y s K
F s s s T T

+ +
. #7.2.1$
The parameter

#%eta$ is the system damping ratio, and

n
is the system natural
frequency. The system poles are
( )
( )
2
2
2
2
1!2
2 2
2 2 &
2
1 1 .
n n n
n n n
n n n n
p
j



t
t
t t
#7.2.2$
'otice that if
>
! both poles are real.
(((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
Example 7.2.1
Find the impulse response corresponding to the transfer function of )*. #7.2.1$.
+olution
+ine method
i.
2
1
2
1
! 1 .
n n
n n
p j j

+ +

ii.
( )
1
2
,
n
s p
g F s

1
7. 2 Transient -esponse
iii.
( ) ( ) ( )
( )
( )
( )
( )
2
2
2
2
2
sin
sin 1
1
sin 1
1
n
n
t
s
t n
n
n
t n
n
g
y t e t g u t
e t u t
e t u t

.heck. Table of Laplace transforms

( ) ( ) { }
( ) ( ) ( )
( ) ( )
2
2 2
2 2 2
2 2
2 2 2 2 2 2 2
1
sin
1
1 1
2 2 1
at n
n
n n
n n n n n
e t u t
s a s
s s s s

+ + + +


+ + + + +
L
/hen "e multiply this by
2
1
n

"e get the original transfer function.
(((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
Look again at )*. #7.2.2$
2
1!2
1 .
n n
p j t
The impulse response is graphed in Fig. 12.0. There are three cases depending on the
1alue of

in )*. #12.12$:
a.
1 <
#comple3 con4ugate pair of poles$! underdamped.
b.
1
#t"o identical real poles$! critically damped
c.
1 >
#t"o distinct real poles$! over-damped
Figure 7.2.2 -esponses of second(order systems: a$ under(dampled! b$ crictically
dampled! and c$ o1er(damped.
2
7. 2 Transient -esponse
The step response of the 2
nd
order closed(loop system is
( ) ( )
( )
2
2 2
1
2
n
n n
Y s H s
s s s s

+ +
. #7.2.5$
The in1erse Laplace yields
( )
( )
2
2
# $ sin 1 # $
1
n
n
e
y t u t t u t

1
+
1
]

. #7.2.&$
The under(damped step response is plotted in Fig. 7.2.5.
Figure 7.2.5. -esponse of an under(damped second(order system.
The most important transient response parameters are:
i. response o1ershoot #6+$
ii. settling time
s
t
iii. peak time
p
t
i1. rise time
r
t
The response o1ershoot is obtained by finding the ma3 of y(t "ith respect to
time:
( )
2.
dy t
dt

Taking the deri1ati1e of )*. #7.2.&$ leads to
sin 2
d
t
!
2
1
d n

! 2!1! 2...
d
t n n
The peak time is obtained "hen n71:
5
7. 2 Transient -esponse
2
1
p
d
n
t

#7.2.0$
The steady state 1alue of y(t can be obtained by the final 1alues theorem! but it can also
be obtained by any moron "ho looks at )*. #7.2.&$ and notices that the right side "ill
e3ponentially dampen out lea1ing
1
ss
y
.
The response overs!oot is defined by
( )
( )
2
1
.
p ss
"# y t y e


or the ma$imum percentage overs!oot,
( )
2
1
1228 M%"# e


.
There are other e3pressions for the 08 settling time
08
5
s
n
t

and the 28 settling time

28
&
s
n
t

.
7.2.2 Transient Response of Higher-Order Systems
The transient response of higher(order systems cannot be easily obtained
analytically. 9o"e1er! if some of the poles ha1e fast responses compared to others! there
response can be ignored in at least *ualitati1ely determining the response of the slo"er
poles. This is best illustrated by an e3ample.
--------------------------------------------------------------------------------------------------------
Example 7.2.2
:etermine the step response of the follo"ing fourth(order transfer function
( )
( )
( )
( )
( ) ( ) ( )
2
222 5
& 0 12 22
Y s s
H s
F s s s s s
+

+ + + +
.
+olution
The system has comple3 con4ugate poles at
2 1
d
p j t
and simple distinct poles at
1
12 p
and
2
22 p
. The poles
1
p
and
2
p
do not
significantly effect the transient response because they correspond to time(domain terms
of
12t
e

and
22t
e

"hich die out 1ery rapidly. /e obtain this appro3imation as follo"s:

&
7. 2 Transient -esponse
( )
( )
( ) ( ) ( )
( )
( )
( )
( )
2
2
2 small
222 5
& 0 12 22
222 5 5
& 0
& 0 12 1 22 1
12 22
s
s
H s
s s s s
s s
s s
s s
s s
+

+ + + +
+ +

_ _ + +
+ + + +

, ,

.
The step responses of both the original and the simplified transfer functions are sho"n in
Fig. 7.2.&.
Figure 7.2.&. +ystem step response for #a$ original H(s and #b$
the second order appro3imation to H(s.
((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((((
Exercises
7.2.1 Find the step response of the follo"ing function assuming that the system poles are
real and e*ual.
( )
( )
2
2 2
2
n
n n
Y s
s s s

+ +
7.2.2 Follo"ing the procedure for e3ample 7.2.2! appro3imate the follo"ing system by
its second order reduced system
( )
( )
( ) ( ) ( )
2
022 ;
12 122 20 02
s
H s
s s s s
+

+ + + +
0
7. 2 Transient -esponse