Transient Response and Steady-

State Response
Week 6 Session 1
 Introduction
• Time response of control system consist of
transient response and steady state response
• Transient response: the response from initial
state to the final state
• Steady-state response: the response of the
system as the time approaches infinity
 Roadmap of Control System
Modeling Analysis Design

Laplace Time Response

Transform • Transient
Transfer Function • Steady state
Design Spec
Model for Stability Root Locus
systems • Routh-Hurwitz Frequency domain
• Electrical • Nyquist PID & Lead-lag
• Mechanical Design examples
Frequency
Blocks Diagram Response
Linearization • Bode Plot
 Time response analysis
• Standard test signals
• First order systems
• Second order systems
• High order systems
 Standard Test Signals
• The characteristics of actual input signals are a
sudden shock, a sudden change, a constant
velocity, and constant acceleration.

• The dynamic behavior of a system is therefore

judged and compared under application of
standard test signals – an impulse, a step, a
constant velocity, and constant acceleration.

• Another standard signal of great importance is a

sinusoidal signal.
 Standard Test Signals
• Impulse signal
– The impulse signal imitate the
sudden shock characteristic of
actual input signal. δ(t)

A t0 A
 (t )  
0 t0
0 t

– If A=1, the impulse signal is

called unit impulse signal.
 Standard Test Signals
• Impulse signal
 Standard Test Signals
• Step signal
– The step signal imitate
the sudden change u(t)

characteristic of actual
A
input signal.

A t0 t
u( t )   0
0 t0

– If A=1, the step signal is

called unit step signal
 Standard Test Signals
r(t)
• Ramp signal
– The ramp signal imitate
the constant velocity
characteristic of actual
input signal. 0 t

r(t)
 At t0
r(t )  
0 t0 ramp signal with slope A

– If A=1, the ramp signal r(t)

is called unit ramp

unit ramp signal
signal
 Standard Test Signals
• Parabolic signal
– The parabolic signal
imitate the constant
acceleration characteristic p(t)

of actual input signal.

 At 2
 t0
p(t )   2
0 t0 t
 0

– If A=1, the parabolic

signal is called unit
parabolic signal.
 Relation between standard Test Signals
A t0
• Impulse  (t )  
0 t0
d
 dt
A t0
• Step u( t )  
0 t0 d
 dt
 At t0
• Ramp r(t )  
t0
0 d
dt
  At 2
 t0
• Parabolic p(t )   2
0 t0

 Laplace Transform of Test Signals

• Impulse
A t0
 (t )  
0 t0

L{ (t )}   ( s)  A

• Step
A t0
u( t )  
0 t0

A
L{u(t )}  U ( s ) 
S
 Laplace Transform of Test Signals

• Ramp  At t0
r(t )  
0 t0

A
L{ r(t )}  R( s ) 
s2
• Parabolic  At 2
 t0
p(t )   2
0 t0

2A
L{ p(t )}  P( s ) 
S3
 Time Response of Control Systems
• Time response of a dynamic system is response to an input
expressed as a function of time.

System

• The time response of any system has two components

• Transient response
• Steady-state response.
 Time Response of Control Systems
• When the response of the system is changed form rest or
equilibrium it takes some time to settle down.

• Transient response is the response of a system from rest or

equilibrium to steady state. x 10 -3
Step Response
6

Step Input
5

• The response of the 4

Steady State Response

system after the transient Response
Amplitude

3
response is called steady
state response. 2
Transient Response
1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 Time Response of Control Systems
• Transient response dependents upon the system poles only and
not on the type of input.

• It is therefore sufficient to analyze the transient response using a

step input.

• The steady-state response depends on system dynamics and the

input quantity.

• It is then examined using different test signals by final value

theorem.
 First-Order System
General form:
C ( s) K
G( s)  
R( s ) s  1

Unit-step response:
 1  K 
C ( s )    
 
s s  1 
A B
 
s s  1

B
c(t )  A  e t 

 First-Order System
 Transient Response: Gradual change of output from
initial to the desired condition.

Block diagram representation:

K : Gain
 : Time constant

 By definition itself, the input to the system should be a

step function which is given by the following:
 First-Order System
Consider the impulse, step, ramp responses computed
earlier. Identify the steady state and the transient parts.
C ( s) 1T
G ( s)   , T 0
R( s) s  1 T
Time domain output response for impulse signal,
step signal and ramp signal input:
1 t T
r (t )   (t ), R( s)  1, c (t )  e 1(t )
T
1

r (t )  1(t ), R( s)  , cstep (t )  1  e  1(t )
t T

s
1
r (t )  t1(t ), R( s )  2 , cramp (t )  t  T  Te  t T  1(t )
s
Compare steady-state part to input function, transient part to TF.
 Second-Order System
Second-order system standard form
C (s) n2
G (s)   2
R( s ) s  2n s  n2
Dynamic behavior of the second order system can be described
in terms of two parameters ζ and ωn
Over damped
•(two real distinct roots = two 1st order systems with real poles)
•ζ>1
Critically damped
•(a single pole of multiplicity two, highly unlikely, requires exact matching)
•ζ=1
Underdamped
•(complex conjugate pair of poles, oscillatory behavior, most common)
•0<ζ<1