TRANSIENT RESPONSE

- The nature of the transient is revealed by any of the standard test signals
(impulse, step, ramp, parabola)
- Often exhibits damped oscillations before reaching the steady-state

1. Rise Time, t r
- Time required for the step response to rise from 0 to 100% of its
final value
2. Peak time, t p
- Time required for the response to reach the first peak of the
overshoot
3. Peak overshoot, M p
- Peak value of the response curve measured from unity
4. Settling time, t s
- Time required for the response to damp out all transients until the
error is reduced below some acceptable value (2% or 5%)
STEADY STATE RESPONSE

Recall:
- After the transient response, a physical system approaches its steady state
response which is its approximation to the commanded or desired response.
- Elevator example

STEADY STATE ERROR

- Need not only exists in defective control systems; it is usually inherent in the
designed system
- Control systems engineer determines whether or not that error leads to
significant degradation of system functions

 Why do we study steady state errors?

 To define the errors and derive methods of controlling them

Definitions and test inputs

 Steady- state error
o Difference between the input and the output for a prescribed test input
as t → ∞
o Base performance evaluation on system response is evaluated on
simple standard test signals (ramp, impulse, step, parabola)
o We use the corresponding tests because
 The characteristics of actual signals which severely strain a control
system are
 Sudden shock (impuse)
 Sudden change (step)
 Constant velocity (ramp)
 Constant acceleration (parabola)
 Design is concerned with comparison of competitive systems;
these comparisons can be made nearly as well in terms of
standard inputs as for real inputs
 Simplicity of form of standard inputs facilitates mathematical
analysis and experimental verification
Test waveforms for evaluating steady-state errors of position control systems

Example: Position control system

 Output position is the result of the input commanded position
 1. Step inputs
a. represents constant position
b. Useful in determining the ability of the control system to position itself
with respect to a stationary target

2. Ramp inputs
a. Represent constant velocity inputs to a position control system by their
linearly increasing input
b. Tracking a constant velocity target

3. Parabolas
a. Second derivatives are constant
b. Represents accelerating targets, such as the missile

NOTES:

- We are concerned with the difference between the input and output of a
feedback control system after steady state
- Limited to stable systems where the natural response approaches zero as
t →∞
- Unstable systems represent loss of control in the steady state and is NOT
acceptable for use