Presidency

School of Engineering
 Department of
Electrical & Electronics Engineering
Control Systems Engineering (EEE2007)
Module 2

By
Dr. Jisha L K
Assistant Professor – Selection Grade
Department of Electrical & Electronics Engineering
Presidency University, Bengaluru
 Module 2
• Unit step response of second order system, time
response specifications, time response specifications of
second order systems, steady state errors and error
constants.
 Lesson Outcomes
The student shall be able to

1. Define second order system

2. Explain the test input signals

3. Examine transient and steady state response.

4. Analyze on steady state errors and error constants

Time Response Analysis

• If the output of control system for an input varies with respect to time, then it is
called the time response of the control system.
• The time response consists of two parts.
Transient response and steady state response

• The complete response of the system is given by the combination of

both responses i.e., transient and steady state responses
 Transfer function
Following transfer function represents nth order plant (i.e., any physical
object).

Roots of denominator polynomial of a transfer function are called ‘poles’.

The roots of numerator polynomials of a transfer function are called ‘zeros’.

Order of the system can be defined as the value of the highest exponent that appears in the
denominator of the closed-loop transfer function.
The total number of poles of the closed-loop system gives the order of the system

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 Standard Test Inputs
• In most cases, the input signals to a control system are not known
prior to design of control system.
• Hence to analyze the performance of a control system, it is excited with standard test
signals.
• In general, control system design specifications are also based on the
response of the system to such test signals.
• Standard test signals include:
• Unit impulse
• Unit step
• Ramp
• Parabolic and
• Sinusoidal

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 Impulse Signal
• A unit impulse is defined as a signal which has zero value
everywhere except at t=0 , where its magnitude is infinite.
• It is generally called the δ function and has the following property.

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 Step Signal

• The step is a signal whose value changes from one level (usually
zero) to another level A in zero time.
• The mathematical representation of the step function is
r(t) = A, for t>0
= 0, for t<0

In the Laplace transform, R(s)=A/s

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Ramp Signal
• The ramp is a signal which starts at a value of zero and increases linearly
with time. Mathematically,
r(t) = At; t>0
= 0; t<0
Take Laplace transform,

Parabolic Signal:
The parabolic function represents a signal that is represented as

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 Standard Second order system

The transfer function of the closed loop control system having unity negative
feedback as,
The step response of a second-order system depends on the damping ratio(ζ), which
is a dimensionless measure of how quickly oscillations decay after a disturbance.

The natural frequency (ωn)of a second-order system is the frequency of an

undamped oscillation.
Step Response of 2nd order system

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 Characteristics Equation
• The denominator polynomial of the transfer function is called the characteristic equation.
• Roots of the characteristic equation are same as the poles of the system.
• Hence the characteristic equation of the system under consideration is given by

• Two roots of the characteristic equation or poles of the system are

• The two roots are imaginary when ζ = 0.
• The two roots are real and equal when ζ = 1.
• The two roots are real but not equal when ζ > 1.
• The two roots are complex conjugate when ζ < δ < 1.
 Undamped System Under damped system
• Two imaginary poles • A pair of complex conjugate
poles

• Critically Damped System: • Over damped System:

poles are real and equal poles are real but distinct

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 Time Response Specifications
The step response is characterized by following performance indices
i) Delay time
ii) Rise time
iii) Peak time
iv) Maximum overshoot
v) Settling time
Response of 2nd order system
Delay Time td : The delay time is the time required for the response to reach 50 % of the final
value for the very first time.

Rise time tr : The rise time is the time required for the response to rise from 0 to 100 % of the
final value in first attempt.

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 Cont.
Peak time tp: The peak time is the time required for the response to
reach the first peak of the overshoot.

Maximum Overshoot: The peak or maximum overshoot is the

maximum peak value of the response curve measured from unity.
 Cont.
• Settling time ts: It is the time required for the response to reach the steady state and stay
within the specified tolerance bands around the final value. In general, the tolerance bands
are 2% and 5%

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 Example 1
The closed loop transfer function of certain second order unity feedback
system is given below. Determine the type of damping in the system

Sol: Comparing the given transfer functions with the standard form of the
transfer function of a second order system

Hence it is an under damped system

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Sol: Comparing the given transfer functions with the standard form of the
transfer function of a second order system

Hence it is an under damped system

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 Practice Examples

[Link] open loop transfer function of a unity feedback system is

Determine the nature of response of the closed loop system for a unit
step input. Also determine the rise time, peak time, peak overshoot and
settling time.
[Link] the response of a unity feedback system whose open loop
transfer function is for a unit step input

3. Find ζ; ωn; ts; tp; tr, and %OS for a system whose transfer function is

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