MODELING, ANALYSIS, AND CONTROL

OF DYNAMICS SYSTEMS

TOPIC 11 2NDORDER SYSTEMS TRANSIENT

RESPONSE SPECIFICATIONS
1 VM360 Summer 2017
Instructor: Jiajia Luo
PERFORMANCE INDICES

Quantitatively related to

How fast can output follow input ? [delay time,

rise time]
How oscillatory is response (indicative of
damping) ? [percentage overshoot]
How long does response take to reach final
value ? [settling time]

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TRANSIENT RESPONSE
CHARACTERISTICS

Transient response characteristics of control

system to unit step input
Delay time, td

Rise time, tr

Peak time, tp

Maximum overshoot, Mp

Settling time, ts
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DELAY TIME, TD

Time required for response to reach half of its

steady state value very first time

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RISE TIME, TR

Time required for underdamped response to rise

from 0% to 100% of steady state value

1 1d
tr tan ( )
d
cos 1

d d
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ANGLE b AND DAMPING COEFF. z

n
cos
n
cos

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 Rise time depends on both z and wn

For constant zwn; speed of response can be

improved (i.e. rise time can be made smaller) by
increasing the imaginary part, wd

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PEAK TIME, TP

Time required for response to reach 1st peak of

the overshoot

tp
n 1 2 d
Peak time tp corresponds to halfperiod of
damped oscillation

1 2
t p
2 d 9

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MAXIMUM OVERSHOOT, MP
Maximum peak value of response, it is common
to use % maximum overshoot (OS) which is
defined as :
c(t p ) c()
%M p 100%
c ( )
% maximum overshoot is good indicator of the
system damping (relative stability)

1 2 d
%M p e 100% e 100%

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EVALUATION OF SYSTEM DAMPING
Damping can be found from inverse of the
equation for system overshoot
ln( M p )

2 ln 2 ( M p )
System damping may be required if:

System response specifications are given in Mp.

System identification is required from the time
response plot
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SETTLING TIME, TS

Time required for the response to reach and

stay within a specified allowable tolerance
(usually 2% or 5%) of its final value
Commonly define the settling time to be

4 4
t s 4T (2% criterion)
n
3 3
t s 3T (5% criterion)
n
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REMARKS

T = 1/zwn = Time constant of underdamped 2nd

order system
z is usually determined from the required
permissible max. overshoot. Thus, ts is
determined primarily by the wn

Duration of transient response can be varied, by

adjusting wn without affecting the max.
overshoot

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RESPONSE CURVE

If values of td, tr, tp, Mp, and ts are specified, then

the shape of response curve is determined

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REMARKS

Peak time and max. overshoot do not apply to

an overdamped system
Desirable transient response often required
damping ratio between 0.4 and 0.8; z< 0.4
excessive overshoot; while z > 0.8 sluggish
response
For rapid transient response, wn must be large

To limit max. overshoot, and to make the

settling time small, z should not be too small

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CONSTANT TS, TP, AND %MP LINES

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EXAMPLE:

Consider unitstep response of unity feedback

control system, given open loop TF is
1
G(s)
s ( s 1)
Obtain tr, tp, Mp, and ts
The closedloop TF is:

C (s) 1 12
2 2
R( s ) s s 1 s 2(0.5) 1s 12
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EXAMPLE

From CLTF: z= 0.5, and wn = 1 rad/s

d 0.866, 0.5, and / 3 rad/s

1.0472
tr 2.42 sec
0.866

tp 3.63 sec
0.866
M p e ( / d ) e ( 0.5 / 0.866 ) 0.163
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 4
ts

4
8 sec
0 .5
(2% criterion)

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EXAMPLE :

Determine value of k such that z= 0.5

C (s) 16 16
2
R ( s ) s ( s 0.8) 16(1 ks) s (0.8 16k ) s 16

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 from the CLTF, wn = 4 rad/s,
0.8 16k 2 0.5 4 4
3.2
k 0.2
16

and wd = 3.46, b= p/3, s= 2

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tr 3 0.605 sec
3.46

tp 0.907 sec
d
( 2 )
Mp e 3.46
0.1627
4 4
ts 2 sec (2% criterion)
n 0.5 4
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APPENDIX TO TRANSIENT
RESPONSE SPECS

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EVALUATION FOR RISE TIME, TR
Response of second order system, c(t) as shown
in Topic 11 is
e t 1 2
sin d t tan 1
n

c(t ) 1
1 2

By definition of rise time, c(tr) = 1
e nt
sin(d t ) 0
1 2
n t
Since e 0only at t

d t r tr
d
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EVALUATION FOR PEAK TIME, T P

Peak time, tp is the time when c(t) is max.

Therefore, dc (t ) / dt
t t
0
p

1 1 2 1 2
e n p sin t tan
t 1 e n p cos t tan
t 1 0
2 n
d p
d
d p
1
n t
Since e 0 for finite values of t
1 2
1 2
Therefore, tan d t p tan 1 d
n

d t p n

Since max. value of c(t) is the first of all the

local max. values, n 1, t p / d 27

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