EE Hoa — UNIT 3: Time Respome Praalyte _ => fra cpeorfie input, a cyetown vapors specifically. CoS Standarolk inputs © Disuused dn previras ebapher. 7 fe _time- vespore _Coutput vs time) Cowaeds yf : olp . G)_Tiausieut vesppnee. ce!) co. Steady. stat. veapone. Traci a oe covailer here TRL skeady- stot period. and. We e [ nat systeng ‘| Hawiet pewsh ane defirck by ayster time constant (1) ThS Grauiut peniod) | Time Response First order Syston ¢ Wa governing uation. if a typical IS geder Systors, w T ae +gH = ato > TYD-s + ¥e)= XM >| Ys) Pls) kig= al = — Time donttiat form of teanefer_femehion Sn. o Dye Re 1 (ot sz -YP) +a [Zev with conkibin] Her, wf gers = (DT) Vust impulse vesprne of 19 reder_cysiom. AOD [ RIDE T der F Fpuite inp XL) Vis) = Tstl tt)A Dj dine constant is lavge., Sysders oil dake more. imate Feark fo _fivol ateti: 2 Fme_ tonstant repregefs toe. Speed alt wre a _pashialer system Cau vapid 1 chavge. =? for _iampulge _yesponee. of IS order cystem. , at time. He cotant , thre System _responye _ clecays by 36.8%. Exannple. i wt ee, inpud = uit jrpulie. voltage cigual te Hee _eivuut Cosenit remains clo) Sufput = voltage acvOu Capa iter = Vs) \ ce Vga “MODS Vin lx R+ Cs vaplse) ivpat (ust = Vet vA ! > ) wx i Be | : >) = en [° Vial=1] aL Re thee 2 \hW= so t T= Rea dime constant °Gn _above_ceeut, if feore os nro Resistor, toon there. DIU be no tre cqnsfaut (Te RO =d). Therefore , fae responie. will bean impulse. function bike. Hee input: (ZL) uit Step response of. LM order cystoma : = - XM Co a= uli=] ye ayes = a x9 TS] T T tr ) 07639 2 IOS Srey AS or >\yWs te" ) oF ape Ak t=T , ¥ltet) © feel: 0639 > Th Ime contaut | (4.0 f 3) Time at wii tne _yesponie (gutput’) magwibole. 63.2% rf itt freal steady stati value at _te4T, ylt=4n)= 1-64 2 Settling Hime, ADE 2 09D (= 98 4 of 1) Tire taken by toe gespoge magnihioe fo settle it. 27 of itt final value - * Response. Lill settliug dime (41) uw " tronuiat vetpone” hfe vepoue affes 4T is " Stedy bret resporge' Exaraple : ¢ Here, Vuld= Ef f= —w—_f z= input _viltoge ior Vel) = eutput voltage acrou copachior- [Ly _+, Wate) id= Vinx Rte AX cs alt Stef bp eS wey = 35%I YRe > Y= = a“ ° (Rest) S(&4 72) > yee I t Volt). = Oo LL oe s SRE at fme t=0 ? Vel)= 1-e°= 0 2 _cspouitor is chart ~Urent ot time 17? vite: pe REL zp etre cry yplloye i _ owrallae at foe _woapadfer =Y_capaciter ts opens cir uu * Sf these no vestator, tru. T= RC=0 wlt= jee =) = volloge acre capacitor wil be ve. ‘appued step voltage duh vercest ya) be * Impulte igual Os r= duty) TE wy Devvanuc Hf parable Sigal = Rap vipal Derivative tf Ramp sigual = Step Sigal Denvapve SP Lynn = trnpulae— sigs pe s ect ! QW TA 4 2 steady tate ere 2 2 | ot_3T_: t; v= Sy% ak_ ST * ” 8 Ly nu2 uit Raponie of It oreter oyster * For unit trannp _tnput XOo a [x= 4] ag Lyw= 29 = ! fuel) ons TS+] (Te) AW te oO < >t steve, Hoe eryr between output avol input ab any dine £ i’ eltj= ul) ¥lt) 2 t-ft-ta te] -t/r = €-t4+T-Te > [= TU-e)| Now, the exer ot steady -ttabe. is given bp ae e€@= Tlie y= 7 > Fv tarp vecpome of /*F order _sysion (gain koi) foe fine conttouit is equal. Le He Atendy tele evire. P Tine constant | stendy- adete err | G Wad function The Reapine _enprticion Remnarte, Differentiate, Unit Ramp :elO= £ We t-Te eT Unit step: KU)= 4 y= 1-euT Unit Impubse: L0)= SUE) | yl) = Ler v iideprakeThome Response 1p Second Order ystems ! Te governing esyation of a oder Systeme mag. be given by, aye + 260. BO 4 oly = wh uit) where, £= dampiog satio Fee atabtLiy., a2 nafrral fresueny of prcitlation. |__£70 & Hn”? New, we take the lLepw tranafrem. of abpve ODE © ld — cyld =glo + dem [£ yay-$ld] + wr Ylg = wuld Comatdecing zed inital _emdib , we pot. (92+ seem +t) Y= we vis) ioe Phas ~ | yes) we a > DiS = Saimeoe Ghana oe = Pls) Zexti—>o. z vig} yl G+ 2bWn+ On | H Recall jue _fravufer funchion of spring — mane damper cystonn. ¢ ae oD) ¢ i) Xb) i ame sf Fp = maw MS>+ CS+K C= harping constout ke Sprig constouk = xwO 2 FO ee tet oo cag Kjug, K/an we d 4 Sot 4 2b S + WE Yes) wd o eae vis) PDL Wt OO Valor of pita? C+ 26i + n=) (Cuadeatic pobyusnirh) en bt J pole Kim ea Eat ef —> DOMINANT POLE Zz * Re =e 0X EXT Cider) ' , = E=T (ental) rrr eal = 251 Cover) CakeE: 04 £<1 > Underolamph condition’ Pole: ~ Et 4 uy (ERI =-Eu, + juafl-2* ( E<1) Here, oh fi-e* = oy > Damped Nahpral. fresucuy. % ee pola are pluck accordingly. ww Smplane-Pelee: Lak + Waehi =t-an,-on} Le 22/7 > Polv_of sepectiog pret at a * Poles ave plotieh 2d s-plane d= Wai b® = 0 fre eirthiontly Lampe system - Gye I! E>| > “over dangped covdition” Peta : Lid + Wayehl [2>i] =) Bet pHa are Keak Plotted acca high we Cplanl Ht Yndamped condition [2=0| —> Ree salt be rw olermpiig. ix, te system: Pot: FW = t)we 7 Bite pula are purely tapi. # NH:H Exampk 7 Ree cena ciruut * wt > ytd j we oh Herve, Wbld= Veldx ss Prot t cs => ey Ly ea Vii) OE Regt Lest yee) E> Hd sy | Vols) — ' Vit) ~ Leste Restl Reawravping aud comparing with Btadal at order ravafer function: veld _ he _ we vil) oe Mt Boy 4 2S + Ue adeval frequcny of ose ation, 1 kg _ , . ond, dEx oe = Bo les BLE) - Dompiig ratio FH Repmac +f a4 order site with vartous valu rf Et Imaginary Axis Imaginary Axis Undamped Overcampes | ¢ 5g Real Axis Real Axis Imaginary Axis Imaginary Axis o2 =? overdamped ) Solubirn * Poles ase col udleded by G4 LED, St WEED Q_s'+aS=0 > s= +5 CD 24 Se495 > = -25 + jaa Pole Le om a commun ree Gi) C4 stas = S= -5,-5 (id S4+.2084¢ 95 =F S= ~N3Y, -18.67 Lona “Ew + j ajar FE (a i wa = Wall=e> EWa~ Wnfe%1 Covevdoraped) E>! (itn > -EWn, = jee -eeResponse magnitude aA & ‘undamped| under damped 0 cntically damped | | | | | | over damped 05 1 1s 2 25 3 35 ‘ “ 5 Timo (socond) Time clomain exprenion of veapore op 2° order gytton : Yés) oo ye ES =» —__@ __ We have POE ES” ean HOE Here, the uit step wep pbtamed . i So XO= > wor vw Ys Pld. x¢s) = ———*—___ » ° SCO 2eu.c+ Wd) A Bste 5 = 44 tc _ __ Hi , 2 YO S + @peacp ae (Partial frautin.) => Yi= L_ __St28ee SPF DEUS Oe S ya:t- S426 —— s PHL LoS 4 Broke + WE — BPtde i St 28 2 Os —- (S4 ERa)? + ORUI-E*)StI Ew > yioe LE - s (St B0dn)> + 6 > Yl) = b~—steee Lode ” £ (G4 En) + OY (8+ Eedn)> + 0™ Ct bbb, (E [frre*) Wk ~ (olive?) th [. tips ooolI-2] (8+ Een) +f Oy (84 E00n)> + oy Appling inverse laplaue. teavuforn ‘ -£0,£ I: ys l= ©” cot (ut) — Fe cin (aut) Ga The performance _speerfication f ad order Systems gre. Aesved form Hola expseuyor. “dn tine olornain.’ go ean Tolerance Band 2-5% 0.5 (i) tee vise fime Gi) tp peak Heme ' 1G) Mp= anax™ pyerhort t 10) tse settling Home.ci) Delo time: Time veysivedk for toe gespome 1 veal hale. foe final value for the first time tp- [tore 4 On (i) Rise Home! Lt wy te te reyurd joc He yesponue fe wee ferm_0f te 1007, Sf to ISL, aud 10f fo 100K ts fod velue.- For wsderdarsped * Of te 100 coiferia cs wtef For voerdampeh ' lof, fo 70/- citona is used. t= SER mole wa Wa ft UiD_ Peak me: Tt in fe time vequived for the vespoue f yeah stew first peak of Hoe _ rverstort T tp= F-. _T__ PW Wa find? (iv) Maximum (/) opeshort | Bt is toe cteviotim Cie 7) of Hoe Yepoue at peak frre from ee fio value of respone ¢ a Mplf) = EM"? x 100 (v) Settling. time + Dt ip toe tre pesuirek for tre wespomse to reach te _skeady- stale aud tay oittuin, He _opecafied dokrene bends artund fe frral value. Zan =3T > of em tee ae UT SS err ze = ST 3 If enafywe pa sos tae) — = é “cave, Cahuabodion. Hf delog thine. (ty) * Pot _ Yl = 0.5 in flt) avk canniey f= ty ~ Eth ty é ~ 20 O82 Im eta (uh) = pom é "in Cate) Stn: Fe in ut) = Elda ty re cos (oh) + Using Linear approximetia tye 1tOFE Coleubation op Rise time Ct) § Put Y=! anh carder t= br, ~ Luh ty be l=l-e co (ut) — Ta a in Cotte) ete [cos (itty) Lilet ee sin(dute)] 20 mere, #0] = tin (ute) =O => fon (ete) = Hee => cor (uyty) + y * " (EE) [= up >J-e = sme]En: HEOLE Tyo: b= € toh (ut) ~ pS 6 “ensued | Colwulation 9 Peak te (tp): At _mox™ overshot peak, slepe pf eure ia zero. Aye = aE. lee =O After Aifferesbiabion anh evalutira tf Ay O/elt at t= tp, we gol a EG AHO — Lenn FE ew = (sinwetp) as =0 Here, omy powiblijy. 1s, Sin Http =O TP byt) = OT, 2K, 3M... The peak time (bp) cervespwds te _/* peak _overshort uty = t —t_ PPE Oa J) -Z* Caleutation9f maninnstn pverchert C4)! lt) = 1 Oe = ee een 5 Un) > fly) = 1c OU (ay) 0 [sint= 0 5 cat=-!) => Flip = fae Senneaud, fe) = 1 (steady ate. value) HER Jay (p-~@) Gre D=1 Mp. ¢ lov = y P ye) 7 —_xi00+/ En Te => Mp= € od x1007/ (<2) => |Mp= es We) x 100 y, & me - fr He wi + aprich as input sas: SHIH YS S Vhs + wh=o weeJe= 2 vedfe WW Bre = 282 > goog W ws wn Aimee = 2 los Sy eM = 1732 yad/¢ VK log Hime (ta) = ERTS 2 AOPROE 070 seem 2 Rive Hime (tr) = TE CS) as 3 oa PFD TF TFL = (Sxan/tea2 = 1-209 second Peak time. (tp) = i ——— 1.813 second <= ENTE BHAOS, Mp (=e! exp - te FE] am i = 0.1632. x100 7 = 163242Lestling. Hime (4) (for 3-1. encre bank) _ 4 y? Ein eK D. = t= 1 Setmd = US D jo wepulr 2 h “A Fite eat fda rat cepuireh fo obfar 50% Cased wd 9) avafer function * og Gt) Ya) xo sulptt_{__Oudpt C5) — Gls rata ‘ome A Tap (9 y4 GEDHE) teemnsfor famotion > chased loop transfer fuction yives ©) Closey lavp poles & Keres (i) closes loop Gain. "09 Tern op pt = GDH) > Open lop THO frauper” ofenebion => Open _larp trmader funchion gives, @) open Aap prea & zerss- Ci)_opEN Lop Gain Ze of Giese ek t= Aid pen anal clack Lop pets, Fes, ah dai Saf GOH = (Seas | Pee } Ket een Lamp ey Sey (RY scan) QOH) pp Sse (BO 642) Fes = 0,71 } poe - 0.586, —2.4y | Ke] y CLOSED LowCharacteriche. Eyuotion* Te lasek Loyp pret’ are Metewed ly Stivieg, toa following esysation: t+ GD HOD=0 | _ crppacteReTe Panation — ocder tf prtyramink = order of spor — Root es charattertshic exuation ase He cused Loop pues: & Fink the Charaifenithe _esvation of ue ystorn ite fred pete. _trowsfer funthion ~P5——— andl feedback pate _fransfer OF LOFL 7 fuschia yj — Ss t Sq: tere, 49 = ae ak Hye ra) char. 64"! it Gt) HI) =o 5s — ait hp ast) St] => (Sti) Cst4 2041) +59 =0 FP Oraeretr P+ ast] 6020 2 2 3 = PSF IME ES +) 0 = Note- Lh caxe the system ig am _pper Loy sytem (no feedback), Hot denananafor _pelynomial of foe _travsfey faucb'oe wk be ik “Characferithe esuahosSteady Ate _ensnr ark essay constant * Ne clase. avufer Now ¥ bs nS ee Rio” etsntey Sg EC) 49 > YespHts) and, pen Lop frausferr famehion la given” by 6s) HID fHesf— Hert, EOE expr Ylo> ety Glo YO (9 Gt ay » RY 4p Ie ces), Yt) = G1) Els) => RW. Ma Gly ED) TaD HC) RW reGUHE Pp \EO= Gteady piate enn, Ese = jim elt) > |ex = Lim elt) = dim CF(s) = dim {70 Conatder the __ppen Amp fravifer_funehim G69 H(S) da above expversion fp i} bt Gt Hip = SLI ype IN system. S$" Yoen - yl k=» bpen Lemp gain NSO Type 0 cyst | Net > “Type!” siftews Neo —> ‘Typed! spew wd SOOexample | gy nlp St — 40.26 s+!) 2 2 — Sra 46s (tet ters) est3* =! = 13) Coake+t) Type= - a rity lie pak Ala — # Sg tale a 1 leven ee : tese, tit=| > Rigd= Veo Rts) Cc = Lim S — = £0 Vs t dim g —2 = ————_ reatOn) So 14 GOH) 44 GLB) HU) State. Position Ear Constants, Kye = fim GOH wale est = [Type tn) he | es (aackig) oer ea ° K tt itK PeheDe Me top t oo tawsfer f tee | 2 \ oO o | es T LT Gi = aud) HIDEL . Prk “chat ppsthin exrre Conttont” aud fhe Ateady stele enor So"! open Imp THe ¢i)nd= “oa ' t fim Gldnlds lim ——— = | WV# Stesdp stale ewn Ae a wait Ramp reference input # tere, wits £ > R= & vn RID 0 14 G(s) ils) xg = L = dh Zr ——— a eo # gin) = SY of gtontal) = dim t so 5 SGC) HED . L = om Sie ao Static. Vetouty Evo _tovitouk , Kve = Hint < GHD fice Kve= de pom af pen deep rel SType_CN) Ke Coe oO ° ! K Vk Z ~ o 3 a ° _ Ste GY. M02 Fe ad He Si Gd Kye avd Occ. oq: read 2 ch Git = Please)” Sth 1 (rey (sr) 2( WS) CO % +o) tI) De gor of GOH B 22K For type | sythm 2 Kies Ke 2 t y aud Os = = Vo Ke. aSteady stele ere ta a wit frvebili, referee inputs? Here, vlt= z > R= 5 C= Lim SRD fo + G(s HIS) L a con 8 eG) = A Sia gona) = him ——! so SF SGI HES) —————— — oo PG (DHE Stati Acceleration Errore tonttout , Kap = diet GOH) si [Ke Kee = De gor af sper degp rel Kae Ese 0 °° ! o o 2 K YR 3 x2 0 Oe Be 4ud= Wad &td= © Bud Kae and Cue: ™ Stl Yo Con) GDHO= Gleaa) S (Esti) Here, DE farm. of open lop Ths Yo Fer type 2 oytem | Kae = aKEy feet op adding a zero fo a._sysiors ? tae oanatdee sett hp repose tft felipe: POO® (alse) Caystens tient Fer) Hee, pola ave ot -) avd -I0. Fes: NIL & vost Cuuit step input) ylo = PUD. VIS= can ete eee Tod Ld =p Ss q Sti 9D StiD > lye: Zz -¥ eaten oO 4 Nw, ne adh a zen % tre above system sv that fue teausfer_funchin becomes Mi) = SS fe CoH (sty be . vt poles! —! & -I0 =1p 2 <1 Kens: 2 aa Avid = + Cuwit step input) CD. Yid= PB VD = ncaa4 B c > Yig= ftaa ton - t4 1) _ 8 |} ~ es q ctl 90 S40 —__ Ww Step Response as a t= 03 oe © sews TF_no_zero ——TF_1_zero 3.5 @ 25600 3 Grkstas | 25 4 3 22 . 4 & (cobttig Hine) 15 toyz 68 tes. 5 1-98 86° a a i i i i i 0 0s 1 15 2 25 3 35 Time (seconds) Conclusion : (OO pele'tion of ores to a cysten veducer toe effect f clominauct ples GO Addition of rere ti a system veduces vite time onl peak time but fnertagey 2 max — wersburt Ci) Re cettieg time may jerome or decrease depeodhing upon Hee Arcot, 4 zev0. ee . Cons evtsg. Pid= Gender) 8 Tf we chift joe adh zero fom S= -9 O S=-1 , we get (9 = ST P= (#4) (sti) ——St10 POLE—ZERD—cAWELLATION: Heder a conaider_austier cate in win a prle_ig added _to the right stole. Ea Se plang at S=2 Cao 5/5) br plane. “POs tery Ey Again,» IS) = ~_ (ut step input) ya) = Pls) . vis) = =o = Ap Pop ES ete yeetie) ——¢ —_s#/__SHb ——(ii) @ zee in RHP > Nimn= minimum. phase Keres DA system ie calle non minimum phase. cyclen _if its atlemt ome rer kevin trig hawk gyole of” or plave gH danate Sp supose. of piy= 62 Nn oniniun Col) Cot10) phate_cysten Tes toneept i ack te diva He Cupmic Hf a. seton, ait Hm: oy|Syste _poith _drrne. delay. ¢ lomider, le) +t) = MUE-T) | Te Hee dey 7] =P Myst oil respmd after Tako hoplaw Trougform. Lo time Te 5 £YO+ YO = ve * [ote intial concbhosg =0] ¥eo ~ ly¥@ ous ee vis) ~~ Stl oly >t i Ti TH is : () €" 2 Tas #1 = Ps ! YS, pppmptirokh TR (sH) (Hs) yl) @ 68. 6°? ite 2- ~ 7 oN s oe sy fate der & J+ Sp 2s appeaniznation.” 2 Pty @ —2° us = YW Apprnimoted TE. Gott) Ca4les) vs) =m ec Step-rapmie— rT 2 TS f — skp wepone of as) 5.