Course Code: EAC1005

Fundamentals of Cybernetics

Module
4

CYBERNETICS AND CONTROL

Prof. Om Prakash Pahari

SEEE, VIT Bhopal
[Link]@[Link]
TRANSIENT RESPONSE AND
STEADY-STATE RESPONSE
▪ The time response of a control system consists of two parts:
▪ transient response means that which goes from the initial state to the final
state.(free or natural response)
▪ steady-state response, we mean the manner in which the system output
behaves as t approaches infinity.(forced response)
▪ In the time domain analysis problem, a reference input signal is applied to
a system, and the performance of the system is evaluated in the form of
the time domain specifications w.r.t to the transient as well as the steady
state response.

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TYPICAL INPUT SIGNALS
⚫ typical input signals to use for analyzing system characteristics may he
determined by the form of the input that the system will be subjected to
most frequently under normal operation.
⚫ If the inputs to a control system are gradually changing functions of time,
then a ramp function of time may be a good test signal.
⚫ if a system is subjected to sudden disturbances, a step function of time
may be a good test signal;
⚫ and for a system subjected to shock inputs, an impulse function may be
best.
⚫ Once a control system is designed on the basis of test signals, the
performance of the system in response to actual inputs is generally
satisfactory. The use of such test signals enables one to compare the
performance of all systems on the same basis.

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FIRST-ORDER SYSTEMS
▪ Consider the first-order system shown . Physically, this system may
represent an RC circuit, thermal system, or the like.

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 ▪ A simplified block diagram is shown in Figure (b). The input—
output relationship is given by

In the following, we shall analyze

the system responses to such
inputs as the unit-step, unit-ramp,
and unit-impulse functions. The
initial conditions are assumed to be
zero.
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UNIT-STEP RESPONSE OF
FIRST-ORDER SYSTEMS
▪ Since the Laplace transform of the unit-step function is 1/s, substituting
R(s) , we obtain

▪ Expanding C(s) into partial fractions gives

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 t(SEC) 0 T 2T 3T 4T inf
c(T) 0 63.2% 86.5% 95% 98.2% 1

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COMMENTS
▪ smaller the time constant T, faster the system response.
▪ Another important characteristic of the exponential response
curve is that the slope of the tangent line at t = 0 is 1/T.
since

▪ The output would reach the final value at t = T if it

maintained its initial speed of response
▪ the steady state is reached mathematically only after an
infinite time.
▪ In practice, however, a reasonable estimate of the response
time is the length of time the response curve needs to reach
the 2% line of the final value, or four time constants.

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 TIME DOMAIN ANALYSIS OF SECOND ORDER
SYSTEM

▪ Stable systems exhibit transient phenomena to some extent before the steady state is reached.
▪ e.g. in Mechanical systems Inertia is unavoidable and, thus, response cannot follow sudden changes in
input, instantaneously, and transients are usually observed.
▪ Control of transient response, which leads to deviation between output response and the input response,
before the steady state is reached, must be closely controlled.
▪ Control of the steady state response is also very important since it determines the accuracy of the system
▪ More so w.r.t. position control system
TIME DOMAIN SPECIFICATIONS

Unit Step Response of Second Order System

 TIME DOMAIN SPECIFICATIONS
▪ Percentage Overshoot (% O.S): It 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.

▪ Rise Time (Tr): Time required for the step response to rise from 10%
to 90% of its final value.

▪ Delay Time (Td): Time required for the step response to reach 50%
of final value
 TIME DOMAIN SPECIFICATIONS
▪ 2% Settling Time (Ts): Time required for the step response to
decrease and stay within ±2% of its final value

▪ Steady State Error (ess): It is the difference between the output

and the reference input after the steady state has reached
EFFECT OF DAMPING AND NATURAL FREQUENCY IN
TIME DOMAIN

⚫ Response of system depends on damping ζ and natural

frequency ωn

⚫ Settling time and rise time of the system reduces with increase
in the natural frequency, ωn

⚫ As damping decreases below 1, the response overshoots and

oscillates about final value
⚫ Smaller the value of damping: larger the overshoot and
longer it takes for the oscillations to die
EFFECT OF DAMPING ON SYSTEM RESPONSE
EFFECT OF NATURAL FREQUENCY ON SYSTEM
RESPONSE
 ▪ The dynamic behavior of the second-order system can
then be described in terms of two parameters
▪ undamped natural frequency
▪ damping ratio
▪ We shall now solve for the response of the system a unit-
step input. We shall consider three different cases:
▪ the underdamped (0 < ζ < 1),
▪ critically damped (ζ = 1),
▪ overdamped (ζ> 1)
▪ ζ = 0, the transient response does not die out.

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UNDERDAMPED CASE (0 < ζ
< 1 ):
the damped natural
frequency
For a unit-step input, C(s) can
be written

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 unit-step time
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 [Link] case ζ=0
the response becomes undamped and
oscillations continue indefinitely. The
response c(t) for the zero damping case
can be obtained by substituting zeta = 0 in
forgoing Equation

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[Link] DAMPED CASE
(ζ = 1):
▪ If the two poles are nearly equal

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 ▪[Link] case (ζ> 1):
▪In this case, the two poles are
negative real and unequal. For
a unit-step input

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 POLES AND ZEROS

▪ Poles and zeros are properties of transfer function, which characterize

the differential equation, and provide a complete description of the
behavior of the system .

▪ The poles of a transfer function are the roots of the characteristic

equation in the denominator of the transfer function.

▪ The zeros of a transfer function are the roots of the characteristic

equation in the numerator of the transfer function.
RELATION: POLES OF SYSTEM AND DAMPING
AND NATURAL FREQUENCY

Relation between Pole Location, Damping (ζ) and Natural

Frequency (ωn)
RELATION: POLE LOCATION AND RESPONSE OF SYSTEM

Response of
Pole Location for Systems
Different Systems
EXAMPLE: IDENTIFICATION OF POLES
EXAMPLE: IDENTIFICATION OF ZEROS
 STABILITY ANALYSIS BASED ON LOCATION OF
POLES

▪ For all initial conditions, if the response of a system decays to

equilibrium, the system is presumed to be stable, at large.

▪ Absolute Stability: Whether stable or not

▪ Relative Stability: Stable under what conditions

▪ The real part of the poles of a given system must be on the left

side of the s-plane for the system to be stable at large.

 STABILITY ANALYSIS BASED ON LOCATION OF
POLES

▪ In case the poles are a complex conjugate pair, their real part

must be negative for the system to be stable.

▪ If any of the poles have a value, zero, the system is deemed to

be marginally stable

▪ If the poles are positive / have a positive real part, the system is

deemed to be un-stable.
 ⚫ Additional pole
⚫ System model (temporally normalized)

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 ⚫ Empirical result
⚫ Second order system response when

Dominant pole
pair

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 ⚫Effect as pole approaches second order pair
⚫ Fix damping ratio at ζ = 0.45
⚫ Simulate for various values of third pole

−0.4
5

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