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Control9 2020 Feedback Control System Characteristic

The document discusses control engineering and analysis of first order systems. It describes different types of input signals like step, ramp, and sinusoidal inputs. It then analyzes the response of a first order spring-damper system to unit step, ramp, and impulse inputs. Graphs are provided to illustrate the system responses.

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Khong JunYonG
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12 views17 pages

Control9 2020 Feedback Control System Characteristic

The document discusses control engineering and analysis of first order systems. It describes different types of input signals like step, ramp, and sinusoidal inputs. It then analyzes the response of a first order spring-damper system to unit step, ramp, and impulse inputs. Graphs are provided to illustrate the system responses.

Uploaded by

Khong JunYonG
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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CONTROL ENGINEERING

Feedback control system


characteristic
Transient Response
and Steady State Analysis

• Once model of system is generated, various


techniques available for analysis.
• In practice input signal or disturbance is not
known.
• Thus for design purpose, standard input is used.
• This can be justified because there exist the
correlation between the system response to the
test signal and the system ability to perform
under normal operating system.
General types of input signals

• Step input

100
Force, N

50

0 t1 t2 t3 t4
Time, second
Types of input signals

100
Force, N

50

0 t1 t2 t3 t4
Time, second

• Finite duration step input


Types of input signals

100
Force, N

50

0 t1 t2 t3 t4
Time, second
• Impulse input
Types of input signals

100
Force, N

50

0 t1 t2 t3 t4
Time, second
• Ramp input
Types of input signals

100
Force, N

50

0 t1 t2 t3
Time, second
• Sinusoidal input
First Order System
• The example of first order system are RC circuit,
spring-damper system and thermal system.
• Usually the 1st order system is simplified to:

• Where r is input, y is output; y/r is the OLTF


• The system response to unit step function, unit
ramp and unit impulse shall be analysed while
assuming the initial condition is zero.
First Order System:
Example spring-damper system
x( t )
k c

y( t )
Mathematical model of the system:

FD ( t ) = c D y( t ) i/p is x( t ) o/p is y( t )
FS ( t ) = k ( x – y ) y(t) k
FS ( t ) = FD( t ) TF = =
x(t) k + cD
•Using ‘s’ operator is the i/p o/p relation:
y(s) 1
= where t = c / k
x( s ) 1 + ts
•To analyse system response to unit step input i.e.
x(t ) = 0 when t £ 0
x(t ) = 1 when t > 0
1
x(s) = L x(t ) = L 1 =
s
æ 1 öæ 1 ö
y ( s ) = ç ÷ç ÷ where x(s) = 1 / s
è s øè 1 + ts ø
using partial fraction :
1 t
y(s) = -
s 1 + ts
to find the time response, use inverse laplace :
-t / t
y(t) = 1 - e
This equation tells us that as t increase from
t = 0, y(t) = 0 and increase exponentially
until t = τ where y(τ) = 0.632 or 63.2% of steady
value.
1st order response for step input
•To analyse system response to unit ramp input i.e.
x(t ) = 0 when t £ 0 ; x(t ) = t when t > 0
1
x(s) = L x(t ) = L t = 2
s
æ 1 öæ 1 ö 2
y ( s ) = ç 2 ÷ç ÷ where x(s) = 1 / s
è s øè 1 + ts ø
using partial fraction :
æ
æ 1 ö æt ö ç t ÷
2 ö
y(s) = ç 2 ÷ - ç ÷ +
è s ø è s ø çè 1 + ts ÷ø
to find the time response, use inverse laplace :
-t / t
y (t ) = t - t + te
The error, e = input – output i.e. x(t) – y(t)
Therefore from the equation:
x(t ) = t
y (t ) = t - t + te -t / t
e(t ) = x(t ) - y (t ) = t - t + t - te -t / t
e(t ) = t (1 - e -t / t )
as t ® ¥ hence steady state error e(¥) :
e(¥ ) = t

Therefore, to reduce steady state error, value of τ need to


be reduce by manipulating the value of c and k.
1st order response for ramp input
Unit impulse response:

•For unit impulse x(s) =1 and the output of the


•system is:

æ 1 ö
y ( s ) = 1.ç ÷ where x(s) = 1
è 1 + ts ø
to find the time response, use inverse laplace :
1 -t / t
y(t) = e
t
1st order response for impulse
input

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