Automatic Control

Mechanical Engineering Department

Second-Order Systems
Lecture 9
Chapter 5
Transient Response Specifications
Of a unit step function
1- Delay time td
2- Rise time tr
3- Peak time tp
4- Maximum overshoot Mp
5- Settling time ts

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Second-Order Systems
1- Maximum Overshoot Mp = ymax yss where ymax >> yss
% Max overshoot = max overshoot / yss * 100
2- Delay time td= time required for y(s) to reach yss
3- Rise time tr =time required to rise from 10 to 90% of yss
4- Settling time: ts= time required for step response to decrease and stay within 5% of yss

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Second-Order Systems

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Second-Order Systems

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Second-Order Systems
Example:
Consider the system shown
Solution

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Second-Order Systems

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Second-Order Systems

Example
Consider the mechanical system shown where
Can be written as

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Basic Control Response

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Basic Control Response

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Basic Control Response

Dr. Talal Mandourah

10

Automatic Control

Mechanical Engineering Department

Basic Control Response

Dr. Talal Mandourah

11

Automatic Control

Mechanical Engineering Department

Basic Control Response

Dr. Talal Mandourah

12

Automatic Control

Mechanical Engineering Department

Quiz 4
Q1: Obtain the Mathematical model of the system shown

Q2: Solve by Laplace transformation: assume zero initial conditions

d 2 f (t )
df (t )
5
4 f (t ) e 2t u s (t )
2
dt
dt

assume zero initial conditions

Dr. Talal Mandourah

13