Introduction to Control Systems

Control Engineering

Time Response

Author:
Lenin Chinchilla Atencia

Advice
This presentation is based on Ogata’s book fifth edition and Nise’s
book sixth edition. It should be used just for academic purpose.

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Introduction to Control Systems

CONTENTS

1 Introduction

2 First-Order Systems

3 Second-Order Systems

4 Steady–State Errors

5 Referencias

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Introduction to Control Systems
Introduction

1 Introduction

2 First-Order Systems

3 Second-Order Systems

4 Steady–State Errors

5 Referencias

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Introduction to Control Systems
Introduction

Introduction

detected, the system corrects the output and hence corrects the
effects of disturbanceControl systems analysis and design focuses
on three primary objectives:
Producing the desired transient response
Reducing steady-state errors
Achieving stability

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Introduction to Control Systems
Introduction

The design of a control system follows these steps:

Determine a physical system and specifications from
requirements.
Draw a functional block diagram.
Represent the physical system as a schematic.
Use the schematic to obtain a mathematical model, such as
a block diagram.
Reduce the block diagram.
Analyze and design the system to meet specified
requirements and specifica- tions that include stability,
transient response, and steady-state performance.

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Introduction to Control Systems
First-Order Systems

1 Introduction

2 First-Order Systems

3 Second-Order Systems

4 Steady–State Errors

5 Referencias

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Introduction to Control Systems
First-Order Systems

First–Order System

Figura 1 : First–order system response. Take from [Nise, 2011]

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Introduction to Control Systems
First-Order Systems

First–Order System

Time Constant
We call 1/a the time constant of the response. From Eq. (4.7),
the time constant can be described as the time for e− at to decay
to 37 % of its initial value. Alternately, the time constant is the
time it takes for the step response to rise to 63 % of its final
value.

Rise Time, Tr
Rise time is defined as the time for the waveform to go from 0.1
to 0.9 of its final value.

Settling Time, Ts
Settling time is defined as the time for the response to reach, and
stay within, 2 % of its final value.

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Introduction to Control Systems
Second-Order Systems

1 Introduction

2 First-Order Systems

3 Second-Order Systems

4 Steady–State Errors

5 Referencias

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Introduction to Control Systems
Second-Order Systems

Second–Order System

Figura 2 : Step responses for second-order system damping cases. Take

from [Nise, 2011]

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Introduction to Control Systems
Second-Order Systems

Second-order underdamped response

Figura 3 : Step responses for second-order system damping cases. Take

from [Nise, 2011]

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Introduction to Control Systems
Steady–State Errors

1 Introduction

2 First-Order Systems

3 Second-Order Systems

4 Steady–State Errors

5 Referencias

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Introduction to Control Systems
Steady–State Errors

Steady–State Errors

Figura 4 : Relationships between input, system type, static errors

constants, and steady–state errors. Take from [Nise, 2011].

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Introduction to Control Systems
Referencias

1 Introduction

2 First-Order Systems

3 Second-Order Systems

4 Steady–State Errors

5 Referencias

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Introduction to Control Systems
Referencias

REFERENCIAS I

[Nise, 2011] Nise, N. S. (2011).

CONTROL SYSTEMS ENGINEERING.
Jhon Wiley & Sons, sixth edition.

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