University of Baghdad Automatic Control Engineering College of Engineering

Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

Chapter Four
Steady-State Operation
Operating characteristics of control systems are determined by solving
their mathematical differential equations of operation. Transient and steady
state operations are two conditions where time response of a control system
could be investigated separately. In steady state operation the equilibrium
state is attained such that there is no change with respect to time of any
system variables. A control system remains at this equilibrium state until it is
excited by a change in the desired input or in an external disturbance. A
transient condition exists as long as some variable changes with time.
Steady State Equation (Algebraically):
General Block Diagram Representation of a feedback control system with
two inputs and one output shown in Figure,
Disturbance Signal

Reference Input Control Disturbance Function Elements

Elements Elements Controlled System
( ) ( )
( ) ( ) ( )
Command ‫اكتبالمعادلةهنا‬
Controlled
Signal
Feedback Elements Variable
( )

General mathematical differential equation of operation,

( ) ( ) ( ) ( ) ( )
( )
( ) ( ) ( )
Also it could be expressed as,
( ) ( ) ( )
( )
( ) ( ) ( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( ) ( ) ( )
For steady-state operation ( ) the steady state constants are,
[ ( )] , [ ( )] , [ ( )]
Steady-state equation,

General block diagram representation of steady state operation is described as

shown in Figure,
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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
System to be
Controller
Controlled

‫اكتبالمعادلةهنا‬

For , coefficient of desired input must be unity,

Where, constant is the scale factor of input dial,

Also, coefficient of external disturbance is equal to zero,

It is satisfied only when is infinite by an integrator in control elements to

give a ( ⁄ ) term. This type of controller is called an integral control system.
Example 1:
Determine the steady-state constants
and the steady state response for the
control system shown in Figure. Select ( ) ( )
constant such that the coefficient ‫اكتبالمعادلةهنا‬
of the desired input is unity.
Solution: Steady-state constants are,
| |

( )( )
Block-diagram representation of steady-state condition shown in Figure,

‫اكتبالمعادلةهنا‬
( ‫اكتبالمعادلةهنا‬
)

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

( )( )( ) ( )( )
( )( )( ) ( )( )( )
Steady-state response of control system,

Steady-State Equation (Graphically):

Steady-state equation and steady-state constants could be determined
graphically from steady-state operating curves which is obtained as follows,
Consider General Steady-State Block Diagram shown in Figure,
System to be Controlled
Controller

‫اكتبالمعادلةهنا‬

1. Steady-state equation of the operating controller,

( )
a) Constant command signal or ,
| | | Slope of controller operating lines
b) Constant output signal or ,
| | | Vertical spacing between lines of constant
c) Constant manipulating signal or ,
| | | Horizontal spacing between lines of constant
2. Steady-state equation of the operating system to be controlled,
( )
a) Constant external disturbance or ,
| | | Slope of the system to be controlled lines
b) Constant output signal or :
| | | Vertical spacing between lines of constant
c) Constant manipulating signal or ,
| | | Horizontal spacing between lines of constant

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Steady-state operating curves for controller and system to be controlled are
sketched as shown in Figure,

Also steady-state equation is directly determined graphically from the steady-

state curves,
( )
Linearization,
| |

| |
Example 2:
Reference operating point of a control system shown in Figure is
, , and . Determine the steady-state equation algebraically
and sketch steady state operating curves. Then determine graphically the
equation for steady state operation. Select constant such that the
coefficient of the desired input is unity.

( )
‫اكتبالمعادلةهنا‬

Solution: Steady-state constants are,

| |

( )( )
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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

The equation of the steady-state operation (algebraically),

( )( )( ) ( )( )
( )( )( ) ( )( )( )

 Slope of the controller operating lines,

| | | ( )( )

 Vertical spacing between lines of constant

| | | ( )( )

Select then, |
 Horizontal spacing between lines of constant

| | |

| , Since, then,
 Slope of the system to be controlled operating lines,
| | |

 Vertical spacing between lines of constant ,

| | | ( )

| , Since, , Then,
 Horizontal spacing between lines of constant ,
| | | ( )

| , Since, , Then,
Steady-state operating curves shown in Figure and,
| |

| |

| |
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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Steady-state equation,

Example 3:
A typical family of steady-state operating curves for a proportional
temperature control system shown in Figure,
a) Determine the equation for steady-state operation about point .
b) If this were an open-loop rather than a closed-loop system, what would be
the steady-state equation of operation?
⁄

Solution:
1) Since, ( ), linearization gives,
| |

| |

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

| |

Equation of the steady-state operation,

2) For open-loop control system, controller lines should be horizontal

because ,
| |

| |

Example 4:
A typical family of steady-state
operating curves for a unity feedback
( ) speed control system is shown
in Figure. At the reference operating
condition (point A)
, and .
1. Determine the steady-state
constants and the equation for
steady-state operation.
2. With held fixed at its reference
value, what is the change in speed
when the load T changes from the reference value to ?
3. By what factor should the slope of the controller lines be changed so as to
reduce this change by a factor of 50 ?
Solution:
1) The steady state constants:
| | Slope of the controller operating lines

For , then
| | Vertical spacing between lines of constant

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Since , then
| | Slope of the system to be controlled operating lines

| ,

| | Vertical spacing between lines of constant

| ,
Steady-state block diagram shown in Figure,

( )

‫اكتبالمعادلةهنا‬
( )
‫اكتبالمعادلةهنا‬
And equation of steady-state operation,

This equation also could be obtained using as:

| |

| |

| | |

| | |

2) Since is held fixed at reference value then,

Change in speed ,
( )
3) To decrease the change in speed by a factor of 50:

| | | ( )

Since,
( )( )
| |

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Solving for

Slope of the controller lines must be increased by a factor of 99

Equilibrium:
Equilibrium point is the intersection of line
of command signal for controller and load line
for the system to be controlled as shown in
Figure. In which, manipulated variable being
supplied by controller is the same that required
to maintain system output at reference point. At
equilibrium point the amount of manipulated
variable supplied by controller is same as that required to maintain the
system output at . When output is changed to which is higher than then
point decreases until equilibrium is attained at point because
Response for changing command signal and load (Graphically):
Response of any control system for changing in command signal and load
could be investigated graphically using steady-state operating curves.
1. Finite slope of controller lines:
 When is changed from to ( ) with
load is constant, a new operating point for
controller is at B while system to be controlled
remains at A. Since , output
increases (dynamically) and new equilibrium point
of operation is existed at point ,
| | |

 When is changed from to ( )

with constant , a new point of operation for
system to be controlled at while the
controller remains at . Since,
output decreases (dynamically) and new
equilibrium point of operation is existed at C.
| | |

9
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
2. Infinite slope (vertically) of controller lines:
 When is changed from to ( ) with load
is constant, a new operating point for controller
and system to be controlled is at (new equilibrium
point). Manipulated variable supplied is equal to the
quantity required without dynamically movement,
| | |

 When is changed from to ( ) with

constant , a new point of operation for system to
be controlled and the controller is at (new
equilibrium point). Manipulated variable supplied is
equal to the quantity required without dynamically
movement,
| | |

3. Zero slope (horizontally) of controller lines:

 When is changed from to ( ) with
load is constant, a new operating point for
controller is at while system to be controlled
remains at .
Since, , output increases (dynamically)
and new equilibrium point of operation is existed
at point ,

| | |

 When is changed from to ( )

with constant , a new point of operation for
system to be controlled is at while the
controller remains at .
Since, , output decreases
(dynamically) and new equilibrium point of
operation is existed at C.

| | |

11
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Types of Control Systems:
Slope of controller lines ( ), varies from zero for an open loop control
system ( ) to infinity for an integral control system ( ). A
proportional control system has finite slope.
1. Proportional Control Systems (P Controller):
In proportional control systems the coefficient
of external disturbance (load) term is finite
with finite slope of controller lines as shown in
Figure. Speed control of gas turbine for jet plane
shown in Figure is proportional control system.
3000
Throttle Lever
System to be
2000
Controlled
1000
Desired Speed
Proportional Controller
Pivot

Valve
Drain
Supply
Piston
Pressure
Drain
Flow Increase
Control Flow
Decrease
Fuel Flow to
Valve Flow
Engine
( )
( )( ) ( )( )
Mathematical equation for steady-state operation is obtained by letting :

Also steady-state overall block diagram representation is obtained,

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Since and , then slope of the controller lines is finite and it is
proportional control system.
Since ,
[ ]

The term ⁄ | is the scale factor for the speed setting dial,
Example 5:
A typical family of steady-state operating curves for a proportional speed
control system of a diesel or turbine shown in Figure. Determine:
a) Steady-state equation of operation in the vicinity of point .
b) If this were an open-loop rather than a closed-loop system, what would be
the steady-state equation of operation about point .

Solution:
a) Since, ( )

| |

| |

| |

b) Controller lines of open-loop control system are horizontal because ,

| |

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

| |

2. Integral Control Systems:

Integral control system has an integrating component yields ( ⁄ ) term
therefore their controller lines of steady-state operating curves have an
infinite slope (vertically). Proportional controller could be inverted to an
integral controller by eliminating the walking beam linkage and using
hydraulic integrator as shown in Figure.

3000
Throttle Lever Desired
2000 Speed

1000

( ), Linearization,
Pivot
( ⁄ )
Valve Then,
Drain

Supply
Pressure
Piston Let ⁄
( )
Drain ( )
Increase Flow For negligible load,
Flow Control Valve ( )
Decrease Flow
Fuel Flow
to Engine

Overall block diagram representation for speed control system is:

Error Signal

( ⁄ )

( ⁄ )
Using the rule of combining blocks in cascade and let ( )

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

Error Signal

Mathematical differential equation of operation,

( ) ( )
Steady-state block diagram representation could be obtained by letting ,

Error Signal

Also, steady-state equation,

Since and , then slope of controller lines is infinite (vertical

lines) and this speed control system is considered as an integral control system.
From the integral element ⁄ , the steady-state operation constant is:

( ) , since, ( )

or,
So, no steady state error in integral control system,
then

Speed (output variable) is independent of change in

load torque (external disturbance variable) for an
integral control system as shown in Figure. It is an
easy matter to adjust the scale factor for the
input speed dial so that the coefficient of the desired input is unity ,

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
3. Proportional Plus Integral Control Systems:
A proportional plus integral controller as shown in Figure combines desirable
transient characteristics of a proportional controller and the feature of no
steady-state error of the integral controller.
Desired
3000
Speed
Throttle Lever
2000

1000

Unit 2 Unit 1

( )

To flow control valve

 Proportional action is provided by unit 1,

Block Diagram Representation of Hydraulic Servomotors,
( )
‫اكتبالمعادلةهنا‬

Using the rule of combining blocks in cascade yields,

( )

Using the rule of eliminating feedback loop yields and let, ,

Then proportional equation is,

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

 Integral action is provided by unit 2, ( ⁄ )

( ⁄ )

( ⁄ )
( )

This equation could be represented by a block diagram,

( ⁄ )

Using the rule of combining blocks in parallel,

( ⁄ )

Using the rule of combining blocks in cascade,

( ⁄ )
( )

Overall block diagram for the proportional plus integral control system,

( ⁄ )
( )

Using the rule of combining blocks in cascade,

( ⁄ )
( )

The steady –state constants could be evaluated as,

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University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
( ⁄ )
[ ( )] [ ( )]

[ ( )] [ ]

[ ( )]
And steady-state block diagram representation could be obtained by letting
,

Steady-state equation,

This equation refers that the steady-state operation of proportional plus

integral control system is the same as of an integral control system alone in
which it follows that is zero during steady-state operation,

Also,

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