Control Systems (BEC403)

Module- 3:
TIME RESPONSE OF FEEDBACK CONTROL SYSTEMS
3.1. Time Response:
• Response of the control system (function of time) to the applied excitation
• Successfulness and accuracy of the control system depends on Final value of the system output which is
near to desired value
• There are 2 types of Time responses:
o Transient -response
o Steady state response
3.2. Transient Response:
• Variations in the output during the output is about to achieve final value
• Time taken to achieve the final value is transient period
• Mathematically, lim 𝑐𝑡 (𝑡) =0
𝑡→∾

• From Transient we can find:

o Response starting time
o Rate of rise of output→Speed of the system
o Whether the rise of response is exponentially or oscillatory
o Settling time
3.3. Steady State response:
• Time response after the output achieve final value (i.e. no transient response in the output)
• C(t)=𝐶𝑠𝑠 +𝑐𝑡 (𝑡)
• From Steady-State Response we can find:
o Steady-State Error
o Error’s dependency with time
3.3.1. Steady-State Error:
• Difference between the actual output and desired output
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• L{e(t)}=E(s)=R(s)-C(s)H(s) For closed -loop system

• Derivation
o C(s)=E(s)G(s)
o Feedback Signal, B(s)=C(s)H(s)
o Error Signal, E(s)=R(s)-B(s)
E(s)=R(s)-C(s)H(s)
E(s)=R(s)- E(s)G(s)H(s)
E(s)+E(s)G(s)H(s) = R(s)
𝑅(𝑠)
E(s)=
1+𝐺(𝑠)𝐻(𝑠)
𝑅(𝑠)
o For Unity Feedback, H(s)=1 then, E(s)=1+𝐺(𝑠)

o Steady State Error, 𝑒𝑠𝑠 = lim 𝑒(𝑡) = lim 𝑠𝐸(𝑠)

𝑡→∾ 𝑠→0

𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠)

𝑠→0
𝑠 𝑅(𝑠)
𝑒𝑠𝑠 = lim
𝑠→0 1+𝐺(𝑠)𝐻(𝑠)

3.3.2. Type and order of a system:

• Given, H(s)→ Feedback path gain, G(S)→ Forward Path gain
𝐾(1+𝑇 𝑠)(1+𝑇 𝑠)….
• Type of System: G(s)H(s)=𝑠𝑗 (1+𝑇1 𝑠)(1+𝑇2 𝑠)…. J→Type of the system, j=0 for Type 0 ,j=1 for Type 1
𝑎 𝑏

• Order of the system: Highest power of s in characteristic equation, 1+G(s)H(s)=0

3.3.3. Standard Test Inputs
Signal type Step Input Ramp Input Parabolic Input Impulse Input
(Position (Velocity Function) (Position Function)
Function)
Graphically

Mathematically r(t)={
𝐴, 𝑡 ≥ 0
r(t)={
𝐴𝑡, 𝑡 ≥ 0 𝐴 2
𝑡 ,𝑡 ≥ 0 δ (t)={
𝐴, 𝑡 = 0
0, 𝑡 < 0 0, 𝑡 < 0 r(t)={2 0, 𝑡 ≠ 0
0, 𝑡 < 0
Laplace 𝐴 𝐴 𝐴 1
𝑆 𝑆2 𝑆3
3.3.4. Static Error Coefficients
Reference Input, R(s) For Step, R(s)=
𝐴
For Ramp, R(s)=
𝐴
For Parabolic, R(s)=
𝐴
𝑆 𝑆2 𝑆3

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With a magnitude of A

𝒔𝑹(𝒔) 𝐴 𝐴 𝐴
𝒆𝒔𝒔 =𝐥𝐢𝐦 𝟏+𝑮(𝒔)𝑯(𝒔) 𝑒𝑠𝑠 =lim 1+𝐺(𝑠)𝐻(𝑠)
𝑠 𝑠 2 𝑠 3
𝒔→𝟎
𝑆
𝑒𝑠𝑠 =lim 1+𝐺(𝑠)𝐻(𝑠)
𝑆
𝑒𝑠𝑠 =lim 1+𝐺(𝑠)𝐻(𝑠)
𝑆
𝑠→0 𝑠→0 𝑠→0
𝐴 𝐴 𝐴
𝑒𝑠𝑠 =lim 1+𝐺(𝑠)𝐻(𝑠) 𝑆2
𝑠→0 𝑒𝑠𝑠 =lim 1+𝐺(𝑠)𝐻(𝑠)
𝑆
𝑒𝑠𝑠 =lim 1+𝐺(𝑠)𝐻(𝑠)
𝑠→0 𝑠→0
𝐴
𝑒𝑠𝑠 =1+lim 𝐺(𝑠)𝐻(𝑠) 𝐴 𝐴
𝑠→0
𝑒𝑠𝑠 =𝑠+lim 𝑠𝐺(𝑠)𝐻(𝑠) 𝑒𝑠𝑠 =𝑆2 +lim 𝑆2 𝐺(𝑠)𝐻(𝑠)
𝑠→0 𝑠→0
𝐴
𝑒𝑠𝑠 =1+𝐾 𝐴 𝐴
𝑝 𝑒𝑠𝑠 =𝐾 𝑒𝑠𝑠 =𝐾
𝑣 𝑎

Error-Coefficient Positional Velocity Acceleration

K P = lim G(s)H(s) K v = lim s G(s)H(s) K a = lim S 2 G(s)H(s)
s→0 s→0 s→0

Type Type: G(S)H(S) KP 𝐞𝐬𝐬 =𝟏+𝐊

𝐀 Kv ess =K
A Ka ess =K
A
𝐩 v a

0 K(1 + T1 s)(1 + T2 s) … . K A 0 ∞ 0 ∞
(1 + Ta s)(1 + Tb s) … . 1+K
1 K(1 + T1 s)(1 + T2 s) … . ∞ 0 K A 0 ∞
s(1 + Ta s)(1 + Tb s) … . K
2 K(1 + T1 s)(1 + T2 s) … . ∞ 0 ∞ 0 K A
s2 (1 + Ta s)(1 + Tb s) … . K
3.3.5. Disadvantages of static error coefficients;
• Errors cannot be found other than 3 standard inputs
• Sometimes the errors are 0 or infinity and hence there the errors are not precise
• Errors don’t give variations w.r.t. time
• Errors are applicable only for the loop transfer function is G(s)H(s)
• This is applicable for only stable systems
3.4. Generalised/Dynamic Error Coefficient:
𝑅(𝑠) 1
• E(s)= 1+𝐺(𝑠)𝐻(𝑠) = F1(s)F2(s) where F1(s)= 1+𝐺(𝑠)𝐻(𝑠) F2(s)= 𝑅(𝑠)
𝑡 𝑡
L-1{E(s)} =e(t)= ∫0 𝐹1 (𝜏) 𝐹2 (𝑡 − 𝜏)d𝜏=∫0 𝐹1 (𝜏) 𝑅(𝑡 − 𝜏)d𝜏
𝜏2 𝜏3
• Taylors expansion of 𝑅(𝑡 − 𝜏)=R(t)- 𝜏 R’(t)+ 2! R’’(t)- 3! R’’’(t)+….
𝑡 𝜏2 𝜏3
e(t)= ∫0 𝐹1 (𝜏) [R(t) − 𝜏 R’(t) + 2! R’’(t) − 3! R’’’(t) + ⋯ . ]d𝜏
𝑡 𝑡
e(t)= ∫0 𝐹1 (𝜏) R(t) d𝜏-∫0 𝐹1 (𝜏) 𝜏 R’(t) d𝜏+….

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• ess=lim 𝑒(𝑡)
𝑡→∞
∞ ∞
e(t)= R(t) ∫0 𝐹1 (𝜏) d𝜏-R’(t) ∫0 𝐹1 (𝜏) 𝜏 d𝜏+….
∞ ∞
• Dynamic error coefficients: K0=∫0 𝐹1 (𝜏)d𝜏, K1=∫0 𝜏𝐹1 (𝜏)d𝜏 , K2=…..
∞
• 𝑒 −𝑠𝜏 K0=∫0 𝐹1 (𝜏) 𝑒 −𝑠𝜏 d𝜏=𝐹1 (𝑠) →(1)
lim 𝑒 −𝑠𝜏 K0 =lim 𝐹1 (𝑠)
𝑠→0 𝑠→0
1
𝐾𝑜 =lim 𝐹1 (𝑠)=lim
𝑠→0 𝑠→0 1+𝐺(𝑠)𝐻(𝑠)

• Differentiate (1) w.r.t. s

𝑑𝐹1 (𝑠)
−𝜏=
𝑑𝑠
∞ 𝑑𝐹1 (𝑠)
-∫0 𝜏𝐹1 (𝜏) 𝑒 −𝑠𝜏 d𝜏 = 𝑑𝑠
𝑑𝐹1 (𝑠)
𝐾1 𝑒 −𝑠𝜏 = 𝑑𝑠
𝑑𝐹1 (𝑠)
lim𝐾1 𝑒 −𝑠𝜏 =lim
𝑠→0 𝑠→0 𝑑𝑠
𝑑𝐹1 (𝑠)
𝐾1 =lim
𝑠→0 𝑑𝑠
𝑑𝐹𝑛 (𝑠)
• Similarly, 𝐾𝑛 =lim
𝑠→0 𝑑𝑠𝑛

3.5. Analysis of order systems:

⬚
• TF=𝑠𝑗 j→Type

• K0,K1,K2,…Kn
3.5.1. First Order:
𝑉𝑜 (𝑠) 1
• =
𝑉𝑖 (𝑠) 1+𝑠𝑅𝐶
1
• 𝐹𝑜𝑟 𝑠𝑡𝑒𝑝 𝑅𝑒𝑝𝑠𝑜𝑛𝑠𝑒, 𝑉𝑖(𝑠) = 𝑠
1
o 𝑉𝑜(𝑠) = 𝑠(1+𝑠𝑅𝐶)
1 𝑅𝐶
o 𝑉𝑜(𝑠) = 𝑠 -1+𝑠𝑅𝐶
−𝑡
o vo(t)=1-𝑒 𝑅𝐶
• Css=1
−𝑡
• ct(t)= 𝑒 𝑅𝐶 `
• Value of Closed loop pole appears as an exponential index in the transient
𝐴
o 𝐹𝑜𝑟 𝑠𝑡𝑒𝑝 𝑅𝑒𝑝𝑠𝑜𝑛𝑠𝑒, 𝑉𝑖(𝑠) = 𝑠
−𝑡
o vo(t)=A [1-𝑒 𝑅𝐶 ]

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3.5.2. Second Order:

• R(s)=1/s
𝐶(𝑠) 𝜔2
• = 𝑛
𝜔𝑛 →Natural Frequency
𝑅(𝑠) 𝑠2 +2𝜀𝜔 𝑠+𝜔2𝑛 𝑛

2 −4𝜔2
−2𝜀𝜔𝑛 ±√4𝜀 2 𝜔𝑛 𝑛
• Roots of 𝑠 + 2𝜀𝜔𝑛 𝑠 +
2
𝜔𝑛2 =0 are = −𝜀𝜔𝑛 ± 𝜔𝑛 √𝜀 2 − 1
2
𝜔2 𝜔𝑛2
• C(s)= 𝑠(𝑠2 +2𝜀𝜔𝑛 𝑠+𝜔2 ) = 2
√𝜀 −1)(𝑠+𝜀𝜔 2 −1)
𝑛 𝑛 𝑠(𝑠+𝜀𝜔𝑛 +𝜔𝑛 𝑛 −𝜔𝑛 √𝜀

𝜺=0 0<𝜺<1 𝜺=1 1<𝜺<∞

−𝜀𝜔𝑛 +𝑗𝜔𝑛 −𝜀𝜔𝑛 + 𝑗𝜔𝑛 √1 − ε2 −𝜔𝑛 −𝐾1
+ 𝜔𝑛 √𝜀 2 − 1
−𝜀𝜔𝑛 −𝑗𝜔𝑛 −𝜀𝜔𝑛 − 𝑗𝜔𝑛 √1 − ε2 −𝜔𝑛 −𝐾2
− 𝜔𝑛 √𝜀 2 − 1
Type of Purely imaginary Complex conjugates with -ve real part Real, Equal and - Real, unequal and
Closed loop ve -ve
poles
C(s) ω2n ω2n ω2n ω2n
s(s + jωn )(s − jωn ) s(s + εωn − jωn √1 − ε2 )(s + εωn + jωn √1 − ε2 ) s(s + ωn )(s + ωn ) s(s + K1 )(s + K 2 )
Using ω2n 𝐴
= +
𝐵𝑠+𝐶 ω2n 𝐴
= +
𝐵𝑠+𝐶 𝐴
+
𝐵
+
𝐶 𝐴
+
𝐵
+
𝐶
2
s(𝑠 +𝜔𝑛2) 2)
𝑠 (𝑠 2 +𝜔𝑛 2 2)
s(𝑠 +2𝜀𝜔𝑛 𝑠+𝜔𝑛 2)
𝑠 (𝑠 2 +2𝜀𝜔𝑛 𝑠+𝜔𝑛 𝑠 (s+ωn )2 (s+ωn ) 𝑠 𝑠+𝐾1 𝑠+𝐾2
partial
fractions
C(t) Css+Ksin(ωn 𝑡+𝜃) Css+K𝑒 −𝜀𝜔𝑛 𝑡 sin(ωn √1 − ε2 𝑡+𝜃) Css+ B𝑡𝑒 −𝜔𝑛 𝑡 + Css+ B𝑒 −𝑘1𝑡 +
C𝑒 −𝜔𝑛 𝑡 C𝑒 −𝑘2𝑡
Nature of Oscillations with Damped Oscillations Critical and pure Purely
Response constant frequency exponential exponential slow
& amplitude and sluggish
Damping Undamped Underdamped Critically damped Overdamped
Condition

3.5.3. For under-damped system

𝑒 −𝜀𝜔𝑛 𝑡
• With unit step input, C(t)=1- √1−𝜀2 sin(𝜔𝑑 𝑡 + 𝜃)

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o 𝜔𝑑 =𝜔𝑛 √1 − 𝜀 2
√1−𝜀 2
o 𝜃=tan−1 [ ]
𝜀

𝑒 −𝜀𝜔𝑛𝑡
• With step input of A units, C(t)=𝐴 [1 − √1−𝜀 2
sin(𝜔𝑑 𝑡 + 𝜃)]

3.6. Transience Response Specifications:

3.6.1. Delay Time(𝑇𝑑 )

• Time Required for the response to reach 50% of the final value in first attempt
1+0.7𝜀
• 𝑇𝑑 = S
𝜔𝑛

3.6.2. Peak Time(𝑇𝑝 )

• Time Required for the response to reach peak value or Time at which the response has first overshoot
• W.K.T., Transient response of second order system,
𝑒 −𝜀𝜔𝑛 𝑡
C(t)=1- √1−𝜀2 sin(𝜔𝑑 𝑡 + 𝜃)

• At t=Tp ,C(t)→ Maxima

𝑑𝐶(𝑡)
| =0
𝑑𝑡 t=Tp
1
0 - √1−𝜀2 [−𝜀𝜔𝑛 sin(𝜔𝑑 𝑡 + 𝜃)𝑒 −𝜀𝜔𝑛𝑡 − 𝜔𝑑 cos(𝜔𝑑 𝑡 + 𝜃)𝑒 −𝜀𝜔𝑛𝑡 ]=0

• W.K.T., 𝜔𝑑 =𝜔𝑛 √1 − 𝜀 2

𝜀sin(𝜔𝑑 𝑡 + 𝜃)-√1 − 𝜀 2 cos(𝜔𝑑 𝑡 + 𝜃)=0

√1−𝜀 2
tan(𝜔𝑑 𝑡 + 𝜃)= =tan 𝜃
𝜀

• 𝜔𝑑 𝑡 =nπ
𝜔𝑑 𝑇𝑝 =π
𝜋 𝜋
𝑇𝑝 =𝜔 =
𝑑 𝜔𝑛 √1−𝜀 2

3.6.3. Rise Time(𝑇𝑟 )

• Time Required for the response to rise from 10% to 90% of the final value for overdamped systems and 0%
to 100% for underdamped systems.

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• Reciprocal of response at the instant, the response is equal to 50% of the final value
• For underdamped system with unit step input,
𝐶(𝑡)|t=Tr =1
𝑒 −𝜀𝜔𝑛 Tr
1- √1−𝜀 2
sin(𝜔𝑑 Tr + 𝜃)=1

• sin(𝜔𝑑 Tr + 𝜃)=0
𝜔𝑑 Tr + 𝜃= nπ
𝜋−𝜃
𝑇𝑟 = 𝜔 S
𝑑

3.6.4. Peak Overshoot(𝑀𝑝 )

• Largest error between reference input and output during the transient period
• 𝑀𝑝 ={𝐶(𝑡)|t=Tp }-1 for unit step input
𝑒 −𝜀𝜔𝑛 Tp
𝑀𝑝 ={1 − √1−𝜀 2
sin(𝜔𝑑 Tp + 𝜃)}-1
𝑒 −𝜀𝜔𝑛 Tp
𝑀𝑝 =− √1−𝜀 2
sin(𝜔𝑑 Tp + 𝜃)
𝜋
−𝜀𝜔𝑛
𝑒 𝜔𝑑 𝜋
𝑀𝑝 =− √1−𝜀2
sin (𝜔𝑑 𝜔 + 𝜃)
𝑑
𝜋
−𝜀𝜔𝑛
𝑒 𝜔𝑛 √1−𝜀2
𝑀𝑝 = √1−𝜀 2
sin𝜃
√1−𝜀2
• W.K.T., =tan 𝜃 then sin 𝜃=√1 − 𝜀 2
𝜀
−𝜀𝜔𝑛

• 𝑀𝑝 =𝑒 √1−𝜀2
−𝜋𝜀

𝑀𝑝 = 𝑒 √1−𝜀2 x100 (in %)

3.6.5. Settling Time
• Time Required for the response to decrease or stay within specified percentage of its final value
• At t=Ts, the term 𝑒 −𝜀𝜔𝑛𝑡 in C(t) controls the amplitude of the response within ±2% tolerance band
• 𝐶(𝑡)|t=Ts = 1-𝑒 −𝜀𝜔𝑛Ts
0.98=1-𝑒 −𝜀𝜔𝑛Ts
𝑒 −𝜀𝜔𝑛Ts =0.02
−𝜀𝜔𝑛 Ts=ln (0.02)
3.912
𝑇𝑠 = 𝜀𝜔𝑛
4
𝑇𝑠 = 𝜀𝜔 S for ±2% tolerance band
𝑛

1
• Time constant of the system
𝜀𝜔𝑛

3.7. Introduction to PID Controllers:

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• Controls Steady state/transient Response)

• Controller Input is proportional to the error generated.

• Good Time responds has- Less settling Time, Overshoot, Rise-time, SS error
• If system gain increases, ss error is reduced but the settling time and peak overshoot increases. hence there
is a need of compromise between all these
PD PI Rate FB controller
Input to the 𝑑𝑒(𝑡) Ke(t)+Ki∫ 𝑒(𝑡)𝑑𝑡 𝑑𝑐(𝑡)
Ke(t)+Td Ke(t)-Kt
𝑑𝑡 𝑑𝑡
controller
Laplace KE(s)+ Td s E(s)=E(s)[K+ Td s] Ki
KE(s)+ 𝑠 E(s)=E(s)[K+ 𝑠 ]
Ki KE(s)- s K(t)C(s)

G(s) with (1+s Td)ω2n (𝑠+𝐾𝑖)ω2n ω2n

s(s+2𝜀𝜔𝑛 ) 𝑠2 (s+2𝜀𝜔𝑛 ) s(s+2𝜀𝜔𝑛 +Ktω2n )
K=1
Damping Increases by 𝜔𝑛 Td/2 Increases by 𝜔𝑛 Kt/2
Ratio
Kp ∞ ∞ ∞
Kv 𝜔𝑛 /2𝜀 ∞ 𝜔𝑛 /(2 𝜀+kt+𝜔𝑛 )
𝜔𝑛 No change
Type No change Increases
settling Reduce
time
Steady No change Reduces
State error
Order Increases
PID Controller:

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