SHANTILAL SHAH
ENGINEERING COLLEGE
Name :- Rao Pradeepkumar (170430117037)
Rathod Dhaval (170430117038)
Rakholiya Milan (170430117036)
Branch:- I.C. – (Sem-4)
Group No. 10
Sub:- Control system
Topic:- Transient Response Specifications
Introduction
• By varying a first-order system's parameter (T, K) simply changes
the speed and offset of the response
• Whereas, changes in the parameters of a second-order system can
change the form of the response.
• A second-order system can display characteristics much like a first-
order system or, depending on component values, display damped
or pure oscillation for its transient response.
SECOND ORDER SYSTEM
• A general second-order system is characterized by
the following transfer function.
C( s ) n2
2
R( s ) s 2 n s n2
TRANSIENT RESPONSE SPECIFICATIONS
C( s ) n2
2
R( s ) s 2 n s n2
n un-damped natural frequency of the second order system, which is
the frequency of oscillation of the system without damping.
damping ratio of the second order system, which is a measure
of the degree of resistance to change in the system output.
TRANSIENT RESPONSE SPECIFICATIONS
n n 2 1
n n 2 1
• According the value of , a second-order system can be set into one
of the four categories:
1. Overdamped - when the system has two real distinct poles ( >1).
jω
δ
-c -b -a
TRANSIENT RESPONSE SPECIFICATIONS
n n 2 1
n n 2 1
• According the value of , a second-order system can be set into one
of the four categories:
2. Underdamped - when the system has two complex conjugate poles (0 < <1)
jω
δ
-c -b -a
TRANSIENT RESPONSE SPECIFICATIONS
n n 2 1
n n 2 1
• According the value of , a second-order system can be set into one
of the four categories:
3. Undamped - when the system has two imaginary poles ( = 0).
jω
δ
-c -b -a
TRANSIENT RESPONSE SPECIFICATIONS
n n 2 1
n n 2 1
• According the value of , a second-order system can be set into one
of the four categories:
4. Critically damped - when the system has two real but equal poles ( = 1).
jω
δ
-c -b -a
TRANSIENT RESPONSE SPECIFICATIONS
For 0< <1 and ωn > 0, the 2nd order system’s response due to a
unit step input looks like
9
TRANSIENT RESPONSE SPECIFICATIONS
• The delay (td) time is the time required for the response
to reach half the final value the very first time.
• The rise time is the time required for the response to
rise from 10% to 90%, 5% to 95%, or 0% to 100% of its
final value
• The peak time is the time required for the response
to reach the first peak of the overshoot
10
TRANSIENT RESPONSE SPECIFICATIONS
• The maximum overshoot is the maximum peak value of
the response curve measured from unity.
• The settling time is the time required for the response
curve to reach and stay within a range about the final
value of size specified by absolute percentage of the final
value (usually 2% or 5%).
Time Domain Specifications (Rise Time)
n t
c(t ) 1 e cos d t sin d t
1 2
Put t t r in above equation
c(t r ) 1 e nt r cos d t r sin d t r
1 2
Where c(t r ) 1
0 e n t r cos d t r sin d t r
1 2
e nt r 0 0 cos d t r sin d t r
1 2
Time Domain Specifications (Rise Time)
cos d t r sin d t r 0
1 2
above equation can be re - writen as
1 2
sin d t r cos d t r
1 2
tan d t r
1 2
d t r tan 1
Time Domain Specifications (Rise Time)
1 2
d t r tan 1
1 1 2
1 n
tr tan
d n
tr
d tan 1 a
b
Time Domain Specifications (Peak Time)
n t
c(t ) 1 e cos d t sin d t
1 2
• In order to find peak time let us differentiate above equation w.r.t t.
dc(t )
n t
n e cos d t sin d t e n d sin d t
t d
cos d t
dt 1 2 1 2
2 n d
n t
0e n cos d t sin d t d sin d t cos d t
1 2
1 2
2
1 2
0 e nt n cos d t n
sin d t d sin d t n cos d t
1 2
1 2
Time Domain Specifications (Peak Time)
2
1 2
n t
0e n cos d t n
sin d t d sin d t n
cos d t
1 2
1 2
2
e nt n
sin d t d sin d t 0
1 2
2
e nt 0 n
sin d t d sin d t 0
1 2
2
sin d t n
d 0
1 2
Time Domain Specifications (Peak Time)
2
sin d t n
d 0
1 2
2
n
d 0
1 2 sin d t 0
d t sin 1 0
0, , 2 ,
t
d
• Since for underdamped stable systems first peak is maximum peak
therefore,
tp
d
Time Domain Specifications (Maximum Overshoot)
n t p
c(t p ) 1 e cos d t p sin d t p
1 2
c( ) 1
M p 1 e n p cos d t p sin d t p 1 100
t
1 2
Put tp in above equation
d
n
M p e d cos
sin
100
d
d 2
d
d
1
Time Domain Specifications (Maximum Overshoot)
n
M p e d cos
sin
100
d
d 2
d
d
1
Put ωd ωn 1-ζ 2 in above equation
n
n 1 2 cos 100
M p e sin
2
1
M p e
1 2
1 0 100
1 2
Mp e 100
Time Domain Specifications (Settling Time)
c(t ) 1 e nt cos d t sin d t
1 2
n n 2 1
1
T
n
Real Part Imaginary Part
Time Domain Specifications (Settling Time)
• Settling time (2%) criterion
• Time consumed in exponential decay up to 98% of the input.
4
t s 4T T
1
n n
• Settling time (5%) criterion
• Time consumed in exponential decay up to 95% of the input.
3
t s 3T
n
THANK YOU....
