UNIT – 02

TRANSIENT-RESPONSE ANALYSIS &

STABILITY ANALYSIS

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Introduction
• Most of the control systems use time as its independent variable. So it is important
to analyze the response given by the system for the applied excitation which is
function of time.
• In time response analysis the variation of output of the system is studied with
respect to time. The output behavior with respect to time should be within
specified limits to have satisfactory performance of the system.
• The evaluation of system is based on the analysis of such response. The complete
stability analysis is based on this time response analysis.
Time response of a control system can be defined as the response given by it in
response to the applied excitation as a function of time.

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A system can respond to an external input or because of internally existing initial
conditions.
If the response is due to input only with all initial conditions being zero, the
response is known as zero state response. On the other hand, if the response is due
to initial conditions only with all inputs being zero, the response is known as zero
input response.

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Example

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• The deflection of spring abruptly increases and oscillates for some time and then
settles down to a steady value.
• The steady value is steady state response of the spring. The oscillation that
occurs prior to this steady state is the transient response.
• Thus it can be seen that the total time response of control system is made up of
two parts; the transient response and steady-state response and thus the total
time response is sum of transient response and steady state response.
i.e. C(t) = Ctr (t) + Css (t)

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• Transient response is that part of a system response during which period
variations in system output occurs, when there is a change in input, which
dies down after some time. In other words, transient response is that part of
response which goes to zero (for a stable system) as time becomes large

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The transient response gives the following information about the system:
• When the system has started showing response to the applied excitation?
• What is the rate of rise of output?
• Whether the output is increasing unboundedly or is it oscillating or converging to
a final steady state value?
• If the output is oscillating, whether it is overshooting its final value?
• When it is settling down to the final value?
• All these are required for designing the system.
• The steady state response is the response that remains after all transient
response have died down. In other words, steady state response Css(t) is a
fixed response i.e., the manner in which the system output behaves as time
approaches infinity. Hence, it is defined as Css(t).

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• The difference between the desired output and the actual output of the system
under steady state conditions, is called steady state error ess(t).
• This error indicates the accuracy of the system and it is an important design
parameter.

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Absolute Stability
• In designing a control system, one must be able to predict the dynamic behavior of
the system from a knowledge of the components.

• The most important characteristic of the dynamic behavior of a control system is

absolute stability—that is, whether the system is stable or unstable.

• The system is stable for all the range of system component values.
• The open loop control system is absolutely stable if all the poles of the open loop
transfer function present in left half of S-plane.

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Relative Stability
• It is the measure of how fast the transient dies out in the system.

• The relative stability is related to the settling time.

• A system having the poles away from the left half of imaginary axis is considered
to be relatively more stable compared to a system having poles close to imaginary
axis.

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Steady-State Error
• A physical control system involves energy storage, the output of the system, when
subjected to an input, cannot follow the input immediately but exhibits a transient
response before a steady state can be reached.
• The transient response of a practical control system often exhibits damped
oscillations before reaching a steady state. If the output of a system at steady
state does not exactly agree with the input, the system is said to have steady state
error.
• This error is indicative of the accuracy of the system. In analyzing a control
system, we must examine transient-response behavior and steady-state
behavior.

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Standard Test Inputs
• In time response analysis of control system, the test input signals are applied and
the responses produced by various systems to these input signals are compared
and then the performance index is specified.

• The selection of the test input signal depends on the form of the input that the
system will be subjected more frequently during normal operation.

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• The standard test input signals for control system time response studies are:
Step input
Ramp input
Parabolic input
Impulse input

• Apart from this sinusoidal input is also an important test signal. When a sinusoidal
input varying frequency is applied, the response is studied under steady state
conditions and the output is termed as frequency response and the analysis is
known as frequency domain analysis.

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Step Input Signal
• It represents instantaneous change in reference input variable

• The signal changes from zero level to some level A instantaneously as in Fig. 2

• Mathematically r(t) =AU(t); U(t) = A for t ≥ 0

= 0 for t < 0

• When A = 1, then it is called unit step and denoted by u(t)

• Laplace transform of step input 𝑅 𝑠 = or 𝑅 𝑠 = for unit step

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Ramp Input Signal (Velocity Function)
• Here the signal will have constant change in value with respect to time
i.e., it starts at zero and increases linearly with time as shown in figure.

• Since the input to the system is unbounded, the output will also be
unbounded and the system's response is said to be unstable.

• Ramp inputs are useful in determining the performance of certain system

(e.g.: Machine tools, missiles).

• Mathematically r (t) = At for t ≥ 0

= 0 fort < 0
• When A = 1, it is called unit ramp input.

• Laplace transform of step input 𝑅 𝑠 = or 𝑅 𝑠 = for unit ramp

input
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Parabolic Input (Acceleration function)
• Here the input will be one degree faster than the ramp type of input.

• Mathematically, r (t) = 𝑡 for t ≥ 0

= 0 fort < 0

• When A = 1, it is called unit acceleration input .This type of input is

shown in Fig 4.

• Its Laplace transform is 𝑅 𝑠 = or 𝑅 𝑠 = for unit

acceleration input.

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Impulse Input
• It is a signal which has zero value everywhere except at t = 0, i.e. x *
δt such that when r(t) → ∞ and δt → o the area is A

• Mathematically, r(t) = A for t = 0

= 0 for t ≠ 0
• When A = 1, it is unit impulse.

• Since perfect impulse cannot be achieved in practice, it is

approximated by a pulse of unit are having small width.

• Its Laplace transform is 𝑅 𝑠 = 𝐴 or 𝑅 𝑠 = 1 for unit impulse

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Type of a control system
• Control systems may be classified according to their ability to follow step, ramp
and parabolic inputs and so on. This is reasonable because the actual input may be
a combination of such inputs.
• The magnitudes of the steady state errors of these individual inputs are indicative
of the goodness of the system.
• Consider the unity feedback control system with the following open loop transfer
function G(s) (expressed in time constant form):

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• It involves the term sN in the denominator representing a pole of multiplicity N at
the origin. In the present scheme, the classification is based on the number of
integrations indicated by the open loop transfer function.

If N = 0 then the system is called Type 0 system,

If N = 1 then the system is called Type 1 system,
If N = 2 then the system is called Type 2 system, and so on.

• As the type number is increased accuracy is increased, but it aggravates the

stability problem. Hence, a compromise between the steady state accuracy and
relative stability is always necessary.
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Order of a Control System
• Consider the system shown in Fig below
B(S) = C(S) H(S)

E(S) = R(S) – B(S)

C(S) = G(S) E(S) = G(S){ R(S) – B(S)}

= G(S) {R(S) – C(S)H(S)}

C(S) [1 + G(S)H(S)] = G(S) R(S)

The closed-loop transfer function, therefore is

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• In general G(s) and H(s) are given as ratios of polynomials in s.
• The closed-loop transfer function above can be written in the polynomial form as shown below:

• Let n = 1 and m = 0, then such a system is known as first order system.

• Let n = 2 and m = 0, then such a system is known as second order system.

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• Alternatively, a system where the closed-loop transfer function possesses two poles is called a second-order
system. (Some second-order systems may involve one or two zeros.). Any higher order system can be
reduced to combination of first order and second order systems.

• The type of the system is the property of the open loop transfer function (OLTF) while the order of the
system is the property of the closed loop transfer function (CLTF)

• The roots of numerator polynomial are known as zeros and the roots of denominator polynomial are
known as poles.

• The type of transient response (steady / decaying / diverging a-periodic / oscillatory, etc.) is determined by
the closed loop poles while the shape is primarily determined by the closed loop zeros.

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Block Diagram Algebra

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Simplify the block diagram shown in the figure below

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Transient response of First Order System
• Consider the first order system shown in fig 7. Physically this may represent an
RC circuit, thermal system, or the like.

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Response to unit step input
For step input,

Therefore,

Applying partial fraction method,

i.e. 1 = A + ATs + Bs

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Equating like terms A = 1 and B = - AT = -T

Therefore,

Taking the inverse laplace transform of the equation,

• From equation (7), it can be seen that when t = 0, the output is zero and finally when t becomes ∞ the output
becomes unity.

• When t = T, c(T) = 1 – e-1 = 0.632

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The time response of a typical first order system, from equation (7) tabulated below
Time 0 T 2T 3T 4T 5T ∞

Output 0 0.632 0.865 0.950 0.982 0.993 1

and is shown graphically in the fig below

Initial speed of response is given by

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Time constant and its importance
• T is known as time constant of the system.
• In one time constant, the output goes from 0 to 63.2% of the final value.
• It can be noted that smaller the time constant the faster will be the system response
• The initial speed of response at t = 0 is 1/T. This means that the output would reach the final value at t = T, if
it maintained its initial speed of response.
• It can be noted that the final value is reached at t = ∞. However, in practice a reasonable estimate of the
response time is the length of time the response curve needs to reach and stay within ± 2% of the final value or
4T. This duration is known as settling time. If ± 5% steady state error band is acceptable then settling time will
be 3T.
• The steady state error for step input to a first order system is equal to the time constant T. Hence, smaller the
time constant smaller will be the steady state error.
• For second order system (1/ζωn) is equivalent to the time constant

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Unit-Ramp Response of First-Order Systems
Since the Laplace transform of the unit-ramp function is (1 / s2), we obtain the output of the system of Figure as

Expressing C(s) in partial fraction form = + +

( )

Solving for the constants, we get, A = 1, B = - T and C = T2 Hence

Taking the laplace transform of the equation, we get

The error signal e(t) is e(t) = r(t) –c(t) = t – (t – T + T e-t/T)

= T (1 – e-t/T)
=e(t)│t=∞ = T

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i.e. for a first order system smaller the time constant T the smaller the steady state error in following the
ramp input.

Speed of response:

Speed of response at t = 0

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Unit-Impulse Response of First-Order Systems
For the unit-impulse input, R(s) = 1 and the output of the system of figure can be obtained as

Taking the inverse laplace transform of the equation c(t) = (1/T) e-t/T for t > 0

Class work: Can students able to predict the plot?

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MATLAB Exercise – Time Constant
Determine the time constant for the following T.F using MATLAB.
G = 1 / (s+5)
Hint: Use the command zpk(z,p,k,'DisplayFormat','timeconstant’)

Answer:
0.2
G = ---------------- Upon comparing with first order standard form, T = 0.2
(1+0.2s)
which is a continuous-time zero/pole/gain model in the first order standard form.

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Problem
Obtain the unit Impulse response and the unit step response of a unity feedback system whose O. L.T.F. is

Sol:

For unit impulse input R(s) =1

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The time response is obtained taking inverse LT of the above equation

For unit step response R(s) = 1 / s

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Taking inverse LT, we get the time response function as c(t) = 1 + t e-t – e-t

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Second Order System
When the highest power of s in the denominator of the closed loop transfer function of a system is 2, then it
represents a second order system.
Second order systems are very important as it characterizes the dynamics of many control system application,
such as servomechanisms, air craft and space craft control systems.
The example of second order system is servomechanisms or spring – mass – dashpot system.
Consider spring-mass-dashpot system as shown in fig
The differential equation, for an input of r(t) and output of C(t) is

Taking LT with zero initial conditions: - B s C(s) – K C(s) + K R(s) = Ms2 C(s)

Rearranging K R(s) = (Ms2 + Bs + K) C(s)

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In transient response analysis, the closed loop T.F for second order system in the standard form is given by:

ωn is called un-damped natural frequency (rad / sec) and ζ damping ratio which is the ratio of actual damping to
the critical damping Bc.

Upon comparing with the spring mass damper system

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Hence the value of ζ and ωn describe the dynamic behavior of the second order system. If ζ is
<1 but > 0, the system is said to be under damped, if ζ > 1, it is over damped and when
ζ = 1, the system is said to be critically damped.

Thus it can be seen that there are three cases of responses with positive damping itself.

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Considering a rotary servo system as an example of a second-order system consisting of a proportional
controller and load elements (inertia and viscous-friction elements) and suppose that we wish to control the
output position c in accordance with the input position r as shown in figure below:

The equation for the load elements is

where T is the torque produced by the proportional controller whose gain is K.

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By taking Laplace transforms of both sides of this last equation, assuming the zero initial conditions, we obtain

So the transfer function between C(s) and T(s) is

The closed-loop transfer function is then obtained as

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Role of ζ in Second Order Systems
The closed loop transfer function of a second order system in the standard form is given by

The roots of its characteristic equation are called as poles and given by

As mentioned earlier, the poles decide the type of transient response of the system.

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The poles of the transfer function, which are the roots of the characteristic equation, are given by

• The poles are real and unequal if (ζ2 – 1) > 0 i.e. if ζ > 1. The poles lie on the real axis and distinct.

• The poles are real and equal if (ζ2 – 1) = 0 i.e. if ζ = 1. The poles are repeated on real axis

• The poles are complex if (ζ2 – 1) < 0 i.e. if ζ < 1. The poles are located on the second and third quadrants

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CONTROL SYSTEMS 18AN62 47
Time Domain (Transient Response)
Specifications
• The important response points are fixed by design consideration. The following specifications are important.

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• Delay Time (Td): It is the time required for the response to reach 50 % of the final value in the first attempt.
It is given by sec according to the formula below.

• Rise Time (Tr): The time required for the response to rise from 10 % to 90 % of the final value for over
damped systems. (It is 0 to 100 % for under damped systems) sec (θ must be in radians)

• Peak Time (Tp): It is the time required for the response to reach the first peak and is represented in sec.

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• Peak Overshoot (Mp): The maximum overshoot is the maximum peak value of the response curve measured
from unity. It is therefore the largest error between input and output during the transient period. It is usually
represented as a percentage of the reference input.

• Time Constant (τ): It is the time required for the output to reach 63.2% of the final value for the first time.
For a second order system (1 / ζ ωn) can be considered equivalent to the time constant.

• Settling Time (Ts): It is the time required for the response curve to reach and stay within a specified
percentage (usually 2% or 5%) of the final value.
• For first order systems Ts = 4τ for ± 2% final value and Ts = 3 τ for ± 5% of the final value.
• For second order systems Ts = 4 / ζωn for a tolerance band of ± 2% of steady state value.

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Problems in second order system responses
A TV antenna structure is subject to torsional oscillations when subjected to an input torque, such as step input
being provided by a sudden gust of wind. The differential equation for the structure is below. What is the 2%
setting time for the structure?

Solution:
Given the differential equation describing the TV structure as:

Taking laplace transform:

Rearranging and putting in transfer function form

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Comparing with the standard form

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MATLAB Exercise – Previous Problem
Hint: Use step(system T.F) for step plot
Hint: Use stepinfo(system T.F) for step response information

MATLAB Response:
• RiseTime: 0.1269
• TransientTime: 1.4116
• SettlingTime: 1.4116
• SettlingMin: 0.8027
• SettlingMax: 1.4432
• Overshoot: 44.3235
• Undershoot: 0
• Peak: 1.4432
• PeakTime: 0.3316

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CONTROL SYSTEMS 18AN62 54
Problem
The measurement conducted on a servo system show the system response to be
c(t) = 1 + 0.25 e-50t -1.25e-10t when subjected to a unit step input.

1. Obtain the expression for closed loop T.F.

2. Determine the un-damped natural frequency and damping ratio of the system.
3. Comment on the nature of the system
Sol:

Given time response is c(t) = 1 + 0.25 e-50t -1.25e-10t

Taking the Laplace transform

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CONTROL SYSTEMS 18AN62 56
Problem
A UFBCS is characterized by an OLTF

Determine the following, when the system is subjected to unit step input:
1. Undamped natural frequency
2. Damping ratio
3. Peak overshoot
4. Peak time
5. Settling Time

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Comparing with the standard form

ωn2 = 16 i.e. ωn = 4rad /sec and 2 ζωn = 5 i. e. ζ = 5 / 8 = 0.625 an under damped system

Peak overshoot = 0.0808 i.e. 8.08%

Peak time

Settling time Ts for ± 5 % error Ts = 3 / ζωn = 3 / 0.625 x 4 = 1.2 sec

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MATLAB Exercise
MATLAB Response:

• RiseTime: 0.7693
• TransientTime: 1.1648
• SettlingTime: 1.1648
• SettlingMin: 0.9040
• SettlingMax: 1.0173
• Overshoot: 1.7322
• Undershoot: 0
• Peak: 1.0173
• PeakTime: 1.6210

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CONTROL SYSTEMS 18AN62 60
Steady State Response Analysis
Mainly the steady state response has following two specifications,
• How much time system takes to reach its steady state which is called settling time was
discussed earlier in connection with transient response analysis. It is related to transient
response also because same time will be required by the transients to die out completely
from the system output.
• Second quantity of interest is how far away the actual output is from its desired value
which is called steady state error (ess).
• Out of the two specifications, the steady state error is the most important specification
which is related only to the steady state. So let us see on which factors it depends, how to
calculate it and how to reduce it.

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Steady State Error: It is the difference between the actual output and the desired output.
• L {e(t)} = E(s) = R(s)-C(s)H(s), for non-unity feedback systems and
• L {e(t)} =E(s) = R(s) - C(s), for unity feedback systems.

Expressing E(s) in terms of R(s) and G(s) H(s), we get

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CONTROL SYSTEMS 18AN62 63
Static Error Coefficients (Constants)

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Effect of Input (Type and Magnitude) on Steady State Error (Static Error Coefficient) are summarized below:

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The response relationships are graphically indicated below:

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Problem
A unity feedback system has

Determine the following:

1. Type of the system
2. Order of the system (find by using analytical way & using MATLAB)
3. All the error coefficients
4. Steady state error for ramp input with magnitude 6

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1. Given T.F

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2. The order of the system is determined by the highest power of s-term present in
the denominator of the C.L.T.F of the given UFBS as the order of the system is
characteristic of C.L.T.F

C.L.T.F from MATLAB is:

80 s^4 + 560 s^3 + 1120 s^2 + 640 s
----------------------------------------------
s^6 + 10 s^5 + 33 s^4 + 40 s^3 + 16 s^2

Hence the order of the system is: 6

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3. Static error coefficients:

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Steady state error for the ramp input is given by:

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Stability analysis of feedback control systems

Stable system: unstable system:

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Critically or Marginally stable system:

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Routh – Hurwitz Stability Criteria
• The actual characteristic equation of a system is difficult to solve analytically as
its order increases.

• Hence simple criteria are used to judge, the location of poles of a characteristic
equation with respect to left or right half of the s-plane without actually solving
the equation.

• These criteria are:

1. Hurwitz Stability Criteria
2. Routh's Stability Criteria (Also known as Routh – Hurwitz Criteria)

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CONTROL SYSTEMS 18AN62 77
The coefficients of D(s) are arranged in an array called Routh’s array as shown below:

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The coefficients of sn and sn-1rows are directly written from the given equation. For next row i.e., sn-2
row and so on

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Now the same technique is used, for the next row i. e. sn-3 row, but only previous two rows are used i.
e. sn-2 and i. e. sn-1 row. That is from 2ndand 3rdrows, 4throw coefficients are obtained.

Each column will reduce by one as we move down the array. This process is obtained, till s0 row is
obtained. The coefficient will be an for this row.

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Routh's Criterion
• The necessary and sufficient condition for a system to be stable is that all terms in the first
column at Routh's array should have the same sign. There should not be any sign change in the
first column.

• When there are sign changes in first column of Routh's array then the system is unstable
• There are roots in RHP. The number of sign changes equals the number of roots in RHP.

Application of Routh's Criterion

(i) The gain is kept in terms of k and Routh's array is solved to find k for stable operation.
(ii) Relative stability analysis

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Advantages of Routh's Criterion

• It is a simple algebraic method to determine the stability of closed loop without solving for roots of
higher order polynomial of the characteristic equation.
• It is not tedious or time consuming.
• It progresses systematically.
• It is frequently used to determine the conditions of\absolute and relative stability of a system.
• It can determine range of gain k for stable operation. Also, limiting k and corresponding frequency
of sustained oscillations can be determined
• Relative stability analysis can be carried out to determine whether any roots are closer to the jω –
axis than a specified value

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Disadvantages of Routh's Criterion
• It is valid only for real coefficients of characteristic equation. Any coefficient that is a complex
number or contains exponential factors this method fails.

• Exact location of poles is not known. In some special cases it is possible to obtain the exact roots.

• Only idea is obtained about stability. We cannot obtain any information about stabilizing an
unstable system

• This method is applicable only for linear systems

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Problems
Determine the stability of the system whose characteristic equation is given by

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Thank you!

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