PCEE-612

Control Systems
GEE-2020
Lecture-07: Time–response Analysis
Note: The lectures are prepared referring recommended books that are listed in Introductory Lecture

06-Oct-22 Prof. J.S. Dhillon 1

Closed loop transfer function
R(s) + E(s) C(s)
𝐺 𝑠
R(s) 𝐺(𝑠) C(s)
-
B(s)
1 + 𝐺 𝑠 𝐻(𝑠)
H 𝑠
𝐸 𝑠 =𝑅 𝑠 −𝐵 𝑠
𝐵 𝑠 =𝐻 𝑠 𝐶 𝑠
𝐶 𝑠 =𝐺 𝑠 𝐸 𝑠
𝐶 𝑠 =𝐺 𝑠 𝑅 𝑠 −𝐵 𝑠
𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠 − 𝐺(𝑠)𝐻 𝑠 𝐶(𝑠)
𝐶(𝑠) + 𝐺 𝑠 𝐻 𝑠 𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠
1 + 𝐺 𝑠 𝐻(𝑠) 𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠
𝐶(𝑠) 𝐺(𝑠)
=
𝑅(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)
06-Oct-22 Prof. J.S. Dhillon 2
Closed loop transfer function
R(s) + E(s) C(s)
𝐺 𝑠 C(s)
R(s) 𝐺(𝑠)
- 1 + 𝐺 𝑠 𝐻(𝑠)
B(s)
H 𝑠
Forward path transfer function
Feedback path transfer function

Open loop transfer function

𝐶(𝑠) R(s) C(s)

= 𝐺(𝑠) 𝐺 𝑠
𝑅(𝑠)

06-Oct-22 Prof. J.S. Dhillon 3

Error transfer function
R(s) + E(s) C(s)
𝐺 𝑠
R(s) 1 E(s)
-
B(s)
1 + 𝐺 𝑠 𝐻(𝑠)
H 𝑠

𝐸 𝑠 =𝑅 𝑠 −𝐵 𝑠 (1)
Error transfer function or ratio
𝐵 𝑠 =𝐻 𝑠 𝐶 𝑠 (2) 𝐸(𝑠) 1
=
𝐶 𝑠 =𝐺 𝑠 𝐸 𝑠 (3) 𝑅(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)
𝐸 𝑠 = 𝑅 𝑠 − 𝐻 𝑠 𝐶(𝑠)
𝐸 𝑠 = 𝑅 𝑠 − 𝐻 𝑠 𝐺 𝑠 𝐸(𝑠)
𝐸 𝑠 +𝐺 𝑠 𝐻 𝑠 𝐸 𝑠 =𝑅 𝑠
1 + 𝐺 𝑠 𝐻(𝑠) 𝐸 𝑠 = 𝑅 𝑠
𝐸(𝑠) 1
=
𝑅(𝑠)
06-Oct-22 1 + 𝐺 𝑠 𝐻(𝑠) Prof. J.S. Dhillon 4
Open loop transfer function
R(s) + E(s) C(s)
𝐺 𝑠 E(s)
R(s) 1
- 1 + 𝐺 𝑠 𝐻(𝑠)
B(s)
H 𝑠

E(s) B(s)
R(s) + E(s) C(s) 𝐺 𝑠 𝐻(𝑠)
𝐺 𝑠
-
B(s)
H 𝑠
Open Loop Transfer Function
𝐵 𝑠 =𝐻 𝑠 𝐶 𝑠 𝐵(𝑠)
𝐶 𝑠 =𝐺 𝑠 𝐸 𝑠 = 𝐺(𝑠)𝐻(𝑠)
𝐸(𝑠)
𝐵 𝑠 = 𝐻 𝑠 𝐺 𝑠 𝐸(𝑠)
𝐵(𝑠)
= 𝐺(𝑠)𝐻(𝑠)
𝐸(𝑠)
06-Oct-22 Prof. J.S. Dhillon 5
Overview
R(s) + E(s) C(s)
𝐺 𝑠 Forward path transfer function
± C(s)
B(s) G s =
H 𝑠 E(s)
Overall (closed-loop) TF or control ratio
C(s) 𝐺(𝑠)
R(s) : Reference input Signal T s = =
C(s) : Output signal 𝑅(s) 1 ∓ 𝐺 𝑠 𝐻(𝑠)
E(s) : Error Signal Open loop transfer function
B(s) : Feedback signal B(s)
H(s) : Feedback path transfer function 𝐺 𝑠 𝐻 𝑠 =
E(s)
G(s)H(s) : open loop transfer function Error transfer function or ratio
E(s)
: Error transfer function or ratio 𝐸(𝑠) 1
𝑅(s) =
B(s) 𝑅(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)
: Primary feedback ratio
𝑅(s)
06-Oct-22 Prof. J.S. Dhillon 6
TRANSFER FUNCTION (OPEN LOOP)

Time Constant Form Pole-zero Form

𝐾 1 + 𝑠𝑇𝑧1 1 + 𝑠𝑇𝑧2 … 𝐾 𝑠 + 𝑧1 1 + 𝑧2 …
𝐺 𝑠 𝐻 𝑠 = 𝑟 𝐺 𝑠 𝐻 𝑠 = 𝑟
𝑠 1 + 𝑠𝑇𝑝1 1 + 𝑠𝑇𝑝2 … 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2 …
𝐾 ς𝑚
𝑖=1 1 + 𝑠𝑇𝑧𝑖 𝐾 ς𝑚𝑖=1 𝑠 + 𝑧𝑖
𝐺 𝑠 𝐻 𝑠 = 𝑟 𝑛 𝐺 𝑠 𝐻 𝑠 = 𝑟 𝑛
𝑠 ς𝑗=1 1 + 𝑠𝑇𝑝𝑗 𝑠 ς𝑗=1 𝑠 + 𝑝𝑗
Type 0 𝐾 ς𝑚
𝑖=1 1 + 𝑠𝑇𝑧𝑖 Type 0 𝐾 ς𝑚
𝑖=1 𝑠 + 𝑧𝑖
𝐺 𝑠 𝐻 𝑠 = 𝑛 𝐺 𝑠 𝐻 𝑠 = 𝑛
ς𝑗=1 1 + 𝑠𝑇𝑝𝑗 ς𝑗=1 𝑠 + 𝑝𝑗
Type 1 𝐾 ς𝑚 𝑖=1 1 + 𝑠𝑇𝑧𝑖 Type 1 𝐾 ς𝑚 𝑖=1 𝑠 + 𝑧𝑖
𝐺 𝑠 𝐻 𝑠 = 𝐺 𝑠 𝐻 𝑠 =
𝑠 ς𝑛𝑗=1 1 + 𝑠𝑇𝑝𝑗 𝑠 ς𝑛𝑗=1 𝑠 + 𝑝𝑗
Type 2 𝐾 ς𝑚
𝑖=1 1 + 𝑠𝑇𝑧𝑖 Type 2 𝐾 ς𝑚
𝑖=1 𝑠 + 𝑧𝑖
𝐺 𝑠 𝐻 𝑠 = 2 𝑛 𝐺 𝑠 𝐻 𝑠 = 2 𝑛
𝑠 ς𝑗=1 1 + 𝑠𝑇𝑝𝑗 𝑠 ς𝑗=1 𝑠 + 𝑝𝑗

06-Oct-22 Prof. J.S. Dhillon 7

Steady State Error
• A desirable feature of control is the following
of its reference input by the output.
E(s) C(s)
• If the actual output of a control system during R(s) +
𝐺 𝑠
steady state deviates from the reference
-
input (i.e. desired output) , the system said to B(s)
possess a steady state error. H 𝑠
• SSE occurs from nature of inputs, type of
system and from non-linearities of system
components. 𝑒𝑠𝑠 𝑡 = 𝑐𝑠𝑠 𝑡 − 𝑟 𝑡
• Non-linearities are static friction, backlash,
aging or deterioration et. 𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠)
𝑠→0
𝑅 𝑠
𝑒𝑠𝑠 = lim 𝑠
𝑠→0 1+𝐺 𝑠 𝐻 𝑠

06-Oct-22 Prof. J.S. Dhillon 8

Steady State Error R(s) + E(s)
𝐺 𝑠
C(s)

𝐸 𝑠 =𝑅 𝑠 −𝐵 𝑠 (1) -
B(s)
𝐵 𝑠 =𝐻 𝑠 𝐶 𝑠 (2) H 𝑠
𝐸 𝑠 =𝑅 𝑠 −𝐵 𝑠
𝐶 𝑠 =𝐺 𝑠 𝐸 𝑠 (3)
𝐵 𝑠 =𝐻 𝑠 𝐶 𝑠
E 𝑠 = 𝑅 𝑠 − 𝐻(𝑆)𝐶 𝑆 𝐶 𝑠 =𝐺 𝑠 𝐸 𝑠
E 𝑠 = 𝑅 𝑠 − 𝐸(𝑠) 𝐺 𝑆 𝐻 𝑆 𝐶 𝑠 =𝐺 𝑠 𝑅 𝑠 −𝐵 𝑠
E 𝑠 +𝐸 𝑠 𝐺 𝑆 𝐻 𝑆 =𝑅 𝑠 𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠 − 𝐺(𝑠)𝐻 𝑠 𝐶(𝑠)
𝐶(𝑠) + 𝐺 𝑠 𝐻 𝑠 𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠
E 𝑠 1+𝐺 𝑆 𝐻 𝑆 =𝑅 𝑠
1 + 𝐺 𝑠 𝐻(𝑠) 𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠
𝑅 𝑠 𝐶(𝑠) 𝐺(𝑠)
𝐸 𝑆 = =
1+𝐺 𝑠 𝐻 𝑠 𝑅(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)
𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠)
Steady state error 𝑠→0
𝑅 𝑠
𝑒𝑠𝑠 = lim 𝑒(𝑡) 𝑒𝑠𝑠 = lim 𝑠
𝑡→∝ 𝑠→0 1+𝐺 𝑠 𝐻 𝑠
06-Oct-22 Prof. J.S. Dhillon 9
Static Positional Error Coefficients (Unit Step input)
𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠) 1
𝑠→0 Unit Step input 𝑅 𝑠 =
𝑠
𝑅 𝑠
𝑒𝑠𝑠 = lim 𝑠
𝑠→0 1+𝐺 𝑠 𝐻 𝑠
Static positional error coefficient
1 1
𝑒𝑠𝑠 = lim 𝑠 × 𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠
𝑠→0 1+𝐺 𝑠 𝐻 𝑠 𝑠 𝑠→0
1 1
𝑒𝑠𝑠 = lim 𝑒𝑠𝑠 =
𝑠→0 1 + 𝐺 𝑠 𝐻 𝑠 1 + 𝐾𝑝
1
𝑒𝑠𝑠 =
1 + lim 𝐺 𝑠 𝐻 𝑠
𝑠→0
1
𝑒𝑠𝑠 =
1 + 𝐾𝑝
06-Oct-22 Prof. J.S. Dhillon 10
Static Velocity Error Coefficients (Unit Ramp input)
1
𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠) Unit Ramp input 𝑅 𝑠 = 2
𝑠→0 𝑠
𝑅 𝑠
𝑒𝑠𝑠 = lim 𝑠 Static velocity error coefficient
𝑠→0 1+𝐺 𝑠 𝐻 𝑠 𝐾𝑣 = lim 𝑠𝐺 𝑠 𝐻 𝑠
1 1 𝑠→0
𝑒𝑠𝑠 = lim 𝑠 × 2 1
𝑠→0 1+𝐺 𝑠 𝐻 𝑠 𝑠 𝑒𝑠𝑠 =
1 𝐾𝑣
𝑒𝑠𝑠 = lim
𝑠→0 𝑠 + 𝑠𝐺 𝑠 𝐻 𝑠
1
𝑒𝑠𝑠 =
lim 𝑠 + lim 𝑠𝐺 𝑠 𝐻(𝑠)
𝑠→0 𝑠→0
1
𝑒𝑠𝑠 =
0 + 𝐾𝑣
06-Oct-22 Prof. J.S. Dhillon 11
Static Acceleration Error Coefficients (Unit Parabolic input)
1
𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠) Unit Parabolic input 𝑅 𝑠 = 3
𝑠→0
𝑠
𝑅 𝑠
𝑒𝑠𝑠 = lim 𝑠 Static acceleration error coefficient
𝑠→0 1+𝐺 𝑠 𝐻 𝑠 𝐾𝑣 = lim 𝑠 2 𝐺 𝑠 𝐻 𝑠
1 1 𝑠→0
𝑒𝑠𝑠 = lim 𝑠 × 3 1
𝑠→0 1+𝐺 𝑠 𝐻 𝑠 𝑠 𝑒𝑠𝑠 =
1 𝐾𝑎
𝑒𝑠𝑠 = lim 2
𝑠→0 𝑠 + 𝑠 2 𝐺 𝑠 𝐻 𝑠
1
𝑒𝑠𝑠 =
lim 𝑠 2 + lim 𝑠 2 𝐺 𝑠 𝐻(𝑠)
𝑠→0 𝑠→0
1
𝑒𝑠𝑠 =
0 + 𝐾𝑎
06-Oct-22 Prof. J.S. Dhillon 12
06-Oct-22 Prof. J.S. Dhillon 13
Static Positional Error Coefficients, Kp
Type -1 System
𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠
𝑠→0
1 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2
𝑒𝑠𝑠 = 𝐾𝑝 = lim
𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2
1 + 𝐾𝑝
𝐾𝑝 =∝
Type -0 System 1
𝑒𝑠𝑠 = =0
1 +∝
𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 Type -2 System
𝐾𝑝 = lim
𝑠→0 𝑠 + 𝑝1 𝑠 + 𝑝2 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2
𝐾𝑝 = 𝐾 𝐾𝑝 = lim 2
𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2
1
𝑒𝑠𝑠 = 𝐾𝑝 = ∝
1 + 𝐾𝑝 1
𝑒𝑠𝑠 = =0
1 +∝
06-Oct-22 Prof. J.S. Dhillon 14
Static Velocity Error Coefficients, Kv
Type -1 System
𝐾𝑣 = lim 𝑠𝐺 𝑠 𝐻 𝑠
𝑠→0
1 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2
𝑒𝑠𝑠 = 𝐾𝑣 = lim 𝑠
𝐾𝑣 𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2
𝐾𝑣 = 𝐾
Type -0 System 1
𝑒𝑠𝑠 = = 0
𝐾
𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2
𝐾𝑣 = lim 𝑠 Type -2 System
𝑠→0 𝑠 + 𝑝1 𝑠 + 𝑝2
𝐾𝑣 = 0 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2
𝐾𝑣 = lim 𝑠 2
1 1 𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2
𝑒𝑠𝑠 = = =∝ 𝐾𝑝 = ∝
𝐾𝑣 0
1
𝑒𝑠𝑠 = =0
1 +∝
06-Oct-22 Prof. J.S. Dhillon 15
Static Acceleration Error Coefficients, Ka
Type -1 System
𝐾𝑎 = lim 𝑠2𝐺 𝑠 𝐻 𝑠
𝑠→0
1 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2
𝑒𝑠𝑠 = 𝐾𝑎 = lim 𝑠2
𝐾𝑎
𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2
𝐾𝑎 = 0
Type -0 System 1 1
𝑒𝑠𝑠 = = =∝
𝐾𝑎 0
𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2
2
𝐾𝑎 = lim 𝑠 Type -2 System
𝑠→0 𝑠 + 𝑝1 𝑠 + 𝑝2
𝐾𝑎 = 0 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2
2
𝐾𝑎 = lim 𝑠 2
1 1 𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2
𝑒𝑠𝑠 = = =∝
𝐾𝑎 0 𝐾𝑎 = 𝐾
1
𝑒𝑠𝑠 =
𝐾
06-Oct-22 Prof. J.S. Dhillon 16
Type of Error Constants Step Input Ramp Input Parabolic Input
System 𝐾𝑃 𝐾𝑉 𝐾𝐴 𝒓 𝒕 = 𝑹𝒖(𝒕) 𝒓 𝒕 = 𝑹𝒕𝒖(𝒕) 𝐑𝒕𝟐
𝐑 𝐑 𝒓 𝒕 = 𝒖 𝒕
= lim 𝐺 𝑠 = lim s𝐺 𝑠 = lim 𝑠 2 𝐺 𝑠 𝒆𝒔𝒔 = 𝒆𝒔𝒔 = 𝟐
𝑠→0 𝑠→0 𝑠→0 𝟏 + 𝑲𝑷 𝑲𝑽 𝐑
𝒆𝒔𝒔 =
𝑲𝐚
0 K 0 0 𝐑 ∞ ∞
𝟏+𝐾
1 ∞ K 0 0 𝐑 ∞
𝐾
2 ∞ ∞ K 0 0 𝐑
𝐾
≥3 ∞ ∞ ∞ 0 0 0

𝑠𝑅(𝑠) • Input R(s)

𝑒𝑠𝑠 = lim 𝑒 𝑡 = lim 𝑠𝐸 𝑠 = lim
t→∞ 𝑠→0 𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠) • Open loop system structure G(s)H(s)
• Type number of open loop transfer function
𝐾𝑃 = lim 𝐺 𝑠 𝐻(𝑠)
𝑠→0
𝐾V = lim 𝑠𝐺 𝑠 𝐻(𝑠)
𝑠→0
𝐾𝑎 = lim 𝑠 2 𝐺 𝑠 𝐻(𝑠)
𝑠→0
06-Oct-22 Prof. J.S. Dhillon 17
To find close loop function from open loop transfer function

𝑁(𝑠) 𝑁(𝑠)
OLTF, 𝐺(𝑠) = 𝑇(𝑠) =
𝐷(𝑠) 𝐷 𝑠 + 𝑁 𝑠 𝐻(𝑠)
𝐺(𝑠) 𝐼𝑓 𝐻(𝑠) = 1
CLTF, 𝑇(𝑠) =
1 + 𝐺 𝑠 𝐻(𝑠) 𝑁(𝑠)
𝑁 𝑠 𝑇(𝑠) =
𝐷 𝑠 +𝑁 𝑠
𝐷 𝑠
𝑇 𝑠 =
𝑁 𝑠
1+ 𝐻 𝑠
𝐷 𝑠
𝑁(𝑠)
𝐷(𝑠)
𝑇(𝑠) =
𝐷 𝑠 + 𝑁 𝑠 𝐻(𝑠)
𝐷(𝑠)

06-Oct-22 Prof. J.S. Dhillon 18

To find open loop function from closed loop transfer function

CLTP (Closed Loop Transfer Function) OLTF (Open Loop Transfer Function
𝑁(𝑠) 𝑁 𝑠
𝑇(𝑠) = 𝐺(𝑠) =
𝐷(𝑠) 𝐷 𝑠 −N s 𝐻 𝑠
𝐺(𝑠) 𝑁(𝑠) OLTF
= IF 𝐻(𝑠) = 1
1 + 𝐺 𝑠 𝐻(𝑠) 𝐷(𝑠)
𝑁(𝑠)
𝐷 𝑠 𝐺(𝑠) = 𝑁(𝑠) 1 + 𝐺(𝑠)𝐻(𝑠) 𝐺(𝑠) =
𝐷 𝑠 −𝑁 𝑠
𝐷 𝑠 𝐺 𝑠 = 𝑁 𝑠 + N(s)𝐺(𝑠)𝐻(𝑠)
𝐷 𝑠 𝐺 𝑠 −N s 𝐺 𝑠 𝐻 𝑠 =𝑁 𝑠
𝐷 𝑠 −N s 𝐻 𝑠 𝐺 𝑠 =𝑁 𝑠
𝑁 𝑠
𝐺(𝑠) =
𝐷 𝑠 −N s 𝐻 𝑠
06-Oct-22 Prof. J.S. Dhillon 19
Example: Transfer the system into a unit feedback system
1+𝑠
1 + 0.5𝑠 +
R(s) + 5 C(s)
𝑠2
- + 1+𝑠 1 + 𝑠 + 10 + 5𝑠
10 + 10 =
1 + 0.5𝑠 1 + 0.5𝑠
6𝑠 + 11
3 =
1 + 0.5𝑠

R(s) + 1+𝑠 5 C(s)

+ 10
1 + 0.5𝑠 𝑠2 5 6𝑠 + 11
- 𝐺(𝑠) = 2
𝑠 1 + 0.5𝑠
3

06-Oct-22 Prof. J.S. Dhillon 20

Example: Transfer the system into a unit feedback system

R(s) + 5 6𝑠 + 11 C(s)
5 6𝑠 + 11 𝑁(𝑠)
𝑠 2 1 + 0.5𝑠 𝐺 𝑠 = 2 =
- 𝑠 1 + 0.5𝑠 𝐷(𝑠)
𝐺(𝑠)
3 𝑇(𝑠) =
1 + 𝐺 𝑠 𝐻(𝑠)
𝑁(𝑠)
R(s) 5 6𝑠 + 11 C(s) 𝑇(𝑠) =
𝐷 𝑠 + 𝑁 𝑠 𝐻(𝑠)
0.5𝑠 3 + 𝑠 2 + 90𝑠 + 165
5 6𝑠 + 11
𝑇(𝑠) = 2
C(s) 𝑠 1 + 0.5𝑠 + 5 6𝑠 + 11 × 3
R(s) +
𝐺(𝑠) 5 6𝑠 + 11
𝑇(𝑠) =
- 0.5𝑠 3 + 𝑠 2 + 90𝑠 + 165

06-Oct-22 Prof. J.S. Dhillon 21

Example: Transfer the system into a unit feedback system
5 6𝑠 + 11
R(s) 5 6𝑠 + 11 C(s) 𝑇(𝑠) =
0.5𝑠 3 + 𝑠 2 + 90𝑠 + 165
0.5𝑠 3 + 𝑠 2 + 90𝑠 + 165 𝑁 𝑠 𝐺(𝑠)
𝑇 𝑠 = =
𝐷 𝑠 1 + 𝐺(𝑠)
𝑁 𝑠 1 + 𝐺(𝑠) = 𝐺 𝑠 𝐷(𝑠)
R(s) + C(s) 𝐺 𝑠 𝐷 𝑠 − 𝑁(𝑠) = 𝑁 𝑠
𝐺(𝑠)
- 𝑁(𝑠)
𝐺 𝑠 =
𝐷 𝑠 − 𝑁(𝑠)
5 6𝑠 + 11
𝐺 𝑠 =
0.5𝑠 3 + 𝑠 2 + 90𝑠 + 165 − 5 6𝑠 + 11
5 6𝑠 + 11
𝐺 𝑠 =
0.5𝑠 3 + 𝑠 2 + 60𝑠 + 110

06-Oct-22 Prof. J.S. Dhillon 22

 Example: Block Diagram of a position control system is given.
(a) In absence of derivative feedback, determine damping ratio of the system for amplifier gain,
𝐾𝐴 = 5. Also find steady state error to unit ramp input.
(b) Find suitable values of the parameters 𝐾𝐴 and 𝐾𝑡 so that damping ratio of the system is
increased to 0.7 without affecting the steady state error as obtained in part (a).

Solution: (a) 𝐾𝑡 = 0, 𝐾𝐴 = 5 R(s) + + 1 C(s)

𝐾𝐴
𝑠 0.5𝑠 + 1
𝑇 𝑠 =
𝐾𝐴 - -
𝑠 0.5𝑠 + 1 + 𝐾𝐴
𝑠𝐾𝑡
Characteristic equation
0.5𝑠 2 + 𝑠 + 𝐾𝐴 = 0
𝑠 2 + 2𝑠 + 2𝐾𝐴 = 0 R(s) + 1 C(s)
𝐾𝐴
𝑠 0.5𝑠 + 1 + 𝑠𝐾𝑡
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2 = 0 -
2𝜉𝜔𝑛 = 2
𝜔𝑛2 = 2 × 5
R(s) + 𝐾𝐴 C(s)
𝜔𝑛 = 10 = 3.162 rad/s 𝑠 0.5𝑠 + 1
𝜉=
1
=
1
= 0.3162
-
𝜔𝑛 3.162
06-Oct-22 23
Prof. J.S. Dhillon
Example continued
R(s) + + 1 C(s)
𝐾𝐴
𝐾𝑡 = 0, 𝐾𝐴 = 5 𝑠 0.5𝑠 + 1
- -
5
𝐺 𝑠 =
𝑠 0.5𝑠 + 1 𝑠𝐾𝑡

𝐾𝑣 = lim 𝑠𝐺 𝑠 𝐻 𝑠
𝑠→0
5 R(s) + 1 C(s)
𝐾𝐴
𝐾𝑣 = lim 𝑠 ×1 𝑠 0.5𝑠 + 1 + 𝑠𝐾𝑡
𝑠→0 𝑠 0.5𝑠 + 1 -
5
𝐾𝑣 = lim =5
𝑠→0 0.5𝑠 + 1
𝑁(𝑠) 𝑁(𝑠)
1 1 𝑇(𝑠) = 𝐺1 (𝑠) =
𝑒𝑠𝑠 = = = 0.2 𝐷 𝑠 + 𝑁 𝑠 𝐻(𝑠) 𝐷 𝑠 + 𝑁 𝑠 𝐻(𝑠)
𝐾𝑣 5
𝐾𝐴 𝑁(𝑠) = 1
Solution: (b) Characteristic equation 𝑇(𝑠) =
𝑠 0.5𝑠 + 1 + 𝑠𝐾𝑡 + 𝐾𝐴 𝐷 𝑠 = 𝑠 0.5𝑠 + 1
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2 = 0 1
𝐾𝐴 𝐺1 (𝑠) =
0.5𝑠 2 + 1 + 𝐾𝑡 𝑠 + 𝐾𝐴 = 0 𝑇(𝑠) = 𝑠 0.5𝑠 + 1 + 𝑠𝐾𝑡
0.5𝑠 2 + 1 + 𝐾𝑡 𝑠 + 𝐾𝐴
𝑠 2 + 2 1 + 𝐾𝑡 𝑠 + 2𝐾𝐴 = 0
06-Oct-22 Prof. J.S. Dhillon 24
Example continued
R(s) + + 1 C(s)
𝐾𝐴
Solution: (b) 𝑠 0.5𝑠 + 1
- -
Characteristic equation
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2 = 0 𝑠𝐾𝑡

𝑠 2 + 2 1 + 𝐾𝑡 𝑠 + 2𝐾𝐴 = 0
2𝜉𝜔𝑛 = 2 1 + 𝐾𝑡 𝐾𝑣 = lim 𝑠𝐺 𝑠 𝐻 𝑠
𝑠→0
𝜔𝑛2 = 2𝐾𝐴
𝐾𝐴
𝜔𝑛 = 2𝐾𝐴 𝐾𝑣 = lim 𝑠 ×1
1 + 𝐾𝑡
𝑠→0 𝑠 0.5𝑠 + 1 + 𝑠𝐾𝑡
𝜉= 𝐾𝐴 𝐾𝐴
𝜔𝑛 𝐾𝑣 = lim =
1 + 𝐾𝑡 𝑠→0 0.5𝑠 + 1 + 𝐾𝑡 𝐾𝑡 + 1
𝜉= = 0.7 (1)
2𝐾𝐴 1 𝐾𝑡 + 1
𝑒𝑠𝑠 = = = 0.2
𝐾𝑡 + 1 𝐾𝑣 𝐾𝐴
= 0.2 (2)
𝐾𝐴

06-Oct-22 Prof. J.S. Dhillon 25

Example continued

Solution: (b)
1 + 𝐾𝑡
= 0.7 1 + 𝐾𝑡 = 0.7 2 𝐾𝐴
2𝐾𝐴

𝐾𝑡 + 1
= 0.2 1 + 𝐾𝑡 = 0.2𝐾𝐴 1 + 𝐾𝑡 = 0.2 × 24.5
𝐾𝐴 𝐾𝑡 = 4.9 − 1 = 3.9
0.7 2 𝐾𝐴 = 0.2𝐾𝐴

0.7 2
= 𝐾𝐴
0.2
2
0.7
𝐾𝐴 = 2 = 24.5
0.2

06-Oct-22 Prof. J.S. Dhillon 26

Example: The forward transformation function of a unity feedback type 1,
second order system has a pole at s=-3. The gain k is adjusted for the damping
ratio of 0.6. Compute steady state error if this system is excited by r(t)=1+5t
𝑘
Solution:𝐺 𝑠 =
𝑠 𝑠+3 R(s) + 𝑘 C(s)
𝑘 𝑠 𝑠+3
𝑇 𝑠 =
𝑠 𝑠+3 +𝑘×1 𝑇 𝑠 = 2
𝑘 -
𝑠 + 3𝑠 + 𝑘
Characteristic equation
𝑁 𝑠
𝑠2 + 3𝑠 + 𝑘 = 0 1.5 𝑇 𝑠 =
𝜉 = 0.6 = 𝐷 𝑠 + 𝑁(𝑠)𝐻(𝑠)
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2 = 0 𝑘
1.5 Poles
2𝜉𝜔𝑛 = 3 𝑘=
0.6 s = 0 and s = -3
𝜔𝑛2 = 𝑘 1.5
2
Type -1
𝑘= = 6.25
𝜔𝑛 = 𝑘 0.6
3 1.5
𝜉= =
2𝜔𝑛 𝑘
06-Oct-22 Prof. J.S. Dhillon 27
Example: continued
R(s) + 6.25 C(s)
Solution: 6.25 𝑠 𝑠+3
𝐺 𝑠 = -
𝑠 𝑠+3
Ramp input
r(t) = 1 + 5t Static Velocity error
Poles: s = 0 and s = -3
Step input
Static position error
Type -1
1 5 6.25
𝑒𝑠𝑠 = + 𝐾𝑝 = lim =∝
1 + 𝐾𝑝 𝐾𝑣 𝑠→0 𝑠 𝑠 + 3
6.25 6.25
𝐾𝑝 = lim 𝐺 𝑠 𝐻 𝑠 𝐾𝑣 = lim 𝑠 = = 2.083
𝑠→0 𝑠→0 𝑠 𝑠+3 3
𝐾𝑣 = lim 𝑠𝐺 𝑠 𝐻 𝑠
𝑠→0

1 5
𝑒𝑠𝑠 = + = 0 + 2.4 = 2.4
1 +∝ 2.083
06-Oct-22 Prof. J.S. Dhillon 28
 Example: The closed loop transfer function of a system is given whereby k and
z are adjustable
𝐶(𝑠) 𝑘 𝑠+𝑧
𝑇 𝑠 = = 2
𝑅(𝑠) 𝑠 + 4𝑠 + 8
(a) If 𝑟(𝑡) = 𝑡, find values of k and z so that steady state error is zero.
(b) For the values of k and z, obtained in part (a), find 𝑒(∝) for input 𝑟(𝑡) = 0.5𝑡 2

Solution: 𝐸 𝑠 = 𝑅 𝑠 − 𝐶 𝑠 𝑘 0+𝑧 𝑘𝑧
𝐸 𝑠 =𝑅 𝑠 −𝑅 𝑠 𝑇 𝑠 𝑇 0 = =
0+0+8 8
𝐸 𝑠 = 𝑅 𝑠 1 − 𝑇(𝑠) 𝑘𝑧
𝑇 0 = =1
𝑒𝑠𝑠 = 𝑒 ∝ = lim 𝑠𝐸(𝑠) 8
𝑠→0
𝑒𝑠𝑠 = lim 𝑠𝑅(𝑠) 1 − 𝑇(𝑠)
𝑠→0
1
𝑟 𝑡 =𝑡 ⇒ 𝑅 𝑠 = 2
𝑠
1
𝑒 ∝ = lim 𝑠 × 2 1 − 𝑇(𝑠)
𝑠→0 𝑠
𝑒 ∝ =∝ except 𝑇(0) = 1
06-Oct-22 29
Prof. J.S. Dhillon
Example: continued
Solution: L’ Hospital’s Rule 𝑘 𝑠+𝑧
𝑇 𝑠 = 2
𝑑𝑇(𝑠) 𝑠 + 4𝑠 + 8
𝑒𝑠𝑠 = 𝑒 ∝ = lim − =0
𝑠→0 𝑑𝑠
𝑑𝑇(𝑠) 𝑘 𝑠 + 𝑧 2𝑠 + 4 − 𝑘 𝑠 2 + 4𝑠 + 8
=
𝑑𝑠 𝑠 2 + 4𝑠 + 8 2
𝑘 𝑠 + 𝑧 2𝑠 + 4 − 𝑘 𝑠 2 + 4𝑠 + 8
𝑒 ∝ = lim − =0
𝑠→0 𝑠 2 + 4𝑠 + 8 2
𝑘 𝑠 2 + 4𝑠 + 8 − 𝑘 𝑠 + 𝑧 2𝑠 + 4
lim 2 2
=0
𝑠→0 𝑠 + 4𝑠 + 8
8𝑘 − 4𝑘𝑧
2
= 0 ⇒ 8𝑘 − 4𝑘𝑧 = 0 ⇒ 4𝑘 2 − 𝑧 = 0
8
2−𝑧 =0⇒𝑧 =2
𝑘𝑧 8
=1⇒𝑘= =4
8 06-Oct-22 𝑧 30
Prof. J.S. Dhillon
Example: continued
Solution: (b) 𝑘 𝑠+𝑧
𝑇 𝑠 = 2
𝐶(𝑠) 4𝑠 + 8 𝑠 + 4𝑠 + 8
=𝑇 𝑠 = 2 4 𝑠+2
𝑅(𝑠) 𝑠 + 4𝑠 + 8 𝑇 𝑠 = 2
1 2 𝑠 + 4𝑠 + 8
𝑟 𝑡 = 𝑡
2 4𝑠 + 8
1 1−𝑇 𝑠 =1− 2
𝑅 𝑠 = 3 𝑠 + 4𝑠 + 8
𝑠 𝑠 2 + 4𝑠 + 8 − 4𝑠 + 8
1−𝑇 𝑠 =
𝑒𝑠𝑠 = lim 𝑠𝑅(𝑠) 1 − 𝑇(𝑠) 𝑠 2 + 4𝑠 + 8
𝑠→0
𝑠2
1 1−𝑇 𝑠 = 2
𝑒𝑠𝑠 = lim 𝑠 3 1 − 𝑇(𝑠) 𝑠 + 4𝑠 + 8
𝑠→0 𝑠 1 − 𝑇(𝑠) 1
1 − 𝑇(𝑠) 2
= 2
𝑒𝑠𝑠 = lim 𝑠 𝑠 + 4𝑠 + 8
𝑠→0 𝑠2
1 1
𝑒𝑠𝑠 = 𝑒(∝) = lim 2 = = 0.125
𝑠→0 𝑠 + 4𝑠 + 8 8
06-Oct-22 Prof. J.S. Dhillon 31
Disadvantages of Static Error coefficient Method
• The method is applicable only to the three standard input signals
(step, ramp, and parabolic) and cannot give error coefficients for
other signals.
• Mathematical response of error is given as 0 to ∞; the method
cannot give the exact or precise value of the error.
• It does not provide variation of error with respect to time which
may be needed for design purpose.
• This method is applicable to stable systems.

06-Oct-22 Prof. J.S. Dhillon 32

 Dynamic (Generalized) Error coefficient Method
• The dynamic error coefficients give the steady state error performance
of a feedback control system to any type of input function.
• The error performance is indicated in terms of time.
• The final steady state error is determined as 𝑡 𝑡𝑜 ∞.
𝑅(𝑠)
𝐸 𝑠 = or 𝐸 𝑠 = 𝐹 𝑠 𝑅 𝑠
1 + 𝐺 𝑠 𝐻(𝑠)
𝑅 𝑠
𝑤ℎ𝑒𝑟𝑒 𝐹 𝑠 =
1+𝐺 𝑠 𝐻 𝑠
Taking Laplace inverse of the function
𝑡
𝑒 𝑡 = න 𝑓 𝜏 𝑟 𝑡 − 𝜏 𝑑𝜏
0

06-Oct-22 Prof. J.S. Dhillon 33

 Dynamic (Generalized) Error coefficient Method
𝜏 2 𝜏 3 𝜏 𝑛
𝑟 𝑡 − 𝜏 = 𝑟 𝑡 − 𝜏 𝑟 ′ 𝑡 + 𝑟 ′′ 𝑡 − 𝑟 ′′′ 𝑡 + ⋯ . + −1 𝑛 𝑟𝑛 𝑡
2! 3! 𝑛!
𝑡 𝜏2 ′′ 𝜏3 ′′′ 𝑛𝜏
𝑛
𝑒 𝑡 = ‫׬‬0 𝑓(𝜏) 𝑟 𝑡 −𝜏 𝑟′ 𝑡 + 𝑟 𝑡 − 𝑟 𝑡 + ⋯ . + −1 𝑟𝑛 𝑡 𝑑𝜏
2! 3! 𝑛!
𝑡 𝑡 2 𝑡 𝑡 3
𝜏 𝜏
𝑒 𝑡 = න 𝑓(𝜏) 𝑟 𝑡 𝑑𝜏 − න 𝑓 𝜏 𝜏 𝑟 ′ 𝑡 𝑑𝜏 + න 𝑓 𝜏 𝑟 ′′ 𝑡 𝑑𝜏 − න 𝑓 𝜏 𝑟 ′′′ 𝑡 𝑑𝜏 +
0 0 0 2! 0 3!
𝑡 𝑛
𝜏
… + −1 𝑛 න 𝑓 𝜏 𝑟 ′′′ 𝑡 𝑑𝜏
0 𝑛!
𝑒𝑠𝑠 = lim 𝑒 𝑡
𝑡→∞
𝑡 𝑡 2 𝑡 𝑡 3
𝜏 𝜏
න 𝑓(𝜏) 𝑟 𝑡 𝑑𝜏 − න 𝑓 𝜏 𝜏 𝑟 ′ 𝑡 𝑑𝜏 + න 𝑓 𝜏 𝑟 ′′ 𝑡 𝑑𝜏 − න 𝑓 𝜏 𝑟 ′′′ 𝑡 𝑑𝜏 +
0 0 0 2! 0 3!
𝑒𝑠𝑠 = lim 𝑡 𝑛
𝑡→∞ 𝜏
… … + −1 𝑛 න 𝑓 𝜏 𝑟 ′′′ 𝑡 𝑑𝜏
0 𝑛!
06-Oct-22 Prof. J.S. Dhillon 34
 Dynamic (Generalized) Error coefficient Method
∞ ∞ 2 ∞ ∞ 3
𝜏 𝜏
𝑒𝑠𝑠 = න 𝑓(𝜏) 𝑟 𝑡 𝑑𝜏 − න 𝑓 𝜏 𝜏 𝑟 ′ 𝑡 𝑑𝜏 + න 𝑓 𝜏 𝑟 ′′ 𝑡 𝑑𝜏 − න 𝑓 𝜏 𝑟 ′′′ 𝑡 𝑑𝜏 +
0 0 0 2! 0 3!
∞ 𝑛
𝜏
… + −1 𝑛 න 𝑓 𝜏 𝑟 𝑛 𝑡 𝑑𝜏
0 𝑛!

′
𝐶2 ′′ 𝐶3 ′′′ 𝐶𝑛 𝑛
𝑒𝑠𝑠 = 𝐶0 𝑟 𝑡 + 𝐶1 𝑟 𝑡 + 𝑟 𝑡 + 𝑟 𝑡 + ⋯ . + 𝑟 𝑡
2! 3! 𝑛!
where 𝐶0 , 𝐶1 , 𝐶2 ,…, 𝐶𝑛 are generalized error coefficients.
∞ ∞ ∞ ∞
𝐶0 = න 𝑓 𝜏 𝑑𝜏; 𝐶1 = න −𝜏𝑓 𝜏 𝑑𝜏 𝐶2 = න 𝜏 2 𝑓 𝜏 𝑑𝜏 𝐶3 = න −𝜏 3 𝑓 𝜏 𝑑𝜏
0 0 0 0
∞
𝐶𝑛 = න 𝜏 𝑛 𝑓 𝜏 𝑑𝜏
0

06-Oct-22 Prof. J.S. Dhillon 35

Dynamic (Generalized) Error coefficient Method
∞
𝐹 𝑠 = න 𝑓 𝜏 𝑒 −𝑠𝜏 𝑑𝜏
0
∞ ∞
lim 𝐹(𝑠) = lim න 𝑓 𝜏 𝑒 −𝑠𝜏 𝑑𝜏 = න 𝑓 𝜏 𝑑𝜏 = 𝐶0
𝑠→0 𝑠→0 0 0
𝐶0 = lim 𝐹(𝑠)
𝑠→0
∞
𝑑𝐹 𝑠
= න −𝜏𝑓 𝜏 𝑒 −𝑠𝜏 𝑑𝜏
𝑑𝑠 0
∞ ∞
𝑑𝐹 𝑠
lim = lim න −𝜏𝑓 𝜏 𝑒 −𝑠𝜏 𝑑𝜏 = න −𝜏𝑓 𝜏 𝑑𝜏 = 𝐶1
𝑠→0 𝑑𝑠 𝑠→0 0 0
𝑑𝐹 𝑠
𝐶1 = lim
𝑠→0 𝑑𝑠

06-Oct-22 Prof. J.S. Dhillon 36

Dynamic (Generalized) Error coefficient Method
∞
𝑑2 𝐹 𝑠 2 𝑓 𝜏 𝑒 −𝑠𝜏 𝑑𝜏
= න 𝜏
𝑑𝑠 2 0
∞ ∞
𝑑2 𝐹 𝑠 2 𝑓 𝜏 𝑒 −𝑠𝜏 𝑑𝜏 = න 𝜏 2 𝑓 𝜏 𝑑𝜏 = 𝐶
lim = lim න 𝜏 2
𝑠→0 𝑑𝑠 2 𝑠→0 0 0
𝑑2 𝐹 𝑠
𝐶2 = lim
𝑠→0 𝑑𝑠 2

𝑑3 𝐹 𝑠
𝐶3 = lim
𝑠→0 𝑑𝑠 3
.
.
.
𝑑𝑛 𝐹 𝑠
𝐶𝑛 = lim
𝑠→0 𝑑𝑠 𝑛

06-Oct-22 Prof. J.S. Dhillon 37

Dynamic (Generalized) Error coefficient Method
𝑅(𝑠) 𝑎0 + 𝑎1 𝑠 + 𝑎2 𝑠 2 + ⋯ + 𝑎𝑚 𝑠 𝑚
𝐸 𝑠 = = 2 𝑛
;𝑚 ≤ 𝑛
1 + 𝐺 𝑠 𝐻(𝑠) 𝑏0 + 𝑏1 𝑠 + 𝑏2 𝑠 + ⋯ + 𝑏𝑛 𝑠
𝐸(𝑠)
= 𝑘0 + 𝑘1 𝑠 + 𝑘2 𝑠 2 + 𝑘3 𝑠 3 + ⋯ + 𝑘𝑛 𝑠 𝑛
𝑅(𝑠)
𝐸 𝑠 = 𝑘0 𝑅 𝑠 + 𝑘1 𝑠𝑅 𝑠 + 𝑘2 𝑠 2 𝑅 𝑠 + 𝑘3 𝑠 3 𝑅 𝑠 + ⋯ + 𝑘𝑛 𝑠 𝑛 𝑅(𝑠)
𝑒 𝑡 = 𝑘0 𝑟(𝑡) + 𝑘1 𝑟 ′ (𝑡) + 𝑘2 𝑟 ′′ (𝑡) + 𝑘3 𝑟 ′′′ (𝑡) + ⋯ + 𝑘𝑛 𝑟 𝑛 (𝑡)
′
𝐶2 ′′ 𝐶3 ′′′ 𝐶𝑛 𝑛
𝑒𝑠𝑠 = 𝐶0 𝑟 𝑡 + 𝐶1 𝑟 𝑡 + 𝑟 𝑡 + 𝑟 𝑡 + ⋯ . + 𝑟 𝑡
2! 3! 𝑛!
𝑘0 = 𝐶0 ⇒ 𝐶0 = 𝑘0
𝑘1 = 𝐶1 ⇒ 𝐶1 = 𝑘1
𝐶2 𝐶𝑛
𝑘2 = ⇒ 𝐶2 = 2! 𝑘2 𝑘𝑛 = ⇒ 𝐶𝑛 = 𝑛! 𝑘𝑛
2! 𝑛!
𝐶3
𝑘3 = ⇒ 𝐶3 = 3! 𝑘3
3!
06-Oct-22 Prof. J.S. Dhillon 38
 Generalized Error coefficient versus static error coefficients
𝑅(𝑠) 𝑎0 + 𝑎1 𝑠 + 𝑎2 𝑠 2 + ⋯ + 𝑎𝑚 𝑠 𝑚
𝐸 𝑠 = = 2 𝑛
;𝑚 ≤ 𝑛
1 + 𝐺 𝑠 𝐻(𝑠) 𝑏0 + 𝑏1 𝑠 + 𝑏2 𝑠 + ⋯ + 𝑏𝑛 𝑠
𝐸(𝑠)
= 𝑘0 + 𝑘1 𝑠 + 𝑘2 𝑠 2 + 𝑘3 𝑠 3 + ⋯
𝑅(𝑠)
𝐸 𝑠 = 𝑘0 𝑅 𝑠 + 𝑘1 𝑠𝑅 𝑠 + 𝑘2 𝑠 2 𝑅 𝑠 + 𝑘3 𝑠 3 𝑅 𝑠 + ⋯
𝑒 𝑡 = 𝑘0 𝑟(𝑡) + 𝑘1 𝑟 ′ (𝑡) + 𝑘2 𝑟 ′′ (𝑡) + 𝑘3 𝑟 ′′′ (𝑡) + ⋯
In terms of static error
1
𝑘0 corresponds to step input ∶ 𝑘0 =
1 + 𝐾𝑝
1 1 1 ′ 1 ′′
𝑘1 corresponds to ramp input : 𝑘1 = 𝑒 𝑡 = 𝑟(𝑡) + 𝑟 (𝑡) + 𝑟 (𝑡)
𝐾𝑣 1 + 𝐾𝑝 𝐾𝑣 𝐾𝑎
1
𝑘2 corresponds to parabolic input: 𝑘2 = ′
𝐶2 ′′
𝐾𝑎 𝑒𝑠𝑠 = 𝐶0 𝑟 𝑡 + 𝐶1 𝑟 𝑡 + 𝑟 𝑡
2!
06-Oct-22 Prof. J.S. Dhillon 39
 1
Example : A unity feedback control system has G s = .The input to the
𝑠(𝑠+2)
system is given by 𝑟 𝑡 = 2 + 3𝑡 + 2𝑡 . Determine generalized coefficients and
3
steady state error.
Solution: 𝑟 𝑡 = 2 + 3𝑡 + 2𝑡 3
𝐸(𝑠) 1 1
𝑟′ 𝑡 =3+ 6𝑡 2 =
𝑅(𝑠) 1 + 𝐺(𝑠)
G s =
𝑠(𝑠 + 2)
𝑟 ′′ 𝑡 = 12𝑡
𝑟 ′′′ 𝑡 = 12 𝐸(𝑠) 1 1
= = 2
𝑅(𝑠) 1 + 1 𝑠 + 2𝑠 + 1
′
𝐶2 ′′ 𝐶3 ′′′ 𝑠(𝑠 + 2) 𝑠(𝑠 + 2)
𝑒𝑠𝑠 = 𝐶0 𝑟 𝑡 + 𝐶1 𝑟 𝑡 + 𝑟 𝑡 + 𝑟 𝑡
2! 3!
𝐸(𝑠) 2𝑠 + 𝑠 2 2𝑠 + 𝑠 2
𝐶0 = lim 𝐹(𝑠) 𝑑2 𝐹 𝑠 = 2 =
𝑠→0 𝐶2 = lim 𝑅(𝑠) 𝑠 + 2𝑠 + 1 𝑠+1 2
𝑠→0 𝑑𝑠 2
𝑑𝐹 𝑠
𝐶1 = lim 𝑑3 𝐹 𝑠
𝑠→0 𝑑𝑠
𝐶3 = lim 𝐹 𝑠 = 2𝑠 + 𝑠 2 𝑠 + 1 −2
𝑠→0 𝑑𝑠 3

06-Oct-22 Prof. J.S. Dhillon 40

Example : Continued
Solution:
𝐹 𝑠 = 2𝑠 + 𝑠 2 𝑠 + 1 −2
𝐶0 = lim 𝐹(𝑠)
𝑠→0
𝑑𝐹(𝑠)
= 2 + 2𝑠 𝑠 + 1 −2 + (−2) 2𝑠 + 𝑠 2 𝑠 + 1 −3
𝑑𝐹 𝑠
𝑑𝑠 𝐶1 = lim
𝑑𝐹(𝑠) 𝑠→0 𝑑𝑠
= 2 𝑠 + 1 𝑠 + 1 − 4𝑠 − 2𝑠 2 𝑠 + 1 −3
𝑑𝑠 𝑑2 𝐹 𝑠
𝑑𝐹(𝑠) 𝐶2 = lim
= 2𝑠 2 + 4𝑠 + 2 − 4𝑠 − 2𝑠 2 𝑠 + 1 −3 𝑠→0 𝑑𝑠 2
𝑑𝑠
𝑑𝐹(𝑠) 𝑑3 𝐹 𝑠
= 2 𝑠 + 1 −3 𝐶3 = lim
𝑑𝑠 𝑠→0 𝑑𝑠 3
𝑑2 𝐹(𝑠) −4
= −6 𝑠 + 1
𝑑𝑠 2
𝑑3 𝐹(𝑠) −5
= 24 𝑠 + 1
𝑑𝑠 3
06-Oct-22 Prof. J.S. Dhillon 41
Example : Continued

2𝑠 + 𝑠 2
𝐶0 = lim 𝐹(𝑠) = lim =0 𝐶2 ′′ 𝐶3 ′′′
𝑠→0 𝑠→0 𝑠 + 1 2
𝑒𝑠𝑠 𝑟′
= 𝐶0 𝑟 𝑡 + 𝐶1 𝑡 + 𝑟 𝑡 + 𝑟 𝑡
2! 3!
𝑑𝐹 𝑠 2 −6 24
𝐶1 = lim = lim =2 2
𝑠→0 𝑑𝑠 𝑠→0 𝑠 + 1 3 𝑒𝑠𝑠 = 2 3 + 6𝑡 + 12𝑡 + 12
2 6
𝑒𝑠𝑠 = 6 + 12𝑡 2 − 36𝑡 + 48
𝑑2 𝐹 𝑠 −6
𝐶2 = lim = lim = −6 𝑒𝑠𝑠 = 12𝑡 2 − 36𝑡 + 54
𝑠→0 𝑑𝑠 2 𝑠→0 𝑠 + 1 4

𝑑3 𝐹 𝑠 24
𝐶3 = lim 3
= lim 5
= 24
𝑠→0 𝑑𝑠 𝑠→0 𝑠 + 1

06-Oct-22 Prof. J.S. Dhillon 42

 1
Example : A unity feedback control system has G s = .The input to the
𝑠(𝑠+2)
system is given by 𝑟 𝑡 = 2 + 3𝑡 + 2𝑡 . Determine generalized coefficients and
3
steady state error.
Solution:
𝐸(𝑠) 1 1
𝑟 𝑡 = 2 + 3𝑡 + 2𝑡 3 = G s =
𝑅(𝑠) 1 + 𝐺(𝑠) 𝑠(𝑠 + 2)
𝑟 ′ 𝑡 = 3 + 6𝑡 2
𝑟 ′′ 𝑡 = 12𝑡 𝐸(𝑠) 1 1
= = 2
𝑟 ′′′ 𝑡 = 12 𝑅(𝑠) 1 + 1 𝑠 + 2𝑠 + 1
𝑠(𝑠 + 2) 𝑠(𝑠 + 2)

𝐶2 ′′
′
𝐶3 ′′′
𝑒𝑠𝑠 = 𝐶0 𝑟 𝑡 + 𝐶1 𝑟 𝑡 + 𝑟 𝑡 + 𝑟 𝑡 𝐸(𝑠) 2𝑠 + 𝑠 2
2! 3! =
𝑅(𝑠) 1 + 2𝑠 + 𝑠 2

06-Oct-22 Prof. J.S. Dhillon 43

Example : Alternative Method
Solution: 𝑟 𝑡 = 2 + 3𝑡 + 2𝑡 3 2𝑠 − 3𝑠 2 + 4𝑠 3
𝑟 ′ 𝑡 = 3 + 6𝑡 2 2𝑠 + 𝑠 2
𝑟 ′′ 𝑡 = 12𝑡 1 + 2𝑠 + 𝑠 2
2𝑠 + 4𝑠 2 + 2𝑠 3
𝑟 ′′′ 𝑡 = 12
−3𝑠 2 − 2𝑠 3
′
𝐶2 ′′ 𝐶3 ′′′
𝑒𝑠𝑠 = 𝐶0 𝑟 𝑡 + 𝐶1 𝑟 𝑡 + 𝑟 𝑡 + 𝑟 𝑡
2! 3! −3𝑠 2 − 6𝑠 3 −+ 3𝑠 4
+ +
𝐸(𝑠) 2𝑠 + 𝑠 2 4𝑠 3 + 3𝑠 4
2 3
= = 2𝑠 − 3𝑠 + 4𝑠 4𝑠 3 + 8𝑠 4 + 4𝑠 5
𝑅(𝑠) 1 + 2𝑠 + 𝑠 2
𝐸(𝑠) = 2𝑠𝑅(𝑠) − 3𝑠 2 𝑅(𝑠) + 4𝑠 3 𝑅(𝑠) −5𝑠 4 − 4𝑠 5
e(𝑡) = 2𝑟 ′ (𝑡) − 3𝑟 ′′ (𝑡) + 4𝑟 ′′′ (𝑡)
𝐶2 𝐶3
𝐶0 = 0 𝐶1 = 2 = −3 = −4
06-Oct-22
2! 3! Prof. J.S. Dhillon 44
Example : Alternative Method

𝐶2 ′′ 𝐶3 ′′′
𝑒𝑠𝑠 𝑟′
= 𝐶0 𝑟 𝑡 + 𝐶1 𝑡 + 𝑟 𝑡 + 𝑟 𝑡
2! 3!
𝑒𝑠𝑠 = 2 3 + 6𝑡 2 + (−3) 12𝑡 + 4 12
𝑒𝑠𝑠 = 6 + 12𝑡 2 − 36𝑡 + 48
𝑒𝑠𝑠 = 12𝑡 2 − 36𝑡 + 54

06-Oct-22 Prof. J.S. Dhillon 45

 Continued….
Note: The lectures are prepared referring recommended books that are listed in Introductory Lecture

06-Oct-22 Prof. J.S. Dhillon 46