((Lec. No.

10))
Automatic Control Engineering
Ch.05
By
Assist. Prof. Dr. Karim H. Ali
2019-2020
18 June 2020
1 6/24/2020
 ((Lec. No. 10))
Chapter 05
Transient Response (Dynamic Response)

Laplace Transforms
Solution with Laplace Transform Method
Performance of Control System
2 6/24/2020
 Laplace Transforms
In the method of Laplace transformation, differential equations are transformed
into algebraic equations with variable s while time solution or transient response is
obtained by Laplace Inverse. Laplace transformation 𝐹 𝑠 of a function of time
𝑓 𝑡 is,
∞
1
𝐹 𝑠 =ℒ 𝑓 𝑡 = 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 Hint, 𝑒 𝑎𝑥 𝑑𝑥 = 𝑎 𝑒 𝑎𝑥
0
1. Step function:
Step function shown in Figure, is ℎ𝑢(𝑡) where ℎ is height while
𝑢 𝑡 is a unit step function whose height is one. Laplace
transform of step function
∞ ∞
−𝑠𝑡
ℎ𝑒 −𝑠𝑡 ℎ
𝐹 𝑠 = ℒ ℎ𝑢(𝑡) = ℎ𝑢(𝑡)𝑒 𝑑𝑡 = − =
0 𝑠 0
𝑠

6/24/2020 3
 Laplace Transforms
∞
1
𝐹 𝑠 =ℒ 𝑓 𝑡 = 𝑓 𝑡 𝑒 −𝑠𝑡
𝑑𝑡 Hint, 𝑒 𝑎𝑥 𝑑𝑥 = 𝑒 𝑎𝑥
𝑎
0
2. Pulse function:
Pulse function as shown in Figure.
ℎ 0 ≤ 𝑡 ≤ 𝑡𝑜
𝑓 𝑡 =
0 𝑡 > 𝑡𝑜
Laplace transform of pulse function is,
∞ 𝑡𝑜 ∞
𝐹 𝑠 =ℒ 𝑓 𝑡 = 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 = ℎ𝑒 −𝑠𝑡 𝑑𝑡 + 0 𝑒 −𝑠𝑡 𝑑𝑡
0 0 𝑡𝑜
𝑡𝑜 𝑡𝑜
−𝑠𝑡
−𝑒 −𝑠𝑡 ℎ
𝐹 𝑠 = ℎ𝑒 𝑑𝑡 = ℎ = 1 − 𝑒 −𝑠𝑡𝑜
0 𝑠 0
𝑠

6/24/2020 4
 ∞
Laplace Transforms
1
𝐹 𝑠 =ℒ 𝑓 𝑡 = 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 Hint, 𝑒 𝑎𝑥 𝑑𝑥 = 𝑎 𝑒 𝑎𝑥
0
3. Impulse function:
An impulse function is a limited case of pulse function in which 𝑡𝑜 approaches
to zero. It is designated by 𝑘𝑢1 (𝑡) whose area is 𝑘 = ℎ𝑡𝑜 . Where, 𝑢1 (𝑡) is unit
impulse function whose area is unity. Since Laplace transform of pulse
function is, ℎ
𝐹 𝑠 = 1 − 𝑒 −𝑠𝑡𝑜
𝑠
𝑘
Laplace transform of impulse function where ℎ = 𝑡 ,
𝑜
𝑘 𝑑 𝑢 𝑢 𝑑𝑢
𝐹 𝑠 = lim 1 − 𝑒 −𝑠𝑡𝑜 Hint, 𝑒 = 𝑒
𝑡𝑜 →0 𝑡𝑜 𝑠 𝑑𝑥 𝑑𝑥

Which is impossible but it could be obtained using L’hopital rule,

𝑘 𝑑/𝑑𝑡𝑜 𝑘 1 − 𝑒 −𝑠𝑡𝑜 𝑘𝑠𝑒 −𝑠𝑡𝑜
𝐹 𝑠 = lim 1 − 𝑒 −𝑠𝑡𝑜 = lim = =𝑘
𝑡𝑜 →0 𝑡𝑜 𝑠 𝑡𝑜 →0 𝑑/𝑑𝑡𝑜 𝑡𝑜 𝑠 𝑠
6/24/2020 5
 ∞
Laplace Transforms
1
𝐹 𝑠 =ℒ 𝑓 𝑡 = 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 Hint, 𝑒 𝑎𝑥 𝑑𝑥 = 𝑎 𝑒 𝑎𝑥
0
4. Exponentially decaying function:
Exponentially decaying function 𝑓 𝑡 = 𝑒 −𝑎𝑡 is shown in
Figure. Laplace transform of exponentially decaying
function is, ∞
∞ ∞
−𝑎𝑡 −𝑎𝑡 −𝑠𝑡 − 𝑠+𝑎 𝑡
𝑒 − 𝑠+𝑎 𝑡 1
𝐹 𝑠 =ℒ 𝑒 = 𝑒 𝑒 𝑑𝑡 = 𝑒 𝑑𝑡 = − =
0 0 𝑠+𝑎 0
𝑠+𝑎
5. Exponentially Increasing function:
Exponentially increasing function 𝑓 𝑡 = 𝑒 𝑎𝑡 is shown in
Figure, Laplace transform of exponentially decaying function
is,
∞ ∞
𝑒 − 𝑠−𝑎 𝑡 1
𝐹 𝑠 =ℒ 𝑒 𝑎𝑡 = 𝑎𝑡 −𝑠𝑡
𝑒 𝑒 𝑑𝑡 = − =
0 𝑠−𝑎 0
𝑠−𝑎
6/24/2020 6
 ∞
Laplace Transforms
1
𝐹 𝑠 =ℒ 𝑓 𝑡 = 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 Hint, 𝑒 𝑎𝑥 𝑑𝑥 = 𝑎 𝑒 𝑎𝑥
0
6. Sinusoidal Function:
A sinusoidal function shown in Figure is expressed as, 𝑓 𝑡 = sin 𝜔𝑡
1
Hint, 𝑒 𝑎𝑥 sin 𝑏𝑥 𝑑𝑥 = 𝑎2+𝑏2 𝑒 𝑎𝑥 𝑎 sin 𝑏𝑥 − 𝑏 cos 𝑏𝑥

Laplace transform of sinusoidal function,

∞
𝜔
𝐹 𝑠 = ℒ sin 𝜔𝑡 = sin 𝜔𝑡 𝑒 −𝑠𝑡 𝑑𝑡 =
0 𝑠2 + 𝜔2

6/24/2020 7
 Laplace Transforms
Table -1 Laplace transforms of most functions arise in control problems.
Type of Function 𝒇 𝒕 𝑭 𝒔 Type of Function 𝒇 𝒕 𝑭 𝒔

ℎ exponentially 1
Step Function ℎ𝑢(𝑡) 𝑒 𝑎𝑡
𝑠 increasing function 𝑠−𝑎

1 𝑛!
Unit Step Function 𝑢(𝑡) 𝑡 𝑛 𝑒 𝑎𝑡
𝑠 (𝑠 − 𝑎)𝑛+1

𝜔
Impulse Function 𝑘𝑢1 (𝑡) 𝑘 Sinusoidal Function sin(𝜔𝑡)
𝑠2 + 𝜔2

𝑠
Unit Impulse Function 𝑢1 (𝑡) 1 Sinusoidal Function cos(𝜔𝑡)
𝑠2 + 𝜔2

1 𝜔
unit ramp Function 𝑡 Sinusoidal Function 𝑒 𝑎𝑡 sin(𝜔𝑡)
𝑠2 (𝑠 − 𝑎)2 +𝜔 2

𝑛! 𝑠−𝑎
Exponential Function 𝑡𝑛 Sinusoidal Function 𝑒 𝑎𝑡 cos(𝜔𝑡)
𝑠 𝑛+1 (𝑠 − 𝑎)2 +𝜔 2

exponentially decaying 1
𝑒 −𝑎𝑡
function 𝑠+𝑎
6/24/2020 8
 Laplace Transforms
Laplace Transform Properties:
1. ℒ 𝑘𝑓 𝑡 = 𝑘𝐹 𝑠
2. ℒ 𝑓1 𝑡 ∓ 𝑓2 𝑡 = 𝐹1 𝑠 ∓ 𝐹2 𝑠
3. ℒ 𝐷𝑓(𝑡) = 𝑠𝐹 𝑠 − 𝑓(0)
4. ℒ 𝐷2 𝑓 𝑡 = 𝑠ℒ 𝐷𝑓 𝑡 − 𝐷𝑓 0
= 𝑠 𝑠𝐹 𝑠 − 𝑓 0 − 𝐷𝑓 0 = 𝑠 2 𝐹 𝑠 − 𝑠𝑓 0 − 𝑓′ (0)
5. ℒ 𝐷3 𝑓 𝑡 = 𝑠ℒ 𝐷2 𝑓 𝑡 − 𝐷2 𝑓 0 = 𝑠 𝑠 2 𝐹 𝑠 − 𝑠𝑓 0 − 𝐷𝑓 0 − 𝐷2 𝑓 0
= 𝑠 3 𝐹 𝑠 − 𝑠 2 𝑓 0 − 𝑠𝑓′ (0) − 𝑓′′ 0
𝑛
𝑛 𝑑 𝐹(𝑠)
6. ℒ 𝑡 𝑛 𝑓(𝑡) = −1 𝑑𝑠 𝑛
1 𝑠
7. ℒ 𝑓 𝑎𝑡 = 𝑎𝐹 𝑎
𝑓 𝑡 𝑑𝑡 1
8. ℒ 𝑓 𝑡 𝑑𝑡 = 𝑠
+𝑠𝐹 𝑠
6/24/2020 𝑡=0 9
 Laplace Transforms
Laplace Transform Theorems:
1. Initial-Value Theorem:
Initial-value theorem is used to determine the value 𝑓(𝑡) at zero time from
Laplace transform 𝐹(𝑠);
𝑓 0 = lim 𝑓 𝑡 = lim 𝑠𝐹(𝑠)
𝑡→0 𝑠→∞
2. Final-Value Theorem:
Final-value theorem is used to determine the value 𝑓(𝑡) at infinity ∞
from Laplace transform 𝐹(𝑠);
𝑓 ∞ = lim 𝑓 𝑡 = lim 𝑠𝐹(𝑠)
𝑡→∞ 𝑠→0

6/24/2020 10
 Laplace Transforms
Transient Response:
Transient response means that a control
system changes from some initial operating
condition to final condition as shown in Figure.
Transient responses or the time solution could
be determined by solving the general
mathematical differential equation,
𝑎𝑚 𝐷𝑚 + 𝑎𝑚−1 𝐷𝑚−1 + 𝑎𝑚−2 𝐷𝑚−2 + ⋯ + 𝑎1 𝐷 + 𝑎0
𝑦 𝑡 = 𝑓 𝑡
𝐷𝑛 + 𝑏𝑛−1 𝐷𝑛−1 + 𝑏𝑛−2 𝐷𝑛−2 + ⋯ + 𝑏1 𝐷 + 𝑏0
𝑎0 , 𝑎1 , … , 𝑎𝑚 , 𝑏0 , 𝑏1 , … , 𝑏𝑛 are constants and,
𝑦 𝑡 Transient response function or output function
𝑓 𝑡 Forcing function or excitation function (input function)
Let, 𝐿𝑚 𝐷 = 𝑎𝑚 𝐷𝑚 + 𝑎𝑚−1 𝐷𝑚−1 + 𝑎𝑚−2 𝐷𝑚−2 + ⋯ + 𝑎1 𝐷 + 𝑎0

6/24/2020 𝐿𝑛 𝐷 = 𝐷𝑛 + 𝑏𝑛−1 𝐷𝑛−1 + 𝑏𝑛−2 𝐷𝑛−2 + ⋯ + 𝑏1 𝐷 + 𝑏0 11

 Laplace Transforms
Transient Response:
𝐿𝑛 𝐷 Characteristic function
𝐿𝑛 𝐷 = 0 Characteristic equation
Exponent 𝑛 is the highest power of 𝐷 in the characteristic function,
𝐿𝑚 𝐷 𝐿𝑚 𝐷
𝑦 𝑡 = 𝑓 𝑡 𝑊ℎ𝑒𝑟𝑒, 𝑖𝑠 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛
𝐿𝑛 𝐷 𝐿𝑛 𝐷
Different methods are used to solve this equation and obtain time
solution.

6/24/2020 12
Solution with Laplace Transform Method:
General mathematical differential equation of operation,
𝐿𝑚 𝐷
𝑦 𝑡 = 𝑓(𝑡)
𝐿𝑛 𝐷
Laplace Transform,
𝐿𝑚 𝑠 𝐹(𝑠) + 𝐼(𝑠)
𝑌 𝑠 =
𝐿𝑛 𝑠
𝑁𝐹(𝑠)
Since, 𝐹 𝑠 =
𝐷𝐹(𝑠)

𝐿𝑚 𝑠 𝑁𝐹(𝑠) + 𝐼(𝑠)𝐷𝐹(𝑠) 𝐴(𝑠)

𝑌 𝑠 = =
𝐿𝑛 𝑠 𝐷𝐹(𝑠) 𝐵(𝑠)
Where, 𝐴(𝑠) and 𝐵(𝑠) are polynomials in 𝑠. 𝐵(𝑠) may be factored as,
𝐵(𝑠) = 𝑠 − 𝑟1 𝑠 − 𝑟2 ⋯ ⋯ 𝑠 − 𝑟𝑛
𝐴(𝑠)
𝑌 𝑠 =
𝑠 − 𝑟1 𝑠 − 𝑟2 ⋯ ⋯ 𝑠 − 𝑟𝑛
Transient response 𝑦(𝑡) is obtained by solving the general transformed equation 𝑌 𝑠 where
zeros of polynomial 𝐵 𝑠 may be distinct or repeated,
6/24/2020 13
Solution with Laplace Transform Method:
1. Distinct Zeros:
𝑟1 ≠ 𝑟2 ≠ 𝑟3 ≠ ⋯ ≠ 𝑟𝑛
Techniques of Partial Fraction Expansion,
𝐴(𝑠) 𝐴(𝑠) 𝐾1 𝐾2 𝐾𝑛
𝑌 𝑠 = = = + + ⋯+
𝐵(𝑠) 𝑠 − 𝑟1 𝑠 − 𝑟2 ⋯ ⋯ 𝑠 − 𝑟𝑛 𝑠 − 𝑟1 𝑠 − 𝑟2 𝑠 − 𝑟𝑛
Where constants 𝐾𝑖 for distinct zeros may be evaluated as,
𝐴 𝑠
𝐾𝑖 = lim 𝑠 − 𝑟𝑖 = lim 𝑠 − 𝑟𝑖 𝑌 𝑠
𝑠→𝑟𝑖 𝐵 𝑠 𝑠→𝑟𝑖
Laplace inverse gives the transient response of a control system,
𝑦 𝑡 = 𝐾1 𝑒 𝑟1 𝑡 + 𝐾2 𝑒 𝑟2 𝑡 ⋯ ⋯ + 𝐾𝑛 𝑒 𝑟𝑛 𝑡

6/24/2020 14
Solution with Laplace Transform Method:
1. Repeated Zeros:
When transformed function 𝐵 𝑠 has a repeated zero 𝑟 occurs 𝑞 times:
𝑞
𝐵 𝑠 = 𝑠−𝑟 𝑠 − 𝑟1 𝑠 − 𝑟2 ⋯ ⋯ 𝑠 − 𝑟𝑛−𝑞
𝐴 𝑠
𝑌 𝑠 =
𝑠 − 𝑟 𝑞 𝑠 − 𝑟1 𝑠 − 𝑟2 ⋯ ⋯ 𝑠 − 𝑟𝑛−𝑞
Techniques of Partial Fraction Expansion,
𝐶𝑞 𝐶𝑞−1 𝐶1 𝐾1 𝐾𝑛−𝑞
𝑌 𝑠 = + + ⋯+ + + ⋯+
𝑠−𝑟 𝑞 𝑠 − 𝑟 𝑞−1 𝑠 − 𝑟 𝑠 − 𝑟1 𝑠 − 𝑟𝑛−𝑞
Where constants for repeated zeros may be evaluated as:

𝐴 𝑠
𝐾𝑖 = lim 𝑠 − 𝑟𝑖 = lim 𝑠 − 𝑟𝑖 𝑌 𝑠
𝑠→𝑟𝑖 𝐵 𝑠 𝑠→𝑟𝑖

6/24/2020 15
Solution with Laplace Transform Method:
1. Repeated Zeros:
Where constants for repeated zeros may be evaluated as:

𝑞
𝐴 𝑠
𝐶𝑞 = lim 𝑠 − 𝑟 = lim 𝑠 − 𝑟 𝑞 𝑌 𝑠
𝑠→𝑟 𝐵 𝑠 𝑠→𝑟

1 𝑑 𝑞
𝐴 𝑠 1 𝑑
𝐶𝑞−1 = lim 𝑠−𝑟 = lim 𝑠 − 𝑟 𝑞𝑌 𝑠
𝑠→𝑟 1! 𝑑𝑠 𝐵 𝑠 𝑠→𝑟 1! 𝑑𝑠

1 𝑑𝑘 𝑞
𝐴 𝑠 1 𝑑𝑘
𝐶𝑞−𝑘 = lim 𝑠−𝑟 = lim 𝑠 − 𝑟 𝑞𝑌 𝑠
𝑠→𝑟 𝑘! 𝑑𝑠𝑘 𝐵 𝑠 𝑠→𝑟 𝑘! 𝑑𝑠𝑘

Laplace inverse yields the transient response of the control system:

𝐶𝑞 𝑡 𝑞−1 𝐶𝑞−1 𝑡 𝑞−2 𝐶2 𝑡

𝑦 𝑡 = + + ⋯+ + 𝐶1 𝑒 𝑟𝑡 + 𝐾1 𝑒 𝑟1 𝑡 + ⋯ + 𝐾𝑛−𝑞 𝑒 𝑟𝑛−𝑞 𝑡
𝑞−1 ! 𝑞−2 ! 1!

6/24/2020 16
Example 1:
Determine the transient response or the time solution of the following
differential equation when all initial conditions are zero,
𝐷+4
𝑦 𝑡 = 2 𝑓 𝑡
𝐷 + 5𝐷 + 6
The forcing function is an exponentially decaying 𝑓 𝑡 = 2𝑒 −𝑡 . Also using Initial
and Final value Theorems to determine value of transient response at zero time
𝑦 0 and value of steady-state response 𝑦 ∞
Solution:
𝐷2 + 5𝐷 + 6 𝑦 𝑡 = (𝐷 + 4)𝑓 𝑡
𝐷2 𝑦 𝑡 + 5𝐷𝑦 𝑡 + 6𝑦 𝑡 = 𝐷𝑓 𝑡 + 4𝑓 𝑡
Laplace transforms,
𝑠 2 𝑌 𝑠 − 𝑠𝑦 0 − 𝑦′ 0 + 5 𝑠𝑌 𝑠 − 𝑦 0 + 6𝑌 𝑠 = 𝑠𝐹 𝑠 − 𝑓 0 + 4𝐹 𝑠
Since all the initial conditions are zero:
6/24/2020 17
Example 1:
Determine transient response or time solution of the following differential equation when all initial conditions are zero,
𝐷+4
𝑦 𝑡 = 2 𝑓 𝑡
𝐷 + 5𝐷 + 6
The forcing function is an exponentially decaying 𝑓 𝑡 = 2𝑒 −𝑡 . Also using Initial and Final value Theorems to determine
value of transient response at zero time 𝑦 0 and value of steady-state response 𝑦 ∞
Solution:
𝑠 2 𝑌 𝑠 + 5𝑠𝑌 𝑠 + 6𝑌 𝑠 = 𝑠𝐹 𝑠 + 4𝐹 𝑠
𝑠+4
𝑠2 + 5𝑠 + 6 𝑌 𝑠 = 𝑠 + 4 𝐹 𝑠 𝑌 𝑠 = 2 𝐹 𝑠
𝑠 + 5𝑠 + 6
𝑠 2 + 5𝑠 + 6 = 𝑠 + 2 𝑠 + 3 = 0 Characteristic equation
𝑠+4
𝑌 𝑠 = 𝐹 𝑆
𝑠+2 𝑠+3
−𝑡 −𝑡 −𝑡
2
𝑓 𝑡 = 2𝑒 𝐹 𝑠 = ℒ 𝑓 𝑡 = ℒ 2𝑒 = 2ℒ 𝑒 =
𝑠+1
Laplace transformed equation,
2(𝑠 + 4)
𝑌 𝑠 =
6/24/2020 𝑠+1 𝑠+2 𝑠+3 18
Example 1:
Determine transient response or time solution of the following differential equation when all initial conditions are zero,
𝐷+4
𝑦 𝑡 = 2 𝑓 𝑡
𝐷 + 5𝐷 + 6
The forcing function is an exponentially decaying 𝑓 𝑡 = 2𝑒 −𝑡 . Also using Initial and Final value Theorems to determine
value of transient response at zero time 𝑦 0 and value of steady-state response 𝑦 ∞
Solution:
Techniques of Partial-Fraction-Expansion,
𝐾1 𝐾2 𝐾3
𝑌 𝑠 = + + 𝐾𝑖 = lim 𝑠 − 𝑟𝑖 𝑌 𝑠
𝑠+1 𝑠+2 𝑠+3 𝑠→𝑟𝑖

2(𝑠 + 4)
𝐾1 = lim 𝑠+1 =3
𝑠→−1 𝑠+1 𝑠+2 𝑠+3
2(𝑠 + 4)
𝐾2 = lim 𝑠+2 = −4
𝑠→−2 𝑠+1 𝑠+2 𝑠+3
2(𝑠 + 4)
𝐾3 = lim 𝑠+3 =1
𝑠→−3 𝑠+1 𝑠+2 𝑠+3
6/24/2020 19
Example 1:
Determine transient response or time solution of the following differential equation when all initial conditions are zero,
𝐷+4
𝑦 𝑡 = 2 𝑓 𝑡
𝐷 + 5𝐷 + 6
The forcing function is an exponentially decaying 𝑓 𝑡 = 2𝑒 −𝑡 . Also using Initial and Final value Theorems to determine
value of transient response at zero time 𝑦 0 and value of steady-state response 𝑦 ∞
Solution:
Techniques of Partial-Fraction-Expansion,
3 4 1
𝑌 𝑠 =
− +
𝑠+1 𝑠+2 𝑠+3
Inverse Laplace gives transient response or time solution,
𝑦 𝑡 = 3𝑒 −𝑡 − 4𝑒 −2𝑡 + 𝑒 −3𝑡
Using Initial -Value Theorem,
2(𝑠 + 4)
𝑦 0 = lim 𝑦 𝑡 = lim 𝑠𝑌(𝑠) = lim 𝑠 =0
𝑡→0 𝑠→∞ 𝑠→∞ 𝑠+1 𝑠+2 𝑠+3
Using Final -Value Theorem,
2(𝑠 + 4)
6/24/2020 𝑦 ∞ = lim 𝑦 𝑡 = lim 𝑠𝑌(𝑠) = lim 𝑠 =0 20
𝑡→∞ 𝑠→0 𝑠→0 𝑠+1 𝑠+2 𝑠+3
Example 1:
Determine transient response or time solution of the following differential equation when all initial
conditions are zero,
𝐷+4
𝑦 𝑡 = 2 𝑓 𝑡
𝐷 + 5𝐷 + 6
The forcing function is an exponentially decaying 𝑓 𝑡 = 2𝑒 −𝑡 . Also using Initial and Final value Theorems
to determine value of transient response at zero time 𝑦 0 and value of steady-state response 𝑦 ∞
Solution:

Verification,
𝑦 𝑡 = 3𝑒 −𝑡 − 4𝑒 −2𝑡 + 𝑒 −3𝑡
Value of transient response at zero time,
𝑦 0 = 3𝑒 − 0 − 4𝑒 −2 0 + 𝑒 −3 0 = 0
Value of steady-state response as time approaches infinity,
𝑦 ∞ = 3𝑒 − ∞ − 4𝑒 −2 ∞ + 𝑒 −3 ∞ = 0

6/24/2020 21
Example 3:
Determine the time solution of the following differential equation when all initial conditions are zero and
forcing function is a ramp function as 𝑓 𝑡 = 4𝑡,
1
𝑦 𝑡 = 2 𝑓 𝑡
𝐷 + 3𝐷 + 2
Also using Initial and Final value Theorems to determine value of transient response at zero time 𝑦 0
and value of steady-state response 𝑦 ∞
Solution: Since all the initial conditions are zero,
1 1
𝑌 𝑠 = 2 𝐹 𝑠 𝑌 𝑠 = 𝐹 𝑆
𝑠 + 3𝑠 + 2 𝑠+1 𝑠+2
4
𝑓 𝑡 = 4𝑡 𝐹 𝑠 = ℒ 𝑓 𝑡 = ℒ 4𝑡 = 4ℒ 𝑡 = 2
𝑠
Laplace transformed equation, 4
𝑌 𝑠 = 2
𝑠 𝑠+1 𝑠+2 𝐶𝑞 = lim 𝑠 − 𝑟 𝑞 𝑌 𝑠
𝑠→𝑟
Using the techniques of Partial Fraction Expansion: 4
𝐶2 = lim 𝑠 2 =2
𝐶𝑞 𝐶𝑞−1 𝐶1 𝐾1 𝐾𝑛−𝑞 𝑠→0 𝑠2 𝑠 + 1 𝑠 + 2
𝑌 𝑠 = + + ⋯ + + + ⋯ +
𝑠−𝑟 𝑞 𝑠 − 𝑟 𝑞−1 𝑠 − 𝑟 𝑠 − 𝑟1 𝑠 − 𝑟𝑛−𝑞
1 𝑑
𝐶2 𝐶1 𝐾1 𝐾2 𝐶𝑞−1 = lim 𝑠 − 𝑟 𝑞𝑌 𝑠
𝑌 𝑠 = 2+ + + 𝑠→𝑟 1! 𝑑𝑡
𝑠 𝑠 𝑠+1 𝑠+2
6/24/2020 22
Example 3:
Determine the time solution of the following differential equation when all initial conditions are zero and forcing function
is a ramp function as 𝑓 𝑡 = 4𝑡,
1
𝑦 𝑡 = 2 𝑓 𝑡
𝐷 + 3𝐷 + 2
Also using Initial and Final value Theorems to determine value of transient response at zero time 𝑦 0 and value of steady-
state response 𝑦 ∞ 4 𝐶2 𝐶1 𝐾1 𝐾2
Solution: 𝑌 𝑠 =
𝑠2 𝑠 + 1 𝑠 + 2
𝑌 𝑠 = + + +
𝑠2 𝑠 𝑠 + 1 𝑠 + 2
𝑑 2 4 𝑑 4
𝐶1 = lim 𝑠 2 = lim
𝑠→0 𝑑𝑠 𝑠 𝑠+1 𝑠+2 𝑠→0 𝑑𝑠 𝑠 + 1 𝑠 + 2

𝑑 4 −4 2𝑠 + 3
𝐶1 = lim = lim = −3
𝑠→0 𝑑𝑠 𝑠 2 + 3𝑠 + 2 𝑠→0 𝑠 2 + 3𝑠 + 2 2
An alternative technique to evaluate 𝐶1 in
4 order to avoid differentiation
𝐾1 = lim 𝑠+1 =4
𝑠→−1 𝑠2 𝑠 + 1 𝑠 + 2 4 2 𝐶1 4 1
4 𝑌 𝑠 = 2 = 2+ + −
𝐾2 = lim 𝑠+2 2 = −1 𝑠 𝑠+1 𝑠+2 𝑠 𝑠 𝑠+1 𝑠+2
𝑠→−2 𝑠 𝑠+1 𝑠+2
This equation is valid for any value of 𝑠. For 𝑠 = 1,
2 3 4 1 4 2 𝐶1 4 1
𝑌 𝑠 = 2− + − 𝑌 1 = = + + −
𝑠 𝑠 𝑠+1 𝑠+2 1 2 3 1 1 2 3
Inverse Laplace gives transient response or time solution,
𝐶1 = −3
𝑦 𝑡
6/24/2020 = 2𝑡 − 3 + 4𝑒 −𝑡 − 𝑒 −2𝑡 23
 Example 3:
Determine the time solution of the following differential equation when all initial conditions are zero and forcing function is a ramp function as
𝑓 𝑡 = 4𝑡,
1
𝑦 𝑡 = 𝑓 𝑡
𝐷2 + 3𝐷 + 2
Also using Initial and Final value Theorems to determine value of transient response at zero time 𝑦 0 and value of steady-state response 𝑦 ∞

Solution: 𝑌 𝑠 = 2
4
𝑌 𝑠 =
2 3
− +
4
−
1
𝑦 𝑡 = 2𝑡 − 3 + 4𝑒 −𝑡 − 𝑒 −2𝑡
𝑠 𝑠+1 𝑠+2 𝑠2 𝑠 𝑠 + 1 𝑠 + 2
Using Initial -Value Theorem,
4
𝑦 0 = lim 𝑦 𝑡 = lim 𝑠𝑌(𝑠) = lim 𝑠 =0
𝑡→0 𝑠→∞ 𝑠→∞ 𝑠2 𝑠 + 1 𝑠 + 2
Using Final -Value Theorem,
4
𝑦 ∞ = lim 𝑦 𝑡 = lim 𝑠𝑌(𝑠) = lim 𝑠 =∞
𝑡→∞ 𝑠→0 𝑠→0 𝑠2 𝑠 + 1 𝑠 + 2
Verification,
𝑦 𝑡 = 2𝑡 − 3 + 4𝑒 −𝑡 − 𝑒 −2𝑡
Value of transient response at zero time,
𝑦 0 = 2 0 − 3 + 4𝑒 − 0 − 𝑒 −2 0 = 0
Value of steady-state response as time approaches infinity,
6/24/2020 𝑦 ∞ = 2 ∞ − 3 + 4𝑒 − ∞ − 𝑒 −2 ∞ = ∞ 24
Example 5: Determine the time solution of the following differential equation when all initial
conditions are zero and 𝑓 𝑡 = 𝑒 −𝑡 :
1
𝑦 𝑡 = 𝑓 𝑡
𝐷+1 2 𝐷+2
Also using Initial and Final value Theorems to determine value of transient response at zero time 𝑦 0 and
value of steady-state response 𝑦 ∞
Solution: Since all initial conditions are zero, Laplace Transform yields,
1
𝑌 𝑠 = 2
𝐹 𝑠
𝑠+1 𝑠+2
1
𝑓 𝑡 = 𝑒 −𝑡 𝐹 𝑠 =ℒ 𝑓 𝑡 = ℒ 𝑒 −𝑡 =
𝑠+1
Laplace transformed equation, 𝑑 1 −1
𝐶2 = lim 𝑠+1 3 = lim = −1
1 𝑠→−1 𝑑𝑠 𝑠+1 3 𝑠+2 𝑠→−1 𝑠+2 2
𝑌 𝑠 =
𝑠+1 3 𝑠+2 1 𝑑2 3
1 1 2
𝐶1 = lim 𝑠 + 1 = lim =1
Techniques of Partial-Fraction-Expansion, 𝑠→−1 2! 𝑑𝑠 2 𝑠+1 3 𝑠+2 𝑠→−1 2 𝑠 + 2 3
𝐶3 𝐶2 𝐶1 𝐾1 1
𝑌 𝑠 = + + + 𝐾1 = lim 𝑠 + 2 = −1
𝑠+1 3 𝑠+1 2 𝑠+1 𝑠+2 𝑠→−2 𝑠+1 3 𝑠+2
1 1 1 1
1 𝑌 𝑠 = − + −
𝐶3 = lim 𝑠 + 1 3 =1 𝑠+1 3 𝑠+1 2 𝑠+1 𝑠+2
𝑠→−1 3
𝑠+1 𝑠+2 Inverse Laplace gives transient response or time solution,
1 1
6/24/2020 𝑦 𝑡 = 𝑡 2 𝑒 −𝑡 − 𝑡𝑒 −𝑡 + 𝑒 −𝑡 − 𝑒 −2𝑡 = 1 − 𝑡 + 𝑡 2 𝑒 −𝑡 − 𝑒25−2𝑡
2 2
Example 5: Determine the time solution of the following differential equation when all initial
conditions are zero and 𝑓 𝑡 = 𝑒 −𝑡 :
1
𝑦 𝑡 = 𝑓 𝑡
𝐷+1 2 𝐷+2
Also using Initial and Final value Theorems to determine value of transient response at zero time 𝑦 0 and
value of steady-state response 𝑦 ∞
Solution: 1 1 1 1 1
𝑌 𝑠 = 3 𝑌 𝑠 = 3
− 2
+ −
𝑠+1 𝑠+2 𝑠+1 𝑠+1 𝑠+1 𝑠+2
1 1
𝑦 𝑡 = 𝑡 2 𝑒 −𝑡 − 𝑡𝑒 −𝑡 + 𝑒 −𝑡 − 𝑒 −2𝑡 = 1 − 𝑡 + 𝑡 2 𝑒 −𝑡 − 𝑒 −2𝑡
2 2
An alternative technique to evaluate 𝐶1 and 𝐶2 to avoid differentiation,
1 1 𝐶2 𝐶1 1
𝑌 𝑠 = = + + −
𝑠+1 3 𝑠+2 𝑠+1 3 𝑠+1 2 𝑠+1 𝑠+2
1
1 𝐶2 𝐶1 1
𝑌 0 = + = + − 𝑂𝑟, 𝐶1 + 𝐶2 = 0
1 3 2 1 3 1 2 1 2
1 1 𝐶2 𝐶1 1
𝑌 1 = = + + − 𝑂𝑟, 2 𝐶1 + 𝐶2 = 1
2 3 3 2 3 2 2 2 3
Solve equations simultaneously, 𝐶1 = 1, and 𝐶2 = −1
6/24/2020 26
Example 5: Determine the time solution of the following differential equation when all initial conditions are zero and
𝑓 𝑡 = 𝑒 −𝑡 :
1
𝑦 𝑡 = 𝑓 𝑡
𝐷+1 2 𝐷+2
Also using Initial and Final value Theorems to determine value of transient response at zero time 𝑦 0 and value of steady-
state response 𝑦 ∞
1 1 2 −𝑡 −𝑡 −𝑡 −2𝑡
1 2 −𝑡
Solution: 𝑌 𝑠 = 3
𝑦 𝑡 = 𝑡 𝑒 − 𝑡𝑒 + 𝑒 − 𝑒 = 1 − 𝑡 + 𝑡 𝑒 − 𝑒 −2𝑡
𝑠+1 𝑠+2 2 2
Using Initial -Value Theorem to determine the value of transient response at zero time,
1
𝑦 0 = lim 𝑦 𝑡 = lim 𝑠𝑌(𝑠) = lim 𝑠 3
=0
𝑡→0 𝑠→∞ 𝑠→∞ 𝑠+1 𝑠+2
Using Final -Value Theorem to determine the value of the steady-state response,
1
𝑦 ∞ = lim 𝑦 𝑡 = lim 𝑠𝑌(𝑠) = lim 𝑠 3
=0
Verification, 𝑡→∞ 𝑠→0 𝑠→0 𝑠+1 𝑠+2
1
𝑦 𝑡 = 1 − 𝑡 + 𝑡 2 𝑒 −𝑡 − 𝑒 −2𝑡
2
Value of transient response at zero time,
1
𝑦 0 = 1 − 0 + 0 2 𝑒 − 0 − 𝑒 −2 0 = 0
2
Value of steady-state response as time approaches infinity,
1
6/24/2020 𝑦 ∞ = 1 − ∞ + ∞ 2 𝑒 − ∞ − 𝑒 −2 ∞ = 0 27
2
Example 8:
The system shown in Figure is initially at
equilibrium, with 𝑟 = 1 and 𝑑 = 0 . A step-function
disturbance 𝑑 𝑡 = 𝑢(𝑡) is then initiated at time 𝑡 = 0.
Determine the response 𝑐(𝑡) for 𝑡 > 0.
General differential equation of operation for a control system with two inputs and one
output,
𝑁𝐺1 𝑁𝐺2 𝐷𝐻 𝑁𝐺2 𝐷𝐻 𝐷𝐺1
𝑐 𝑡 = 𝑟 𝑡 + 𝑑 𝑡
𝑁𝐺1 𝑁𝐺2 𝑁𝐻 + 𝐷𝐺1 𝐷𝐺2 𝐷𝐻 𝑁𝐺1 𝑁𝐺2 𝑁𝐻 + 𝐷𝐺1 𝐷𝐺2 𝐷𝐻
3 2 2(2𝐷)
𝑐 𝑡 = 𝑟 𝑡 + 𝑑 𝑡
3 2 + 2𝐷 𝐷 + 4 3 2 + 2𝐷 𝐷 + 4
3 2𝐷
𝑐 𝑡 = 2 𝑟 𝑡 + 2 𝑑 𝑡
𝐷 + 4𝐷 + 3 𝐷 + 4𝐷 + 3
3𝑟 𝑡 + 2𝐷𝑑 𝑡
𝑐 𝑡 =
𝐷2 + 4𝐷 + 3
𝐷2 𝑐 𝑡 + 4𝐷𝑐 𝑡 + 3𝑐 𝑡 = 3𝑟 𝑡 + 2𝐷𝑑 𝑡
Since the system is initially at equilibrium means that at 𝑡 = 0, 𝐷 = 0,
6/24/2020 28
Example 8:
The system shown in Figure is initially at
equilibrium, with 𝑟 = 1 and 𝑑 = 0 . A step-function
disturbance 𝑑 𝑡 = 𝑢(𝑡) is then initiated at time 𝑡 = 0.
Determine the response 𝑐(𝑡) for 𝑡 > 0.
𝐷 2 𝑐 𝑡 + 4𝐷𝑐 𝑡 + 3𝑐 𝑡 = 3𝑟 𝑡 + 2𝐷𝑑 𝑡
Since the system is initially at equilibrium means that at 𝑡 = 0, 𝐷 = 0,
0 2 𝑐 0 + 4 0 𝑐 0 + 3𝑐 0 = 3𝑟 0 + 2 0 𝑑 𝑡
3𝑐 0 = 3𝑟 0 , 𝑐 0 =𝑟 0 =1 𝑐′ 0 = 0 𝑑 0 =0
Laplace transforms,
𝑠 2 𝐶 𝑠 − 𝑠𝑐 0 − 𝑐′ 0 + 4 𝑠𝐶 𝑠 − 𝑐 0 + 3𝐶 𝑠 = 3𝑅 𝑠 + 2 𝑠𝐷 𝑠 − 𝑑 0
𝑠 2 𝐶 𝑠 − 𝑠 + 4𝑠𝐶 𝑠 − 4 + 3𝐶 𝑠 = 3𝑅 𝑠 + 2𝑠𝐷 𝑠
𝑠 2 + 4𝑠 + 3 𝐶 𝑠 = 3𝑅 𝑠 + 2𝑠𝐷 𝑠 + 𝑠 + 4
1
Since 𝑟 𝑡 = 1, then 𝑅 𝑠 =ℒ 1 =
𝑠
1
Also 𝑑 𝑡 =𝑢 𝑡 is a step function disturbance, 𝐷 𝑠 =ℒ 𝑢 𝑡 =
6/24/2020 𝑠 29
Example 8:
The system shown in Figure is initially at
equilibrium, with 𝑟 = 1 and 𝑑 = 0 . A step-function
disturbance 𝑑 𝑡 = 𝑢(𝑡) is then initiated at time 𝑡 = 0.
Determine the response 𝑐(𝑡) for 𝑡 > 0. 1 2 2
𝐶 𝑠 = + −
3 𝑠 𝑠+1 𝑠+3
𝑠 2 + 4𝑠 + 3 𝐶 𝑠 = + 2 + 𝑠 + 6
𝑠 Inverse Laplace gives transient response
𝑠 2 + 8𝑠 + 3 𝑠 2 + 8𝑠 + 3 or time solution,𝑐 𝑡 = 1 + 2𝑒 −𝑡 − 2𝑒 −3𝑡
𝐶 𝑠 = =
𝑠 𝑠 2 + 4𝑠 + 3 𝑠 𝑠+1 𝑠+3
Using Initial -Value Theorem,
Techniques of Partial-Fraction-Expansion,
𝑐 0 = lim 𝑐 𝑡 = lim 𝑠𝐶(𝑠)
𝐾1 𝐾2 𝐾3 𝑡→0 𝑠→∞
𝐶 𝑠 = + +
𝑠 𝑠+1 𝑠+3 𝑠 2 + 8𝑠 + 3
𝑠 2 + 8𝑠 + 3 = lim 𝑠 =1
𝑠→∞ 𝑠 𝑠 2 + 4𝑠 + 3
𝐾1 = lim 𝑠 =1
𝑠→0 𝑠 𝑠+1 𝑠+3 Using Final -Value Theorem,
𝑠 2 + 8𝑠 + 3 𝑐 ∞ = lim 𝑐 𝑡 = lim 𝑠𝐶(𝑠)
𝐾2 = lim 𝑠 + 1 =2 𝑡→∞ 𝑠→0
𝑠→−1 𝑠 𝑠+1 𝑠+3
𝑠 2 + 8𝑠 + 3 𝑠 2 + 8𝑠 + 3
𝐾 = lim 𝑠 + 3 = −2 = lim 𝑠 2 + 4𝑠 + 3
=1
3
6/24/2020
𝑠→−3 𝑠 𝑠+1 𝑠+3
𝑠→0 𝑠 𝑠 30
Example 8:
The system shown in Figure is initially at
equilibrium, with 𝑟 = 1 and 𝑑 = 0 . A step-function
disturbance 𝑑 𝑡 = 𝑢(𝑡) is then initiated at time 𝑡 = 0.
Determine the response 𝑐(𝑡) for 𝑡 > 0.
Using Initial -Value Theorem,
𝑐 0 = lim 𝑐 𝑡 = lim 𝑠𝐶(𝑠)
𝑡→0 𝑠→∞
2
𝑠 + 8𝑠 + 3
= lim 𝑠 =1
𝑠→∞ 𝑠 𝑠 2 + 4𝑠 + 3 Verification,
Using Final -Value Theorem, 𝑐 𝑡 = 1 + 2𝑒 −𝑡 − 2𝑒 −3𝑡
𝑐 ∞ = lim 𝑐 𝑡 = lim 𝑠𝐶(𝑠) Value of transient response at zero time,
𝑡→∞ 𝑠→0
2
𝑠 + 8𝑠 + 3
𝑐 0 = 1 + 2𝑒 − 0 − 2𝑒 −3 0 = 1
= lim 𝑠 =1 Value of steady-state response as time
𝑠→0 𝑠 𝑠 2 + 4𝑠 + 3
approaches infinity,
𝑐 ∞ = 1 + 2𝑒 − ∞ − 2𝑒 −3 ∞ = 1

6/24/2020 31
 Performance of Control System:
Steady state error is used to measure the accuracy of a
control system. It is the difference between the reference input and
actual output as time approaches infinity. Consider the simple (SISO)
control system shown in Figure,
𝑒 𝑡 =𝑟 𝑡 −𝐻 𝐷 𝑐 𝑡 𝑒 𝑡 =𝑟 𝑡 −𝐺 𝐷 𝐻 𝐷 𝑒 𝑡
𝑟 𝑡
𝑒 𝑡 =
1+𝐺 𝐷 𝐻 𝐷
For all initial conditions are zero, Laplace transformed equation as shown in
Figure, 𝑅 𝑠
𝐸 𝑠 =
1+𝐺 𝑠 𝐻 𝑠
Using Final-Value Theorem,
𝑒𝑠𝑠 = 𝑒 ∞ = lim 𝑒 𝑡 = lim 𝑠𝐸 𝑠
𝑡→∞ 𝑠→0
𝑅(𝑠)
𝑒𝑠𝑠 = lim 𝑠
𝑠→0 1 + 𝐺 𝑠 𝐻 𝑠
1. Unit step input 𝑟 𝑡 = 𝑢(𝑡), 𝑅 𝑠 = 1 𝑠
𝑅(𝑠) 1 𝑠 1
𝑒𝑠𝑠 = lim 𝑠 = lim 𝑠 =
𝑠→0 1 + 𝐺 𝑠 𝐻 𝑠 𝑠→0 1 + 𝐺 𝑠 𝐻 𝑠 1 + lim𝐺 𝑠 𝐻 𝑠
𝑠→0
1
𝑒𝑠𝑠 =
6/24/2020 𝐾𝑝 = lim𝐺 𝑠 𝐻 𝑠 Positional error constant 32
1 + 𝐾𝑝 𝑠→0
 Performance of Control System:
Steady state error is used to measure the accuracy of a control
system. It is the difference between the reference input and actual
output as time approaches infinity. Consider the simple (SISO)
control system shown in Figure,
𝑅(𝑠)
𝑒𝑠𝑠 = lim 𝑠
𝑠→0 1+𝐺 𝑠 𝐻 𝑠
2. Unit ramp input 𝑟 𝑡 = 𝑡, 𝑅 𝑠 = 1 𝑠2
1 𝑠2 1 1 1
𝑒𝑠𝑠 = lim 𝑠 = lim = =
𝑠→0 1 + 𝐺 𝑠 𝐻 𝑠 𝑠→0 𝑠 + 𝑠𝐺 𝑠 𝐻 𝑠 lim𝑠𝐺 𝑠 𝐻 𝑠 𝐾𝑣
𝑠→0
1
𝑒𝑠𝑠 = 𝐾𝑣 = lim𝑠𝐺 𝑠 𝐻 𝑠 Velocity error constant
𝐾𝑣 𝑠→0

3. Unit parabolic input 𝑟 𝑡 = 𝑡 2 /2, 𝑅 𝑠 = 1 𝑠3

1 𝑠3 1 1 1
𝑒𝑠𝑠 = lim 𝑠 = lim 2 = =
𝑠→0 1 + 𝐺 𝑠 𝐻 𝑠 𝑠→0 𝑠 + 𝑠 2 𝐺 𝑠 𝐻 𝑠 lim𝑠 2 𝐺 𝑠 𝐻 𝑠 𝐾𝑎
𝑠→0

1
𝑒𝑠𝑠 = 𝐾𝑎 = lim𝑠 2 𝐺 𝑠 𝐻 𝑠 Acceleration error constant
𝐾𝑎 𝑠→0
6/24/2020 Where, 𝐾𝑝 , 𝐾𝑣 , and 𝐾𝑎 , are called error coefficients 33
Performance of Control System (Steady-State Error):
Example 9:
For control system shown in Figure, determine the response
to a unit step function, a unit ramp function, and a unit
parabolic function when all initial conditions are zero. What
is the steady-state error to each of these inputs?
Solution:
Since all initial conditions are zero, Laplace block diagram representation as shown in Figure
2
𝐶 𝑠 𝑠 𝑠+3 2 2
= = 2 𝐶 𝑠 = 𝑅 𝑠
𝑅 𝑠 2 𝑠 + 3𝑠 + 2 𝑠 2 + 3𝑠 + 2
1+
𝑠 𝑠+3
2 2
𝐶 𝑠 = 𝑅 𝑠 𝐾1 = lim 𝑠 =1
𝑠+1 𝑠+2 𝑠→0 𝑠 𝑠+1 𝑠+2
1. A unit step input, 𝑟 𝑡 = 𝑢 𝑡 and 𝑅 𝑠 = 1/𝑠 2
2 𝐾2 = lim 𝑠 + 1 = −2
𝐶 𝑠 = 𝑠→−1 𝑠 𝑠 + 1 𝑠 + 2
𝑠 𝑠+1 𝑠+2 2
Principles of Partial fraction expansion, 𝐾 3 = lim 𝑠 + 2 =1
𝑠→−2 𝑠 𝑠+1 𝑠+2
𝐾1 𝐾2 𝐾3
𝐶 𝑠 = + + 1 2 1
𝑠 𝑠+1 𝑠+2 𝐶 𝑠 = − +
6/24/2020 𝑠 𝑠+1 𝑠+2 34
Performance of Control System (Steady-State Error):
Example 9:
For control system shown in Figure, determine the response to a unit step
function, a unit ramp function, and a unit parabolic function when all initial
conditions are zero. What is the steady-state error to each of these inputs?
Solution: 1 2 1 Type of Function 𝒇 𝒕 𝑭 𝒔
𝐶 𝑠 = − + Step Function ℎ
𝑠 𝑠+1 𝑠+2 ℎ𝑢(𝑡)
𝑠
Laplace inverse gives response to a unit step input, 1
Unit Step Function 𝑢(𝑡)
c 𝑡 = 1 − 2𝑒 −𝑡 + 𝑒 −2𝑡 𝑠
Displacement Error Constant for a unit step input is unit ramp Function 𝑡 1
𝑠2
determined as: exponentially
2 𝑒 −𝑎𝑡 1
𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 = lim =∞ decaying function 𝑠+𝑎
𝑠→0 𝑠→0 𝑠 𝑠 + 3
exponentially
Steady state error 𝒆𝒔𝒔 for a unit step input, 𝑒 𝑎𝑡 1
increasing function
1 1 𝑠−𝑎
𝑒𝑠𝑠 = = =0
1 + 𝐾𝑝 1 + ∞
Also steady-state error 𝑒𝑠𝑠 could be obtained as,
𝑒 𝑡 = 𝑟 𝑡 − 𝑐 𝑡 = 1 − 1 − 2𝑒 −𝑡 + 𝑒 −2𝑡 = 2𝑒 −𝑡 − 𝑒 −2𝑡
Steady-state error,
6/24/2020 𝑒𝑠𝑠 = 𝑒 ∞ = 2𝑒 − ∞ − 𝑒 −2 ∞ = 0 35
Performance of Control System (Steady-State Error):
Example 9:
For control system shown in Figure, determine the response to a unit step
function, a unit ramp function, and a unit parabolic function when all initial
conditions are zero. What is the steady-state error to each of these inputs?
Solution:
2. A unit ramp input, 2 𝑟 𝑡 = 𝑡 and 𝑅 𝑠 = 1/𝑠
2

𝐶 𝑠 = 2 𝐾𝑖 = lim 𝑠 − 𝑟𝑖 𝐶(𝑠)
𝑠→𝑟𝑖
𝑠 𝑠+1 𝑠+2 2
Principles of Partial fraction expansion, 𝐾1 = lim 𝑠 + 1 2 =2
𝐶2 𝐶1 𝐾1 𝐾2 𝑠→−1 𝑠 𝑠+1 𝑠+2
𝐶 𝑠 = 2+ + + 2 1
𝑠 𝑠 𝑠+1 𝑠+2 𝐾 = lim 𝑠 + 2 = −
𝐶𝑞 = lim 𝑠 − 𝑟 𝑞 𝐶(𝑠) 2
𝑠→−2 𝑠2 𝑠 + 1 𝑠 + 2 2
𝑠→𝑟
2 1 3 2 2 1/2
𝐶2 = lim 𝑠 2 2 =1 𝐶 𝑠 = − + −
𝑠→0 𝑠 𝑠+1 𝑠+2 𝑠2 𝑠 𝑠+1 𝑠+2
1 𝑑 𝐴 𝑠 1 𝑑
𝐶𝑞−1 = lim 𝑠−𝑟 𝑞 = lim 𝑠 − 𝑟 𝑞𝑌 𝑠
𝑠→𝑟 1! 𝑑𝑠 𝐵 𝑠 𝑠→𝑟 1! 𝑑𝑠

𝑑 2 2 2 1 𝐶1 2 1/2
𝐶1 = lim 𝑠 2 𝐶 𝑠 = = + + −
𝑠→0 𝑑𝑠 𝑠 𝑠+1 𝑠+2 𝑠2 𝑠 + 1 𝑠 + 2 𝑠2 𝑠 𝑠 + 1 𝑠 + 2
For, 𝑠 = 1
𝑑 2 2 3 2 1 𝐶1 2 1 2 3
𝐶1 = lim 𝑠 2 =− 𝐶 1 = = + + − 𝐶 =
1 36 −
𝑠→0 𝑑𝑠
6/24/2020 𝑠 𝑠+1 𝑠+2 2 1 2 3 1 1 2 3 2
Performance of Control System (Steady-State Error):
Example 9:
For control system shown in Figure, determine the response to a unit step
function, a unit ramp function, and a unit parabolic function when all initial
conditions are zero. What is the steady-state error to each of these inputs?
Solution:
2. A unit ramp input, 𝑟 𝑡 = 𝑡 and 𝑅 𝑠 = 1/𝑠 2 Type of Function 𝒇 𝒕 𝑭 𝒔

1 3 2 2 1/2 Step Function ℎ𝑢(𝑡) ℎ

𝐶 𝑠 = 2− + − 𝑠
𝑠 𝑠 𝑠+1 𝑠+2 1
Unit Step Function 𝑢(𝑡)
Laplace inverse gives response to a unit ramp input, 𝑠
3 −𝑡
1 −2𝑡 unit ramp Function 𝑡 1
𝑐 𝑡 = 𝑡 − + 2𝑒 − 𝑒 𝑠2
2 2 exponentially
𝑒 −𝑎𝑡 1
Velocity Error Constant for a unit ramp decaying function 𝑠+𝑎
input is determined as: Also steady-state error 𝑒𝑠𝑠 could be obtained as,
2 2
𝐾𝑣 = lim 𝑠𝐺 𝑠 𝐻 𝑠 = lim 𝑠 = 𝑒 𝑡 =𝑟 𝑡 −𝑐 𝑡 =𝑡− 𝑡−
3 1
+ 2𝑒 −𝑡 − 𝑒 −2𝑡
𝑠→0 𝑠→0 𝑠 𝑠 + 3 3 2 2
Steady state error 𝒆𝒔𝒔 for a unit ramp input, 3 1
= − 2𝑒 −𝑡 + 𝑒 −2𝑡
2 2
1 1 3 Steady-state error,
𝑒𝑠𝑠 = = =
𝐾𝑣 2/3 2 3 1 3
6/24/2020 𝑒𝑠𝑠 = 𝑒 ∞ = − 2𝑒 − ∞ + 𝑒 −2 ∞
= 37
2 2 2
Performance of Control System (Steady-State Error):
Example 9:
For control system shown in Figure, determine the response to a unit step function, a
unit ramp function, and a unit parabolic function when all initial conditions are zero.
What is the steady-state error to each of these inputs?
Solution: 2
3. A unit parabolic input, 𝑟 𝑡 = 𝑡 2 /2 and 𝑅 𝑠 = 1/𝑠 3 𝐶 𝑠 = 3
𝑠 𝑠+1 𝑠+2
Using the principles of Partial fraction expansion,
𝐶3 𝐶2 𝐶1 𝐾1 𝐾2
𝐶 𝑠 = 3+ 2+ + +
𝑠 𝑠 𝑠 𝑠+1 𝑠+2
𝑞
𝐶𝑞 = lim 𝑠 − 𝑟 𝐶(𝑠)
𝑠→𝑟
1 𝑑 𝐴 𝑠 1 𝑑
𝐶𝑞−1 = lim 𝑠−𝑟 𝑞 = lim 𝑠 − 𝑟 𝑞𝑌 𝑠
𝑠→𝑟 1! 𝑑𝑠 𝐵 𝑠 𝑠→𝑟 1! 𝑑𝑠

1 𝑑𝑘 𝑞
𝐴 𝑠 1 𝑑𝑘
𝐶𝑞−𝑘 = lim 𝑘
𝑠−𝑟 = lim 𝑘
𝑠 − 𝑟 𝑞𝑌 𝑠
𝑠→𝑟 𝑘! 𝑑𝑠 𝐵 𝑠 𝑠→𝑟 𝑘! 𝑑𝑠
2 𝐾𝑖 = lim 𝑠 − 𝑟𝑖 𝐶(𝑠)
3 𝑠→𝑟𝑖 2
𝐶3 = lim 𝑠 + 0 = 1
𝑠→0 𝑠3 𝑠 + 1 𝑠 + 2 𝐾1 = lim 𝑠 + 1 3 = −2
𝑠→−1 𝑠 𝑠+1 𝑠+2
1 𝑑 3 2 3 2 1
𝐶2 = lim 𝑠 3 =− 𝐾 = lim 𝑠 + 2 =
𝑠→0 1! 𝑑𝑠 𝑠 𝑠+1 𝑠+2 2 2
2
𝑠→−2 𝑠3 𝑠 + 1 𝑠 + 2 4
1 𝑑 2 7
𝐶1 = lim 2
𝑠3 3 = 1 3/2 7/4 2 1/4
𝑠→0 2! 𝑑𝑠
6/24/2020 𝑠 𝑠+1 𝑠+2 4 𝐶 𝑠 = 3− 2 + − + 38
𝑠 𝑠 𝑠 𝑠+1 𝑠+2
Performance of Control System (Steady-State Error):
Example 9:
For control system shown in Figure, determine the response to a unit step function, a
unit ramp function, and a unit parabolic function when all initial conditions are zero.
What is the steady-state error to each of these inputs?
Solution: 2
3. A unit parabolic input, 𝑟 𝑡 = 𝑡 2 /2 and 𝑅 𝑠 = 1/𝑠 3 𝐶 𝑠 =
𝑠3 𝑠 + 1 𝑠 + 2
2 1 𝐶2 𝐶1 2 1/4
𝐶 𝑠 = = + + − +
𝑠3 𝑠 + 1 𝑠 + 2 𝑠3 𝑠2 𝑠 𝑠+1 𝑠+2
For 𝑠 = 1 and 𝑠 = 2

2 1 𝐶2 𝐶1 2 1/4 1
𝐶 1 = = + + − + Or, 𝐶1 + 𝐶2 =
1 3 2 3 1 3 1 2 1 2 3 4
2 1 𝐶2 𝐶1 2 1/4
𝐶 2 = = + + − + Or, 2𝐶1 + 𝐶2 = 2
2 3 3 4 2 3 2 2 2 3 4
Solve equations simultaneously,
7 3
𝐶1 = , and 𝐶2 = −
4 2

6/24/2020 39
Performance of Control System (Steady-State Error):
Example 9:
For control system shown in Figure, determine the response to a unit step function, a
unit ramp function, and a unit parabolic function when all initial conditions are zero.
What is the steady-state error to each of these inputs?
Type of Function 𝒇 𝒕 𝑭 𝒔
Solution:
ℎ
3. A unit parabolic input, 𝑟 𝑡 = 𝑡 2 /2 and 𝑅 𝑠 = 1/𝑠 3 Step Function ℎ𝑢(𝑡)
𝑠
1 3/2 7/4 2 1/4 Unit Step Function 𝑢(𝑡) 1
𝐶 𝑠 = 3
− 2
+ − + 𝑠
𝑠 𝑠 𝑠 𝑠+1 𝑠+2 1
Laplace inverse gives response to a unit parabolic input, unit ramp Function 𝑡
𝑠2
1 3 7 1 exponentially 1
𝑐 𝑡 = 𝑡 2 − 𝑡 + − 2𝑒 −𝑡 + 𝑒 −2𝑡 decaying function
𝑒 −𝑎𝑡
2 2 4 4 𝑠+𝑎
Acceleration error constant for a unit
Also steady-state error 𝑒𝑠𝑠 could be obtained as,
parabolic input is determined as: 𝑒 𝑡 =𝑟 𝑡 −𝑐 𝑡
2
𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠 = lim 𝑠 2 1 1 2 3 7 1
𝑠→0 𝑠→0 𝑠 𝑠+3 = 𝑡2 − 𝑡 − 𝑡 + − 2𝑒 −𝑡 + 𝑒 −2𝑡
2 2 2 2 2 4 4
= lim = =0 3 7 1
𝑠→0 1 + 3/𝑠 1+∞ 𝑒 𝑡 = 𝑡 − + 2𝑒 −𝑡 − 𝑒 −2𝑡
Steady state error 𝒆𝒔𝒔 for a unit parabolic 2 4 4
3 7 1
step input, 𝑒𝑠𝑠 = 𝑒 ∞ = ∞ − + 2𝑒 − ∞ − 𝑒 −2 ∞ = ∞
1 1 2 4 4
𝑒𝑠𝑠6/24/2020
= = =∞ 40
𝐾𝑎 0