LINEAR CONTROL SYSTEMS

SEM III – SEC II

Prepared & Presented by

Dr U. Aswani
Unit-3 Syllabus

Time Response and Stability Analysis

Standard test signals, Time response of first and second order systems for standard test inputs, Application
of initial and final value theorem, Design specifications for second-order systems based on the time-
response, Steady state error, Static and generalized error constants. Concept of stability, Absolute and
Relative Stability analysis, Routh-Hurwitz Criteria, Root-Locus technique, Construction of Root-loci
problems
 Time Response Analysis
Time response: Output of the closed loop control system as a function of
time

i.e. if r(t) is the input w.r.t time and ‘TF’ is the transfer function of closed
loop system. Then,

Output time response = L-1{R(s).TF}

𝐺(𝑠)
where, 𝑇𝐹 = for a negative feedback closed loop control
1+𝐺 𝑠 𝐻(𝑠)
system
Test Signals

• Characteristics of input: Sudden change, sudden shock, constant velocity and

constant acceleration
• Test signals are given as input to predict/verify the performance of system
• Commonly used test signals are

1. Step signal
2. Ramp signal
3. Parabolic signal
4. Impulse signal
5. Sinusoidal signal
Step signal:

The signal value changes from zero to ‘A’ at t=0

Mathematical expression,

r(t) = A ; t ≥ 0
=0;t<0

Unit step signal,

r(t) = 1 ; t ≥ 0
=0;t<0
Ramp signal:

The signal value increases linearly with time from an initial value of zero at t=0

Mathematical expression,

r(t) = A t ; t ≥ 0
=0;t<0

Unit ramp signal,

r(t) = t ; t ≥ 0
=0;t<0
Parabolic signal:

The signal value varies as square of the time from from an initial value of zero at
t=0

Mathematical expression,

𝐴𝑡2
r(t) = ;t≥0
2
=0;t<0

Unit parabolic signal,

𝑡2
r(t) = ; t ≥ 0
2
=0;t<0
Impulse signal:

The signal has large amplitude at a short duration of time

Mathematical expression,

ϭ(t) = ∞; t = 0
=0;t≠0

Impulse Response:

Response of the system with input as impulse

Inverse Laplace Transform
f (t ) = 𝐿−1 {𝐹(𝑠)}
Order of a system

• The input and output relationship is expressed by nth order differential

equation

• Order of the system is given by the order of differential equation

• Alternatively, order can be determined from TF of the system

• n = order of the system

Order of a system
Response of First Order system for Unit step input
Response of Second Order system

The standard form of second order system is given by

Where wn = natural frequency
ζ = damping ratio

damping ratio ζ determines the behavior of the system

Characteristic equation, s2+2ζwns+wn2 = 0

Roots are,
s1 , s2 = −w n  w n  2 − 1
Case:1 Response of 2nd order system for Unit step input (ζ=0)
Case:2 Response of 2nd order system for Unit step input (ζ=1)
Case:3 Response of 2nd order system for Unit step input (0<ζ<1)
Case:4 Response of 2nd order system for Unit step input (ζ>1)
Unit step response of second order system
Example 1: For the system shown below, what is the response of the system for unit step
input
Example 1: For the system shown below, what is the response of the system for unit step
input
Example 2: The response of a system is, c(t) = 1 + 0.2e-60t - 1.2e-10t when subject to a unit
step input. Find expression for closed loop transfer function. Also determine natural
frequency and damping ratio
 Time domain specifications
• Systems with energy storage elements cannot respond instantaneously and
exhibit transient response when subjected to a input
• This behavior can be studied by studying system response for unit step
• The transient response of a practical control system to a unit step input is
specified by the following time domain specifications
1. Delay time, td
2. Rise time, tr
3. Peak time, tp
4. Maximum overshoot, Mp
5. Settling time, ts
 Time domain specifications

Delay time (td) : Time taken for the

response to reach 50% of final value
Rise time (tr) : Time taken for the
response to raise from 0 to 100%
Peak time (tP) : Time taken for the
response to reach peak value

Peak overshoot (MP) : Ratio of maximum peak value to the final

𝒄 𝒕𝒑 −𝒄(∞)
% Peak overshoot, %𝑴𝒑 =
𝒄(∞)

Settling time (ts) : Time taken by the response to reach and stay within a specified error.
(Tolerable error : 2% to 5% of final value)
Rise time (tr)

For underdamped system with unit step input,

𝑒 −𝜁𝑤𝑛𝑡 −1 1−𝜍2
𝑐 𝑡 =1− sin(𝑤𝑑𝑡 + 𝜃) where 𝜃 = tan
1−𝜁2 𝜍

At t = tr , c(t) = c(tr) = 1

𝑒 −𝜁𝑤𝑛𝑡𝑟 sin 𝑤 𝑡 + 𝜃
𝑐 𝑡𝑟 =1− 𝑑 𝑟 =1
1−𝜁 2

𝜋−𝜃
Rise time, 𝑡𝑟 = where 𝑤𝑑 = 𝑤𝑛 1 − 𝜁 2
𝑤𝑑
Peak time (tp)
𝑒 −𝜁𝑤𝑛𝑡 1−𝜍2
For underdamped system with unit step input, 𝑐 𝑡 = 1 − sin(𝑤𝑑𝑡 + 𝜃) where 𝜃 = tan−1
1−𝜁2 𝜍
𝑑
At t = tp , c(t) =0
𝑑𝑡
Peak overshoot (Mp)
𝑒 −𝜁𝑤𝑛𝑡 1−𝜍2
For underdamped system with unit step input, 𝑐 𝑡 = 1 − sin(𝑤𝑑𝑡 + 𝜃) where 𝜃 = tan−1
1−𝜁2 𝜍
At t = ∞ ,
At t=tp,
Settling time (ts)
𝑒 −𝜁𝑤𝑛𝑡 1−𝜍2
For underdamped system with unit step input, 𝑐 𝑡 = 1 − sin(𝑤𝑑𝑡 + 𝜃) where 𝜃 = tan−1
1−𝜁2 𝜍
Example 1: The unity feedback system is characterized by an open loop transfer function
G(s)=K/s(s+10). Determine the gain K, so that the system will have a damping ratio of 0.5
for this value of K. Determine peak overshoot and time at peak overshoot for a unit step
input
Example 2: Find response c(t) to unit step input for 0.5 damping ratio. Determine peak
time, peak overshoot, rise time and settling time
Example 3: The unity feedback system is characterized by an open loop transfer function
G(s)=(0.4s+1)/s(s+0.6). Determine the response for unit step input and sketch, Also
determine peak overshoot and time at peak overshoot.
Type number of a system
Type-no: The number of poles of the loop transfer function (G(s)H(s))
lying at origin. Denoted by number ‘N’

If N=0, system is called type-0 system

If N=1, system is called type-1 system
If N=2, system is called type-2 system and so on
Limiting theorems
Initial value theorem enables to find the initial value at time t=0+ of f(t) when F(s)
is known
+
𝑓 0 = lim 𝑓(𝑡) = lim 𝑠𝐹(𝑠)
𝑡→0 𝑠→∞

Final value theorem enables to find the final value at time t=∞ of f(t) when F(s) is
known

𝑓 ∞ = lim 𝑓(𝑡) = lim 𝑠𝐹(𝑠)

𝑡→∞ 𝑠→0

Applicable only when f(t)=0, t < 0

Steady State Error
Static Error Constants
Type-0 system will have a constant steady state error when the input is step signal
Type-1 system will have a constant steady state error when the input is ramp signal
Type-2 system will have a constant steady state error when the input is parabolic signal

𝑠𝑅(𝑠)
Steady state error, 𝑒𝑠𝑠 = lim
𝑠→0 1+𝐺 𝑠 𝐻(𝑠)
Steady state error when the input is unit step signal
𝑠𝑅(𝑠)
Steady state error, 𝑒𝑠𝑠 = lim
𝑠→0 1+𝐺 𝑠 𝐻(𝑠)
Steady state error when the input is unit ramp signal
𝑠𝑅(𝑠)
Steady state error, 𝑒𝑠𝑠 = lim
𝑠→0 1+𝐺 𝑠 𝐻(𝑠)
Steady state error when the input is unit parabolic signal
𝑠𝑅(𝑠)
Steady state error, 𝑒𝑠𝑠 = lim
𝑠→0 1+𝐺 𝑠 𝐻(𝑠)
Steady state error for various test
inputs Static error constants for various
type number of system
Example 1:
 Generalized Error Coefficients

• Static error coefficients are constant and do not show variation

with time and input need to be standard
• Generalized error coefficients vary with time
• Steady state error can also be known
Example 3: For servomechanisms, with open loop transfer function given
below and with a unity feedback, explain what type of input signal give rise
to a constant steady state error and calculate their value

20(𝑠+2) 10 10
𝑖 𝐺 𝑠 = 𝑖𝑖 𝐺 𝑠 = 𝑖𝑖𝑖 𝐺 𝑠 =
𝑠(𝑠+1)(𝑠+3) (𝑠+2)(𝑠+3) 𝑠2(𝑠+1)(𝑠+2)
Example: A unity feedback control system has an amplifier with gain KA=10
and gain G(s)= 1/s(s+2) in feed forward path. A derivative feedback H(s)=sK0
is introduced as a minor loop around G(s). Determine the derivative
feedback constant K0 so that ζ=0.6
Example: A unity feedback system has G(s)= 1/s(s+1). The input to the
system is described by r(t)=4+6t+2t3. Determine generalized error
coefficients and steady state error