SMJ 4283 / 05

INTRODUCTION TO
CONTROL SYSTEMS
Feedback control system
characteristic

Second Order System:

We need to adjust the system
parameter in order to obtain
desired output. The performance of
control system usually specified in
both transient and steady state
response.

E.g :spring-mass-damper system

xi
k

c
m
xo( t )

Mathematical model of the system:

FS ( t ) = k ( xi xo )
FD ( t ) = c D xo( t )

i/p is xi o/p is xo

FM = m D2 xo
FS -FD - FM = 0

k/m
TF = xo =
xi D2 +(c/m)D +k/m

Using s operator is the i/p o/p relation:

xo ( s )
k/m
2
xi ( s ) s ( c / m ) s k / m

Or in general form, we can re-write this

relationship

xo ( s )
K n
2
2
xi ( s ) s s 2 n n
2

where natural frequency, n k / m

and damping ratio,

c
2 km

2nd order with unit step

input

y(s)

K n
1
where x(s) 1 / s
2
2
s s s (2n ) n
2

using partial fraction & inverse laplace, time response is

1
y (t ) 1
e nt sin(d t )
1 2
where d is damping frequency

d n 1 2
and is phase displacement :

2
1

tan

2nd order with unit step

input
There are three possibilities of time
responses for 2nd order with unit step
input. These possibilities are
depending on the value of the
damping ratio.
Lets consider the general form of
2
xo ( s )system:
K n
2nd order

xi ( s )

s s 2 n n
2

The roots of characteristic equation (of the transfer function)

s1 , 2 n n 2 1
1. If = 0, system is undamped. Roots are complex
with Im value only.
2. If 0 < < 1, roots are complex and conjugate.
Closed loop poles (well discuss this later) will be
on the left hand side of s-plane diagram. The
system is undergoing underdamped and is
oscillating.
3. If > 1, roots are real and the system is said to be
overdamped. When = 1, roots are repeated and
real and the system is critically damped.

Case 1: Transient response

specification for undamped
system ( =0)

The transient response of 2nd order with

step input is shown as in the figure
below.
2

1.5
1
0.5
0

Comparison of responses with difference damp

Case 2: Transient response

specification for underdamped
system (0 < < 1)

The transient response of 2nd order with

step input is shown as in the figure
below.

Response of a control system

There are a few characteristic of the transient and steady state
response that can be measure from a control system such as
delay time, td, rise time, tr, peak time, tp, maximum peak Mp,
settling time, ts and steady state error, ess .

Characteristic of transient response:

1. Delay time, td : Time required for the response to
reach half of the final value (steady state)
2. Rise time, tr Time required for the system to rise
from 10% to 90%, 5% - 95%, 0% - 100%.
3. Peak time, tp Time required for the response to
reach the first peak of the overshoot
4. Maximum overshoot (first peak of the overshoot)
5. Settling time, ts Time required for the system to
settle and remained within 2% of final

Rise time, tr
From definition rise time is time required for the
system to rise from 10% to 90%, 5% - 95%, 0% 100%. Lets consider tr from 0% to 100%, i.e.
from y(0) = 0 to y(tr) = u or for unity step input,
y(tr) =first
1: order step input time response is
general

y (t ) 1

1
1 2

e nt sin(d t )

hence at t tr, y (tr ) 1

1
1 2

e nt sin(d t ) 1

after manipulation tr
where cos and d n 1 2
d

Peak Time
Time required for the response to reach the first
peak of the overshoot. The peak time can be obtained
by differentiating y(t) hence dy/dt and knowing at the
maximum peak, dy/dt = 0. Therefore:

dy (t p )
dt
t p1
t p2

sin d t p

n
1 2

2
d
1

2
d
1

n t p

Maximum peak, Mp
Maximum peak occur at time t = tp,

y (t ) 1

1
1 2

e nt sin( d t )

hence at t tp
,
d
M p y (t p ) 1 e

/ 1 2

Therefore percentage of overshoot 100 M p %

Settling time, ts
Time required for the system to settle and
remained within 2% of final
Settling time for underdamped second order
system with step input and is given as:

4
ts
n