CONTENTS
Introduction
Influence of Poles on Time Response
a) First-order system
b) Pole plot of the system
FIRST-ORDER SYSTEM
General form:
C ( s) K
G( s)
R( s) s 1
1
G ( s)
RCs 1
FIRST-ORDER SYSTEM
Transient Response: Gradual change of output from initial to
the desired condition.
Block diagram representation:
Where,
K
R(s) C(s) K : Gain
s 1 : Time constant
Output response:
1 K
C ( s )
s s 1
A B
s s 1
B
c(t ) A e t
FIRST-ORDER SYSTEM
Problem: Find the forced and natural responses for the
following systems
FIRST ORDER SYSTEM
Rise time, tr
The time for the waveform to go 2 .2
tr
from 0.1 to 0.9 of its final value. a
Settling time, ts
The time for the response to reach, 4
ts
and stay within 2% of its final value. a
TRANSIENT RESPONSE SPECIFICATIONS
Problem: For a system with the transfer function shown below,
find the relevant response specifications
50
G( s)
s 50
i. Time constant,
ii. Settling time, ts
iii. Rise time, tr
SECOND-ORDER SYSTEM
General form:
Kn2
Gs 2
s 2n s n2
Where,
K : Gain
: Damping ratio
n : Undamped natural frequency
Roots of denominator:
s 2 2n s n2 0
s1, 2 n n 2 1
SECOND-ORDER SYSTEM
Natural frequency, n
Frequency of oscillation of the system without damping.
Damping ratio,
Quantity that compares the exponential decay frequency of the
envelope to the natural frequency.
G s
400
a)
s 2 12s 400
G s 2
900
b)
s 90s 900
G s 2
225
c)
s 30s 225
G s 2
625
d)
s 625
SECOND-ORDER SYSTEM
SECOND-ORDER SYSTEM
SECOND-ORDER SYSTEM
Step responses for second-order system damping cases
SECOND-ORDER SYSTEM
Pole plot for the underdamped second-order system
SECOND-ORDER SYSTEM
Second-order response as a function of damping ratio
SECOND-ORDER SYSTEM
Second-order response as a function of damping ratio
SECOND-ORDER SYSTEM
When 0 < < 1, the transfer function is given by the following.
Kn2 Where,
Gs d n 1 2
s n jd s n jd
Pole position:
SECOND-ORDER SYSTEM
Second-order response components generated by complex
poles
SECOND-ORDER SYSTEM
Second-order underdamped responses for damping ratio value
TRANSIENT RESPONSE SPECIFICATIONS
Second-order underdamped response specifications
TRANSIENT RESPONSE SPECIFICATIONS
Rise time, Tr
The time for the waveform to go from 0.1 to 0.9 of its final value.
Peak time, Tp
The time required to reach the first Tp 2
or maximum peak. n 1
Settling time, Ts
The time required for the transients 4
damped oscillation to reach and stay
Ts
n
within 2% of the steady-state value.
TRANSIENT RESPONSE SPECIFICATIONS
Percent overshoot, %OS
The amount that the waveform overshoots the steady-state, or
final value at peak time, expressed as a percentage of the steady-
state value.
( / 1 2 )
%OS e 100%
ln(% OS / 100)
2 ln 2 (%OS / 100)
SYSTEM PERFORMANCE
Percent overshoot versus damping ratio
SYSTEM PERFORMANCE
Lines of constant peak time Tp, settling time Ts and percent
overshoot %OS
a) With constant
real part
b) With constant
imaginary part
SYSTEM PERFORMANCE
Step responses of second-order underdamped systems as
poles move