University of Baghdad Automatic Control Engineering College of Engineering

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

Chapter Five
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
( ) of a function of time ( ) is,
Hint:
( ) [ ( )] ∫ ( ) ∫

1. Step function:
Step function shown in Figure, is ( ) where is
( )
height while ( ) is a unit step function whose height
is one. Laplace transform of step function, ( )

( ) [ ( )] ∫ ( ) |

2. Pulse function:
Pulse function as shown in Figure.
( )
( ) {
Laplace transform of pulse function is,
( ) [ ( )] ∫ ( ) ∫ ∫ ( ) 0

( ) ∫ ( )| ( )

3. Impulse function:
An impulse function is a limited case of pulse function in which
approaches to zero. It is designated by ( ) whose area is .
Where, ( ) is unit impulse function whose area is unity. Since Laplace
transform of pulse function is,
( ) ( )
Laplace transform of impulse function where , Hint:

( ) [ ( )]

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

( )[ ( )]
( ) [ ( )]
( )( )
1
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
4. Exponentially decaying function: ( )

Exponentially decaying function ( ) is shown

in Figure. Laplace transform of exponentially t
decaying function is, 0
( )
( )
( ) ( ) ∫ ∫ |

5. Exponentially Increasing function:

Exponentially increasing function ( ) is shown ( )
in Figure, Laplace transform of exponentially decaying
function is,
( )
t
0
( ) ( ) ∫ |

6. Sinusoidal Function:
( )
A sinusoidal function shown in Figure is
expressed as, ( )
Hint:
∫ ( )

Laplace transform of sinusoidal function,

( ) [ ] ∫

Table 5-1 Laplace transforms of most functions arise in control problems.

Type of Function ( ) ( ) Type of Function ( ) ( )

exponentially
Step Function ( )
increasing function
Unit Step Function ( )
( )
Sinusoidal
Impulse Function ( ) ( )
Function
Sinusoidal
Unit Impulse Function ( ) ( )
Function
Sinusoidal
unit ramp Function ( )
Function ( )
Sinusoidal
Exponential Function ( )
Function ( )
exponentially
decaying function

2
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Laplace Transform Properties:
1. [ ( )] ( )
2. [ ( ) ( )] ( ) ( )
3. [ ( )] ( ) ( )
4. [ ( )] [ ( )] ( )
[ ( ) ( )] ( ) ( ) ( ) ( )
5. [ ( )] [ ( )] ( ) [ ( ) ( ) ( )] ( )
( ) ( ) ( ) ( )
6. [ ( )] ( ) ( )
7. [ ( )] ( )
∫ ( )
8. [∫ ( ) ] | ( )
Laplace Transform Theorems:
1. Initial-Value Theorem:
Initial-value theorem is used to determine the value ( ) at zero time from
Laplace transform ( );
( ) ( ) ( )
2. Final-Value Theorem:
Final-value theorem is used to determine the value ( ) at infinity from
Laplace transform ( );
( ) ( ) ( )
Transient Response:
Transient response means that a ( )
control system changes from some initial Transient Response
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,
( ) ( )

are constants and,

( ) Transient response function or output function
( ) Forcing function or excitation function (input function)
Let,
( )

3
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
( )
( ) Characteristic function
( ) Characteristic equation
Exponent is the highest power of in the characteristic function,
( ) ( )
( ) ( )
( ) ( )
Different methods are used to solve this equation and obtain time solution.
Solution with Laplace Transform Method:
General mathematical differential equation of operation,
( )
( ) ( )
( )
Laplace Transform,
( ) ( ) ( )
( )
( )
Since,
( )
( )
( )
( ) ( )( ) ( ) ( )
( )
( ) () ( )
Where, ( ) and ( ) are polynomials in . ( ) may be factored as,
( ) ( )( ) ( )
( )
( )
( )( ) ( )
Transient response ( ) is obtained by solving the general transformed
equation ( ) where zeros of polynomial ( ) may be distinct or repeated,
1. Distinct Zeros:

Techniques of Partial Fraction Expansion,

( )

Laplace inverse gives the transient response of a control system,

( )
Where constants for distinct zeros may be evaluated as,
( )
[( ) ] [( ) ( )]
( )
2. Repeated Zeros:
When transformed function ( ) has a repeated zero occurs times:
( ) ( ) ( )( ) ( )
( )
( )
( ) ( )( ) ( )
4
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Techniques of Partial Fraction Expansion,
( )
( ) ( )
Laplace inverse yields the transient response of the control system:

( ) [ ]
( ) ( )
Where constants for repeated zeros may be evaluated as:
( )
[( ) ] [( ) ( )]
( )
( )
{ [( ) ]} { [( ) ( )]}
( )
( )
{ [( ) ]} { [( ) ( )]}
( )
Example 1:
Determine the transient response or the time solution of the following
differential equation when all initial conditions are zero,
( ) ( )
The forcing function is an exponentially decaying ( ) . Also using
Initial and Final value Theorems to determine value of transient response at
zero time ( ) and value of steady-state response ( )
Solution:
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
Laplace transforms,
[ ( ) ( ) ( )] [ ( ) ( )] ( ) [ ( ) ( )] ( )
Since all the initial conditions are zero:
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( )( ) Characteristic equation
( ) ( )
( )( )
( ) ( ) [ ( )] [ ] [ ]
Laplace transformed equation,
( )
( )
( )( )( )
5
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Techniques of Partial-Fraction-Expansion,
( ) [( ) ( )]

( )
[( ) ]
( )( )( )
( )
[( ) ]
( )( )( )
( )
[( ) ]
( )( )( )
( )
Inverse Laplace gives transient response or time solution,
( )
Using Initial -Value Theorem,
( )
( ) ( ) ( )
( )( )( )
Using Final -Value Theorem,
( )
( ) ( ) ( )
( )( )( )
Verification,
( )
Value of transient response at zero time,
( ) ( ) ( )
( )
Value of steady-state response as time approaches infinity,
( ) ( ) ( )
( )
Example 2:
Determine the transient response or the time solution of the system
described by the following differential equation,
( )
( ) ( )
Forcing function ( ) is a unit step function, and all initial conditions are zero.
Also using Initial and Final value Theorems to determine value of transient
response at zero time ( ) and value of steady-state response ( )
Solution:
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
Laplace transforms,
6
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
[ ( ) ( ) ( )] [ ( ) ( )] ( ) [ ( ) ( )] ( )
Since all the initial conditions are zero:
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( )
( ) ( )
( )( ) Characteristic equation
( )
( ) ( )
)( )(
Since ( ) is a unit step function, ( ) ⁄ , Laplace transformed equation,
( )
( )
( )( )
Techniques of Partial-Fraction-Expansion,
( ) [( ) ( )]
( )
[( ) ]
( )( )
( )
[( ) ]
( )( )
( )
[( ) ]
( )( )
( )
Inverse Laplace gives transient response or time solution,
( )
Using Initial -Value Theorem,
( )
( ) ( ) ( )
( )
Using Final -Value Theorem,
( )
( ) ( ) ( )
( )

Verification,
( )
Value of transient response at zero time,
( ) ( )
( )
Value of steady-state response as time approaches infinity,
( ) ( )
( )

7
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
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 ( ) ,
( ) ( )
Also using Initial and Final value Theorems to determine value of transient
response at zero time ( ) and value of steady-state response ( )
Solution:
Since all the initial conditions are zero,
( ) ( ) ( ) ( )
( )( )
( ) ( ) [ ( )] [ ] [ ]
Laplace transformed equation,
( )
( )( )
Using the techniques of Partial Fraction Expansion:
( )
( ) ( )
( )
[( ) ( )]

[ ]
( )( )
{ [( ) ( )]}

{ [ ]} { [ ]}
( )( ) ( )( )
( )
{ [ ]} [ ]
( )
[( ) ]
( )( )
[( ) ]
( )( )
( )
Inverse Laplace gives transient response or time solution,
( )

8
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

An alternative technique to evaluate in order to avoid differentiation,

( )
( )( )
This equation is valid for any value of . For ,
( )
( )( )( )
Using Initial -Value Theorem,
( ) ( ) ( )
( )( )
Using Final -Value Theorem,
( ) ( ) ( )
( )( )
Verification,
( )
Value of transient response at zero time,
( ) ( )
( ) ( )
Value of steady-state response as time approaches infinity,
( ) ( )
( ) ( )
Example 4:
Determine the time solution of the following differential equation when
all initial conditions are zero and forcing function is a ramp function as
( ) ,
( )
( ) ( )
Also using Initial and Final value Theorems to determine value of transient
response at zero time ( ) and value of steady-state response ( )
Solution:
Since all the initial conditions are zero:
( )
( ) ( )
( )( ) Characteristic equation
( )
( ) ( )
( )( )
Since, ( ) , ( ) [ ( )] [ ] [ ]
Laplace transformed equation,
( )
( )
( )( )
9
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Techniques of Partial-Fraction-Expansion,
( )
( )
[ ]
( )( )
( ) ( )
{ [ ]} { [ ]}
( )( ) ( )( )
( )
[( ) ]
( )( )
( )
[( ) ]
( )( )
⁄ ⁄
( )
Inverse Laplace gives transient response or time solution,
( )

An alternative technique to evaluate in order to avoid differentiation,

( ) ⁄
( )
( )( )
This equation is valid for any value of . For ,
⁄
( )
( )( )( )

Using Initial -Value Theorem,

( )
( ) ( ) ( )
( )( )
Using Final -Value Theorem,
( )
( ) ( ) ( )
( )( )
Verification,
( )
Value of transient response at zero time,
( ) ( )
( ) ( )
Value of steady-state response as time approaches infinity,
( ) ( )
( ) ( )

11
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Example 5: Determine the time solution of the following differential
equation when all initial conditions are zero and ( ) :
( )( )
( ) ( )
Also using Initial and Final value Theorems to determine value of transient
response at zero time ( ) and value of steady-state response ( )
Solution: Since all initial conditions are zero, Laplace Transform yields,
( ) ( )
( ) ( )
( ) ( ) [ ( )] [ ]
Laplace transformed equation,
( )
( ) ( )
Techniques of Partial-Fraction-Expansion,
( )
( ) ( )
[( ) ]
( ) ( )
{ [( ) ]} {[ ]}
( ) ( ) ( )

{ [( ) ]} { [ ]}
( ) ( ) ( )
[( ) ]
( ) ( )
( )
( ) ( )
Inverse Laplace gives transient response or time solution,
( ) [ ]

An alternative technique to evaluate and to avoid differentiation,

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

( )
( ) ( ) ( ) ( )
Solve equations simultaneously,

11
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Using Initial -Value Theorem to determine the value of transient response at
zero time,
( ) ( ) ( )
( ) ( )
Using Final -Value Theorem to determine the value of the steady-state
response,
( ) ( ) ( )
( ) ( )
Verification,
( ) [ ]
Value of transient response at zero time,
( ) ( )
( ) [ ( ) ( ) ]
Value of steady-state response as time approaches infinity,
( ) ( )
( ) [ ( ) ( ) ]

Example 6:
In block-diagram representation for a proportional control system shown in
Figure, . Determine
the transient response and its values at zero time ( ) and at steady-state
response ( ) by using Initial and Final value Theorems when all initial
conditions are zero for each of the following cases,
a) is a step function of constant value , and
b) is a step function of constant value , and
( )

( ) ( ) ( )
‫اكتبالمعادلةهنا‬

Solution:
General differential equation of operation for a control system with two
inputs and one output is:
( ) ( ) ( )

Then,
12
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
( )
( ) ( ) ( )
( )( ) ( )( )
Substitute numerical values,
( )
( ) ( ) ( )
( )( ) ( )( )
( )
( ) ( ) ( )

( )
( ) ( ) ( )
( )( ) ( )( )
Since all initial conditions are zero, Laplace transforms could be obtained by
replacing D by s:
( )
( ) ( ) ( )
( )( ) ( )( )
a) Since is a step function of constant value ,and then ( )
and ( )
( )
( )( )
Techniques of Partial-Fraction-Expansion,
( ) [ ]
[( ) ( )]

[( ) ]
( )( )

[( ) ]
( )( )

[( ) ]
( )( )
( ) [ ]
Inverse Laplace gives transient response or time solution,
( ) ( )
Using Initial -Value Theorem,
( ) ( ) ( )
( )( )
Using Final -Value Theorem,
( ) ( ) ( )
( )( )
13
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

Verification,
( ) ( )
Value of transient response at zero time,
( ) ( )
( ) ( )
Value of steady-state response as time approaches infinity,
( ) ( )
( ) ( )
b) Since is a step function of constant value , and then ( )
and ( )
( )
( )
( )( )
Techniques of Partial-Fraction-Expansion,
( ) [ ]
[( ) ( )]
( )
[( ) ]
( )( )
( )
[( ) ]
( )( )
( )
[( ) ]
( )( )
( ) [ ]
Inverse Laplace gives transient response or time solution,
( ) ( )
Using Initial -Value Theorem,
( )
( ) ( ) ( ) [ ]
( )( )
Using Final -Value Theorem,
( )
( ) ( ) ( ) [ ]
( )( )
Verification,
( ) ( )
Value of transient response at zero time,
( ) ( )
( ) ( )
Value of steady-state response as time approaches infinity,
( ) ( )
( ) ( )
14
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Example 7:
Block-diagram representation for an integral speed control system shown in
Figure. The output speed is , the desired input speed is , and the load
torque is . For and all initial conditions are zero,
determine the transient response of the control system for each of the
following cases:
a) is a step function of constant value , and
b) is a step function of constant value , and
( )
( ) ( )
‫اكتبالمعادلةهنا‬

Solution:
General differential equation of operation for a control system with two
inputs and one output is:
( ) ( ) ( )

Then,
( ) ( ) ( )
( ) ( )
Substitute numerical values yields;
( ) ( ) ( )
( ) ( )
( ) ( ) ( )

( ) ( ) ( )
( )( ) ( )( )
Since all initial conditions are zero, Laplace transforms could be obtained by
replacing D by s:
( ) ( ) ( )
( )( ) ( )( )
a) Since is a step function of constant value , and then
( ) and ( )
( )
( )( )
Techniques of Partial-Fraction-Expansion:
( ) [ ]

15
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
[( ) ( )]

[ ]
( )( )
[( ) ]
( )( )
[( ) ]
( )( )
( ) [ ]
Inverse Laplace gives transient response or time solution,
( ) ( )
Using Initial -Value Theorem,
( ) ( ) ( )
( )( )
Using Final -Value Theorem,
( ) ( ) ( )
( )( )
Verification,
( ) ( )
Value of transient response at zero time,
( ) ( )
( ) ( )
Value of steady-state response as time approaches infinity,
( ) ( )
( ) ( )

b) Since is a step function of constant value , and then

( ) and ( )
( )
( )( )
Using techniques of Partial-Fraction-Expansion:
( ) [ ]

[( ) ]
( )( )
[( ) ]
( )( )
( ) [ ]
16
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
Inverse Laplace gives transient response or time solution,
( ) ( )
Using Initial -Value Theorem,
( ) ( ) ( )
( )( )
Using Final -Value Theorem,
( ) ( ) ( )
( )( )
Verification,
( ) ( )
Value of transient response at zero time,
( ) ( )
( ) ( )
Value of steady-state response as time approaches infinity,
( ) ( )
( ) ( )

Example 8:
The system shown in Figure is initially at equilibrium, with and
. A step-function disturbance ( ) ( ) is then initiated at time .
Determine the response ( ) for
( )
( ) ( )
‫اكتبالمعادلةهنا‬

Solution:
Q1:
For the system shown in Figure, determine the response ( ) when,
a) ( ) ( ), ( ) and ( ) ( )
b) ( ) , ( ) ( ) and ( ) and ( )

General differential equation of operation for a control system with two

inputs and one output,
( ) ( ) ( )
( ) ( )
( ) ( ) ( )
( )( ) ( ) ( )( ) ( )

17
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

( ) ( ) ( )

( ) ( )
( )
( ) ( ) ( ) ( ) ( )
Since the system is initially at equilibrium means that at ,
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
Laplace transforms,
[ ( ) ( ) ( )] [ ( ) ( )] ( ) ( ) [ ( ) ( )]
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
Since ( ) , then ( ) [ ]
Also ( ) ( ) is a step function disturbance, ( ) [ ( )]

( ) ( )

( )
( ) ( )( )
Techniques of Partial-Fraction-Expansion,
( )

[ ]
( )( )

[( ) ]
( )( )

[( ) ]
( )( )
( )

Inverse Laplace gives

transient response or time solution,
( )
Using Initial -Value Theorem,
( ) ( ) ( )
( )
Using Final -Value Theorem,
( ) ( ) ( )
( )

18
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

Verification,
( )
Value of transient response at zero time,
( ) ( )
( )
Value of steady-state response as time approaches infinity,
( ) ( )
( )
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, ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ‫اكتبالمعادلةهنا‬
( )
( ) ( )
( ) ( )
For all initial conditions are zero, Laplace transformed equation as shown in
Figure,
( ) ( ) ( )
( ) ( )
( ) ‫اكتبالمعادلةهنا‬
( ) ( )
Using Final-Value Theorem,
( )
( ) ( ) ( )
( )
( ) ( )
1. Unit step input [ ( ) ( ) ( ) ⁄ ]
( ) ⁄
( ) ( ) ( ) ( ) ( ) ( )

( ) ( ) Positional error constant

2. Unit ramp input [ ( ) ( ) ⁄ ]
⁄
[ ]
( ) ( ) ( ) ( ) ( ) ( )

( ) ( ) Velocity error constant

1. Unit parabolic input [ ( ) ( ) ⁄ ]
19
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
⁄
[ ]
( ) ( ) ( ) ( ) ( ) ( )

( ) ( ) Acceleration error constant

Where, , , and , are called error coefficients
Example 9:
For control system shown in Figure, ( ) ( ) ( )
‫اكتبالمعادلةهنا‬ ( )
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,
( ) ( ) ( )
( ) ( ) ‫اكتبالمعادلةهنا‬ ( )
( )
( )

( ) ( )

( ) ( )
( )( )
1. A unit step input, ( ) ( ) and ( )
( )
( )( )
Partial fraction expansion,
( )

[ ]
( )( )
[( ) ]
( )( )
[( ) ]
( )( )
( )
Laplace inverse gives response to a unit step input,
( )
Steady state error for a unit step input is determined as:
21
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

( ) ( )
( )
Also steady-state error could be obtained as,
( ) ( ) ( ) ( )
Steady-state error,
( ) ( )
( )
2. A unit ramp input, ( ) and ( )
( )
( )( )
Partial fraction expansion,
( )

[( ) ( )]

[ ]
( )( )
[( ) ( )]

[( ) ]
( )( )
[( ) ]
( )( )
( )
( )( )
For,
⁄
( )
( )( )( )

( )
Laplace inverse gives response to a unit ramp input,
( )
Steady state error for a unit ramp input is determined as:
( ) ( )
( )

21
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

Also steady-state error could be obtained as,

( ) ( ) ( ) ( )
Steady-state error,
( ) ( )
( )

3. A unit parabolic input, ( ) and ( )

( )
( )( )
Partial fraction expansion,
( )

[( ) ( )]

[( ) ]
( )( )
[( ) ( )]

[( ) ]
( )( )
[( ) ]
( )( )
( )
( )( )
For and
( )
( ) ( )( ) ( ) ( )

( )
( ) ( )( ) ( ) ( )
Solve equations simultaneously,

( )
Laplace inverse gives response to a unit parabolic input,
( )
Steady state error for a unit parabolic input is determined as:
( ) ( )
( )
22
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

Also steady-state error could be obtained as,

( ) ( ) ( ) ( )

( )
Steady-state error,
( ) ( )
( ) ( )

Example 10:
A mass-spring damper system is shown in Figure:
a. Write the mathematical differential
equation of operation.
b. Using Laplace transform to solve the
equation when ( ) , ( ) , ,
, , and .
c. Determine the steady state error when ( )
d. Determine the steady state error for a unit step input, unit ramp input
and unit parabolic input.
Solution:
A grounded chair representation as shown in Figure,
a) Mathematical differential equation,

( )
( ) ( ) ( ) ( )
( )
b) Laplace transforms, ( )
( ) ( ) ( ) ( )
[ ( ) ( ) ( )] [ ( ) ( )] ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( )
( ) ( )
( )( )
Since, , ( ) [ ] ,
( )
( )( )
Partial-Fraction-Expansion Technique:

23
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

( )
[( ) ( )]

[( ) ]
( )( )
[( ) ]
( )( )
( )
Laplace inverse yields time solution or transient response,
( )
c) Steady-state error
( ) ( ) ( )
For open loop control system, ( )
( )
( ) ( ) [ ]
( ) ( )
Also steady-state error could be obtained as,
( ) ( ) Open loop control system
Steady-state error,
( ) ( )
d)
1. Unit step input [ ( ) ( ) ]
For open loop control system, ( )
( ) ( )

Also steady-state error could be obtained as,

( ) ( ) ( ) Open loop control system
Steady-state error,
( ) ( )
2. Unit ramp input [ ( ) ]
For open loop control system, ( )
( ) ( )

24
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

Also steady-state error could be obtained as,

( ) ( ) Open loop control system
Steady-state error,
( ) ( )
3. Unit parabolic input [ ( ) ]
For open loop control system, ( )
( ) ( )

Also steady-state error could be obtained as,

( ) ( ) Open loop control system
Steady-state error,
( ) ( )
Steady-State Error For Two Inputs-One Output Control System:
Consider a control system with two inputs-one output shown in Figure,
( )

( ) ( ) ( )
‫اكتبالمعادلةهنا‬
( ) ‫) ( اكتبالمعادلةهنا‬
‫اكتبالمعادلةهنا‬

( )
( ) ( ) ( ) ( )
Since,
( ) ( ) ( ) ( ) ( )
( )
( ) ( ) ( )
( )( ) ( ) ( ) ( )
( ) ( ) ( )[ ]
( ) ( ) ( )
( ) ( )
( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
For all zero initial conditions, Laplace transformed block diagram shown in
Figure and the transformed equation is:
( )
( ) ( ) ( )
( ) ‫) ( اكتبالمعادلةهنا‬
‫اكتبالمعادلةهنا‬ ‫اكتبالمعادلةهنا‬

‫اكتبالمعادلةهنا‬
( )

25
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
( ) ( )
( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
Steady state error using Final-Value Theorem,
( )
( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
Error coefficients could be determined as:
For unit step input,
( ) ( ) ( ) Positional error constant
For unit ramp input,
( ) ( ) ( ) Velocity error constant
For unit parabolic input,
( ) ( ) ( ) Acceleration error constant
Example 11:
For feedback control system shown in Figure, all the initial conditions are
zero and
( )
( ) ( )

Determine the transient response and the steady-state error for each of
the following:
a. ( ) is a unit step function and ( )
b. ( ) is a unit step function and ( )
c. ( ) is a unit ramp function ( ) and ( )
d. Both ( ) and ( ) are unit step functions.
e. ( ) is a unit step function and ( ) is a unit ramp function ( )
Solution:
( ) ( )
( )

( )( ) ( ) ( ) ( ) ( ) ( )
( ) ( )
( )( ) ( )
Since all initial conditions are zero, Laplace transforms, ( )
( ) ( ) ( ) ( )
( )

( ) ( ) ( )
( )( ) ( )( )
26
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
a) ( ) is a unit step function and ( ) , then ( ) and ( )
( )
( )( )
Partial Fraction Expansion,
( )

[ ]
( )( )
[( ) ]
( )( )
[( ) ]
( )( )
⁄ ⁄
( )
Transient response is obtained by Laplace Inverse,
( )
Steady state error,
( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
Since, ( ) and ( )
( )
( ) ( ) ( ) ( ) ( ) ( )

( ) ( ) ( )
( )

Another way (for a unity feedback only)

( ) ( ) ( )
( ) [ ]
Steady state error,
( )
b) ( ) is a unit step function and ( ) , then ( )
( ) ( )
( )( ) ( )( )
Partial Fraction Expansion,
( )

27
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

[( ) ]
( )( )
[( ) ]
( )( )
( )
Transient response is obtained by Laplace Inverse,
( )
Steady state error,
( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
Since, ( ) and ( )
( ) ( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( ) ( ) ( )

( ) ( ) ( )
( )
⁄ ⁄

Another way (for a unity feedback only)

( ) ( ) ( )
( ) [ ]
Steady state error,
( )

c) ( ) is a unit ramp function ( ) and ( ) , then ( ) and

( )
( )
( )( )
Partial Fraction Expansion,
( )

[ ]
( )( )
[( ) ]
( )( )
[( ) ]
( )( )

28
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali
⁄
( )
( )( )( )

( )
Transient response is obtained by Laplace Inverse:
( )
Steady state error,
( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
Since, ( ) and ( )

[ ]
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )

( ) ( ) ( )
( )

⁄
Another way (for a unity feedback only)
( ) ( ) ( )
( ) [ ]
Steady state error,
( ) ( )
( )

d) Both ( ) and ( ) are unit step functions,

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

( )
( )( ) ( )( )

( )
( )( ) ( )( )

( )
( )( )
Using the techniques of Partial Fraction Expansion:
( )

[ ]
( )( )
29
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

[( ) ]
( )( )

[( ) ]
( )( )

( )
Laplace Inverse,
( ) ( ⁄ ) ( ⁄ )
Steady state error,
( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
Since, both unit step input ( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( ) ( )

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

( ) ( ) ( )
( )

Another way (for a unity feedback only)

( ) ( ) ( )
( ) [ ( ⁄ ) ( ⁄ ) ] ( ⁄ ) ( ⁄ )
Steady state error,
( ) ( ⁄ ) ( ⁄ )
e) ( ) is a unit step function and ( ) is a unit ramp function ( ) , then
( ) and ( )
( ) ( ) ( )
( )( ) ( )( )

( )
( )( ) ( )( )

( )
( )( ) ( )( )

31
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

( )
( )( )
Using the techniques of Partial Fraction Expansion:
( )

[ ]
( )( )

[( ) ]
( )( )

[( ) ]
( )( )
⁄
( )
Laplace Inverse,
( )
Steady state error,
( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( ) ( )
[ ]
( ) ( ) ( ) ( ) ( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
⁄

( ) ( ) ( )
( )
( ) ( ) ( )
( )
⁄
⁄

31
University of Baghdad Automatic Control Engineering College of Engineering
Mechanical Engg. Dept. 2019-2020 Assist. Prof. Dr. Karim H. Ali

Another way (for a unity feedback only)

( ) ( ) ( )
( ) [ ]
Steady state error,
( ) ( )
( )

32