CHAPTER 1 TRANSIENT RESPONSE 1.

1 Time Response This chapter demonstrates application of the system repetition by evaluating the transient response for the system model. Based on response characteristic shown in figure above, the system output response is equal to the natural response plus with the force response. The natural response is the response from the input, while the force response is as input of the system. [1]

Figure 1.1: Response characteristic 1.2 Poles and Zero Pole and zero are used to determine the time response of control system. Zeroes are determined by equating the numerator of the transfer function to zero

poles are determined by equating the denominator of the transfer function to zero zeroes.
= 1

+ 6 + 7

Figure 1.2: System showing input and output

For example a system with all poles on the left side of the s-plane is considered to be stable. Given that the transfer function as shown as figure 1.2, the pole exist at s = -7 and a zero exist at s = -6. These values are plotted on the complex s-plane in figure 1.3, using an X for the pole and an O for the zero.
jw
-7 -6

Figure 1.3: Pole-Zero plots The pole of the input function generates the form generates the form of the forced response, thus the pole of the transfer function generated the form natural response.

1.3 First Order System 1.3.1 Introduction of Firs Order System First order systems are, by definition, systems whose input-output relationship is a first order differential equation. A first order differential equation contains a first order derivative but no derivative higher than first order. Based on the figure 1.4. Let us examined the significant of parameter a, the only parameter need to describe the transient response. When t = 1/a
e-at

|t=1/a = e-1 = 0.37 or

c(t)|t=1/a = 1 e-at|t=1/a = 1-0.37 = 0.63

Figure 1.4: First order unit step response

The time constant was called 1/a of the response. The time constant is the time it takes for the system to rise 63% of Time Constant its final value and the time constant can be described as the time for e-1 to decay to 37% of the initial value for an impulse response. Rise timed is defined as the time for the waveform to go from 0.1 to 0.9 of its final value. Rise time is found by Rise Time solving the equation below. C1(t) = 0.9 = 1- e
-at -at

C1 (t) = 1- e-at = 0.9 1- e-at = 1 - 0.9 -at = ln (1 - 0.9) = -2.3 t = 2.3 / a

C2(t) = 1- e-at = 0.1 1- e-at = 1 - 0.1 -at = ln (1 - 0.1) = -0.1 t = 0.1/ a

C2(t) = 0.1 = 1 - e

Settling time is defined as the time for the response to reach, and stay within, 2% of its final value C(t) = 0.98. Rise Settling Time time is found by solving the equation below. Ts = - ( ln (1 - 0.98) / a ) = 3.91 / a = 4 / a C(t) = 0.98 = 1 - e-at e-at = 1 - 0.98 -at = ln (1 - 0.98) -at = - 3.98 T = - 3.98 / - a T = 3.98 / a = 4 / a

1.4

Second Order System

1.4.1 Introduction of Second Order A second order differential equation contains a second order derivative but no derivative higher than second order. Compared to the simplicity of a first order system, a second order system exhibits a wide range of responses that must be analysed and described. Whereas varying a first order system parameter simply changes the speed of the response, changes in the parameters of a second-order system can change the form of the response. There are four type of second order system which is underdamped response, critically damped response, undamped response, and overdamped response.

Figure 1.5: Step Responses for Second Order damping Response Damping is the in physical systems, produced by processes that dissipate the energy stored in the oscillation and will be slowdown the natural response. Besides that, damping, in physics restraining of vibratory motion, such as mechanical oscillations, noise, and alternating electric currents, by dissipation of energy. Damping ratio will be finding by use the equation formula below; = = =

For example of electrical system shown in figure 1.9, the parameter in determined the type of the system is the damping coefficient . The parameter was set by the value of resistance, capacitance and inductance.

L1 R1 Vi(t) I1 R1 I2 + C2 Vo(t)

Figure 1.6: Electrical System To find the transfer function of the electric system shown in figure above solved the circuit by used Cramer rules method. Thus, followed the step above; a. STEP 1-Find the mesh equation ; Equation of mesh one (I1) : 2R1I1 (s) - R1I2 (s) = VI (t) 1 Equation of mesh two (I2): [R1+ L + ]I2(s) - R1I1 (s) = 0 2

b. STEP 2 - By used Cramer Rule find I2/Vi, Find the determinant ( =[ c. Find the I2/Vi =[ = ] = ]= [ ] =

+ 1

d. STEP 3 - Find the V0/Vi = = = 1 + Or =

+ 1

e. STEP 4 - Find the transfer function of the parameter

Response Damping

Underdamped <1

Critically damped =1

Over damped >1

Undamped =0

Ratio Has oscillatory response. An Similar to the overdamped Overdamped system is much Undamped response system slower and varies depending has sine wave oscillation upon the value of .

underdamped system overshoots the response system. A critically final value and the degree of damped response system provided overshoot is dependent to the value the fasters approach to the final of . value without overshoot

Assumed R1= 1, L1=1H,and C1= Assumed R1= 4,L1= 125mH, Assumed 1F : = Example Calculation 1 + + 1 = 1 + + 1 C1= 500mF : = 1 + 1 1 + 1 = = 1 1 + +1 = + + 1 1H,C1= 2F

R1 =

5,L1=

Assumed R1= 0,L1= 1H, C1= 1F :

= 1 + + 1

=
1 +1

1 (1)(1) ]+ 1 +1

= + 1

1 + 1

By factorizes the transfer function, Two real at 1 pole locations. should be get s = - 0.25 + j 0.66 and s By used factorization we get s1 = - 0.25 -j 0.66. There are two dan s2 = 4. Pole Location complexes at 1 jd at the poles.
jw
3 2 x 1 -3 -2 -1 1 2 3

Two real 1 and 2 at the Pole location there are two poles.. By factorizes the imaginary at j1. By used

transfer function, should be factorization s = j and = - j.

jw
3 2 1

get s= - 0.104 and s= - 2.39.

jw

jw
3 2
x

3 2 1

x -4

-3

-2

-1 -1 -2 -3

s
x -3 -2 x -1

1 1 -1 -2 -3
x -3

x -1 -2 -3

-3

-2

-1 -1 -2

= Calculation Damping Ratio =

+ = 1

+ 1 +

+ + 1 =

+ 1 +1

+ + 1

= =

+ 1 +

1 + + 1

Where a =1 , n = = 1 = = 1 1 =

Where a =10 , n = = 1 = = =1

Where a =10 , n = = 1 = = 1 1 =

Where a =10 , n = = 1 = = =

Table 1.1: Second Order System

1.5

Underdamped Second-Order Systems Response

Figure 1.7: Second order underdamped response specification By definition it is the time required for the system to achieve from 10% (0.1) from the final value to the 90% (0.9) Rise Time,

Settling Time, Peak Time,

The settling time is defined as the time required for the system to settle to within 2% of the steady state value after the transient response damped oscillated to reach. =

The time required for the response to reach the first peak of the overshoot or maximum peak. The equation below will use to find the peak time. =

The percentage overshoot (OS%) is the maximum value minus the step value divided by Overshoot the step value. In the case of the unit step, the overshoot is just the maximum value of the step response minus one. The maximum amount by which the system output response proceeds beyond the desired response. %OS = 1 = (

) 1

Table 1.2: Underdamped Second-Order Systems Response

1.6

Comparison First Order And Second Order

The table below shows the comparison of first order system with the second order system. It helps us to differentiate the first order system from the second order system. First Order System A first-order system has only one parameter in the denominator. One type response Second Order System Second-order system has two parameters in the denominator for switching 4 type responses : Only one unit step response,the initial conditions are assumed to be zero Underdmped Response Critically damped Response Undamped Response Overdamped Response

Second order system, the damping ratio, indicate the unit step response for each case.

Figure 1.3: Comparisons between First Order and Second Order

CHAPTER 2 DAMPING RESPONSE IN OUR DAILY LIFE

The car break system is one of second order system example that applies in our daily activities. By inspection, the overdamped response indicate that the car stop before the white line after break apply on a red signal. We assumed that the white line is the steady state of a system. When a traffic light turns red, we apply break but the car stop before the white line. So, the car will take times to stop at the white line. In a step response for overdamped, it takes longer time to achieve constant compared to others similarly with the car that stop before the white line. Besides, the critically damped response indicate that the car stop at the white line after break apply on a red signal. When a traffic light turns red, we apply break but the car stop exactly on the white line. This mean it requires less time. In a step response for critically damped, it takes shorter time to achieve constant compared to others similarly with the car that stop on the white line. For instant, the underdamped response indicate that the car stop beyond the white line after break apply on a red signal. When a traffic light turns red, we apply break but the car stop beyond the white line. This mean the system is unstable. In a step response for underdamped, it will fluctuate and finally comes to constant similarly with the car that stop beyond the white line. However, the undamped response indicates that the car could not stop after break applies on a red signal. When a traffic light turns red, we apply break but the car could not stop due to the failure of car break system. This mean the system is very unstable. In a step response for undamped, it will oscillate non-stop similarly with the car that could not stop.

Reference Norman S. Nise. Control System Engineering. 6th edition. John Wiley & Sons. Pg 162-228. Nak ikut APA format, then itu website hendak ada title, author macam technical English. [2]http://people.exeter.ac.uk/mmaziz/ecm2105/ecm2105_n4.pdf
[3] http://people.exeter.ac.uk/mmaziz/ecm2105/ecm2105_n4.pdf [4] bukucontrol