ISTANBUL AYDIN UNIVERSITY

FACULTY OF ENGINEERING
ELECTRICAL & ELECTRONICS ENGINEERING DEPT.

EEE362: CONTROL SYSTEMS

4. Transient Response Analysis

Instructor:
Assist. Prof. Dr. Mohammed ALKRUNZ
Electrical & Electronics Engineering Department
 Roadmap,,,

Modeling Analysis Design

Modeling:
 Mathematical representation for the physical system to be analyzed in the next steps.
 As it is given in the previous lectures: Transfer Function or State Space.
 In time response analysis, transfer function modeling will be used.

Analysis:
 Evaluate transient and steady state responses to see if they meet the performance
requirements (Satisfactory or not).
 To be studied starting from this lecture.

Design:
 Design controller that satisfies all the given transient and steady state responses.

Dr. M. Alkrunz
March 29, 2023 2
EEE362: Control Systems
 Introduction,,,

 After obtaining a mathematical representation of such a system, the system (or

plant) is analyzed for its transient and steady-state responses to see if these
characteristics yield the desired behavior.

 This lecture is devoted to the analysis of system transient response.

 Time response of any system consists of two parts:

𝑻𝒊𝒎𝒆 𝑹𝒆𝒔𝒑𝒐𝒏𝒔𝒆 = 𝑻𝒓𝒂𝒏𝒔𝒊𝒆𝒏𝒕 𝑹𝒆𝒔𝒑𝒐𝒏𝒔𝒆 + 𝑺𝒕𝒆𝒂𝒅𝒚 𝑺𝒕𝒂𝒕𝒆 𝑹𝒆𝒔𝒑𝒐𝒏𝒔𝒆

𝑦 𝑡 = 𝑦𝑡 𝑡 + 𝑦𝑠𝑠 (𝑡)

Transient Steady State

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March 29, 2023 3
EEE362: Control Systems
 Introduction,,,
Step Response
1.5

1
Amplitude

0.5

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4
Time (seconds)

Transient Time Steady State Time

As it is clear from the figure that the transient time is the time from zero (reset
state) till the response is settled down, while the steady state time is the remain
part after the transient died out.

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March 29, 2023 4
EEE362: Control Systems
 Time Response – Input and Output,,,

Step Response
1.5

Input Output
System 1

Amplitude
𝒓(𝒕) 𝐺(𝑠) 𝒚(𝒕) 0.5

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4
Time (seconds)

 We would like to analyze a system property by applying a test input 𝑟(𝑡) and
observing the time response 𝑦(𝑡).

 If a step input is applied to the system as an input signal, then the output is
called “Step Response”.

 If another type of signal such as impulse or ramp is applied to the system as

an input signal, then the output will be called related to this input response.
o Impulse response, if impulse signal is applied as input signal to the system.
o Ramp response, if ramp signal is applied as input signal to the system
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EEE362: Control Systems
 Time Response – Poles and Zeros,,,

 For any transfer function:

𝑛𝑢𝑚𝑒𝑟𝑎𝑡𝑜𝑟 𝑎𝑠 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 (𝑠) 𝑃(𝑠)

𝐺 𝑠 = =
𝑑𝑒𝑛𝑜𝑚𝑖𝑛𝑎𝑡𝑜𝑟 𝑎𝑠 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 (𝑠) 𝑄(𝑠)

 Poles of a transfer function are the roots of the characteristic polynomial in the
denominator Q(s).

 Zeros of a transfer function are the roots of the characteristic polynomial in the
numerator P(s).

Example:
𝒑𝒐𝒍𝒚𝒏𝒐𝒎𝒊𝒂𝒍 𝒐𝒇 (𝒛𝒆𝒓𝒐𝒔)
+6𝑠+5 𝑠2 (𝑠 + 1)(𝑠 + 5)
𝐺 𝑠 = 3 =
𝑠 + 9 𝑠 2 + 26 𝑠 + 24 (𝑠 + 2)(𝑠 + 3)(𝑠 + 4)
𝒑𝒐𝒍𝒚𝒏𝒐𝒎𝒊𝒂𝒍 𝒐𝒇 (𝒑𝒐𝒍𝒆𝒔)
 Poles are: 𝑠 = −2, 𝑠 = −3, and 𝑠 = −4
 Zeros are: 𝑠 = −1 and 𝑠 = −5
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March 29, 2023 6
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 Time Response - s-Plane,,,

𝒊𝒎𝒈(𝒔)

LHP RHP
𝑠 ≡ 𝑟𝑒𝑎𝑙 𝑝𝑎𝑟𝑡 + 𝑖𝑚𝑎𝑔𝑖𝑛𝑎𝑟𝑦 𝑝𝑎𝑟𝑡
𝑠 = 𝜎 + 𝑗𝑤
𝑹𝒆(𝒔)
𝑳𝒆𝒇𝒕 𝑯𝒂𝒍𝒇 𝑷𝒍𝒂𝒏𝒆 𝑹𝒊𝒈𝒉𝒕 𝑯𝒂𝒍𝒇 𝑷𝒍𝒂𝒏𝒆
(LHP) (RHP)

𝑗𝑤
𝒔 − 𝒑𝒍𝒂𝒏𝒆 𝒑𝒐𝒍𝒆𝒔

In the s-plane: × 𝐨 𝐨 × 𝜎
 Poles are indicated as “x”
 Zeros are indicated as “o” 𝒛𝒆𝒓𝒐𝒔

Dr. M. Alkrunz 𝒔 − 𝒑𝒍𝒂𝒏𝒆

March 29, 2023 7
EEE362: Control Systems
 Time Response – System Orders,,,

 We have two types of systems to be considered in this course:

1. First Order Systems [First order means that we have just one pole]

2. Second Order Systems [Second order means that we have two poles]

 First Order System:

𝒌𝒅𝒄
𝒌𝒅𝒄 𝝉 𝒌𝒅𝒄 𝒂
𝑮 𝒔 = = =
𝝉𝒔+𝟏 𝒔+𝟏 𝝉 𝒔+𝒂

where:
 𝑘𝑑𝑐 is the dc gain
 𝜏 is the time constant
 𝑎=1 𝜏
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March 29, 2023 8
EEE362: Control Systems
 Time Response – System Orders,,,

 First Order System:

𝒌𝒅𝒄
𝒌𝒅𝒄 𝝉 𝒌𝒅𝒄 𝒂
𝑮 𝒔 = = =
𝝉𝒔+𝟏 𝒔+𝟏 𝝉 𝒔+𝒂

 Time constant “𝝉” :

It is the time it takes for the step
response to rise to 63% of the final
value. (𝜏 = 1 𝑎)

4
 Settling Time “𝑻𝒔 ”: 𝑇𝑠 = or 4𝜏 𝝉
𝑎

2.2
 Rise Time “𝑻𝒓 ”: 𝑇𝑟 = or 2.2𝜏
𝑎

 No Overshoot “OS%”: OS%= 0%

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March 29, 2023 9
EEE362: Control Systems
 Time Response – System Orders,,,

Example:

A system has a transfer function,

50
𝐺 𝑠 =
𝑠 + 50
Find the dc gain “𝑘𝑑𝑐 ”,time constant “𝜏”, settling time “𝑇𝑠 ”, and rise time “𝑇𝑟 ”.

Solution:
50 𝑘𝑑𝑐 𝑎
The system is a first order system, then: 𝐺 𝑠 = =
𝑠 + 50 𝑠 + 𝑎
 𝑘𝑑𝑐 𝑎 = 50, since 𝑎 = 50 then 𝑘𝑑𝑐 = 1
1 1
 𝜏= = = 0.02 𝑠𝑒𝑐
𝑎 50
 𝑇𝑠 = 4 𝜏 = 4 × 0.02 = 0.08 𝑠𝑒𝑐
 𝑇𝑟 = 2.2 𝜏 = 2.2 × 0.02 = 0.044 𝑠𝑒𝑐
Dr. M. Alkrunz
March 29, 2023 10
EEE362: Control Systems
 Time Response – System Orders,,,

 Second Order System:

𝒌𝒅𝒄 𝝎𝒏 𝟐
𝑮 𝒔 = 𝟐
𝒔 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐

 Characteristic equation: 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 = 0

 The system poles are the roots of characteristic equation:

𝑗𝜔𝑑
𝑠1,2 = −𝜎 ± 𝑗𝜔𝑑 = − 𝜁𝜔𝑛 ± 𝑗 𝜔𝑛 1 − 𝜁 2
𝜎 𝜔𝑑

where:
𝜎
 𝜔𝑛 is the natural frequency (rad/sec)
 𝜁 is the damping ratio
 𝜔𝑑 is the damping frequency (rad/sec)
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March 29, 2023 11
EEE362: Control Systems
 Time Response – System Orders,,,

 The above figure illustrates the transient and steady state responses analysis.
Let us investigate that in details.
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 Time Response – System Orders,,,

 Delay Time “𝒕𝒅 ”: is the time required for the

response to reach 50% of the final value.
 Rise Time “𝒕𝒓 ”: is the time required for the
response to go from 0.1 to 0.9 of the final
value.
 Peak Time “𝒕𝒑 ”: is the time required for the
response to reach the first, or maximum
peak.
 Settling Time “𝒕𝒔 ”: is the time required for
the transient’s damped oscillation to reach
and stay within ±2% of the steady state
value.
 Peak Overshoot“𝑶𝑺%”: is the amount that
the response overshoots the steady state, or
final, value at the peak time, expressed as a
percentage of the steady state value.

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 Time Response – System Orders,,,

 Rise Time “𝒕𝒓 ”: 𝒚𝒑

2.2 𝒚𝒔𝒔
𝑡𝑟 =
𝜔𝑛

 Peak Time “𝒕𝒑 ”:

𝜋
𝑡𝑝 =
𝜔𝑛 1 − 𝜁 2

 Settling Time “𝒕𝒔 ”:

4
𝑡𝑠 =
𝜁𝜔𝑛

 Peak Overshoot“𝑶𝑺%”:
−𝜋𝜁
𝑦𝑝 −𝑦𝑠𝑠
𝑂𝑆% = 𝑒 1−𝜁 2 × 100% Or 𝑂𝑆% = × 100%
𝑦𝑠𝑠

Dr. M. Alkrunz
March 29, 2023 14
EEE362: Control Systems
 Time Response – System Orders,,,

Example:

A system has a transfer function,

36
𝐺 𝑠 =
𝑠 2 + 4.2 𝑠 + 36
Find 𝜁 and 𝜔𝑛 .

Solution:
36 𝑘𝑑𝑐 𝜔𝑛 2
𝐺 𝑠 = 2 =
𝑠 + 4.2 𝑠 + 36 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2

𝜔𝑛 2 = 36 ≫≫≫ 𝜔𝑛 = 36 = 𝟔 𝒓𝒂𝒅/𝒔𝒆𝒄

4.2
2𝜁𝜔𝑛 = 4.2 ≫≫≫ 𝜁 = = 𝟎. 𝟑𝟓
2𝜔𝑛
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EEE362: Control Systems
 Time Response – Types of Step Response,,,

 The locations of system’s poles (roots of characteristic equation) play an

important role in the system performance (𝑡𝑠 , 𝑡𝑝 , 𝑡𝑟 , and 𝑂𝑆%).

 Here, the types of step response for the second order system:

1. Underdamped Step Response:

 Poles of the transfer function are complex.

𝑠1,2 = −𝜎 ± 𝑗𝜔𝑑 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2

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 Time Response – Types of Step Response,,,

2. Critically damped Step Response:

 Poles of the transfer function are real and repeated (two real poles at same
position).

𝑠1,2 = −𝜎 = −𝜁𝜔𝑛

 Since there is no complex part, no overshoot will be appear.

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 Time Response – Types of Step Response,,,

3. Overdamped Step Response:

 Poles of the transfer function are real and distinct (two real poles at different
positions).
𝑠1 = 𝜎1 and 𝑠2 = 𝜎2

𝜎1

𝜎2

 Since there is no complex part, no overshoot will be appear.

 The response in this case will be slower than the critically damped case.
 Especially in this response, settling time can be calculated from 𝑠1 .
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March 29, 2023 18
EEE362: Control Systems
 Time Response – Types of Step Response,,,

4. UndampeStep Response:

 Poles of the transfer function are imaginary (two imaginary poles).

𝑠1,2 = −𝜎 ± 𝑗𝜔𝑑 = − 𝜁 𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2 = ±𝒋𝝎𝒏

0 0

𝜁=0

 Since there is no real part, high and periodic oscillation will be produced.

 The system in this case will be called “Margin Stable”

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March 29, 2023 19
EEE362: Control Systems
 Time Response – Types of Step Response,,,

Some Important Comments

1. Overshoot has direct relationship with the damping ratio “𝜁”. Therefore, it is
important to note that damping ratio “𝜁” changes between 0 and 1. Thus, the
overshoot is changing from 0% (𝜁 = 1) to 100% (𝜁 = 0). See the figure,

𝜻 Step response
0 < 𝜁 < 1 Underdamped
𝜁=1 Critically damped
𝜁=0 Undamped
𝜁>1 Overdamped

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March 29, 2023 20
EEE362: Control Systems
 Time Response – Types of Step Response,,,
Some Important Comments
2. The system is stable if all poles are located in the left half plane (LHP), and if
any pole of them is located in the right half plane (RHP), directly the system
will be unstable. Namely, the system needs at least one pole in the (RHP) to be
unstable while it needs all the poles to be located in (LHP) to be stable.

Poles locations Stability

𝒋𝝎𝒅
(a) All of them at LHP Stable
(b) At imaginary axis Margin Stable
LHP RHP
(c) At least one at RHP Unstable

𝒊𝒎𝒂𝒈𝒊𝒏𝒂𝒓𝒚
𝒂𝒙𝒊𝒔
𝒔 − 𝒑𝒍𝒂𝒏𝒆
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March 29, 2023 21
EEE362: Control Systems
 Time Response,,,

Another possible way to find 𝝎𝒏 and 𝜻 from the pole location in s-plane

= 𝜎 2 + 𝜔𝑑 2 = 𝜁 2 𝜔𝑛 2 + 𝜔𝑛 2 1 − 𝜁 2 = 𝜔𝑛 2 = 𝜔𝑛

×
𝜎 𝜁𝜔𝑛
𝝎𝒏 cos 𝛽 = = =𝜁
𝜔𝑛 𝜔𝑛

𝜁 = cos 𝛽

By this way we can verify that 𝜁 changes from 0 to 1

 At real axis, 𝛽 = 0𝑜 then 𝜁 = cos 0 = 1

 At imaginary axis, 𝛽 = 90𝑜 then 𝜁 = cos 90 = 0

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March 29, 2023 22
EEE362: Control Systems
 Open Loop and Closed Loop Systems,,,

Open Loop System:

The transfer function of open loop is:

𝑌(𝑠) 𝑮(𝒔)
𝐺 𝑠 =
𝑋(𝑠) 𝑿(𝒔) 𝒀(𝒔)

Closed Loop System:

The transfer function of closed loop is:

𝑿(𝒔) + 𝒀(𝒔)
𝑌(𝑠) 𝐺(𝑠) 𝑮(𝒔)
𝑇 𝑠 = =
𝑋(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠) −

𝐇(𝒔)

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March 29, 2023 23
EEE362: Control Systems
 Examples,,,

Example 𝑮(𝒔)
𝑿(𝒔) 𝒀(𝒔)
𝒀(𝒔) 𝟏𝟖
𝑮 𝒔 = =
𝑿(𝒔) 𝒔𝟐 + 𝟒 𝒔 + 𝟗

a) Find 𝜻, 𝝎𝒏 , 𝒕𝒔 , and OS%

b) Characterize the type of the response

c) Find the final value 𝒚𝒔𝒔 if the input is 𝒙 𝒕 = 𝟑 𝒖(𝒕)

Solution:

(a)

18 𝑘𝑑𝑐 𝜔𝑛 2
𝐺 𝑠 = 2 =
𝑠 + 4 𝑠 + 9 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2

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March 29, 2023 24
EEE362: Control Systems
 Examples,,,

Solution (Continue):

18 𝑘𝑑𝑐 𝜔𝑛 2
𝐺 𝑠 = 2 =
𝑠 + 4 𝑠 + 9 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2

𝜔𝑛 2 = 9 ≫≫ 𝜔𝑛 = 9 = 𝟑 𝒓𝒂𝒅/𝒔𝒆𝒄

4 4
2𝜁𝜔𝑛 = 4 ≫≫ 𝜁 = = = 𝟎. 𝟔𝟕
2𝜔𝑛 2 3

4 4
𝑡𝑠 = = = 2 𝑠𝑒𝑐
𝜁𝜔𝑛 (0.67)(3)

−𝜋𝜁
𝑂𝑆% = exp × 100% = 6 %
1− 𝜁2
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March 29, 2023 25
EEE362: Control Systems
 Examples,,,

Solution (Continue):

(b)

Since 𝜁 = 0.67 which means that 0 < 𝜁 < 1, then the system is underdamped.

 If you check the poles of the system, you will find them complex poles with
real and imaginary part which mean again the response is underdamped.

 Also, since we have an overshoot, this mean also it is underdamped.

(c)

3 18 (3)(18)
𝑦𝑠𝑠 = lim 𝑠 𝑌(𝑠) = lim 𝑠 𝑋 𝑠 𝐺 𝑠 = lim 𝑠 × × 2 = =𝟔
𝑠→0 𝑠→0 𝑠→0 𝑠 𝑠 +4𝑠+9 9

Another possible way, 𝑘𝑑𝑐 𝜔𝑛 2 = 18 ≫≫ 𝑘𝑑𝑐 = 2 and input is 3, then 2 × 3 = 6

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March 29, 2023 26
EEE362: Control Systems
 Examples,,,

Example

For the given pole plot in the figure,

Find 𝜻, 𝝎𝒏 , 𝒕𝒔 , and OS%

Solution:
𝜔𝑑 = 7 and 𝜎 = 3
𝜔𝑛 = 𝜎 2 + 𝜔𝑑 2 = 32 + 72 = 7.616 rad/sec

𝜎 3
𝜁 = cos 𝜃 = = = 0.394
𝜔𝑛 7.616
4 4
𝑡𝑠 = = = 1.33 𝑠𝑒𝑐
𝜁𝜔𝑛 0.349 × 7.616

−𝜋𝜁
𝑂𝑆% = 𝑒𝑥𝑝 × 100% = 26 %
1− 𝜁2
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March 29, 2023 27
EEE362: Control Systems
 Examples,,,

Example

+ + 500 1
𝑹(𝒔) 𝑘 𝐺 𝑠 = 𝒀(𝒔)
𝑠+5 20 𝑠
− −

𝑘𝑡

For the given system above,

Find 𝒌 and 𝒌𝒕 such that 𝑶𝑺% = 𝟒. 𝟑% and 𝒕𝒔 = 𝟎. 𝟔𝟐𝟖 𝒔𝒆𝒄.

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March 29, 2023 28
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 Examples,,,

Solution (Continue):

First, we should find the equivalent transfer function,

𝑨(𝒔)

+ + 500 1
𝑹(𝒔) 𝑘 𝐺 𝑠 = 𝒀(𝒔)
𝑠+5 20 𝑠
− −

𝑘𝑡

500
𝐺(𝑠) 𝑠+5 500
𝐴 𝑠 = = =
1 + 𝑘𝑡 𝐺(𝑠) 1 + 𝑘 500 𝑠 + 500𝑘𝑡 + 5
𝑡𝑠+5

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March 29, 2023 29
EEE362: Control Systems
 Examples,,,

Solution (Continue):

The system will be:

𝑩(𝒔)

+ 1 𝒀(𝒔) +
𝑹(𝒔) 𝑘 𝐴(𝑠) 𝐵(𝑠)
20 𝑠
− −

1 500𝑘 25𝑘
𝐵 𝑠 =𝑘𝐴 𝑠 = = 2
20 𝑠 20𝑠(𝑠 + 500𝑘𝑡 + 5 ) 𝑠 + 500𝑘𝑡 + 5 𝑠

𝑌(𝑠) 𝐵(𝑠) 25𝑘

𝑇 𝑠 = = = 2
𝑅(𝑠) 1 + 𝐵(𝑠) 𝑠 + 500𝑘𝑡 + 5 𝑠 + 25𝑘

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March 29, 2023 30
EEE362: Control Systems
 Examples,,,

Solution (Continue):
𝑹(𝒔) 25𝑘 𝒀(𝒔)
𝑠 2 + 500𝑘𝑡 + 5 𝑠 + 25𝑘

𝑂𝑆% = 4.3% (Given)

3.147 1 − 𝜁 2 = 𝜋𝜁
4.3 −𝜋𝜁 2
= exp 3.147 1 − 𝜁2 = 𝜋 2 𝜁2
100 1 − 𝜁2
𝜁 2 𝜋 2 + 9.9 = 9.9
4.3 −𝜋𝜁
ln =
100 1 − 𝜁2 9.9
𝜁= = 𝟎. 𝟕𝟎𝟕
𝜋 2 + 9.9
−𝜋𝜁
−3.147 =
1 − 𝜁2
Dr. M. Alkrunz
March 29, 2023 31
EEE362: Control Systems
 Examples,,,

Solution (Continue):

𝑹(𝒔) 25𝑘 𝒀(𝒔)

𝑠 2 + 500𝑘𝑡 + 5 𝑠 + 25𝑘

𝑡𝑠 = 0.628 𝑠𝑒𝑐 (Given)

4
𝑡𝑠 = = 0.628
𝜁𝜔𝑛

4 4
𝜔𝑛 = = = 𝟗 𝑟𝑎𝑑/𝑠𝑒𝑐
0.628 × 𝜁 0.628 × 0.707

Dr. M. Alkrunz
March 29, 2023 32
EEE362: Control Systems
 Examples,,,

Solution (Continue):

25𝑘 𝑘𝑑𝑐 𝜔𝑛 2
=
𝑠 2 + 500𝑘𝑡 + 5 𝑠 + 25𝑘 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2

25𝑘 = 𝜔𝑛 2

𝜔𝑛 2 9 2
𝑘= = = 𝟑. 𝟐𝟓
25 25

500𝑘𝑡 + 5 = 2𝜁𝜔𝑛

2𝜁𝜔𝑛 − 5 2 0.707 9 − 5
𝑘𝑡 = = = 𝟎. 𝟎𝟏𝟓𝟒
500 500

Dr. M. Alkrunz
March 29, 2023 33
EEE362: Control Systems
 *Questions

Dr. M. Alkrunz
March 29, 2023 34
EEE362: Control Systems
 *Thanks
Dr. M. Alkrunz
March 29, 2023 35
EEE362: Control Systems