Control System

Time
response of First order and

Second order system
Time response of First order system with unit step input
T = time constant of the system
C (t ) = ?
unit step input

1
R( S ) =
S
Applying inverse laplace transformation
Time response
1
Steady state output C ( t )t →∞ = 1 − e −∞
= 1− ∞ = 1
e
C (∞ ) = 1
Error is the difference between input and output
When time approaches infinity, the error is, steady state error
steady state error

When time t = T
Time constant (T) of first order system is defined as the time taken by the
system output to reach 63.2% of the steady state value.
T =RC= time constant of the system
Time response of Second order system with unit step input
R(S) C(S)
2
ω n
+ S ( S + 2ςω n )
-
when ς =0
C(S) ω n2
= 2
R( S ) S + ω n2
unit step input

1
R( S ) =
S
1 ω n2
C(S) = • 2
S ( S + ω n2 )
1 S
C(S ) = − 2
S ( S + ω n2 )
C(S) ω n2
= 2
R( S ) S + 2ςω n S + ω n2
unit step input

1
R( S ) =
S
1 ω n2
C(S) = • 2
S S + 2ςω n S + ω n2
e −ςω n t
C (t ) = 1 − sin(ω d t + θ )
1 −ς 2
A BS + C
C(S ) = + 2
Apply partial fraction
A = 1, B = − S , C = −2ςω n
1 S + 2ςω n
C(S ) = − 2
Add and subtract ς 2ω n2 to the denominator
1 S + 2ςω n
C( S ) = − 2
S S + 2ςω n S + ω n2 + ς 2ω n2 − ς 2ω n2
1 S + 2ςω n
C(S) = −
S ( S + ςω n )2 + ω n2 − ς 2ω n2
1 S + 2ςω n
C(S) = −
S ( S + ςω n )2 + ω n2 (1 − ς 2 )
where ω d2 = ω n2 (1 − ς 2 )
1 S + 2ςω n
C(S ) = −
S ( S + ςω n )2 + ωd2
1 S + ςω n ςω n
C(S ) = − −
S ( S + ςω n ) + ωd ( S + ςω n )2 + ωd2
2 2
Multiply and divide the 3rd term by ωd
1 S + ςω n ςω n ωd
C(S) = − 2 2
− 2 2
•
S ( S + ςω n ) + ω d ( S + ςω n ) + ω d ω d
−ςω n t ςω n −ςω t
C (t ) = 1 − e cos ωd t − e sin ωd t
n
ωd
−ςω n t ςω n
C (t ) = 1 − e [cos ωd t + sin ωd t ]
ωd
−ςω n t ςω n
2
ω n 1 −ς
−ςω n t ς
2
1 −ς
e −ςω n t
C (t ) = 1 − [ 1 −ς 2 cos ω d t + ς sin ω d t ]
1 −ς 2
sin θ = 1 − ς 2 cosθ = ς
e −ςω n t
C (t ) = 1 − [sin θ cos ω d t + cosθ sin ω d t ]
2
1 −ς
e −ςω n t
C (t ) = 1 − sin(ω d t + θ )
2
1 −ς
Output or time response of underdamped second order system has
exponentially damped sinusoidal oscillations.
CONTROL SYSTEMS
UNIT - II
REVIEW of UNIT – I
• Types of Control System

• Mathematical modeling of Mechnical, Electrical and
Electromechanical systems
• Their Transfer function

• Analogous systems
• Block diagram representation and its Reduction
• Signal Flow Graph representation
What is the use of Transfer function?
It relates system input and output through system

constants and laplace variable.
For some standard inputs, the output of the system

can be determined. Performance and behavior of the
system can be determined via.
• Transient analysis ( Time domain analysis) – to know the

dynamic behavior of the system, for a change in input
i. time for reaching steady state

ii. Overshoot
iii. time for rising from initial value to
steady state value (speed of response of the
system)
iv. System accuracy
• Steady state analysis (Frequency domain analysis) – to

know the magnitude and phase angle variation of the
system, for sinusoidal input signal.
Time domain analysis
The dynamic behavior of a system is judged under application

of standard test signals –
an impulse,
a step,
a constant velocity (Ramp), and
constant acceleration (Parabolic).
The output of the system for time domain signal (time

dependent signal) is called as time response.
The time response of any system has two components:

transient response and the steady-state response.
Standard test signals
a) Step signal: r (t ) Au(t ).

b) Ramp signal: r (t ) At; t 0.
c) Parabolic signal: r (t ) At 2 / 2; t 0.
d) Impulse signal: r (t ) (t ).
What is order and type number of the system?
Open loop transfer function of a system in pole-zero form
( S Z1 )( S Z 2 ) . . .( S Z m )
G( S )
S N ( S P1 )( S P2 ) . . .( S Pn )
Order is the highest power of S term in the denominator

of transfer function.
Order of the system = No.of poles of the system
Type number is the power of integral factor in the

transfer function.
Type number of the system = No.of poles at the origin in
S-plane
For feedback system with H(S)=1 (unity feedback system)
C(S ) G( S )
C.L.T.F
R( S ) 1 G( S ) H ( S )
Order is the highest power of S term in the denominator of

transfer function.
i.e. The order of 1 G( S ) H ( S ) 0
Order of the system = No.of poles of the system
The denominator of C.L.T.F is called as CHARACTERISTIC

EQUATION, which determines the stability and performance of the
system.
1 G( S ) H ( S ) 0
( S Z1 )( S Z 2 ) . . .( S Z m )
G( S ) H ( S )
S N ( S P1 )( S P2 ) . . .( S Pn )
Type number is the power of integral factor in loop gain

or loop transfer function.
Type number of the system = No.of poles at the origin in
S-plane
T =RC= time constant of the system
Every system has a tendency to oppose the oscillatory behavior
of the system which is called damping.
STABILITY
General form of
CHARACTERISTIC EQUATION
CHARACTERISTIC EQUATION
2.
4.
5.
6.
STABLE
LIMITEDLY or MARGINALLY STABLE

5.
6.
STABLE
LIMITEDLY or MARGINALLY STABLE

Root Locus
APPLICATION OF ROOT LOCUS
to analyze the stability of control systems in time domain.
to design closed loop control systems in time domain.

Construction Rules for Root Locus
Root locus can be constructed using G(S)H(S) transfer function

1. Each branch of the root locus begins at an open-loop pole (K = 0) and ends at an open-
loop (finite) zero or at a zero at infinity (K ∞).
Determine open loop poles and zeros of the given G(S)H(S), and mark the them in graph
sheet. Zeros are marked by circles and poles by cross.
2. Part of Root locus on real axis
Determine the segment of root locus lies on real axis. The real axis poles and zeros divide
the axis into segments. A real axis segment is the part of the root locus if the number of
poles and zeros to the right of that segment is odd.
3. The Root locus branches terminate at infinity along asymptotes
The Root locus branches terminating at infinity can be drawn along asymptotes
which are straight lines extending to infinity.
No.of asymptotes = No.of branches terminate at infinity
= No.of O.L.Poles (P) - No.of O.L.Zeros (Z)
4. Meeting point of asymptotes (Centriod) on real axis, and asymptotes angle w.r.t
positive real axis.
Centroid , σ=
∑ real part of poles − ∑ real part of zeros
P−Z
± 180! ( 2q + 1)
Asymptote angle, φ A = Where q=0,1,2….(P-Z-1)
P−Z
5. Angle of departure at complex pole
The root locus makes an angle θD with positive real axis.
θD at complex conjugate pole (P1) with positive imaginary part given by

6. Angle of arrival at complex zero
The root locus makes an angle θA with positive real axis.
θA at complex conjugate zero (Z1) with positive imaginary part given by

7. Break-away and Break-in points dK
Calculate the break-away and break-in points from the equation =0
dS
If the root locus on the real axis lies in the interval between two open-loop
poles, there will always be a break-away point between the poles where the root
locus leaves the real axis.
If the root locus on the real axis lies in the interval between two open-loop
zeros, there will always be a break-in point between the zeros where the root locus
enters the real axis.
If the root locus on the real axis lies in the interval between an open-loop
pole and an open-loop zero, there may or may not be break points between the pole
and zero.
8. Root locus intersection point on imaginary axis.
Calculate the intersection point using Routh-hurwitz criterion.

2
S + 4 S + 20
G( S ) =
( S + 2)( S + 4)
Points to Remember
• Always symmetric about the real axis.
• Root locus originates at an open loop pole and terminates at
an open loop zero or at infinity(in the absence of open loop
zero). So the No. of locus towards infinity is N = P – Z (no. of
poles – no. of zeros) and along an asymptote .
• Asymptote is drawn at an angle of 180/N at the centroid.
• Number of poles and zeros to the right of a segment must be
odd to be a part of the root locus.
• Two poles meet at a point either on real or complex plane to
get breakaway
• Complex poles depart at an angle.
Frequency Domain Analysis
Drawing the Magnitude Plot
• The initial slope is decided by the Number of
Poles or Zeros at the origin.
• If gain K = 5 for a system, then the Magnitude
at ω = 1 is 20 log 5.
• Change in slope occurs at the corner
frequency (ωc = 1/T)
1. Sketch Bode plot for G(s)=80/s(s+2)(s+20)
2. Sketch the Bode plot for
Obtain the transfer function for damping factor = 0.316
Problems on Bode plot-1
Bode plot Problems

Control System

Uploaded by

Copyright:

Available Formats

Control System

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Control System

Uploaded by

Copyright:

Available Formats

Time

response of First order and

T = time constant of the system

unit step input

steady state error

unit step input

unit step input

Apply partial fraction

Add and subtract ς 2ω n2 to the denominator

• Types of Control System

• Their Transfer function

It relates system input and output through system

For some standard inputs, the output of the system

• Transient analysis ( Time domain analysis) – to know the

i. time for reaching steady state

• Steady state analysis (Frequency domain analysis) – to

The dynamic behavior of a system is judged under application

The output of the system for time domain signal (time

The time response of any system has two components:

a) Step signal: r (t ) Au(t ).

Order is the highest power of S term in the denominator

Type number is the power of integral factor in the

Order is the highest power of S term in the denominator of

The denominator of C.L.T.F is called as CHARACTERISTIC

Type number is the power of integral factor in loop gain

LIMITEDLY or MARGINALLY STABLE

LIMITEDLY or MARGINALLY STABLE

to analyze the stability of control systems in time domain.

to design closed loop control systems in time domain.

Root locus can be constructed using G(S)H(S) transfer function

The root locus makes an angle θD with positive real axis.

θD at complex conjugate pole (P1) with positive imaginary part given by

The root locus makes an angle θA with positive real axis.

θA at complex conjugate zero (Z1) with positive imaginary part given by

Calculate the intersection point using Routh-hurwitz criterion.

You might also like