‫بسم هللا الرحمن الرحيم‬

Faulty of Engineering
Mechatronics Engineering Dept.

Automatic Control & Applications Course

Lec 5
Time Response

DR. M. Arafa 20/3/2024

 Lecture (5): Time Response

➢ Time Response of Second Order System (Underdamped Case)

➢ Solved examples about Time Response

➢ Steady-state Error

➢ Error Coefficients
(2) Unit-step Response of the
Second Order System
 Second Order System
𝜔𝑛 2
𝑌 𝑠 𝑠 𝑠+2ζ𝜔𝑛 𝜔𝑛 2 𝜔𝑛 2
• 𝑇. 𝐹 = = 𝜔𝑛 2
= =
𝑅 𝑠 1+ 𝑠 𝑠+2ζ𝜔𝑛 +1 𝑠 2 +2ζ𝜔𝑛 𝑆+𝜔𝑛 2
𝑠 𝑠+2ζ𝜔𝑛

𝜔𝑛 2
• 𝑌 𝑠 = 𝑅(𝑠)
𝑠 2 +2ζ𝜔𝑛 𝑆+𝜔𝑛 2
𝑅(𝑠) + 𝜔𝑛 2 𝑌(𝑠)
The characteristic equation is − 𝑠 𝑠 + 2ζ𝜔𝑛
𝑠 2 + 2𝜁𝜔𝑛 𝑆 + 𝜔𝑛 2 = 0
The Roots of the characteristic equation

−2𝜁𝜔𝑛 ± 2𝜁𝜔𝑛 2 − 4𝜔𝑛 2 −2𝜁𝜔𝑛 ± 2𝜔𝑛 𝜁 2 − 1

𝑠1,2 = =
2 2

= −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 where: • 𝜻 is the damping ratio

• 𝝎𝒏 is the natural frequency > 0

𝒔𝟏,𝟐 = −𝜻𝝎𝒏 ± 𝝎𝒏 𝜻𝟐 − 𝟏

±
Illustrative Example for the Different Cases of a Second-order Response
Illustrative Example for the Different Cases of a Second-order Response
Unit-step Response Curves of a Second-order System for Different Values of 𝜻
 Unit-step response of the second order system: Overdamped case
• 𝜁>1
• 𝑠1,2 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1 (real and unequal)
Assume that 𝑠1,2 = −𝑘1 , −𝑘2

𝜔𝑛 2 𝜔𝑛 2
⇒𝑌 𝑠 = =
𝑠(𝑠 2 +2𝜁𝜔𝑛 𝑠+𝜔𝑛 2 ) 𝑠(𝑠+𝑘1 )(𝑠+𝑘2 )
𝑦 𝑡

𝐴 𝐵 𝐶
= + +
𝑠 𝑠+𝑘1 𝑠+𝑘2
1
∴ 𝑦 𝑡 = 𝐴 + 𝐵𝑒 −𝑘1𝑡 + 𝐶𝑒 −𝑘2𝑡 (Note that A=1)
𝜻 = 𝟏𝜻 = 𝟐
𝜻=𝟑
𝜻=𝟒

• NO oscillation
• Pure exponential
𝑡
• Damping is so high
• The system is referred to as overdamped System
 Unit-step response of the second order system: Critically damped case
r(t) R(s)
• 𝜁=1 𝑡𝑒 −𝑎𝑡 1
• 𝑠1,2 = −𝜔𝑛 (real and equal) (𝑠 + 𝑎)2

𝜔𝑛 2 𝜔𝑛 2 𝐴 𝐵 𝐶
𝑌 𝑠 = 2 2 = 2 = + +
𝑠(𝑠 + 2𝜔𝑛 𝑠 + 𝜔𝑛 ) 𝑠(𝑠 + 𝜔𝑛 ) 𝑠 (𝑠 + 𝜔𝑛 ) (𝑠 + 𝜔𝑛 )2

∴ 𝑦 𝑡 = 𝐴 + 𝐵𝑒 −𝜔𝑛 𝑡 + 𝐶𝑡𝑒 −𝜔𝑛 𝑡 (Note that A=1) 𝑦 𝑡

• NO oscillation, Pure exponential

1
• Faster response
• The system is referred to as Critically Damped System

𝑡
 Unit-step response of the second order system: underdamped case

• 0<𝜁<1
• 𝑠1,2 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 (1 − 𝜁 2 ) (complex conjugate)

𝜔𝑛 2 𝐴 𝐵𝑠 + 𝐶
𝑌 𝑠 = = + 2
𝑠(𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 ) 𝑠 𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2
2 2

𝑒 −𝜁𝜔𝑛 𝑡
𝑦 𝑡 =1− sin( 𝜔𝑑 𝑡 + ∅)
1− 𝜁2
where:
• 𝜔𝑑 = 𝜔𝑛 (1 − 𝜁 2 ) rad/sec is called damped frequency
• ∅ = 𝐶𝑜𝑠 −1 (𝜁)
• The system is referred to as underdamped system
0.9

0.1

𝒕𝒓

Transient Response Specifications of a Second-order System: underdamped case

Transient response specification of the second order system: underdamped case

➢ The transient response of a practical control system often exhibits damped oscillations before
reaching steady state. In specifying the transient-response characteristics of a control system to
a unit-step input, it is common to specify the following:

• Rise time, 𝑡𝑟

• Peak time, 𝑡𝑝

• Maximum overshoot, 𝑀𝑃

• Settling time, 𝑡𝑠
(1) Rise time (𝒕𝒓 ):

➢ It is defined as the time required for the response to reach from 10% to 90% of the final
value for the first time.

𝜋−∅
𝑡𝑟 = sec
𝜔𝑑

where:

• 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2

• ∅ = 𝑐𝑜𝑠 −1 (𝜁)
(2) Peak time (𝒕𝑷 ):

➢ It is defined as the time required for the response to reach the first peak of the
overshoot.

𝜋
𝑡𝑃 = sec
𝜔𝑑

where:

• 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2
(3) Maximum Peak or Maximum overshoot (𝑴𝑷 ):

➢ It is defined as the maximum peak value of the response curve measured from the unity
input.

𝑀𝑝 = y 𝑡𝑝 − 1

−𝜁𝜋
𝑀𝑃 = 𝑒 1−𝜁 2
(4) Settling time (𝒕𝒔 ):

➢ It is defined as 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%).

Case of 2% tolerance 4
𝑡𝑠 = sec
𝜁𝜔𝑛

Case of 5% tolerance 3
𝑡𝑠 = sec
𝜁𝜔𝑛
Example 1:

➢ Consider the following feedback system:

𝑌(𝑠)
𝑅(𝑠) + 2
− 𝑠2

𝑠+1

Find 𝑡𝑟 , 𝑡𝑝 , 𝑀𝑃 and 𝑡𝑠 (2% tolerance of error)

Solution:
𝑌 𝑠 2
𝑇. 𝐹 = = 2
𝑅 𝑠 𝑠 + 2𝑠 + 2
 𝑌 𝑠 2 𝜔𝑛 2
𝑇. 𝐹 = = 2 =
𝑅 𝑠 𝑠 + 2𝑠 + 2 𝑠 2 + 2ζ𝜔𝑛 𝑆 + 𝜔𝑛 2

𝜋−∅ 3.14−0.785
𝑡𝑟 = = = 2.356 𝑠𝑒𝑐
• 𝜔𝑛2 = 2 ⇒ 𝜔𝑛= 2 𝑟𝑎𝑑/𝑠𝑒𝑐 𝜔𝑑 1

1 𝜋 𝜋
• 2 𝜁 𝜔𝑛 = 2 ⇒ 2𝜁 2 = 2 ⇒ 𝜁 = = 0.707 𝑡𝑃 = = = 3.14 𝑠𝑒𝑐
2 𝜔𝑑 1

• 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2 = 2 1 − 0.5 = 1 𝑟𝑎𝑑/𝑠𝑒𝑐
4 4
𝑡𝑠 = = = 4 𝑠𝑒𝑐
• ∅ = 𝑐𝑜𝑠 −1 𝜁 = 45° = 0.785 𝑟𝑎𝑑 𝜁𝜔𝑛 1
( 2)
2
−𝜁𝜋
𝑀𝑃 = 𝑒 1−𝜁 2 = 0.0432
Example 2:

➢ Consider the following feedback system:

𝑅(𝑠) + 𝑌(𝑠)
𝐴
− 𝑠2

1 + 𝐵𝑠

Find the values of A and B that make the system response achieves a peak time (𝑡𝑃 ) value of 5

sec with 50 % maximum overshoot (𝑀𝑃 ).

 Given
Solution:
𝜋
𝑌(𝑠) • 𝑡𝑃 = 5 sec ⇒ =5
𝑅(𝑠) + 𝜔𝑑
𝐴
𝑠2 ∴ 𝜔𝑑 = 0.628 𝑟𝑎𝑑/𝑠𝑒𝑐
−

• 𝑀𝑃 = 50% = 0.5
1 + 𝐵𝑠 −𝜁𝜋
⇒ 𝑀𝑃 = 𝑒 1−𝜁 2 = 0.5

𝑌 𝑠 𝐴 𝜔𝑛 2
𝑇. 𝐹 = = 2 = 2 −𝜁𝜋
𝑅 𝑠 𝑠 + 𝐴𝐵 𝑠 + 𝐴 𝑠 + 2ζ𝜔𝑛 𝑆 + 𝜔𝑛 2 ⇒ = ln( 0.5) = −0.693
1 − 𝜁2
• 𝜔𝑛2 = 𝐴
−𝜁𝜋
• 2 𝜁 𝜔𝑛 = 𝐴 𝐵 ⇒ = −0.693
1− 𝜁2
∴ 𝜁 = 0.215
 𝐴𝑠 𝜔𝑑 = 0.628 𝑟𝑎𝑑/𝑠𝑒𝑐

⇒ 𝜔𝑛 1 − 𝜁 2 = 0.628
we has been getting 𝜁 = 0.215
⇒ 𝜔𝑛 = 0.643𝑟𝑎𝑑/𝑠𝑒𝑐

• 𝜔𝑛2 = 𝐴 ⇒ 𝐴 = 0.4136

• 2 𝜁 𝜔𝑛 = 𝐴 𝐵

⇒ 2 (0.215) (0.643) = (0.4136) 𝐵

⇒ 𝐵 = 0.668
 Steady-state Error

➢ Steady-state error (𝒆𝒔𝒔 ) is defined as the difference between the desired input value and the

actual value of a system output in the limit as time goes to infinity (i.e., when the response of

the control system has reached steady-state). This means that it represents the system error 𝑒(𝑡)

at infinity.

𝑒𝑠𝑠 = 𝑒 ∞ = 𝑙𝑖𝑚 𝑒(𝑡) = 𝑙𝑖𝑚 𝑠 𝐸(𝑠)

𝑡→∞ 𝑠→0
 How to Obtain the Steady-state Error
Consider the following feedback control system:
• 𝑌 𝑠 = 𝐺 𝑠 𝐸(𝑠)
𝑬(𝒔)
• 𝐸 𝑠 =𝑅 𝑠 −𝐻 𝑠 𝑌 𝑠

= 𝑅 𝑠 − 𝐻 𝑠 𝐺 𝑠 𝐸(𝑠)

⇒ 1+𝐻 𝑠 𝐺 𝑠 𝐸 𝑠 =𝑅 𝑠

𝑅(𝑠)
∴ 𝐸 𝑠 =
1+𝐺 𝑠 𝐻(𝑠)

Thus, we can obtain ( 𝑒𝑠𝑠 ) as follow

𝑅(𝑠)
𝑒𝑠𝑠 = lim 𝑠 𝐸(𝑠) = lim 𝑠
𝑠→0 𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠)
 Input Effect on the Steady-state Error (Error Coefficients)

𝑅(𝑠)
𝑒𝑠𝑠 = lim 𝑠
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠)

Case(1): Unit-step Input

1
• 𝑟 𝑡 =𝑢 𝑡 ⇒𝑅 𝑠 =
𝑠

𝑅 𝑠 𝑠 1
∴ 𝑒𝑠𝑠 = lim 𝑠 = lim =
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠) 𝑠→0 𝑠(1 + 𝐺 𝑠 𝐻 𝑠 ) 1 + lim 𝐺 𝑠 𝐻 𝑠
𝑠→0

• Let 𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 (it is known as Positional Error Coefficient)

𝑠→0

1
∴ 𝑒𝑠𝑠 =
1 + 𝐾𝑝
 Input Effect on the Steady-state Error (Error Coefficients)

Case(2): Unit-ramp Input

1
• 𝑟 𝑡 =𝑡 ⇒𝑅 𝑠 =
𝑠2

𝑅 𝑠 𝑠 1
∴ 𝑒𝑠𝑠 = lim 𝑠 = lim 2 = lim
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠) 𝑠→0 𝑠 (1 + 𝐺 𝑠 𝐻 𝑠 ) 𝑠→0 𝑠 + 𝑠 𝐺 𝑠 𝐻 𝑠

1 1
= =
0 + lim 𝑠 𝐺 𝑠 𝐻 𝑠 lim 𝑠 𝐺 𝑠 𝐻 𝑠
𝑠→0 𝑠→0

• Let 𝐾𝑣 = lim 𝑠 𝐺 𝑠 𝐻 𝑠 (it is known as Velocity Error Coefficient)

𝑠→0

1
∴ 𝑒𝑠𝑠 =
𝐾𝑣
 Input Effect on the Steady-state Error (Error Coefficients)

Case(3): Unit-parabolic Input

𝑡2 1
• 𝑟 𝑡 = ⇒𝑅 𝑠 =
2 𝑠3

𝑅 𝑠 𝑠 1
∴ 𝑒𝑠𝑠 = lim 𝑠 = lim 3 = lim 2
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠) 𝑠→0 𝑠 (1 + 𝐺 𝑠 𝐻 𝑠 ) 𝑠→0 𝑠 + 𝑠 2 𝐺 𝑠 𝐻 𝑠

1 1
= 2 =
0 + lim 𝑠 𝐺 𝑠 𝐻 𝑠 lim 𝑠 2 𝐺 𝑠 𝐻 𝑠
𝑠→0 𝑠→0

• Let 𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 (it is known as acceleration Error Coefficient)

𝑠→0

1
∴ 𝑒𝑠𝑠 =
𝐾𝑎
 Summary:

1
• For 𝑟 𝑡 = 𝑢 𝑡 ⇒ 𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 ⇒ 𝑒𝑠𝑠 =
𝑠→0 1+𝐾𝑝

1
• For 𝑟 𝑡 = 𝑡 ⇒ 𝐾𝑣 = lim 𝑠 𝐺 𝑠 𝐻 𝑠 ⇒ 𝑒𝑠𝑠 =
𝑠→0 𝐾𝑣

𝑡2 1
• For 𝑟 𝑡 = ⇒ 𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 ⇒ 𝑒𝑠𝑠 =
2 𝑠→0 𝐾𝑎

➢ This means that the steady state error depends on both system type and input.

➢ Remember that the system type is obtained from the open-loop transfer function. It represents the
number of open-loop poles existing at the origin (𝑠 = 0).

𝑠 + 𝑧1 𝑠 + 𝑧2 … … .
𝐺 𝑠 𝐻 𝑠 = 𝒏 , the system type = 𝑛
𝒔 𝑠 + 𝑝1 𝑠 + 𝑝2 … … .
The Steady-state Error Values according to different types of system

Input Unit-step Input Unit-ramp Input Unit-parabolic Input

𝑡2
𝑟 𝑡 =𝑢 𝑡 𝑟 𝑡 =𝑡 𝑟 𝑡 =
Type 2

1
0 ∞ ∞
1 + 𝐾𝑝
1
1 0 ∞
𝐾𝑣
1
2 0 0
𝐾𝑎
 Example3:

➢ Consider the following feedback system:

𝐺(𝑠)
Find: 𝑅(𝑠) + 𝑌(𝑠)
2
− 𝑠2
• The open-loop and closed-loop transfer function.

• The system type and order 𝑠+1

𝐻(𝑠)
• The natural frequency (𝜔𝑛 ) and the damping ratio (𝜁)

• The error coefficients 𝐾𝑝 , 𝐾𝑣 and 𝐾𝑎

• The steady-state error for the input 𝑟(𝑡) = 3𝑢(𝑡) − 2 𝑡 2

 Solution:

• The open-loop transfer function:

2 (𝑠+1) • Type 2 system

𝐺 𝑠 𝐻 𝑠 =
𝑠2
• 2𝑛𝑑 order system
• The closed-loop transfer function:

𝑌 𝑠 2
𝑇. 𝐹 = = 2
𝑅 𝑠 𝑠 + 2𝑠 + 2

• The natural frequency (𝜔𝑛 ) and the damping ratio (𝜁):

• 𝜔𝑛2 = 2 ⇒ 𝜔𝑛 = 2 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑌 𝑠 2 𝜔𝑛 2 • 2 𝜁 𝜔𝑛 = 2 ⇒ 2𝜁 2 = 2
𝑇. 𝐹 = = 2 = 2
𝑅 𝑠 𝑠 + 2𝑠 + 2 𝑠 + 2ζ𝜔𝑛 𝑆 + 𝜔𝑛 2
1
⇒𝜁= = 0.707
2
• The error coefficients 𝐾𝑝 , 𝐾𝑣 and 𝐾𝑎

𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 = ∞
𝑠→0
• where
𝐾𝑣 = lim 𝑠 𝐺 𝑠 𝐻 𝑠 = ∞
𝑠→0
2 (𝑠+1)
𝐺 𝑠 𝐻 𝑠 =
𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 = 2 𝑠2
𝑠→0

2 𝑡2
• The steady state error for the input 𝑟 𝑡 = 3𝑢 𝑡 − 2 𝑡 = 3𝑢 𝑡 − 4
2

1 1
𝑒𝑠𝑠 =3 −4 = −2
1 + 𝐾𝑝 𝐾𝑎
0
 Example 4:

➢ Consider a feedback system has the following open−loop transfer function:

6 𝑠+4
𝐺 𝑠 𝐻 𝑠 =
𝑠+1 (𝑠+2)(𝑠+3)
Find:

• The system type and order

• The closed-loop system poles

• The error coefficients 𝐾𝑝 , 𝐾𝑣 and 𝐾𝑎

• The steady state error for the input 𝑟 𝑡 = 0.5 𝑢(𝑡)

 Solution:
➢ As the open-loop transfer function:
• Type 0 system
6 𝑠+4
𝐺 𝑠 𝐻 𝑠 =
𝑠+1 (𝑠+2)(𝑠+3)
• 3𝑟𝑑 order system
• The closed-loop system poles represent the roots of the
characteristic equation (1 + 𝐺 𝑠 𝐻 𝑠 = 0).
1+𝐺 𝑠 𝐻 𝑠 =0

6 𝑠+4
⇒1+ =0
𝑠+1 𝑠+2 𝑠+3 • The system has 3 poles at
⇒ 𝑠+1 𝑠+2 𝑠+3 +6 𝑠+4 =0 𝑠1 = −3.5924
⇒ 𝑠 3 +6 𝑠 2 + 17 𝑠 + 30 = 0 𝑠2 = −1.2038 + 𝑗 2.6271

Thus, the characteristic equation is 𝑠3 = −1.2038 − 𝑗 2.6271

𝑠 3 + 6 𝑠 2 + 17 𝑠 + 30 = 0
• The error coefficients 𝐾𝑝 , 𝐾𝑣 and 𝐾𝑎

𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 = 4
𝑠→0 where
𝐾𝑣 = lim 𝑠 𝐺 𝑠 𝐻 𝑠 = 0
𝑠→0 6 𝑠+4
𝐺 𝑠 𝐻 𝑠 =
𝑠+1 (𝑠+2)(𝑠+3)
𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 = 0
𝑠→0

• The steady state error for the input 𝑟 𝑡 = 0.5 𝑢(𝑡)

1
𝑒𝑠𝑠 = 0.5 = 0.1
1 + 𝐾𝑝