Transient and Steady State Response Analysis
Transient and Steady State Response Analysis
Chapter 4
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Introduction:
Control systems use time as its independent
variable.
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For example consider a simple ammeter as a system.
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To get the desired output, system must pass
satisfactorily through transient period.
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From transient response we can get following
information about the system,
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Standard test Inputs
Many signals are available which are the functions of
time and can be used as reference inputs for the
various control systems.
These signals are step, ramp, saw tooth type, square
wave, triangular etc.
While analyzing the systems it is highly impossible to
consider each one of it as an input and study the
response.
The signals which are most commonly used as
reference inputs are defined as Standard Test Inputs.
The evaluation of the system can be done on the
basis of the response given by the system to the
standard test inputs.
Once system behaves satisfactorily to a test input, its
time response to actual input is assumed to be up to
the mark. 12/23/2019 13
Standard test signals are
i. Step Input (position function):
It is the sudden application of the input at a specified
time as shown in the fig
If A = 1, i.e.,
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Impulse Input:
It is the input applied instantaneously (for short
duration of time) of very high amplitude as shown in
the fig.
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The Laplace transform of unit impulse input is always
1. The unit impulse is denoted as δ(t)
Unit parabolic -
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Derivation of steady state error:
Consider a simple closed loop system having negative
feed back as shown in fig.
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Relating this in Laplace domain using final value
theorem, which states that,
Therefore,
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For a given system
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b) Reference input is ramp of magnitude A:
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For a given system
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c) Reference input is parabolic of magnitude A:
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For a given system,
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So static error coefficients are given in table.
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Effect of change of G(s) H(s) on Steady State Error
(Type of a system):
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‘TYPE’ of system means number of poles at origin of
open loop T.F. G(s)H(s) of the system.
So,
j = 0, TYPE, zero system
j = 1, TYPE, one system
j = 2, TYPE, two system
:
:
j = n, TYPE, ‘n’ system
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Transient Response Analysis
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Method to Determine Total Output c(t)
Determine the closed loop transfer function of the
system
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Now first calculate system T.F. The Laplace network is
shown in the fig.
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Unit Step Response of First Order System
Let input applied vi(t) is unit step voltage.
Substituting
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Now suppose input is changed to step of ‘A’ units.
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Closed Loop Poles of First Order System
The closed loop transfer function of a system is given
by,
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The pole-zero plot is as shown in the fig.
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This damping ratio, explaining such behavior is
denoted by a Greek symbol (zeta) ξ.
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For a second order system the denominator of closed
loop T.F. is quadratic and the coefficients of this
equation are directly related to ξ and ωn as explained
below.
The C.L.T.F. (closed loop transfer function) for a
standard second order system takes the form as,
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This C.L.T.F. is not standard as numerator term is not
ωn2 but denominator always reflects ξ and ωn. The
values can be decided by comparing the denominator
with the standard characteristic equation
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Effect of ξ on Second Order System
Performance
Consider input applied to the standard second order
system is unit step
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We can write,
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Case 3: 0 < ξ < 1
The roots are,
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Case 4: ξ = 0
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Summarizing effect of zeta on time response for all
the cases as in the table
Range of ξ Type of closed loop Nature of response System
poles Classification
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Unit step response of a Second order system
(Underdamped case):
This result can be used as a standard result for
underdamped systems only with ξ < 1.
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then the above result can be applied by expressing
C(s)/R(s) as,
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4. If numerator of C(s)/R(s) has some polynomial in s
as,
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Transient Response Specifications:
The actual output behaviour according to expression
derived can be shown as in the fig.
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The various time response specifications are defined with
reference to above fig as;
1. Delay Time Td: It is the time required for the response
to reach 50% of the final value in the first attempt. It
is given by,
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3. Peak Time Tp: It is the time required for the response
to reach its peak value. It is also defined as the time
at which response undergoes the first overshoot
which is always peak overshoot.
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5. Settling Time Ts: This is defined as the time required
for the response to decrease and stay within specified
percentage of its final value (within tolerance band).
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Let us find out, output response for unit step input.
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As closed loop poles are located in left half of s-
plane, in output response there are exponential
terms with negative indices i.e., e-2t and e-4t.
Now as both exponential terms will approach to
zero and output will be steady state output.
i.e. as
Transient output = 0
Such systems are called absolutely stable systems.
Now transient terms are exponential terms with
negative index because closed loop poles are located
in left half of s-plane. For the above system under
consideration, the closed loop poles are s= -2 and s=
-4 and the negative indices of exponential terms are
also -2 and -4.
Key Point: Thus if closed loop poles are located in
left half, exponential indices in output are negative.
And if indices are negative, exponential and transient
terms will vanish when
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Now let us have a system with one closed loop pole
located in right half of s-plane.
0 0
1 +4.91
2 +44.23
4 +2481.88
∞ ∞
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As it is clear from the table that instead of
approaching to steady state value as , due to
exponential term with positive index, transients go on
increasing in amplitude. So such system is said to be
unstable.
In such systems output is uncontrollable and
unbounded one. Output response of such systems is
as shown in the fig.
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The stability depends on locations of closed loop
poles. And the closed loop poles are the roots of the
characteristic equation of the system.
So, closed loop poles = roots of the characteristic
equation
If all the closed loop poles or roots of characteristic
equation lies in left half of s-plane then in the output
response there will be exponential terms with
negative indices along with steady state terms.
Such transient terms approach to zero as time
advances. Eventually output reaches to equilibrium
and attains steady state value.
So transient terms in such systems may give
oscillations but the amplitudes of such oscillations
will be decreasing w.r.t. time and finally will vanish.
So output response of such system can be shown as
in the fig. 12/23/2019 77
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Critically or Marginally Stable System:
A linear time invariant system is said to be critically or
marginally stable if for a bounded input its output
oscillates with constant frequency and amplitude. Such
oscillations of output are called Undamped oscillations or
sustained oscillations.
For such systems, one or more pairs of nonrepeated roots
are located on imaginary axis as shown in the fig (b).
Output response of such systems is as shown in the fig
(a).
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Conditionally stable system:
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The order is n x n where n = order of characteristic
equation. In Hurwitz determinant all coefficients with
suffices greater than ‘n’ or negative suffices must all
be replaced by zeros. From Hurwitz determinant sub
determinants DK, K = 1, 2, …. n must be formed as
follows:
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Disadvantages of Hurwitz’s Method
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Routh’s Stability Criterion
It is also called Routh’s array method or Routh-
Hurwitz’s method
Routh suggested a method of tabulating the
coefficients of characteristic equation in a particular
way. Tabulation of coefficients gives an array called
Routh’s array.
Consider the general characteristic equation as,
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Coefficients for first two rows are written directly
from characteristic equation.
From these two rows next rows can be obtained as
follows.
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Routh’s Criterion
The necessary and sufficient condition for system to
be stable is “All the terms in the first column of
Routh’s array must have same sign. There should not
be any sign change in the first column of Routh’s
array.”
i. System is unstable.
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Special Cases of Routh’s Criterion
Special case 1
First element of any of the rows of Routh’s array is
zero and the same remaining row contains at least
one non-zero element.
Effect: The terms in the new row become infinite
and Routh’s test fails.
said difficulty.
First method: Substitute a small positive number ‘ε’
in place of a zero occurred as a first element in a
row. Complete the array with this number ‘ε’. Then
examine the sign change by taking
Consider above example.
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To examine sign change,
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Second method: To solve the above difficulty one
more method can be used. In this, replace ‘s’ by ‘1/z’
in original equation. Taking L.C.M., rearrange
characteristic equation in descending powers of ‘z’.
Then complete the Routh’s array with this new
equation in ‘z’ and examine the stability with this
array.
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As there are two sign changes, system is unstable.
The result is same. 12/23/2019 97
Special Case 2
All the elements of a row in a Routh’s array are zero.
Effect: the terms of the next row cannot be
determined and Routh’s test fails
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Procedure to Eliminate this Difficulty
i. Form an equation by using the coefficients of a row
which is just above the row of zeros. Such an
equation is called an Auxiliary Equation denoted as
A(s). for above case such an equation is,
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So the locations of roots of the above equation are
dependent on the proper selection of value of ‘K’.
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