Chapter Transient and Steady-State Re-

4 sponse Analyses

1 Introduction
The first step in analyzing a control system was to derive a mathematical model of the system. Once
such a model is obtained, various methods are available for the analysis of system performance. In
practice, the input signal to a control system is not known ahead of time but is random in nature, and
the instantaneous input cannot be expressed analytically. Only in some special cases is the input signal
known in advance and expressible analytically or by curves, such as in the case of the automatic control
of cutting tools.
In analyzing and designing control systems, we must have a basis of comparison of performance of various
control systems. This basis may be set up by specifying particular test input signals and by comparing
the responses of various systems to these input signals. Many design criteria are based on the response to
such signals or on the response of systems to changes in initial conditions (without any test signals). The
use of test signals can be justified because of a correlation existing between the response characteristics of
a system to a typical test input signal and the capability of the system to cope with actual input signals.
The commonly used test input signals are those of step functions, ramp functions, acceleration functions,
impulse functions, sinusoidal functions, and the like. With these test signals, mathematical and experi-
mental analyses of control systems can be carried out easily since the signals are very simple functions
of time.

2 First-order systems
Consider the first-order system shown in Figure 4.1a. Physically, this system may represent an RC circuit,
thermal system, or the like. A simplified block diagram is shown in Figure 4.1b.

R(s) 1 C(s)
+
− τs
R(s) 1 C(s)
τs + 1
(a) Block diagram of a first-order system (b) simplified block diagram.
Figure 4.1. First order system.

The closed loop transfer function of this system is :

C(s) 1
=
R(s) τs + 1
In the following, we shall analyze the system responses to such inputs as the unit-step, unit-ramp, and
unit-impulse functions.

2.1 Unit-Step Response of First-Order Systems

1
Since the Laplace transform of the unit-step function is , the output C(s) becomes :
s
1
C(s) =
s(τ s + 1)

3
4 Chapter 4 – Transient and Steady-State Response Analyses

Expanding C(s) into partial fractions gives :

1 τ
C(s) = −
s τs + 1
Taking the inverse Laplace transform of C(s), we obtain:

t
c(t) = 1 − e− τ , for t ≥ 0

One important characteristic of such an exponential response curve c(t) is that at t = τ , the value of c(t) is
63.2%, or the response c(t) has reached 63.2% of its total change. In fact, for t = τ, s(τ ) = 1−e−1 = 0.632.

c(t)

1
−2

= 1

= e−
e

τ
= 2τ
pe
pe
Slo

e
Slo

1 op
Sl

63.2%

τ 2τ 3τ 4τ 5τ
t
Figure 4.2. Exponential response curve.

The smaller the time constant τ , the faster the system response. Another important characteristic of
1
the exponential response curve is that the slope of the tangent line at t = 0 is , since:
τ
 
dc(t) 1 t 1
= e− τ =
dt t=0 τ t=0 τ

The output would reach the final value at t = τ if it maintained its initial speed of response. Figure 4.2
1
shows that the slope of the response curve c(t) decreases monotonically from at t = 0 to 0 at t → ∞.
τ
In one time constant, the exponential response curve c(t) has gone from 0 to 63.2% of the final value.
In two time constants, the response reaches 86.5% of the final value. At t = 3τ, 4τ and 5τ , the response
reaches 95%, 98.2%, and 99.3%, respectively, of the final value. Thus, for t ≥ 4τ , the response remains
within 2% of the final value. So, 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 and stay within the 2% line of the final value, or four time constants

2.2 Unit-Ramp Response of First-Order Systems

1
Since the Laplace transform of the unit-ramp function is , the output C(s) is then:
s2
1
C(s) =
s2 (τ s + 1)

Expanding C(s) into partial fractions gives

1 τ τ2
C(s) = − +
s2 s τs + 1
Taking the inverse Laplace transform of C(s) we obtain:

t
c(t) = t − τ + τ e− τ , for t ≥ 0
t
The error signal ε(t) between input and output is then ε(t) = r(t) − c(t) = τ (1 − e− τ )

M. Marzougui Automatic Control Systems Lecture Notes

2. First-order systems 5

c(t)
r(t) = t

τ
=
ε
c(t)

t
τ 2τ 3τ 4τ 5τ
Figure 4.3. Unit-ramp response of a First-Order System
t
As t approaches infinity, e− τ approaches zero, and thus the error signal ε(t) approaches τ . As shown in
figure ??, the smaller the time constant τ , the smaller the steady-state error in following the ramp input.

2.3 Unit-Impulse Response of First-Order Systems

The Laplace transform of unit-impulse is R(s) = 1, and the output of the first-order system C(s) can be
obtained as:
1
C(s) =
(τ s + 1)
The inverse Laplace transform of C(s) gives
1 −t
c(t) = e τ , for t ≥ 0
τ

c(t)

1
τ

1 −t
e τ
τ
t
τ 2τ 3τ 4τ 5τ
Figure 4.4. Unit-impulse response of first-order system.

2.4 An Important Property of Linear Time-Invariant Systems

In the analysis above, it has been shown that for the unit-ramp input the output c(t) is
t
c(t) = t − τ + τ e− τ , for t ≥ 0
For the unit-step input, which is the derivative of unit-ramp input, the output c(t) is
t
c(t) = 1 − e− τ , for t ≥ 0
Finally, for the unit-impulse input, which is the derivative of unit-step input, the output c(t) is
1 −t
e τ , for t ≥ 0
c(t) =
τ
Comparing the system responses to these three inputs clearly indicates that the response to the derivative
of an input signal can be obtained by differentiating the response of the system to the original signal. It
can also be seen that the response to the integral of the original signal can be obtained by integrating

M. Marzougui Automatic Control Systems Lecture Notes

Automatic Control Systems, 2016 Chapter 4.2 Dr. Mohammad Alshamri

the response of the system to the original signal and by determining the integration
constant from the zero output initial condition.

Example 1
Find the transfer function of the
first order control system having
the following unit-step response?

Solution 1
The standard form of the
transfer function of a first order
control system is

( ) 1
=
( ) +1

This system reaches 63.2% of its final value at =

63.2%

τ= 0.75s

Hence the CLTF will be

( ) 1
=
( ) 0.75 + 1

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Time Response of Second Order Control Systems

The time response of a control system consists of two parts:
Transient response ( ( )): It is the system response due transition from the initial
state to the final state.
Steady-state response ( ( )): It is the system response as the time approaches infinity.

Thus the system response ( ) may be written as

( )= ( )+ ( )

Standard Form of the Second-Order Control System

( )
=
( ) +2 +

Where is the damping ratio and is

the undamped natural frequency.

The dynamic behavior of the second-order system can then be described in terms of two
parameters and .
• If 0 < < 1, the system is called under-damped system. The closed-loop poles are
complex conjugates and lie in the LHS of s-plane and the transient response is
oscillatory.
• If = 0, the transient response does not die out (un-damped system).
• If = 1, the system is called critically damped system.
• If > 1, the system is called over-damped system.

Un-damped Natural Frequency

It is the frequency of oscillation of the system without damping.

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Damped Natural Frequency ( )

= 1−

Damping Coefficient ( )
=

Time Constant ( )
1 1
= =

Example 2
A second order control has the following transfer function

( ) 75
=
( ) 3 + 18 + 75

1. Arrange this transfer function to be in a standard second-order form?

2. Find the undamped natural frequency?
3. Find the damping ratio?
4. Find the damped natural frequency?
5. Find the time constant?

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Automatic Control Systems, 2016 Chapter 4.2 Dr. Mohammad Alshamri

Solution 2
The standard form is

( )
=
( ) +2 +

( ) 75 75 25
= = =
( ) 3 + 18 + 75 3( + 6 + 25) + 6 + 25

Hence the undamped natural frequency is

= 25 = 5

= 5 rad/sec

The damping ratio is

2 =6

6 6
= = = 0.6
2 2(5)

The damped natural frequency is

= 1− = 5 1 − 0.6 = 4 rad/sec
The time constant is
1 1
= = = 0.333
0.6 × 5

Example 3
Repeat Example 1 for the following transfer function.

( ) 8
=
( ) 2 +4 +8

Solution 3
= 2 rad/sec, = √3 rad/sec, = 0.5, =1

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Automatic Control Systems, 2016 Chapter 4.2 Dr. Mohammad Alshamri

Example 4
Classify the following second order control system
( )
1. ( )
=
( )
2. ( )
=
( )
3. ( )
=
( )
4. ( )
=

Solution 4

= √400 = 20 rad/sec 2 = 12 12 12 Under-damped

= = = 0.3
2 2(20)

= √900 = 00 rad/sec 2 = 90 90 90 Over-damped

= = = 1.5
2 2(30)

= √225 = 15 rad/sec 2 = 30 30 30 Critically-damped

= = =1
2 2(15)

= √625 = 25 rad/sec 2 =0 =0 Un-damped

Transient-Response Specifications
The transient response of a practical control system often exhibits damped oscillations
before reaching steady state. Usually, the transient-response characteristics of a control
system are specified to a unit-step input.

Maximum Overshoot
It is the maximum peak value of the response curve measured from the final steady-state
value of the response. This value directly indicates the relative stability of the system. It
is not applied to over-damped systems.

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Automatic Control Systems, 2016 Chapter 4.2 Dr. Mohammad Alshamri

− (∞) ( / )
= =
(∞)

Delay Time ( )
It is the time required for the unit step response to reach 50% of its final value.

Rise Time ( )
It is the time required for the unit step response to rise from 10% to 90% of its final
value.
−
= = tan

Peak Time
It is the time required for the response to reach the first peak of the overshoot. It is not
applied to over-damped systems.

Settling Time ( )
It is the time the time required for the unit step response to reach and remain within a
specified percentage (frequently 2 or 5%) of its final value. The settling time is related to
the largest time constant of the control system.

4
=4 = (2% criterion)

3
=3 = (5% criterion)

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Example 5
For Example 1, find the following
1. Rise time?
2. Peak time?
3. Maximum overshot?
4. 2% settling time?
5. 5% settling time?

Solution 5
The rise time is
4
= tan = tan = 53.13 = 0.93 rad
3
− 3.14 − 0.93
= = = 0.55
4
The peak time is
3.14
= = = 0.785
4
The maximum overshot is
( / ) .
= = = 0.095 = 9.5%

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The 2% settling time is

4 4
= = = 1.33 (2% criterion)
0.6 × 5
The 5% settling time is

3 3
= = =1 (5% criterion)
0.6 × 5

Example 6
The unit step response of an under-damped second order control system is given below.
Find the following
1. Delay, Rise, and Peak times?
2. Maximum overshoot?
3. 5% Settling time?

c (t)
1,8

1,6

1,4

1,2

0,8

0,6

0,4

0,2

0
0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160

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Solution 6

c (t) Figure 4. Unit-step response curve.

1,8 M=1.7-1=0.7

1,6

1,4

1,2

+5%
1
-5%

0,8

0,6
50%
0,4
Tr=8s

0,2 Ts=152s
Tp=17s

0
0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160

Td=5s

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