Rayat Shikshan Sanstha’s

KARMAVEER BHAURAO PATIL

POLYTECHNIC,
SATARA

Time Response Analysis

Department Of Electronics And Telecommunication Engineering
 Control System and PLC
EJ5G Subject Code: 17536 Third Year Entc

Amit Nevase
Lecturer,
Department of Electronics & Telecommunication Engineering,
Karmaveer Bhaurao Patil Polytechnic, Satara
 Objectives

The student will be able to:

 Understand classifications of control system.

 Understand Steady state, time response, and frequency

response analysis.

 Analyze the Stability of control system using RH criteria.

 Understand the fundamentals and diff. Hardware parts of

PLC.

 Draw ladder diagrams to program PLC

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 Teaching & Examination Scheme

Teaching Scheme Examination Scheme

PAPER
TH TU PR TH PR OR TW TOTAL
HRS

03 -- 02 03 100 50# --- 25@ 175

 Two tests each of 25 marks to be conducted as per the schedule given by

MSBTE.

 Total of tests marks for all theory subjects are to be converted out of 50
and to be entered in mark sheet under the head Sessional Work (SW).

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 Module I – Introduction to Control System
 Introduction to Control systems (4 Marks)
 Control System – Definition and Practical Examples
 Classification of Control System : Open Loop and Closed Loop Systems –
Definitions, Block diagrams, practical examples, and Comparison, Linear and
Non-linear Control System, Time Varying and Time In-varying Systems
 Servo System : Definition, Block Diagram, Classification (AC and DC Servo
System), Block diagram of DC Servo System.
 Laplace Transform and Transfer Function (4 Marks)
 Laplace Transform : Signifiance in Control System
 Transfer Function : Definition, Derivation of transfer functions for Closed loop
Control System and Open Loop Control System, Differential Equations and
transfer functions of RC and RLC Circuit
 Block Diagram Algebra (8 Marks)
 Order of a System : Definition, 0,1,2 order system Standard equation, Practical
Examples
 Block Diagram Reduction Technique: Need, Reduction Rules, Problems
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 Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

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 Module III – Stability

 Introduction to Stability (4 Marks)

 Definition of Stability, Analysis of stable, unstable, critically stable
and conditionally stable
 Relative Stability
 Root locations in S-plane for stable and unstable system

 Routh’s Stability Criterion (8 Marks)

 Routh’s Stability Criterion : Different cases and conditions
 Statement Method
 Numericals Problems

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 Module IV – Control Actions

 Process Control System (4 Marks)

 Process Control System – Block diagram, explanation of each block

 Control Actions (8 Marks)

 Discontinuous Mode : On-Off Controller, Equation, Neutral Zone
 Continuous modes: Proportional Controller (offset, proportional
band), Integral Controllers, Derivative Controllers – output
equations, corresponding Laplace transforms, Response of P, I, D
controllers
 Composite Controllers : PI, PD, PID Controllers – output equations,
response, comparison

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 Module V – PLC Fundamentals
 Introduction (4 Marks)
 Evolution of PLC in automation, need and benefits of PLC in
automation
 Block Diagram of PLC (12 Marks)
 Block diagram and description of different parts of PLC -
 CPU Function, Scanning cycle, speed of execution, Power supply
function,
 Memory – function , organization of ROM and RAM
 Input modules – function, different input devices used with PLC
and their uses
 Output modules – function, different output devices used with
PLC and their uses
 Fixed and Modular PLCs
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 Module VI – PLC Hardware and Programming
 PLC Hardware (8 Marks)
 Discrete Input Modules – Block diagram, typical wiring details, Specifications of
AC input modules and DC input modules. Sinking and sourcing concept in DC
input modules
 Discrete Output Modules – Block diagram, typical wiring details, Specifications
of AC output modules and DC output modules.
 Analog Input and output modules : Block diagram, typical wiring details and
specifications
 PLC Programming (16 Marks)
 I/O Addressing in PLC
 PLC Instruction Set : Relay instructions, timer instructions, counter instructions,
data handling instructions, logical and comparison instructions
 PLC programming examples based on above instruction using Ladder
programming

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 Module-II
Time Response Analysis
 Specific Objectives:

 Appreciate the importance of standard inputs and

apply them in analysis of control system.

 Differentiate between poles and zeros.

 Analyze 1st& 2nd order control system for step

input.

 Calculate time response specifications for different

systems.
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 Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

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Time Response

 In time domain analysis, time is the independent

variable. When a system is given an excitation,
there is a response (output).

 Definition: The response of a system to an applied

excitation is called “Time Response” and it is a
function of c(t).

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Time Response - Example

The response of motor’s speed when a command is given

to increase the speed is shown in figure,

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As seen from figure, the motors speed gradually picks up

from 1000 rpm and moves towards 1500 rpm. It

overshoots and again corrects itself and finally settles

down at the last value

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Time Response - Example
The response of lift to a input to move up is shown in figure;

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Time Response

Generally speaking, the response of any system thus has

two parts

(i) Transient Response

(ii) Steady State Response

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Transient Response

 That part of the time response that goes to zero as

time becomes very large is called as “Transient
Response”

L c(t)  0
i.e. t 

 As the name suggests that transient response

remains only for some time from initial state to
final state.
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Transient Response

From the transient response we can know;

 When system begins to respond after an input is given.
 How much time it takes to reach the output for the first
time.
 Whether the output shoots beyond the desired value
& how much.
 Whether the output oscillates about its final value.
 When does it settle to the final value.

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Steady State Response

 That part of the response that remains after the

transients have died out is called “Steady State
Response”.
 From the steady state we can know;
How long it took before steady state was reached.
Whether there is any error between the desired and
actual values.
Whether this error is constant, zero or infinite i.e. unable
to track the input.
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Steady State Response

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Steady State Response

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 Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

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Standard Test Signal

It is very interesting fact to know that most

control systems do not know what their inputs
are going to be.

Thus system design cannot be done from input

point of view as we are unable to know in
advance the type input

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Need of Standard Test Signal

From example;
When a radar tracks an enemy plane the nature
of the enemy plane’s variation is random.

The terrain, curves on road etc. are random for a

drives in an automobile system.

The loading on a shearing machine when and

which load will be applied or thrown of.

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Need of Standard Test Signal
Thus from such types of inputs we can expect a system in general to
get an input which may be;
a) A sudden change
b) A momentary shock
c) A constant velocity
d) A constant acceleration
Hence these signals form standard test signals. The response to these
signals is analyzed. The above inputs are called as,
a) Step input - Signifies a sudden change
b) Impulse input – Signifies momentary shock
c) Ramp input – Signifies a constant velocity
d) Parabolic input – Signifies constant acceleration
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Standard Test Signal

Step Input
Graphical Representations
Mathematical Representations

r(t) = R. u(t) t>0

=0 t<0

This signal signifies a sudden change in the reference input r(t) at time t=0

R
Laplace Representations L{Ru(t)} 
s

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Standard Test Signal

Unit Step Input

Graphical Representations
Mathematical Representations

r(t) = 1.u(t) = 1 t>0

=0 t<0

This signal signifies a sudden change in the reference input r(t) at time t=0

1
Laplace Representations L{u(t)} 
s
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Standard Test Signal

Ramp Input
Graphical Representations
Mathematical Representations

r(t) = R.t t>0

=0 t<0

Signal have constant velocity i.e. constant change in it’s value w.r.t. time

R
Laplace Representations L{Rt}  2
s
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Standard Test Signal

Unit Ramp Input Graphical Representations

Mathematical Representations

r(t) = 1.t t>0

=0 t<0

If R=1 it is called a unit ramp input

1
Laplace Representations L{1t}  2
s
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Standard Test Signal

Parabolic Input Graphical Representations

Mathematical Representations

Rt 2
r(t) = t>0
2

=0 t<0

R
Laplace Representations L{Rt}  3
s
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Standard Test Signal

Impulse Input Graphical Representations

Mathematical Representations

r(t) =  (t) =1 t>0

=0 t<0

The function has a unit value only for t=0. In practical cases, a pulse whose
time approaches zero is taken as an impulse function.

Laplace Representations L{ (t)}  1

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 Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

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Poles & Zeros of Transfer Function

The transfer function is given by,

C (s)
G (s) 
R (s)
Both C(s) and R(s) are polynomials in s
bms m  bm  1s m1  .............  bo
 G (s)  n
s  an  1s n 1  ..................  an

K (s b 1)(s b 2)(s b 3)............(s bm)


(s a1)(s a 2)(s a 3)............(s an )

Where, K= system gain

n= Type of system

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Poles

The values of ‘s’, for which the transfer function

magnitude |G(s)| becomes infinite after

substitution in the denominator of the system

are called as “Poles” of transfer function.

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Example 1
Determine the poles of given transfer function.
s(s 2)(s 4)
G (s) 
s(s 3)(s 4)
Solution: The poles can be obtained by equating denominator
with zero
s(s 3)(s 4)  0
s  0
 s 3  0 s  3
 s 4  0 s  4

The poles are s=0, -3, -4

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S-plane Representation of Poles

j

3j

2j

j

-1 0
-5 -4 -3 -2
-j

-2j

-3j

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Zeros

The values of ‘s’, for which the transfer

function magnitude |G(s)| becomes zero

after substitution in the numerator of the

system are called as “Zeros” of transfer

function.

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Example 2
Determine the zeros of given transfer function.
s(s 2)(s 4)
G (s) 
s(s 3)(s 4)
Solution: The zeros can be obtained by equating numerator
with zero
s(s 2)(s 4)  0
s  0
 s 2  0 s  2
 s 4  0 s  4

The poles are s=0, -2, -4

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S-plane Representation of Zeros
j

3j

2j


-1 0
-5 -4 -3 -2
-j

-2j

-3j

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Pole- Zero Plot

 The diagram obtained by locating all poles and zeros of

the transfer function in the s-plane is called as “Pole-zero
plot”.

 The s-plane has two axis real and imaginary. Since

s    j , the X-axis stands for real axis and shows

a value of  .

 Similarly, Y-axis stands for j and represents the

imaginary axis.
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Pole- Zero Plot for Example 1 and 2
j
3j

2j


-1 0
-5 -4 -3 -2

-j

-2j

-3j

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Characteristics Equation

Definition: The equation obtained by equating

the denominator polynomial of a transfer
function to zero is called as the “Characteristics
Equation”

n 1 n2
s  an  1s
n
 an  2 s  ...............  an

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Example 3
For the given transfer function,
K (s  6)
T .F . 
s (s  2)(s  5)(s 2  7 s  12)

Find: (i) Poles (ii)Zeros

(iii) Pole-zero Plot (iv) Characteristics Equation

Solution: (i)Poles
The poles can be obtained by equating denominator with zero
s(s 2)(s 5)(s 2  7 s  12)  0

s  0
 s 2  0 s  2
 s 5  0 s  5
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Example 3 Cont….

s(s 2)(s 5)(s 2  7 s  12)  0

(s 2  7 s 12)  (s  3)(s 4)

 s 3  0 s  3
 s 4  0 s  4
The poles are s=0, -2, -3, -4, -5
(ii) Zeros:
The zeros can be obtained by equating numerator with zero
s 6  0 s  6
The zeros are s=-6

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Example 3 Cont….

(iii) Pole-zero plot: j

3j

2j

j

-1 0
-6 -5 -4 -3 -2
-j

-2j

-3j

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Example 3 Cont….

(iv) Characteristics Equation:

s(s 2)(s 5)(s 2  7 s  12)  0

s(s 2  7 s  10)(s 2  7 s  12)  0

 (s3  7 s 2  10 s)(s 2  7 s  12)  0

 s5  7s4  12s3  7s 4  49s3  84s 2  10s3  70s 2  120s  0

 s5  14s4  71s3  154s2  120s  0

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Example 4

For the given transfer function,

C (s) (s  2)

R (s) s (s 2  2 s  2)(s 2  7 s  12)

Find: (i) Poles (ii)Zeros

(iii) Pole-zero Plot (iv) Characteristics Equation

Solution: (i)Poles
The poles can be obtained by equating denominator with zero
s(s 2  2s  2)(s 2  7 s  12)  0

s  0
 s 3  0 s  3
 s 4  0 s  4
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Example 4 Cont….

s(s 2  2s  2)(s 2  7 s  12)  0

b  b 2  4ac
roots 
2a

 s  1  j
 s  1  j
The poles are s=0, -3, -4, -1+j,-1-j
(ii) Zeros:
The zeros can be obtained by equating numerator with zero
s 2  0 s  2
The zeros are s=-2
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Example 4 Cont….

(iii) Pole-zero plot:

j
3j

2j


0
-6 -5 -4 -3 -2 -1
-j

-2j

-3j

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Example 4 Cont….

(iv) Characteristics Equation:

s(s 2  2s  2)(s 2  7 s  12)  0

 (s3  2s 2  2s)(s 2  7 s 12)  0

 s5  7s4  12s3  2s4  14s3  24s 2  2s3  14s 2  24s  0

 s5  9s4  28s3  38s 2  24s  0

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Example 5
For the given transfer function,
(s  2)
T .F . 
s (s  4)(s 2  6 s  25)

Find: (i) Poles (ii)Zeros

(iii) Pole-zero Plot (iv) Characteristics Equation

Solution: (i)Poles
The poles can be obtained by equating denominator with zero
s (s  4)(s 2  6s  25)  0

s  0
 s 4  0  s  4

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Example 5 Cont….

s (s  4)(s 2  6s  25)  0

b  b 2  4ac
roots 
2a

 s  3  j4
 s  3  j 4
The poles are s= 0, -4, -3+j4, -3-j4
(ii) Zeros:
The zeros can be obtained by equating numerator with zero
s 2  0  s  2
The zeros are s=-2

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Example 5 Cont….
j
(iii) Pole-zero plot:
4j
3j

2j


0
-6 -5 -4 -3 -2 -1
-j

-2j

-3j
-4j

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Example 5 Cont….

(iv) Characteristics Equation:

s (s  4)(s 2  6s  25)  0

(s 2  4 s )(s 2  6s  25)  0

 s 4  6s3  25s 2  4s3  24s 2  100 s  0

 s 4  10s3  49s 2  100 s  0

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 Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

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Analysis of first order system for Step input

Consider a first order system as shown;

+ 1
R(s) C(s)
Ts
-

1
Here G (s)  and H(s)  1
Ts
1
C(s) G
   Ts 
1
R(s) 1  GH 1
1 1  Ts
Ts
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Analysis of first order system for Step input

For step input;

r(t) = u(t) t>0

=0 t<0

Taking Laplace transform;

1
R(s)  L{Ru(t)} 
s
but
C (s) 1

R (s) 1  Ts

1
 C (s)   R(s)
1  Ts
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Analysis of first order system for Step input

1 1
 C (s)  
1  Ts s

Using partial fraction;

A B
 C (s)  
s 1
s
T

Solving;
 A  s.C (s) |s  0  1

1
 B  (s  )C (s) | 1  1
T s 
T
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Analysis of first order system for Step input

1 1
 C (s)  
s 1
s
T

Taking Inverse Laplace transform;

1 1
 c(t)  L1{C (s)}  L1{ }  L1{ }
s 1
s
T

1
 t
 c (t)  1  e T

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Analysis of first order system for Step input

Plot c(t) vs t;
Sr. No. t C(t)

1 T 0.632

2 2T 0.86

3 3T 0.95

4 4T 0.982

5 5T 0.993

6  1

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Time Constant (T)

 The value of c(t)=1 only at t=∞.

 Practically the value of c(t) is within 5% of final

value at t=3T and within 2% at t=4T.

 In practice t=3T or 4T may be taken as steady state.

 How quickly the value reaches steady state is a

function of the time constant of the system.

 Hence smaller T indicates quicker response.

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 Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for Step input, Concept, Definition
and Effect of damping.
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

11/21/2016 Amit Nevase 64

Damping

Every system has a tendency to oppose the

oscillatory behavior of the system which is known

as “Damping”.

11/21/2016 Amit Nevase 65

Damping Factor ( )
The damping in any system is measured by a
factor or ratio which is known as damping ratio.

It is denoted by  (Zeta)

11/21/2016 Amit Nevase 66

 Analysis of second order system for Step input

Consider a second order system as shown;

R(s) + n 2
C(s)
s (s  2 n)
-

n 2

Here G (s)  and H(s)  1

s (s  2 n)
n 2

C(s) G s (s  2 n) n 2

  
n
 2
s  2 ns   n
R(s) 1  GH
2 2

1
s (s  2 n)
11/21/2016 Amit Nevase 67
Analysis of second order system for Step input

C (s) n2
 2
R (s) s  2 ns   n 2

This is the standard form of the closed loop transfer function

These poles of transfer function are given by;

s 2  2 ns   n 2  0

2 n  (2 n) 2  4( n) 2

s 
2

  n   2  n2   n 2

  n   n  2  1

11/21/2016 Amit Nevase 68

Analysis of second order system for Step input

The poles are;

(i) Real and Unequal if  2 1  0

i.e.   1 They lie on real axis and distinct

(ii) Real and equal if  2 1  0

i.e.   1 They are repeated on real axis

(iii) Complex if  2 1  0
i.e.   1 Poles are in second and third quadrant

11/21/2016 Amit Nevase 69

Relation between  and pole locations
(i) 0   1 Under damped

Pole Location Step Response c(t)

11/21/2016 Amit Nevase 70

Relation between  and pole locations

(ii)  1 Critically damped

Pole Location Step Response c(t)

11/21/2016 Amit Nevase 71

Relation between  and pole locations

(iii)  1 over damped

Pole Location Step Response c(t)

11/21/2016 Amit Nevase 72

Relation between  and pole locations

(iv)  0

Pole Location Step Response c(t)

11/21/2016 Amit Nevase 73

Relation between  and pole locations

(v) 0    1

Step Response c(t)

Pole Location

11/21/2016 Amit Nevase 74

Relation between  and pole locations

(vi)   1

Pole Location Step Response c(t)

11/21/2016 Amit Nevase 75

Relation between  and pole locations
(vii)   1

Pole Location Step Response c(t)

11/21/2016 Amit Nevase 76

 Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

11/21/2016 Amit Nevase 77

Time Response Specifications

11/21/2016 Amit Nevase 78

Time Response Specifications

Delay Time (td):

It is time required for the response to reach

50% of the final value in the first attempt.

1  0.7
td 
n

11/21/2016 Amit Nevase 79

Time Response Specifications

 Rise Time (tr):

It is time required for the response to rise from 10% to

90% of the final value for overdamped systems.

(It is 0 to 100% for under damped systems)

 
tr 
d   tan 1
1  2
where, 

and d  n 1   2
11/21/2016 Amit Nevase 80
Time Response Specifications

Peak Overshoot (Mp):

The maximum overshoot is the maximum

peak value of the response curve measured from
unity. It is therefore largest error between input
and output during the transient period.

{ }
1 2
% Mp  e  100
11/21/2016 Amit Nevase 81
Time Response Specifications

Peak Time (tp):

It is the time required for the response to

reach the first peak.


Tp 
d

11/21/2016 Amit Nevase 82

Time Response Specifications

Settling Time (ts):

It is the time required for the response curve

to reach and stay within a specified percentage
(usually 2% or 5%) of the final value.

4
Ts  4T 
 n

11/21/2016 Amit Nevase 83

 Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

11/21/2016 Amit Nevase 84

Example 6
A unity feedback system has
16
G (s) 
s ( s  5)
If a step input is given calculate
1. Damping Ratio
2. Overshoot
3. Settling Time
16
Solution: G (s)  H ( s)  1
s ( s  5)
Determine the closed loop transfer function
16
C (s) G s ( s  5) 16
   2
R( s) 1  GH 1
16 s  5s  16
s ( s  5)
11/21/2016 Amit Nevase 85
Example 6 cont……

Compare closed loop TF with standard form of second order system

n2 16
 2
s  2 ns   n
2 2
s  5s  16

Compare denominators of both

Natural Frequency;
 n 2  16  n  4 rad / sec
Damping Ratio;
5 5
2 ns  5s     0.625
2  n 2  4
Settling Time;
4 4
Ts    1.6 sec
 n (0.625)  (4)
11/21/2016 Amit Nevase 86
Example 6 cont……

Overshoot

{ }
1 2
% Mp  e  100

( 0.625) 
{ }
1 ( 0.625) 2
% Mp  e  100

% Mp  8.08%

11/21/2016 Amit Nevase 87

Example 7
A unity feedback system has

100
G (s) 
s ( s  5)

If it is subjected to unit step input determine;

1. Damped frequency of oscillations
2. Time for first overshoot
3. Settling Time
4. Maximum Peak Overshoot

11/21/2016 Amit Nevase 88

Example 7 cont……
100
Solution: G (s)  H ( s)  1
s ( s  5)
Determine the closed loop transfer function
100
C (s) G s ( s  5) 100
   2
R( s) 1  GH 1
100 s  5s  100
s ( s  5)

Compare closed loop TF with standard form of second order system

n2 100

s 2  2 ns   n 2 s 2  5s  100
Compare denominators of both
Natural Frequency;
 n 2  100  n  10 rad / sec
11/21/2016 Amit Nevase 89
Example 7 cont……

Damping Ratio;
5 5
2 ns  5s     0.25
2   n 2  10
Damped frequency of oscillations;

d  n 1   2  d  10 1  (0.25) 2  9.68 rad / sec

Time for first overshoot (Peak Time);

 
Tp    0.324 sec
 d 9.68
Settling Time;
4 4
Ts  4T    1.6 sec
 n (0.25)  (10)
11/21/2016 Amit Nevase 90
Example 7 cont……

Maximum Peak Overshoot


{ }
1 2
% Mp  e  100

( 0.25) 
{ }
1 ( 0.25) 2
% Mp  e  100

% Mp  44.48%

11/21/2016 Amit Nevase 91

Example 8
For the unity feedback control system having open loop transfer function

10
G (s) 
s ( s  4)

Determine;
1. Delay Time
2. Rise Time
3. Peak Time
4. Settling Time
5. Maximum Peak Overshoot

11/21/2016 Amit Nevase 92

Example 8 cont……
10
Solution: G (s)  H ( s)  1
s ( s  4)
Determine the closed loop transfer function
10
C (s) G s ( s  4) 10
   2
R( s) 1  GH 1
10 s  4 s  10
s ( s  4)

Compare closed loop TF with standard form of second order system

n2 10

s 2  2 ns   n 2 s 2  4 s  10
Compare denominators of both
Natural Frequency;
 n 2  10  n  3.16 rad / sec
11/21/2016 Amit Nevase 93
 Example 8 cont……

Damping Ratio;

4 4
2 ns  4 s     0.633
2   n 2  3.16
Damped frequency of oscillations;

d  n 1   2  d  3.16 1  (0.633) 2  2.44 rad / sec

Delay Time;

1  0.7 1  0.7(0.633)
Td    0.457 sec
n 3.16

11/21/2016 Amit Nevase 94

Example 8 cont……
Rise Time;

1  2 1  (0.633) 2
  tan 1  tan 1  0.885 rad
 (0.633)

     0.885
Tr    0.92 sec
d (0.244)
Peak Time;
 
Tp    1.273 sec
 d 2.44
Settling Time;
4 4
Ts  4T    1.997 sec
 n (0.633)  (3.16)
11/21/2016 Amit Nevase 95
Example 8 cont……

Maximum Peak Overshoot


{ }
1 2
% Mp  e  100

( 0.633) 
{ }
1 ( 0.633) 2
% Mp  e  100

% Mp  7.66%

11/21/2016 Amit Nevase 96

Example 9
A second order servo system has a unity feedback,

500
G (s) 
s ( s  15)

Determine;
1. Delay Time
2. Rise Time
3. Peak Time
4. Settling Time
5. Maximum Peak Overshoot

11/21/2016 Amit Nevase 97

Example 9 cont……
500
Solution: G (s)  H ( s)  1
s ( s  15)
Determine the closed loop transfer function
500
C (s) G s ( s  15) 500
   2
R( s) 1  GH 1
500 s  15s  500
s ( s  15)

Compare closed loop TF with standard form of second order system

n2 500

s 2  2 ns   n 2 s 2  15s  500
By comparing denominators of both
Natural Frequency;
 n 2  500  n  22.36 rad / sec
11/21/2016 Amit Nevase 98
 Example 9 cont……

Damping Ratio;

15 15
2 ns  15s     0.335
2   n 2  22.36
Damped frequency of oscillations;

d  n 1   2  d  22.36 1  (0.335) 2  21.06 rad / sec

Delay Time;

1  0.7 1  0.7(0.335)
Td    0.055 sec
n 22.36

11/21/2016 Amit Nevase 99

Example 9 cont……
Rise Time;

1  2 1  (0.335) 2
  tan 1  tan 1  1.229 rad
 (0.335)

     1.229
Tr    0.091 sec
d (21.06)
Peak Time;
 
Tp    32.73 sec
 d 21.06
Settling Time;
4 4
Ts  4T    0.534 sec
 n (0.335)  (22.36)
11/21/2016 Amit Nevase 100
Example 9 cont……

Maximum Peak Overshoot


{ }
1 2
% Mp  e  100

( 0.335) 
{ }
1 ( 0.335) 2
% Mp  e  100

% Mp  32.75%

11/21/2016 Amit Nevase 101

Example 10
The open loop transfer function of a unity feedback system is,

4
G (s) 
s ( s  1)

Determine;
1. Delay Time
2. Rise Time
3. Peak Time
4. Settling Time
5. Maximum Peak Overshoot

11/21/2016 Amit Nevase 102

Example 10 cont……
4
Solution: G (s)  H ( s)  1
s ( s  1)
Determine the closed loop transfer function
4
C (s) G s ( s  1) 4
   2
R( s) 1  GH 1
4 s s4
s ( s  1)

Compare closed loop TF with standard form of second order system

n2 4

s 2  2 ns   n 2 s2  s  4
By comparing denominators of both
Natural Frequency;
n2  4  n  2 rad / sec
11/21/2016 Amit Nevase 103
Example 10 cont……

Damping Ratio;

1 1
2 ns  s     0.25
2  n 2  2
Damped frequency of oscillations;

d  n 1   2  d  2 1  (0.25) 2  1.936 rad / sec

Delay Time;

1  0.7 1  0.7(0.25)
Td    0.587 sec
n 2

11/21/2016 Amit Nevase 104

Example 10 cont……
Rise Time;

1  2 1  (0.25) 2
  tan 1  tan 1  1.310 rad
 (0.25)

     1.310
Tr    0.945 sec
d (1.936)
Peak Time;
 
Tp    1.622 sec
 d 1.936
Settling Time;
4 4
Ts  4T    8 sec
 n (0.25)  (2)
11/21/2016 Amit Nevase 105
Example 10 cont……

Maximum Peak Overshoot


{ }
1 2
% Mp  e  100

( 0.25) 
{ }
1 ( 0.25) 2
% Mp  e  100

% Mp  43.26%

11/21/2016 Amit Nevase 106

Example 11
The open loop transfer function of a unity feedback system is,

25
G (s) 
s ( s  5)

Determine;
1. Delay Time
2. Rise Time
3. Peak Time
4. Settling Time
5. Maximum Peak Overshoot

11/21/2016 Amit Nevase 107

Example 11 cont……
25
Solution: G (s)  H ( s)  1
s ( s  5)
Determine the closed loop transfer function
25
C (s) G s ( s  5) 25
   2
R( s) 1  GH 1
25 s  5s  25
s ( s  5)

Compare closed loop TF with standard form of second order system

n2 25

s 2  2 ns   n 2 s 2  5s  25
By comparing denominators of both
Natural Frequency;
 n 2  25  n  5 rad / sec
11/21/2016 Amit Nevase 108
Example 11 cont……

Damping Ratio;

5 5
2 ns  5s     0.5
2  n 2  5
Damped frequency of oscillations;

d  n 1   2  d  5 1  (0.5) 2  4.33 rad / sec

Delay Time;

1  0.7 1  0.7(0.5)
Td    0.27 sec
n 5

11/21/2016 Amit Nevase 109

Example 11 cont……
Rise Time;

1  2 1  (0.5) 2
  tan 1  tan 1[ ]  1.24 rad
 (0.5)

     1.04
Tr    0.485 sec
d (4.330)
Peak Time;
 
Tp    0.725 sec
 d 4.330
Settling Time;
4 4
Ts  4T    1.6 sec
 n (0.5)  (5)
11/21/2016 Amit Nevase 110
Example 11 cont……

Maximum Peak Overshoot


{ }
1 2
% Mp  e  100

( 0.5) 
{ }
1 ( 0.5) 2
% Mp  e  100

% Mp  16.30%

11/21/2016 Amit Nevase 111

Example 12
The closed loop transfer function of a unity feedback system is,

C ( s) 10
 2
R( s) s  4s  5

Determine;
1. Delay Time
2. Rise Time
3. Peak Time
4. Settling Time
5. Maximum Peak Overshoot

11/21/2016 Amit Nevase 112

Example 12 cont……

Solution:
The given closed loop transfer function is,
C ( s) 10
 2
R( s) s  4s  5

Compare closed loop TF with standard form of second order system

n2 10

s 2  2 ns   n 2 s 2  4s  5

By comparing denominators of both

Natural Frequency;

n2  5  n  2.23 rad / sec

11/21/2016 Amit Nevase 113
 Example 12 cont……

Damping Ratio;

4 4
2 ns  4 s     0.896
2   n 2  2.23
Damped frequency of oscillations;

d  n 1   2  d  2.23 1  (0.896) 2  0.99 rad / sec

Delay Time;

1  0.7 1  0.7(0.896)
Td    0.72 sec
n 2.23

11/21/2016 Amit Nevase 114

Example 12 cont……
Rise Time;

1  2 1  (0.896) 2
  tan 1  tan 1[ ]  0.46 rad
 (0.896)

     0.46
Tr    2.70 sec
d (0.99)
Peak Time;
 
Tp    2.1515 sec
 d 0.99
Settling Time;
4 4
Ts  4T    2.00 sec
 n (0.896)  (2.23)
11/21/2016 Amit Nevase 115
Example 12 cont……

Maximum Peak Overshoot


{ }
1 2
% Mp  e  100

( 0.896 ) 
{ }
1 ( 0.896 ) 2
% Mp  e  100

% Mp  0.17%

11/21/2016 Amit Nevase 116

Example 13
The closed loop transfer function of a unity feedback system is,

C ( s) 100
 2
R ( s ) s  15s  100

Determine;
1. Delay Time
2. Rise Time
3. Peak Time
4. Settling Time
5. Maximum Peak Overshoot

11/21/2016 Amit Nevase 117

Example 13 cont……

Solution:
The given closed loop transfer function is,
C ( s) 100
 2
R( s) s  15s  100

Compare closed loop TF with standard form of second order system

n2 100

s 2  2 ns   n 2 s 2  15s  100

By comparing denominators of both

Natural Frequency;

 n 2  100  n  10 rad / sec

11/21/2016 Amit Nevase 118
Example 13 cont……

Damping Ratio;

15 15
2 ns  15s     0.75
2   n 2  10
Damped frequency of oscillations;

d  n 1   2  d  10 1  (0.75) 2  6.61 rad / sec

Delay Time;

1  0.7 1  0.7(0.75)
Td    0.135 sec
n 10

11/21/2016 Amit Nevase 119

Example 13 cont……
Rise Time;

1  2 1  (0.75) 2
  tan 1  tan 1[ ]  0.722 rad
 (0.75)

     0.722
Tr    0.365 sec
d (6.61)
Peak Time;
 
Tp    0.474 sec
 d 6.61
Settling Time;
4 4
Ts  4T    0.533 sec
 n (0.75)  (10)
11/21/2016 Amit Nevase 120
Example 13 cont……

Maximum Peak Overshoot


{ }
1 2
% Mp  e  100

( 0.75) 
{ }
1 ( 0.75) 2
% Mp  e  100

% Mp  2.83%

11/21/2016 Amit Nevase 121

Example 14
The closed loop transfer functions of certain second order unity
feedback control system is,

C ( s) 8
 2
R ( s ) s  3s  8

Determine the type of damping in the system.

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Example 14 cont……
Solution:
The given closed loop transfer function is,
C ( s) 8
 2
R( s) s  3s  8
Compare closed loop TF with standard form of second order system
n2 8

s 2  2 ns   n 2 s 2  3s  8
By comparing denominators of both
Natural Frequency; n2  8  n  2.82 rad / sec
3 3
Damping Ratio; 2 ns  3s     0.53
2   n 2  2.82
Since   1, it is an underdamped system.
11/21/2016 Amit Nevase 123
Example 15
The closed loop transfer functions of certain second order unity
feedback control system is,

C ( s) 2
 2
R( s) s  4s  2

Determine the type of damping in the system.

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Example 15 cont……
Solution:
The given closed loop transfer function is,
C ( s) 2
 2
R( s) s  4s  2
Compare closed loop TF with standard form of second order system
n2 2

s 2  2 ns   n 2 s 2  4s  2
By comparing denominators of both
Natural Frequency; n2  2  n  1.414 rad / sec
4 4
Damping Ratio; 2 ns  4 s     1.41
2   n 2 1.414
Since   1 , it is an overdamped system.
11/21/2016 Amit Nevase 125
Example 16
The closed loop transfer functions of certain second order unity
feedback control system is,

C ( s) 2
 2
R( s) s  2s  1

Determine the type of damping in the system.

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Example 16 cont……
Solution:
The given closed loop transfer function is,
C ( s) 2
 2
R( s) s  2s  1
Compare closed loop TF with standard form of second order system
n2 2

s 2  2 ns   n 2 s 2  2s  1
By comparing denominators of both
Natural Frequency; n2  1  n  1 rad / sec
2 2
Damping Ratio; 2 ns  2 s    1
2   n 2 1
Since   1, it is an critically damped system.
11/21/2016 Amit Nevase 127
Example 17
The closed loop transfer functions of certain second order unity
feedback control system is,

C ( s) 2
 2
R( s) s  4

Determine the type of damping in the system.

11/21/2016 Amit Nevase 128

Example 17 cont……
Solution:
The given closed loop transfer function is,
C ( s) 2
 2
R( s) s 4
Compare closed loop TF with standard form of second order system
n2 2

s 2  2 ns   n 2 s2  4
By comparing denominators of both
Natural Frequency; n2  4  n  2 rad / sec

Damping Ratio; 2 ns  0   0

Since   0, it is an undamped system.

11/21/2016 Amit Nevase 129
 Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
problems

11/21/2016 Amit Nevase 130

Type of System

The open loop transfer function of unity feedback system can

be written in two standard forms: the time constant form and
the pole-zero form.

K (s  z1)(s  z 2)..................
G (s)  (Pole-zero form)
s n (s  p1)(s  p 2)................

K (1  T z1s )(1  T z 2 s)..................

G (s)  n (Time constant form)
s (1  T p1s)(1  T p 2 s)................

11/21/2016 Amit Nevase 131

Type-0 (Zero) System

Definition: A control system with no integration in the open

loop transfer function and no pole of transfer function G(s) at
the origin of s-plane is designated as “Type-0 ” system.

K (1  T z1s)(1  T z 2s)..................
G (s)  (Standard form)
(1  T p1s)(1  T p 2 s)................

An amplifier type control system is a practical example of

Type-0 system

11/21/2016 Amit Nevase 132

Type-1 (One) System

Definition: A control system with one integration in the

open loop transfer function and one pole of transfer function
G(s) at the origin of s-plane is designated as “Type-1 ”
system.

K (1  T z1s)(1  T z 2 s)..................
G (s)  (Standard form)
s(1  T p1s)(1  T p 2 s)................

An pneumatic type control system is a practical example of

Type-1 system

11/21/2016 Amit Nevase 133

Type-2 (Two) System

Definition: A control system with two integration in the

open loop transfer function and two pole of transfer function
G(s) at the origin of s-plane is designated as “Type-2 ”
system.

K (1  T z1s )(1  T z 2 s)..................

G (s)  2 (Standard form)
s (1  T p1s)(1  T p 2 s)................

A mechanical displacement system is a practical example of

Type-2 system

11/21/2016 Amit Nevase 134

Derivation of Steady State Error

The steady state response is important to judge the accuracy

of the output. The difference between the steady state
response and desired reference gives the steady state error.

R(s)
E(s) C(s)
E(s)  R(s)  C (s).H(s)
G(s)
+-
+ But
C(s)  G(s).E(s)

B(s) H(s)
E(s)  R(s)  G(s).E(s).H(s)

R(s)  E (s)  G(s).E(s).H(s)

For given figure,
E (s)  R(s)  B(s) R(s)  E (s){1  G(s).H(s)}
But R(s)
E(s) 
B(s)  C (s).H(s) 1  G (s).H(s)
11/21/2016 Amit Nevase 135
 Derivation of Steady State Error

In time domain, Steady state error,

e(t)  L1 E (s)
and is the expression of error ess (t)  lim sE (s)
s 0
valid for all time. Steady state
error is defined as,
sR(s)
ess (t)  lim e(t ) ess (t)  lim
t  s 0 1  G (s) H(s)

From the final value theorem in

Laplace transform,

ess (t)  lim sE (s)

s 0

11/21/2016 Amit Nevase 136

Steady state error and Standard Signals
Steady state error for step input:

A step input of magnitude A is applied,

r(t) = A. u(t) t>0

=0 t<0

Taking Laplace transform,

A
R(s)  L{r(t)}  L{A} 
s

Steady state error,

sR(s)
ess (t)  lim
s 0 1  G (s) H(s)

11/21/2016 Amit Nevase 137

Steady state error and Standard Signals
Steady state error for step input:
A
s
ess (t)  lim s
s  0 1  G (s) H(s)

A
ess (t)  lim
s 0 1  G (s) H(s)

A
ess (t) 
1  lim G(s) H(s)
s 0

A
ess (t) 
11/21/2016
1  Kp Amit Nevase 138
Steady state error and Standard Signals
Steady state error for step input:
The position error constant Kp of a system is defined as,

Kp  lim G(s).H(s)
s 0

When a step input of magnitude A is given, in response to

A
this gives ess (t)  steady state error
1  Kp

*Kp depends
on type of
system

11/21/2016 Amit Nevase 139

Steady state error and Standard Signals
Steady state error for ramp input:

A ramp input of slope A is applied,

r(t) = A.t t>0
=0 t<0

Taking Laplace transform,

A
R (s)  L{r(t)}  L{At} 
s2

Steady state error,

sR(s)
ess (t)  lim
s 0 1  G (s) H(s)

11/21/2016 Amit Nevase 140

Steady state error and Standard Signals
Steady state error for ramp input:
A
s 2
ess (t)  lim s
s  0 1  G (s) H(s)

A
ess (t)  lim s
s  0 1  G (s) H(s)

A
ess (t)  lim
s 0 s  sG (s) H(s)

A A
ess (t)  ess (t) 
0  lim sG(s) H(s) Kv
s 0
11/21/2016 Amit Nevase 141
Steady state error and Standard Signals
Steady state error for ramp input:
The velocity error constant Kv of a system is defined as,
Kv  lim sG(s).H(s)
s 0

11/21/2016 Amit Nevase 142

Steady state error and Standard Signals
Steady state error for parabolic input:
A parabolic input of slope coefficient A/2 is applied,
At 2
r(t) = 2 t>0
=0 t<0
Taking Laplace transform,
A 2 A
R(s)  L{r(t)}  L{ t } 3
2 s

Steady state error,

sR(s)
ess (t)  lim
s 0 1  G (s) H(s)

11/21/2016 Amit Nevase 143

Steady state error and Standard Signals
Steady state error for parabolic input:
A
s 3
ess (t)  lim s
s  0 1  G (s) H(s)

A
2
ess (t)  lim s
s  0 1  G (s) H(s)

A
ess (t)  lim 2
s  0 s  s 2 G (s) H(s)

A A
ess (t)  ess (t) 
0  lim s 2 G (s) H(s) Ka
s 0

11/21/2016 Amit Nevase 144

Steady state error and Standard Signals
Steady state error for parabolic input:
The acceleration error constant Ka of a system is defined as,
Ka  lim s 2 G(s).H(s)
s 0

11/21/2016 Amit Nevase 145

Steady state error and Standard Signals
Summary:

Sr. Input Steady State

Constant Constant Expression
No. Signal Error

A Position
1
Step
ess (t)  Error Kp  lim G(s).H(s)
Input 1  Kp Constant
s 0

Velocity
2
Ramp
ess (t) 
A
Error Kv  lim sG(s).H(s)
Input s 0
Kv Constant

A Acceleration
3
Parabolic ess (t)  Error Ka  lim s 2 G(s).H(s)
Input Ka s 0
Constant

11/21/2016 Amit Nevase 146

Relation between steady state error and Type of
system

The type of system means the number of poles G(s)H(s) at

s=0. Consider the general form,

K (1  T 1 s)(1  T 2 s)................(1  Tms)

G (s).H(s)  n
s (1  T a s)(1  T b s)................(1  Tns)

Here there are n poles at s=0. Hence the type of system is n.

11/21/2016 Amit Nevase 147

Steady state error for Step input for Type 0 system

For type zero system, n=0

K (1  T 1 s)(1  T 2 s)................(1  Tms)

G (s).H(s) 
(1  T a s)(1  T b s)................(1  Tns)

The position error constant is given by,

Kp  lim G(s).H(s)
s 0

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Kp  lim
s 0 (1  T a s)(1  T b s)................(1  Tns)

K (1  T 10)(1  T 20)................(1  Tm 0)
Kp 
(1  T a 0)(1  T b 0)................(1  Tn 0)
11/21/2016 Amit Nevase 148
Steady state error for Step input for Type 0 system

K (1)(1)................(1)
Kp 
(1)(1)................(1)

Kp  K

The steady state error is given by,

A
ess (t) 
1  Kp

A
ess (t) 
1 K

11/21/2016 Amit Nevase 149

Steady state error for Step input for Type 0 system

A
ess (t) 
1 K
A type zero system has a finite steady state error to a step
input ,

11/21/2016 Amit Nevase 150

Steady state error for Step input for Type 1 system

For type one system, n=1

K (1  T 1 s)(1  T 2 s)................(1  Tms)

G (s).H(s) 
s(1  T a s)(1  T b s)................(1  Tns)

The position error constant is given by,

Kp  lim G(s).H(s)
s 0

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Kp  lim
s 0 s(1  T a s)(1  T b s)................(1  Tns)

K (1  T 10)(1  T 20)................(1  Tm 0)
Kp 
0(1  T a 0)(1  T b0)................(1  Tn 0)
11/21/2016 Amit Nevase 151
Steady state error for Step input for Type 1 system

K (1)(1)................(1)
Kp 
0

Kp  

The steady state error is given by,

A
ess (t) 
1  Kp
A
ess (t) 
1 

ess (t)  0
11/21/2016 Amit Nevase 152
Steady state error for Step input for Type 1 system

ess (t)  0

A type one system has a zero steady state error to a step

input ,

11/21/2016 Amit Nevase 153

Steady state error for Step input for Type 2 system

For type two system, n=2

K (1  T 1 s)(1  T 2 s)................(1  Tms)

G (s).H(s)  2
s (1  T a s)(1  T b s)................(1  Tns)
The position error constant is given by,

Kp  lim G(s).H(s)
s 0

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Kp  lim 2
s  0 s (1  T a s)(1  T b s)................(1  Tns)

K (1  T 10)(1  T 20)................(1  Tm 0)
Kp 
0(1  T a 0)(1  T b0)................(1  Tn 0)
11/21/2016 Amit Nevase 154
Steady state error for Step input for Type 1 system

K (1)(1)................(1)
Kp 
0
Kp  
The steady state error is given by,
A
ess (t) 
1  Kp

A
ess (t) 
1 

ess (t)  0

11/21/2016 Amit Nevase 155

 Steady state error for Step input for Type 1 system

ess (t)  0
A type two system has a zero steady state error to a step
input ,

It is clear that all higher type systems except type zero have zero
steady state error.
11/21/2016 Amit Nevase 156
Steady state error for Ramp input for Type 0 system

For type zero system, n=0

K (1  T 1 s)(1  T 2 s)................(1  Tms)
G (s).H(s) 
(1  T a s)(1  T b s)................(1  Tns)
The velocity error constant is given by,

Kv  lim sG(s).H(s)
s 0

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Kv  lim s{ }
s 0 (1  T a s)(1  T b s)................(1  Tns)
K (1  T 1 s)(1  T 2 s)................(1  Tms)
Kv  0  { }
(1  T a s)(1  T b s)................(1  Tns)

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Steady state error for Ramp input for Type 0 system

Kv  0
The steady state error is given by,
A
ess (t) 
Kv

A
ess (t) 
0

ess (t)  

11/21/2016 Amit Nevase 158

Steady state error for Ramp input for Type 0 system

ess (t)  
The error increase continuously hence type zero system fails
to track a ramp input successfully.

11/21/2016 Amit Nevase 159

Steady state error for Ramp input for Type 1 system

For type one system, n=1

K (1  T 1 s)(1  T 2 s)................(1  Tms)
G (s).H(s) 
s(1  T a s)(1  T b s)................(1  Tns)
The velocity error constant is given by,

Kv  lim sG(s).H(s)
s 0

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Kv  lim s{ }
s 0 s(1  T a s)(1  T b s)................(1  Tns)

K (1  T 10)(1  T 20)................(1  Tm 0)
Kv 
(1  T a 0)(1  T b0)................(1  Tn 0)

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Steady state error for Ramp input for Type 1 system

Kv  K

The steady state error is given by,

A
ess (t) 
Kv

A
ess (t) 
K

11/21/2016 Amit Nevase 161

Steady state error for Ramp input for Type 1 system

A
ess (t) 
K

This indicates finite steady state error for type one system
for ramp input

11/21/2016 Amit Nevase 162

Steady state error for Ramp input for Type 2 system

For type two system, n=2

K (1  T 1 s)(1  T 2 s)................(1  Tms)
G (s).H(s)  2
s (1  T a s)(1  T b s)................(1  Tns)

The velocity error constant is given by,

Kv  lim sG(s).H(s)
s 0

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Kv  lim s{ 2 }
s 0 s (1  T a s)(1  T b s)................(1  Tns)

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Kv 
s(1  T a s)(1  T b s)................(1  Tns)

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Steady state error for Ramp input for Type 2 system

Kv  

The steady state error is given by,

A
ess (t) 
Kv

A
ess (t) 


ess (t)  0

11/21/2016 Amit Nevase 164

Steady state error for Ramp input for Type 2 system

ess (t)  0

There is no steady state error for a ramp input for type two
system

11/21/2016 Amit Nevase 165

Steady state error for Parabolic input for Type 0 system

For type zero system, n=0

K (1  T 1 s)(1  T 2 s)................(1  Tms)
G (s).H(s) 
(1  T a s)(1  T b s)................(1  Tns)

The acceleration error constant is given by,

Ka  lim s 2 G(s).H(s)
s 0

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Ka  lim s { 2
}
s 0 (1  T a s)(1  T b s)................(1  Tns)

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Ka  0  { }
(1  T a s)(1  T b s)................(1  Tns)

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Steady state error for Parabolic input for Type 0 system

Ka  0

The steady state error is given by,

A
ess (t) 
Ka

A
ess (t) 
0

ess (t)  

11/21/2016 Amit Nevase 167

Steady state error for Parabolic input for Type 0 system

ess (t)  

There is infinite steady state error indicating failure to track

a parabolic input in type zero system

11/21/2016 Amit Nevase 168

Steady state error for Parabolic input for Type 1 system

For type one system, n=1

K (1  T 1 s)(1  T 2 s)................(1  Tms)
G (s).H(s) 
s(1  T a s)(1  T b s)................(1  Tns)
The acceleration error constant is given by,

Ka  lim s 2 G(s).H(s)
s 0

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Ka  lim s { 2
}
s 0 s(1  T a s)(1  T b s)................(1  Tns)

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Ka  0  { }
(1  T a s)(1  T b s)................(1  Tns)

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Steady state error for Parabolic input for Type 1 system

Ka  0
The steady state error is given by,
A
ess (t) 
Ka

A
ess (t) 
0

ess (t)  

11/21/2016 Amit Nevase 170

Steady state error for Parabolic input for Type 1 system

ess (t)  

There is infinite steady state error indicating failure to track

a parabolic input in type one system

11/21/2016 Amit Nevase 171

Steady state error for Parabolic input for Type 2 system

For type two system, n=2

K (1  T 1 s)(1  T 2 s)................(1  Tms)

G (s).H(s)  2
s (1  T a s)(1  T b s)................(1  Tns)

The acceleration error constant is given by,

Ka  lim s 2 G(s).H(s)
s 0

K (1  T 1 s)(1  T 2 s)................(1  T ms)

Ka  lim s { 2
2
}
s 0 s (1  T a s)(1  T b s)................(1  T ns)

K (1  T 1 s)(1  T 2 s)................(1  Tms)

Ka  { }
(1  T a s)(1  T b s)................(1  Tns)

11/21/2016 Amit Nevase 172

Steady state error for Parabolic input for Type 2 system

Ka  K

The steady state error is given by,

A
ess (t) 
Ka

A
ess (t) 
K

11/21/2016 Amit Nevase 173

Steady state error for Parabolic input for Type 2 system

A
ess (t) 
K

There is finite steady state error for type two system

11/21/2016 Amit Nevase 174

Relation between steady state error and Type of
system
Summary:

Step Input Ramp Input Parabolic Input

Sr. Type of
No. System
KP ess KV ess Ka ess

1 Zero K
A
1 K 0  0 
2 One  0 K
A
K
0 
3 Two  0  0 K
A
K
11/21/2016 Amit Nevase 175
 Module II – Time Response Analysis
 Time Domain Analysis (4 Marks)
 Transient and Steady State Response
 Standard Test Inputs : Step, Ramp, Parabolic and Impulse, Need, Significance
and corresponding Laplace Representation
 Poles and Zeros : Definition, S-plane representation
 First and Second order Control System (8 Marks)
 First Order Control System : Analysis for step Input, Concept of Time Constant
 Second Order Control System : Analysis for step input, Concept, Definition and
effect of damping
 Time Response Specifications (8 Marks)
 Time Response Specifications ( no derivations )
 Tp, Ts, Tr, Td, Mp, ess – problems on time response specifications
 Steady State Analysis – Type 0, 1, 2 system, steady state error constants,
Problems on Steady State Error & Error constants

11/21/2016 Amit Nevase 176

Example 18
The control system having unity feedback has,

20
G (s) 
s (1  4 s )(1  s )

Determine
1. Different static error coefficients.

t2
2. Steady State error if input r (t )  2  4t 
2

11/21/2016 Amit Nevase 177

Example 18 cont……
Solution:

Position error constant,

Kp  lim G ( s ) H ( s )
s 0

20
Kp  lim
s 0 s (1  4 s )(1  s )

20
Kp 
0(1  4 s )(1  s )

Kp  

11/21/2016 Amit Nevase 178

Example 18 cont……

Velocity error constant,

Kv  lim sG ( s ) H ( s )
s 0

20
Kv  lim s[ ]
s 0 s (1  4 s )(1  s )

20
Kv 
(1  4 s )(1  s )

Kv  20

11/21/2016 Amit Nevase 179

Example 18 cont……

Acceleration error constant,

Ka  lim s 2G ( s ) H ( s )
s 0

20
Ka  lim s 2 [ ]
s 0 s (1  4 s )(1  s )

20
Ka  0[ ]
s (1  4 s )(1  s )

Ka  0

11/21/2016 Amit Nevase 180

Example 18 cont……
t2
Steady state error, for r (t )  2  4t 
2
2 4 1
R ( s )  L{r (t )}   2  3
s s s
Steady state error is given by,
sR ( s )
eSS  lim
s 0 1  G ( s) H ( s)

2 4 1
s[ 2  3]
eSS  lim s s s
s 0 20
1
s (1  4 s )(1  s )

eSS  

11/21/2016 Amit Nevase 181

Example 19
The control system having unity feedback has,

50( s  5)
G (s) 
s2

Determine
1. Different static error coefficients.

11/21/2016 Amit Nevase 182

Example 19 cont……
Solution:

Position error constant,

Kp  lim G ( s ) H ( s )
s 0

50( s  5)
Kp  lim
s 0 s2
50( s  5)
Kp 
(0) 2

Kp  

11/21/2016 Amit Nevase 183

Example 19 cont……

Velocity error constant,

Kv  lim sG ( s ) H ( s )
s 0

50( s  5)
Kv  lim s[ 2
]
s 0 s

50( s  5)
Kv  lim
s 0 s
50( s  5)
Kv 
0

Kv  
11/21/2016 Amit Nevase 184
Example 19 cont……

Acceleration error constant,

Ka  lim s 2G ( s ) H ( s )
s 0

50( s  5)
Ka  lim s [ 2
2
]
s 0 s

Ka  lim 50( s  5)
s 0

Ka  250

11/21/2016 Amit Nevase 185

Example 20
The control system having,

20 10
G (s)  H (s) 
s ( s 2  2 s  5) ( s  4)

Determine
1. Different static error coefficients.

t2
2. Steady State error if input r (t )  5  10t 
2

11/21/2016 Amit Nevase 186

Example 20 cont……
Solution:

Position error constant,

Kp  lim G ( s ) H ( s )
s 0

20 10
Kp  lim 
s 0 s(s 2  2 s  5) ( s  4)

Kp  

11/21/2016 Amit Nevase 187

Example 20 cont……

Velocity error constant,

Kv  lim sG ( s ) H ( s )
s 0

20 10
Kv  lim s[  ]
s 0 s(s 2  2 s  5) ( s  4)

200
Kv 
20

Kv  10

11/21/2016 Amit Nevase 188

Example 20 cont……

Acceleration error constant,

Ka  lim s 2G ( s ) H ( s )
s 0

20 10
Ka  lim s 2 [  ]
s 0 s(s 2  2 s  5) ( s  4)

20 10
Ka  0[  ]
(s 2  2 s  5) ( s  4)

Ka  0

11/21/2016 Amit Nevase 189

Example 20 cont……
t2
Steady state error, for r (t )  5  10t 
2
5 10 1
R ( s )  L{r (t )}   2  3
s s s
Steady state error is given by,
sR ( s )
eSS  lim
s 0 1  G ( s) H ( s)

5 10 1
 2  3]
s[
eSS  lim s s s
s 0 20 10
1 [  ]
s ( s  2 s  5)
2
( s  4)

eSS  

11/21/2016 Amit Nevase 190

Example 21
The control system having unity feedback has,

20(1  s )
G (s)  2
s (2  s )(4  s )

Determine
1. Different static error coefficients.

2. Steady State error if input r (t )  40  2t  5t

2

11/21/2016 Amit Nevase 191

Example 21 cont……
Solution:

Position error constant,

Kp  lim G ( s ) H ( s )
s 0

20(1  s )
Kp  lim
s 0 s 2 (2  s )(4  s )

20(1  s )
Kp 
0 2 (2  s )(4  s )

Kp  

11/21/2016 Amit Nevase 192

Example 21 cont……

Velocity error constant,

Kv  lim sG ( s ) H ( s )
s 0

20(1  s )
Kv  lim s[ ]
s 0 s (2  s )(4  s )
2

20(1  s )
Kv  lim[ ]
s  0 s (2  s )(4  s )

Kv  

11/21/2016 Amit Nevase 193

Example 21 cont……

Acceleration error constant,

Ka  lim s 2G ( s ) H ( s )
s 0

20(1  s )
Ka  lim s 2 [ ]
s 0 s (2  s )(4  s )
2

20(1  s )
Ka  lim[ ]
s 0 (2  s )(4  s )

5
Ka 
2

11/21/2016 Amit Nevase 194

Example 21 cont……
Steady state error, for r (t )  40  2t  5t 2

40 2 10
R ( s )  L{r (t )}   2  3
s s s
Steady state error is given by,
sR ( s )
eSS  lim
s 0 1  G ( s) H ( s)

40 2 10
s[ 2  3]
eSS  lim s s s
s 0 20(1  s )
1 2
s (2  s )(4  s )

eSS  4

11/21/2016 Amit Nevase 195

Example 22
The control system having unity feedback has,

20( s  1)
G (s) 
s ( s  2)( s 2  2 s  2)

Determine
1. Different static error coefficients.

2. Steady State error if input r (t )  10  20t

11/21/2016 Amit Nevase 196

Example 22 cont……
Solution:

Position error constant,

Kp  lim G ( s ) H ( s )
s 0

20( s  1)
Kp  lim
s 0 s ( s  2)( s 2  2 s  2)

20( s  1)
Kp 
0( s  2)( s 2  2 s  2)

Kp  

11/21/2016 Amit Nevase 197

Example 22 cont……

Velocity error constant,

Kv  lim sG ( s ) H ( s )
s 0

20( s  1)
Kv  lim s[ ]
s 0 s ( s  2)( s  2 s  2)
2

20( s  1)
Kv  lim[ ]
s  0 ( s  2)( s 2  2 s  2)

Kv  5

11/21/2016 Amit Nevase 198

Example 22 cont……

Acceleration error constant,

Ka  lim s 2G ( s ) H ( s )
s 0

20( s  1)
Ka  lim s 2 [ ]
s 0 s ( s  2)( s  2 s  2)
2

20( s  1)
Ka  lim s[ ]
s 0 ( s  2)( s  2 s  2)
2

Ka  0

11/21/2016 Amit Nevase 199

Example 22 cont……
Steady state error, for r (t )  10  20t

10 20
R ( s )  L{r (t )}   2
s s
Steady state error is given by,
sR ( s )
eSS  lim
s 0 1  G ( s) H ( s)

10 20
s[  2 ]
eSS  lim s s
s 0 20( s  1)
1
s ( s  2)( s 2  2 s  2)

eSS  4

11/21/2016 Amit Nevase 200

Example 23
The control system having unity feedback has,

20( s  4)
G (s) 
s ( s  2)( s 2  2 s  2)

Determine
1. Different static error coefficients.

3 2
2. Steady State error if input r (t )  6t  t
2

11/21/2016 Amit Nevase 201

Example 23 cont……
Solution:

Position error constant,

Kp  lim G ( s ) H ( s )
s 0

20( s  4)
Kp  lim
s 0 s ( s  2)( s 2  2 s  2)

20( s  4)
Kp 
0( s  2)( s 2  2 s  2)

Kp  

11/21/2016 Amit Nevase 202

Example 23 cont……

Velocity error constant,

Kv  lim sG ( s ) H ( s )
s 0

20( s  4)
Kv  lim s[ ]
s 0 s ( s  2)( s  2 s  2)
2

20( s  4)
Kv  lim[ ]
s  0 ( s  2)( s 2  2 s  2)

Kv  20

11/21/2016 Amit Nevase 203

Example 23 cont……

Acceleration error constant,

Ka  lim s 2G ( s ) H ( s )
s 0

20( s  4)
Ka  lim s 2 [ ]
s 0 s ( s  2)( s  2 s  2)
2

20( s  4)
Ka  lim s[ ]
s 0 ( s  2)( s  2 s  2)
2

Ka  0

11/21/2016 Amit Nevase 204

Example 23 cont……
3 2
Steady state error, for r (t )  6t  t
2
6 3
R ( s )  L{r (t )}  
s2 s3
Steady state error is given by,
sR ( s )
eSS  lim
s 0 1  G ( s) H ( s)

6 3
2

s[ 3
]
eSS  lim s s
s 0 20( s  4)
1
s ( s  2)( s 2  2 s  2)

eSS  

11/21/2016 Amit Nevase 205

Example 24
The open loop transfer function of servo system with unity
feedback is,

10
G (s) 
s (0.1s  1)
Determine
1. Different static error coefficients.

a2 2
2. Steady State error if input r (t )  a 0  a1t  t
2

11/21/2016 Amit Nevase 206

Example 24 cont……
Solution:

Position error constant,

Kp  lim G ( s ) H ( s )
s 0

10
Kp  lim
s 0 s (0.1s  1)

10
Kp 
0(0.1s  1)

Kp  

11/21/2016 Amit Nevase 207

Example 24 cont……

Velocity error constant,

Kv  lim sG ( s ) H ( s )
s 0

10
Kv  lim s[ ]
s 0 s (0.1s  1)

10
Kv  lim[ ]
s  0 (0.1s  1)

Kv  10

11/21/2016 Amit Nevase 208

Example 24 cont……

Acceleration error constant,

Ka  lim s 2G ( s ) H ( s )
s 0

10
Ka  lim s 2 [ ]
s 0 s (0.1s  1)

10
Ka  lim s[ ]
s 0 (0.1s  1)

Ka  0

11/21/2016 Amit Nevase 209

Example 24 cont……
a2 2
Steady state error, for r (t )  a 0  a1t  t
2
a0 a1 a2
R ( s )  L{r (t )}   2  3
s s s
Steady state error is given by,
sR ( s )
eSS  lim
s 0 1  G ( s) H ( s)
a0 a1 a2
s[  2  3]
eSS  lim s s s
s 0 10
1
s (0.1s  1)

eSS  

11/21/2016 Amit Nevase 210

Example 25
The open loop transfer function of servo system with unity
feedback is,

10
G (s)  2
s (1  s )
Determine
1. Different static error coefficients.

2. Steady State error if input r (t )  a 0  a1t  a 2t 2

11/21/2016 Amit Nevase 211

Example 25 cont……
Solution:

Position error constant,

Kp  lim G ( s ) H ( s )
s 0

10
Kp  lim
s 0 s 2 (1  s )

10
Kp 
0 2 (1  s )

Kp  

11/21/2016 Amit Nevase 212

Example 25 cont……

Velocity error constant,

Kv  lim sG ( s ) H ( s )
s 0

10
Kv  lim s[ ]
s 0 s (1  s )
2

10
Kv  lim[ ]
s  0 s (1  s )

Kv  

11/21/2016 Amit Nevase 213

Example 25 cont……

Acceleration error constant,

Ka  lim s 2G ( s ) H ( s )
s 0

10
Ka  lim s 2 [ ]
s 0 s (1  s )
2

10
Ka  lim[ ]
s 0 (1  s )

Ka  10

11/21/2016 Amit Nevase 214

Example 25 cont……
Steady state error, for r (t )  a 0  a1t  a 2t 2

a0 a1 2a 2
R ( s )  L{r (t )}   2 
s s s3
Steady state error is given by,
sR ( s )
eSS  lim
s 0 1  G ( s) H ( s)
a0 a1 2a 2
s[  2  3
]
eSS  lim s s s
s 0 10
1 2
s (1  s )

a2
eSS 
5
11/21/2016 Amit Nevase 215
Example 26
A unity feedback system is characterized by the open loop transfer
function is,

1
G (s) 
s (0.5s  1)(0.2 s  1)

Determine steady state errors for unit step input, unit ramp
input and unit acceleration input.

11/21/2016 Amit Nevase 216

Example 26 cont……
Solution:
Position error constant, Kp  lim G ( s ) H ( s )
s 0

1
Kp  lim
s 0 s (0.5s  1)(0.2 s  1)

Kp  
Steady state error for unit step input is given by,
1
ess (t) 
1  Kp

1
ess (t) 
1 

ess (t)  0

11/21/2016 Amit Nevase 217

Example 26 cont……

Velocity error constant, Kv  lim sG ( s ) H ( s )

s 0

1
Kv  lim s[ ]
s 0 s (0.5s  1)(0.2 s  1)

Kv  1
Steady state error for unit ramp input is given by,
1
ess (t) 
Kv

1
ess (t) 
1

ess (t)  1

11/21/2016 Amit Nevase 218

 Example 26 cont……

Acceleration error constant, Ka  lim s 2G ( s ) H ( s )

s 0

1
Ka  lim s 2 [ ]
s 0 s (0.5s  1)(0.2 s  1)

Ka  0
Steady state error for unit parabolic input is given by,
1
ess (t) 
Ka

1
ess (t) 
0

ess (t)  

11/21/2016 Amit Nevase 219

References

 Control System Engineering

- J. J. Nagrath, M. Gopal

 Feedback Control System

- R. A. Barapate

 Modern Control Engineering

- K. Ogata

11/21/2016 Amit Nevase 220

Online Tutorials

 http://www.electrical4u.com
/control-engineering-
historical-review-and-types-
of-control-engineering/

 http://www.academia.edu/6
729369/EC2255-
_Control_System_Notes_solv
ed_problems_
11/21/2016 Amit Nevase 221
 Thank You
Amit Nevase
11/21/2016 Amit Nevase 222