1.

50 cONTROL SYSTEMS |JNTU-KAKINADA

EXERCIsE OUESTIONS UNIT Caver s

01. For the
mechanic al system shown below in fhigure, find the transfer fonction X(8)|FIs). TIME RESPONSE
AND
ANALYSIS STABILITY
RooT Locus TECHNIQUE

OO00R
KA
mimi
K

m Syllabus
Figure TIME RESPONSE ANALYSIS Standard test signals -
Time response of first and second order systems i m e domain

X() specificatiors, Steady state errors ind emor constants, P, PI

F) Ms +Bs+K STABILITY AND
0Z. Find the transfer function
EE of the circuit given in figure. ROOTLOCUS TECHNIQUE: The concept of stability Routh's stability criterion Limitations of Routh's -

stability - Root locus concept- Construction of root loci (simple problerno)-Effect of addition of poles and zeros root lonus

Lw
R

E,()
LEARNING DBJECTIVES
E)
Time Response Analysls

Time response of first and second order system

Figure Time domain specifcation

Steady state respome
E,) (1+sR,C(1 +sR,C)
E,0) s,C,*R,C,+sR,C,+*R,R,C,C Stabllity Analysis and Root Locus Techniques
Routh stoblinycriterlon and Its Imitatilons
Concept of Root locun
Effect of adding poles and zeros to G(o}H(s)

INTRODuCTION

In most of the comtrol system, me ls used as an Independent varlable. Sots Important o analyze system response for the given
input as a function of time. Time response shows how the state of a dynamie system vares with time when subjected to a partaular
input. t is also called as time dlomaln analyss,

A system s sald to be stoble, I he system ouput remans constant for a small chamge in its Input. This unit deas with the concap
of stabilty onalys vsling Reurh-Hurwitrz arteron and root locus technique. The theory of sability crtherion was first vestigated by
Maxwell and Vishnegrodikyh19h Cenbry. Later Inthe year 1800, the scdenfists A. Hurwiz and E. L Routh workedon concept of

tabliy and introducnd the eoncepr of Routh-Hurtwitz crteron as a solunton to stabiliy analyshs. This crierlan is used o determine

the stablty ofa system byftndbng the locanlon of rooh of charocteristic equaton in s-plane.

The concept of root loas technlgue was first Introduced by W. R. Evons h the year 1948 to detemine the system stobilly.

the loas of doed loop poles in complex s-plane as a fundion of gain parameter.

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2.2 cONTROL SYSTEMS (JNTU-KAKINADAJ UNIT-2 (Time Response Analysls-Stabilitý and Root Locus
Technique) 2.3
Mathematically, the signal is defined as, (v) Impulse Signal Slgnißcance of Characteristie Equatlon
2.1 STANDARD TEST SiGNALS TIME
)ki, 20
It is signal whose magnitude is vety large and is
a
applied L Using characteristic equation, we can determine the type
RESPONSE OF FIRST ORDER SYsTEMS for short duration of time. Ideal impulse signal is a signal whose and order of a system.
01.
0,0 onitude is infinite while its durätion is zeto but with an area2 The roous of the characteristi equation givés'the poles
What is meant by step, of k. It is denoted by ö().
ramp, parabolic and In s-domain, r{?) is given by,
of the system.
Impulse Inputs. Mathematically, the signal can be defined as,
From the knowledge of loçation of poles, the stability
Ans (ApriiMay-16, Set-1, Qa)1 Model Paper-, Q3(a) Fs)
O-k,0 of the system can be determined.
The standard test signals are the re ference
are used in order to detemine the
signals which 0,0 The nature of the system can be determined using
performance of a given system. t)A r() characteristic cquation.
Using this infomation the design of the system can be carried
out. These signals basically represents a sudden change, unifom 5. Using charactorístic equation, the output response
velocity and a uniformm acceleration function5. (transient response) can be determined
The various test signals that are available in the control Using characteristicequation,the various specifications
systems are, of the system i.e., time doma+n and frequency domain
specification cán be determined
) Step signal
(1) Ramp signal
By modifying the characteristic equation(ading poles)
(ii) Parabolic signal an originally unstable system can be made stable.
a3. Obtain the tme response of a firet order system
(iv) Impulse signal for a unit tep input and plot ts
( Step Signal
Figure (2): Ramp Signal response
It is a signal which represents the sudden application of
However, ifk= 1, then the signal is called as unit ramp
A Aprilay 17,Set4.030)1aytune-1s, 3et3, 0)
signal and is given by, Modei Paprd asp)
an input at a particular instant of hme. The value of the signal Figure (4: Impulss Siyaal
changes suddenly from zero to a constant value k and remains )=
constant for all 120. Step signal is shown in figure (1). However, if k=1,then the signal is called as unit impulse
signal and is given by,
Fora r a t order system, determine, the output
of a system for step Input
Mathematically, the signal can be defined as, Fl)
)=1
u)-k,20 Gi) Parabolic Signal In s-domain ( ) is given by Let us consider the closed loop transfer function of first
=0,7<0 It is a signal whose value is proportional to the square order system as shown in ffgure (1).
u(t) of time. It basically represents a uniform acceleration function F)-1
as shown in figure (3). Mathematically, it is defined as, a2. What is characteristic equaton? Explain its
significance.
RS C()
)= 20 Ans: Model PaperHl, 03(b)

- 0,0 Characteristie Equation

Figure 11: Fint Ordar System
In s-domain r{) can be written as, Characteristic equation is an algebraic equation that
gives insight about the inherent nature ofa linear time invariant From figure (1), we have,
R0)= system. C 1 . (1)
Figure(1 Step Signal r()
The general form of transfer function of a system is
given by,
R)1+7
In s-domain u(') can be written as, Since
Ts)= T9ta,s The input be unit step signal, we have,
(0)
Fo)- +h+h
Equation (1) reveals that transfer function is a ratio
However, ifk= 1, then the signal is referred as unit step of numerator polynomial and denominator polynomial. The Now equation (1) becomes,
signal and is given by, denominator polynomial is
of the transfer function very
significant and when equated to zero,gives the cha racteristic
ut)= 1 Co)437RG)
equation.
The closed loop, transfer function ol a system with 1 1
Fs)
However,
Figure(3: Parabolie Signal
if k 1, then the signal is called
forward path G) andfeedback path gain Ho) is given as, C)14sT s
unit
=
as
() Ramp Signal parabolic signal and is given by, 4
(2) C) s(1+sT)
It is a signal whose value represents a constant rate of
change of input. It basically represents a velocity function as 2
1GG)HG) By partial fraction expansion, we have
From equation (2), the characteristic equation in terms
shown in figure (2).
of loop transfer function is given as, Cl)=
The value of the signal is directly proportional to time. l)
1Go)Ho) =0
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2.4 cONTROL SYSTEMS [JNTU-KAKINADAL
UNIT-2 (Time Rosponse Analysis Stability and Root Locus Technique) 2.5
The response Laplace transform on both sides, we pet
in
time domain is given by, Applying inverse
Dotermine the rosponse of second order system
with unlt atep Input C)--+20,)
c L 'IC)
Ans Aprli/May-11, set-1, a3ta) +
kesponse of Second Order System for Underdamped Case +20,)
of Unit Step Input 20,2+o+d-F
The closcd loop transfer function of the second order
When, =0 d)= 1-e" - 0 system Is given by, , +20.)
1T ( ) - 0.632
C) Co,+o-)
27 c()=0.865 When R(8) +2 0s+ 1
0d) ; For under
damped system., 0<1 (+o,)+o 6+o, +o
5T c)=0.993
The characteristic equation 1s,
I1T ) = (0.368)
Here 'T is. called the time constant
a time 5T, assume the system has reached
of the system. In s+ 20 +o0
stcady state. The -2Td)-(0.135) On solving
response of ftirst order system to unit step input is shown in the
igure (2). Taking inverse Laplace transform:we have,

C(o 37d)= (0.05) oo,V5-1

The roots of the characteristic equation are
complex d-1-ecosot sinot
conjugate.
--
= 47()=(0.018)
0.9528a. -o -D0-)
0.865 6 The response of first order system for impulse inputis
=1-co80 sino
V1-r2
0.632 shown in hgure. (<l= <1)
T 2T 3T 4T
C( o+/o. ---Co,+j0
From equation (1), we have
Figure (2: Response of First Drder System to Unit Step Input
Time constant of the system is related to the speed of the
co sino
respouse, smaller the tüme constant faster is the systern response.
Larger the time constant, slower is the system response.
C)=RS)+20s +9
Q4. Derive the time response of first order
For unit-step input, u() RG)
system
for impulse response.
+
Ans: +2o)
system is given by,
Model Paper-d1, 03(a)
Consider the closed loop tranisfer function of first order
T 2T 3T 4T
Figure
CU) 42*0 -sincosmy -
C(s) 44 Bs+C (2)
ea
R(s) 1+sT
2.2 TIME ReSPONSE OF SECOND ORDE sinotcos6+ cosot.sine
SYSTEMS
Co) T+: R) 4F +2 (o+o)+(Bs+c
Q5. Derive the response of under damped second
For impulse function, we have, order system for unit step input. A= sCo
(AprilMay-19, Set-2, Q3(b) | Model Paper-iL 03()
-
OR
R(S)=1 SubstitutingA value in equation (3), we get,
Substtuting R(s) value in equation (1), we get, Consider the closed looptransfer o-s+20, o+(Bs+C sin-1-
function given cos
-s+2o,s+o+Bs+G
Cl) 1+sT byR(s) * 20,s+o erve the expression
forc(t) when system is subjected to a unit Equating coefficient ofs=0=1+ B tan6
input.
step B=-1
Apri/May-13, Set-2, Q3( Equating coeficient of s0=2w,+ C: Where,0tan
OR
C-2{».
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2.6 cONTROL SYSTEMS [JNTU-KAKINADAI NIT-2 (Time Response Analysis Stability and
.

Root Locur nique) 2.7

(0.4s+1) Now substituting A, H and Cvalues in cquation (1), we
c)-1- 2Sin (o,+0)
get, Now,
Co) s(s+0.6) Cls) = + 3 - 0 . 6
s s#s+1 Maximum ovérshoot,
R(s) (045+1) ,
c(O s(s 0.6)
s+0.6 Mev-

=
0.4 +1 sts+1
s(s +0.6)+0.4s +1 05
s+0.6 ev05

0.4s +1 sts+025+0.75
s+0.6s+0.4s + 1
+0.6 -0.163
Figure: Response of Under Damped Second Order System 0.4s+ +2.s.0.5 0.5J+0.75
Q6. s+s+1 Maximum oversboot,% M=0.163 100 16.3%
Ilustrate the effect of the value of 0.6
ratio on the location of dampinga (s+05) +0.75 Also, we have
closed-loop poles of
standard second order system.
As we know that,
Unit step input is taken as,
Ans: s+0.5+0.1 Peaktime, t
AprilMay-17, Set-1, 03(a)
Rs) S s+0.5)+0.75
-
For answer refer Unit-II, Q5.
The s-domain response,
For 0, i.e., for undamped s+05 0.1
is purely oscillatory in nature with systems, the response 0.4s +
constant amplitude and
Cs)- R5) 2+s+1 (s+0.5)+0,75 +0.5) +0.75 3.628 sec
trequcncy. In other words, these systems-oscillates freely and
naturally with no opposition condition. The response ofthe givensystem is under damped and
0.4s +1 . CG)=
s+0.5 0.1 0.75 it is illustrated as below
For 0<<1, i.e., for
is oscillatory in nature with
under damped systems,
the response s s + s+1
S
(s+0.5)+0.75 o.75 (6+0.5)2 +0.75
decreasing amplitude and possess an
oscillating frequency known as damped frequency (o), further 0.4s + Applying inverse Laplace transfer to above equation we
which is given as, C)= get the time domain response as, .163
s(s+s+1)
4VI-2
C)
L s+0.5
G+05+0.75075 0.1 AAAA
By partial fraction expansion C(s) can be expresSsed as,

is
For- 1,i.e., for critically damped systems, the response
0.4s+ Bs +C 0.75
purely exponential with less settling time and repeated
ocCurrence of roots, Moreover, further decrease of
G(24s+) s +5+1 G+0.5)2+0.75 3.028
damping
ratio value will result in complex conjugate roots.
0,4s+1 =A (s +s+ 1) +(Bs + C)s D.1 Figure: Response of Under Damped System
(2) =

1-e cos/0.75t 0.75 sin0.75

Por 1, i.c., for overdamped systems, the response Put s= 0 in equation (2), we get,
1-e [0.1155sin( 0.75 +cos(/0.750)
2.3 TIME DOMAIN SPECIFICATIONS
will be purely exponential with high dampings. The increase in
damping ratio will consume more time to reach its steady state, 0.4(0)+1=A(0F +0+ 1)+ (B(0) + C)) The transient response is the part of the output which Q8. Explain time domain specifications
slow and sluggish in nature.
Furthermakingsystems = 4(0) disappears ast>o. Thus at(othe exponential componcnt
e becomes zero. Hence the Iransient response is given by the
AprivMay-16, Set-2, 0e)1 Model Paparv, 23))
Q7. A unity feedback control system is
damped sinusoidal component. OR
characterized by the following open loop
Comparing coeficients of s on both sides ofequation ) , The required transient response s What are the time domaln specifications?
transferfunction G(s) = Determine
s(s+ we get, CO)=e" [0.1155sint0.75) t cos (0.75)1 MayJune-15, 3et-1,Q1()
its transient response for unit step input and 0-4+B
Now, OR
sketch the response. B-A Draw the time response of second order
The second order characteristicequation from the
Ans: AprilMay-19, Set-3, Q3(e) 1Model Paper-1, a3(b))| transfer function is given as, system and represent the time domain
specificatlons on it.
Given that,
Comparing coefflicients ofs on both sides of equation (2), MaylJuno15, Set:2, 011e
Go)(0.4s+1) e get, Which is in the standard form of characteristic.equation OR
Go) s(s +0.6)
And for uity feedback system, H(s) = 1 0.4 4+ C +2os o Define time domalin specificaions
On comparing we g e . Ans: April-11, Set-3, 030)
We know hat, C 0.4-A
20s1 Definltions of Tume Domaln Specificatlons
The transfer function of a closed loop system is given as, 0.4-1
o I radsec The time domain specifications are the parameters of the
C) G) C -0.6 transient responsecharacteristics of a dynarmic system to a unit
R(9) 1+G) H() step input.
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2.8 cONTROL SYSTEMS |JNTU-KAKINADA NIT-2 (Time Response Analysis-Stability and Root Locus Technique) 2.9
There are different time domain
specifications with. Peak Time (() Derive the
expresslons2ndfor peak time and For above equation (2) to be zero, either - e or
respect to dynamic systèms. They ure,
It is defincd as the timc taken to reach the peak value for sottling time of standard order system when
1 subjected to a unit step Input. sin(o,, + )must be zero. But we know that-e
Delay me the first time.
2. Rise time The expression for the peak time is, cannot be zero. Therefore, sin(»,,+0) must be zero.
Aprl-18, 3t-2, 0a)
. Peak ime OR ie, sinl(, t+)=0 . (3)

Peak overshoot We know that sin is zero at angles equal to mutiples of

Derive the expression for rise time.
Settling time Therefore, equation (3) becomes,
Peak Overshoot (Refer only Tople:Rle Tm
5. Time constant of the It is defined as the amount by which response of the ,+T
system.
system overshoots tom reterence steady value (final AprilUMay-17, Set-1, asb) ,T
value) for the first time. OR
Let, peak (maximum) value = c ( )
Derive the expression for setting time.
Final value = c(»)
(Refer only Topie: Sedling Ttme) Where, = tan
Then peak overshoo1,
ApriiMay-17, Set-2, 03(b)
cp)-c()
M, c() OR Peak Time
It is defined as the time taken by the response to reach
Percentage peak overshoot (%M,) Derive the time domain specifications of second
order system with thefirst peak for the very first time.
igure unit step input
Delay Time (t) ct,)-co)x100
c(o) Ans (MaylJune-15, 9et4, 034a)IAprit-11, Set4, a3(a))
From equation (1), we have,

It is defined as the time taken for the )=1- Sm +6)

response to reach The expression for peak overshoot is, Rise Time
50% of the constant steady state value (final value), for (i)
the first time.
It is defined as the time taken by the response to reach Since, the response is maximum at, Therefore, in order
The expression for delay time is, 100% of its final steady state value. to determine 1, difterentiating c(t) with respect to t and
equating it to zero.
. Settling Time
1+0.73 Let,
It is defined as the time taken for the response to reach Rise time t9 de-ea
Where,
and stay within specified percentage range of its final
=Undamped natural frequency d - Sa)sint i +)
value (within tolerable limits).
Damping ratio The expression for settling time (t) is, oDamped frequency ofoscillation
cos(o,+
O= Undamped natural frequency. for 2% error Settling time
2 Rise Time (¢) Damping ratio But,
It is defined as the time taken for the response to raise ,1-3
for 5% erTor %M= Percentage overshoot
from 0 to 100% of the final value for underdamped
systems c=Output ofthe system Therefore,
It is defined as the time taken for the response to raise Time Constant of the System
Peak time, dc)
from 10 to 90% of final value for overdamped systems. It is defined as the time taken for the
response to raise
dt S )sin(ao+0)
The output of a system subjected to unit step input for -
from 0 to 63.2% of its final value (steady state
It is defined as the time taken for the response to raise
from 5 to 95% offinalvalue for critically damped system. for the first time.
value) underdamped condition is given by,
cost@t 0)

The expression for time constant of the

S i n ( t 9)--Fcoseo,+0))
+
The expression for the rise time is, system 15,
cC)=I-e sinoJt)
sin(+) . (1) | .. (4)

-T is equal to its From At shown in figure,

We know that at time t=t, the response
Q9. Derive expressions for 3
time of second order
peak time and settling steadystate value i.e., l:
Where, system for unit step input
Damping angle in radians AprilMay-19, Sset-1, 23(@)
Hence at , o)=d)Ekdig t
Substituting the above values in equation (1), we get,,
OR
6=1 Derive the expression for % M, of a second
order
system subjected to unit step Input =1- sin(o,+
Damped frequency ofoscillations, CRefer Toplct: Peak Oversho000 1- Figure
AprilMay-19, Set4, 03(b) -e
Vi-7 *0)=0 (2) COs
OR sin - 1-
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2.10 cONTROL SYSTEMS |JNTU-KAKINADAI AlT-2 (Time Response Analyslo- Stabilty and Root Loous Technique)
To delermine,
211
Substituting the above values in equation (4), we get G) 70 K64
Sn ) Range of K for which peak overshoot is les4 than Equation (1), will be modifed as,
tcos sin(o +) - 12%
C) 64
sin cos(@J+)). (5) But, sin(t + ) - sin
i) For K* 64, rise time, peak time, R 10s64
We khow that. overshoot and settling time. percentage Now, comparing with standard second order systemn
sin(A B)= sin a cos B cos A sin B - We know that,
we have,

Using the above equation (5) canbe wnitten as - The closed loop transfer function is given as,
20 10 and 6 4
But, 64
det) , C) G) 8radsec
vI-3sin(o+0-0) sin sin-1+ i- From figure R(s) 1+G()H) Substituting o value, we get,
Substituting the value of sin in above cquation, we have,
Substituting r=, in above equation and equating it to 2r8)-10
zero, we get
0)
, I+ s+10)+K
sinof-0 (5+10)
- - 0.625
o)=l+-
(7) Co. K
sin 0
q)- : Input is a unit step signal]8) R() +105+ K .(1) Rise Time
We know thaf rise time is given as,
For above equation be
to zero, eithere or sin o Substituting equations (7) and (8) in equation (6), we get, We know that,
must be We
zero.
knowe cannot be zero. Hence,
sin o , must be zero i.c. The peak overshoot is givenas,
Sin t , = 0 100
The value of sine is zero at all the Me
multiples of t i.e., m
Taking the smallest possible value ie., r{n 1) to get =
%M=i-x100 tan (0.6259
the solution of the above equation, we have, In(M (0.625)
(iv) Settling Time
()x1-0.625)
SCC
It is defined as the time taken by the response to reach
the final state value and stay within the tolerable limits. But, M- 12% 0.12 -0.8956-22
6.245 6.245
(U) Peak Overshoot for 2% error Substituting M, value, we get,
It is defined as the amount by which the
= 0.3590.36 sec
response of the -In(0.12) Percentage Overshoot
system overshoots from reference steady state value
during the first overshoot.
f o r 5% eror
n12 We know that,

The percentage overshoot is given as,

. (6)
For any value of error, i, is given by, --0.559)
J
Where, C) is the response of the system at peak time
, In(%eror) -0.559 =0.56 hM,e 100
second order
i.e, atr= , and C(-) is the steady state response ie,
Now comparing equation (1)with standard 0.25
Q10. The openHoop
system we have, (0625
the response of the system at= transfer function ofa negative unity 100
From equation (1), 20, 10 -0.0808100 8.08%
feedbackcontrol system ls Gs) s(s+10 Fnd Substiuting value, we ge Peak Time
) =1- sin(o+)
the range of K for which the We know that, peak time is given as,
ls less than 12%. For K=
peakovershoot 2(0.56) @10
e 64, obtain
rise time, 10 8.9285
d)=1- in(/,*) percentage overshoot, peak time and settling ,2055
time when subjected
to unlt step Input. And also0,

Sin+ Aprll-18, Set-1, 236)

-P Given that,
K (8.9285) (8)x(0.625)
Go) s(s+ 10)
K= 79.72 6.245
HO)= 1 Hence, for the peak overshoot to be less than 12% the
0.503 sec
range of K will be 25 <K< 79.12
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 INIT-2 (Time Response Analysis -Stability and Root Locus Technique) 2.13
2.12 cONTROL SYSTEMS JNTU-KAKINADAJ Stendy State Eror for Unit Step Input
have
100
cquation (2), we
Settling Time Comparing cquation (1) with We know that, C) kt100
20- 10 R6) 8+100+ 100
We know that, settling time is given as, 200 The stcady state error for unit step ioput is given as,
+8s+100
(For 2% eror) t 200 Co,-5 R)
0 1+GG) H) 1+K Co) 100
- + 14.1421 rad/sec 0.3536 R) +8s+200
(For 5% crror) NoW,
Now comparipg cquátion (1) with standard form of
For 2% error ) Peak Overshoot K,- L oHo)
second order system w e have,
Settling time, (, We know that,
L 200 2+2E0 sto,2
(0.625) x8 The peak Overshoot is given as,
t0 s(s+ 10)
0.8 sec ) Damplng Factor,
L 200
For 5% error
100 s-0 s(s+ 10) 200
%Me
Settling time, 0.625x8 Substituting 5 value we get, 200 200 o/200 14.14 rad/sec
O(0+ 10) 0
0.6 sec* 0.3536 X 220,=8
Q11. For unity 25x 14.14=8
a
feedback
= e V-03536)

system the
open loop Now,
200
transfer function is given by G(s) s(s+10) =e1875
The steady state errore 0.282
Determine: (0) maximum overshoot (i) rise tima
1+ K
=0.30495 Damping factor, 0,282
(i) settling time and (iv) steady errorif the input
%M-0.30495x100= 30.495% (i) Perceatage Peak Overshoot
is a unit step.
The percentage peak overshoot is given as,
) Rise Time
Anss April-18, Set-2, Q3b)
We know that, the nse time is given as, %M-elx100
Given that, 0
200 =423422 x100
Gs) s(stl10) 100 - 39.71%
a12. If the system function Gel(+ 8s+100
H)=1
To determine,
,- Determine damping factor percentage peak
(tii) Rise Time
The rise time is given by
-tan -(0.3536) overshoot, rise time (t), peak time () and
Maximum overshoot 0.3536
of
(i) Rise time settling time (), Also, fK= 50, comment

(ii) Settling time

14.14211(0.3536) in K value in temms Now,
the significance of change
(iv) Steady state eror for unit step T-1.2093
of time indices.
13,2285
Now, the closed loop transfer finction is given as,
= 0.146 sec Ans: (Nov-20, Set-1, Qa)| Model Paper-w, ab)t

C) G) tan-0.2822

R6)1+G) HO)
(ii) Setling Time
Given, tan 0.282
We know that, the settling time is given as,
200 100 73.62
Gs)=
C(s) s+10) 200 s2+8s+100
R() 2 00 s(s+10)+200
Cofor (2%error) = 73.62 RO
1+ The closed loop uransfer function
s(s+10) = 1.284 rad

CO) 200
for for (5% error)
C) G)
() For 2% error R(s) 1+G() The damping frequency js given by
RG) s+10s+200
But, the transfer function of a second order sysiem is 100 ,-
0.3536 14.1421.7999sec C() 8t100
given a
For 5% error - 14.14 1-0.2823
R(s) 1+ 100
Ca
R0) +20,s + 2)| 3
0.3536x14.1421059992 sec
s+8s100 13.57

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2.14 cONTROL SYSTEMS IJNTU-KAKINADAT (Time Response Analysis-Stabilty and Root
UNIT Locus Technique) 2.15
Percentage Peak Overshoot
Risetime. () 20 Now
o13. For system
a
having G(o)H(s)=
T - T-1284
13
-0.136 sec
57
The percentage

MeR100.
pcak overshoot is given as,
find it time rosponse speciflcations.

(April-18, Set3, a(b) |

+7+25 tan (
(iv) Peak Time 4'v 04 100 Ans ApriMey-13, Set3, 03b)
(t,
Peak time
', is given by, 25.38
Given that,
lan
-0.782
0.782
Go) H6) 20
I3.570.231 sec
(iit) Rise Time 4 +78+25
The rise time 7, is given by,
38.55
(v) Settling Tinme (t) Closcd loop transfer
function of the system is givenby
T-6
The settling time is 38.55 x 180
given by, 20

Now, C)CS)HG +7s+25S =0.672 rad

(for 29% error) R(s)
1+G)HO)14+7s+25 20
8= Rise time,
0.282 14.14 20 -0.672
1.003sec n 042 2.787
0.4 s+7s+25+20 ,

Significance of Change in K Value in Terms of Time Indices

= 66.42 C(s) 20 =0.886sec
Given open loop transfer function
R(s) s +7s+45 (i) Peak Time
100
G) s+8s+100 66.42 180 Peak time', is given by
Now, comparing equation () with the standard form of
When K= 50 =1.15 rad second order system29
50 2WE nave,
The open loop transfer function, G6)2+8s+50 The damping frequency is given by,

Then the closed loop transfer function. ao,v1- o =20 and

2 7 1.127 sec
C(s) G) o-20 o 3.5 (iv) Peak Overshoot
R(s) 1+Gs) 10/1-0.42
50 =9.16 The peak overshoot "Mis given by,
o,4.472 rad/sec =0.782
C) s+8s+ 50 Rise time, 4.472
hM 100
)
The damping frequeney is
128s+50 ,T-6 T-1.15 given by, 078I-075 x100
9.16
50 oo,i-2
CO) 1.94%
+8s+50 ,021 sec
R(s) s8s +50+50 -4.472 1(0.782) ()SetlingTime
s+8s+S0
(iv) Peak Time (t) =2.787
Peak time , is given by. The settling time, , is given by,
CO 50
. (2)- Tine Response Specifñcation
R() s+8s+100
- 9.16
0.342 sec Delay Time For 2%eror)
Now comparing equation (1) with standard form of
The delay 4
(V Settling Time (t)
time is given by 0.782 x4.472
second order system we have,
+2E+o The settling time t, is given by, +0.75 +0.7x0.782
1.143 sec
Damping Factor, (for 2% eror) (vi) Time Constant
2-100 = 0.346 sec

V100 10 rad/sec (i) Rise Time

The time constant is given by

2E0=8 0.4x10Isec
The rise time
2g x 10= 8 °7, is given bys
Hence it can be observed that
if K= 50, there is S@ 0.782 x4.472
=0.4 in damping factor, rise time and
peak time where as
increment
Damping factor, = 0.4 reduction in percentage peak overshoot and there 1 0.285
settling fime.
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2.16 cONTROL SYSTEMS JNTU-KAKINADA
(Time Response nalysls ablity and Root Locus Techniqu
UNIT- 2 2.17
(i) Damping frequency, ,
Q14. 25
For a system having G{s)sis+ and
rom igure,
Unt Step Slgual
10) ,- Frrorsigna,
units negatdve feedback, find its time response e, R
specifications. ApritMay 19, Set-3, Q3b) -5-
Es) Inpul signalFeedback signal O 1+GO)
When inpu 1s tmit steEP
0
E) R(o)CMH)
OR
Output signal,

v) Peak Time, t, Co)- El ).G)

For a
system having G(s) 25 2
ss+10 and uniy By substituting equation (2) in equation(1), we get,
negative feedback. Find,
ElG)-R()-E0GoHO) 14GH)
() Peak overshoot, % M,
() EG)+E)GHo)-Ro)
(Hi)
Peak overshoot
El)+GoHG))=R()
() T,and %M VR x 100 R
P
ES) 1+G()HG) .3) 1+ u GHG)
(M = eNI x 100
We know that,
Ans: AprilMay-13, Set-4, Q3(b)
Given that =e x100 e
1+R LGH).
applying final value theorem
25 = e x I00 By of Laplace transform, Type 0 Syste
GO)s(s+10)
The closed loop transfer function
=0
we have,

eLt s.E)
2.4 STEADY STATE ERRORS AND ERROR
C(s) Gs) CONSTANTS s.R() - +XstzXstz)-
R(s) 1+Gs)H(s)
014GG)H(GFrom equation(0) (+PX+Ps+ Pi)
Q15. What is meant by steady state emor? Derive the
25 expression for steady state eror. Q16. Define the steady state erorand error constants =K = Constant
Pr:P2P
Cs) ss+10) of different types of
inputs
R(s) 25 Ans:
1+- (ApiMay-16, Set3, 031a)1MaylJune-15, Set-2,03)
s(s+10) Steady State Error of a Control System Constart
OR
25 Steady state error gives an idea in determining the
Cs) Define the steady, state error and obtain eror
R(s) s(s+10)+25 accuracy of a system. These erors are caused in the system I n type zero systems, when inputis unit step, steady state
due to nature of input (namely unit step, ramp and parabolic constants of different types of inputs. emor (e) wil be constant
25 inputs), type or number of system and the disturbances caused
C(s) due to system components. It is defined as the value obtained
Ans:
April-11,3e2,a Type 1 System
(s) s+10s+25 Steady State Error
by error signal eft), when the value of'" tends to '
Now, comparing equation (1) with standard form of
Mathematically expressed as, e, e
For answer refer Unit-11, Q15.
Static Error Constants LtkZX+2Xs+tz)
second order sysiem - wehave, Let, R() be the input signal
"s2+20,s+ Static error constants are the measure of steady state s(+ PX+PXs+P)
C) be the output signal
Natural Frequency, . eTors and gives an idea as to how steady state eror can be
E) be the error signal eliminated or reduced.
o-25 CloH) be the feedback signal. The value of steady state error depends upon the Ype
25 number and So, in typel system and above, for unit step input the
By considering the above data, the block diagram ofthe input signal.
5rad/sec closed loop system can be drawn as shown in
three types of static error constants. Yaue 1s innnty and e.0.
figure 5asicaly, here are
ETor signal They a
(ii) Damping Ratio, Ualt Ramp Signal
20, =10 RIS) SG) CO) Positional error constant,K= L G)H()
5 014GO)HO)
C)HG H()
FeedbackS) Velocity eror constant, K, u sGo)H(s) For ramp input,
path
1 Figure
3 Acceleration errorconstant,K LsG)HG) R()
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 cONTROL sYSTEMS (JNTU-KAKINADA 2 (Time Response Anaysis-Stability and Root Locus Technique)
2.18 219
Ans
(.enersized error Constants
x
he steady state cior cn e evalusted for any Dpe of input using generalized erer constands nd a aiso
of time Consider a closed
loop system with eegative feedback as shown in fgur epresed *
C

Type System

The error signal is given by,

Tpe Systee sKis+Xs+zXs+

E R(s)
1+G()H)
Expressing it as a function product of rwo functions ie,

Dpe 1 Sstem 1
EG) 1+Go)H() A) Rt)
sGs)H(6)
Where.

KXs-,Xs+2)-0
For p e d system, when nput s n a p «
s sXs*P:Xs*Ps) FU) 1+GoHO
Tpe 1 System Applying coavolution theorem, we ave,

)="E)-LFAO)
Type 2System
sK(Ns t5;*5}
-

+AKs+Ps+a sGsH) fr-ne- Js-na

The limit ofintegral is changed becase the inpurt signal starts at =a
-x s ( + PMs+P:M5+ Pa) Using Taylor series expansion, we get

x =Constant
C PhPP
Now, the error is given as,
Iype 2 System
-=Consza

Type 3 System

K- sGH)
s+PAXsPXP - L SKiXs+=3XS+)
sPXs+PXs+P) rovoar-rnwon-m-rg-r nn
Uait Parabolie Stgaal
0)

+GE}His)
a17. Derive the generalized error constants. ojrenr-ojrma.girsTar ro 0rr
AprilMay-16, Set 034)
For parabolic ingu, OR
Derive expressions for
constants.
generalized error - Cr

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 cONTROL SYSTEMS IJNTU-KAKINADA UNIT-2 (Time Response Analysie tability and Root Locus Technique) 2.21
2.20 Consider unlty

Where. velocity error constant is given as,

a19.
feedback system with close Thetefore,
The
transferfunction RC DDetermine Steady state erros, e
- L sG)H()
open loop transfer functlon G(s),.
C-rTAT the
Show that
L s
0s(s+ D6+3)200s21 the steady state error with unit ramp
Input
C-TTT 20(s+2)
given by
Ans:
Given that,
AprilMay-17,Set3, ap) Hence proved.
20(0+2)L 40
Closed loop transfer function,
(0+ 1)(0+3) 3

C(S) Ks tb 2.5 PPI

K= 13.33 R(s) s2+as+b (1)Q20. What are the types of controllers that are used
H)= In closed loop system? Explain them.
C-(-1|TsTaT The acceleration constant is given as,
To determine, Anss
K= Lt sG(9)H(O) Controller
The coeficients C C, C. CC. are called generalized s-0 ) Open loop transfer function, G)=2
errot constants. A controller is a device which is used to obtain the berter
20(s+2 di) Steady state eror with ramp input
The generalized error constants are given by. Ls(s+1)(6s+3) control action n a
feedback control system by modifying the
error signal. It also modifes the
We know that,
transient response and steady
C F) I, s20(s+2) The closed loop transfer function is given as state eror of the system sii
s-0 (s+ 1)(s +3) C) GG) The types of controllers used in the closed loop system
re
CL ds Fls) O(0+2) R(6)1+G)HO 0 P-controller

(0+1)0+3) Co)G01GO A controller in which the output or the control signal

R)1+GG)T+G6) is proportional to the error signal is known as proporuonal
Comparing equations (1)and (2), we get, controller.
G(s) Kstb For P-comtroller, c0e)
I+ G)+as +b
Flo) The steady state emor for unity step is given as, - Go+ as +b] 1#GI Ks+ b By applying Laplace transform, we have
Q18. For servomechanisms, with open.loop transfer
G + a s +b]-(Ks++C) (Ks+b)
function given below explain what type of input
1
G6+as +b)-G) (K+b) (Ks+6) Therefore, the transfer fiumction of the Pcontroller is
signal gives rise to a steady state error and
= 0 G+as +b-(Ks+b)] (Ks+b)
calculate its values, Gls) 20(s+2)
s(s+1)(s+3) 0
1+o0
Go)+ as+b-Ks-] (Ks+b
GO+ (a-Kl-Ks + Where,
CO-,
B(
Ans Nov.-20, Set-1,036)
The steady state error for unity ramp is given by
Given that,
e K
Go)+(a-)5 Tepresents proportional gain
The block diagram of he P-controller is showe
20(s+2) Go) sts(a-K figure (1).
Gs)(s+1)(S+3)
Hence, the open loop transfer function. C(s)
Let Ho)1 13.33
We know that,
We know that,
=0.075
The steady state eror for an unit-rampinputis given as,
The positional error constant is given as, The steady state error for unity acceleration (parabolic)
IS given as, e, Hgute (1)
-controller
But,
A controller in which the output or the control signal is
L20(s+2
-0 ss+1)(G+3)
K s-0
Lts G()H() proportionál to the integral of error signal is known as integral
Lts(Ks +b) controller.
20(0+2) 315a -K]1 For l-controller,
(0%0+ 1) 0+3)
L c9-Jetod
Hence the type of input
signals which give rise to
constant steady state error is unit
ramp input. 0-(a-K0-(a
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 cONTROL SsYSTEMS (JNTU-KAKINADA UNIT- T-2 (Time Response Analysis Stablity and Root Locus Technique) 2.23
2.22 ly applying Laplace transform, we have,
By applying Laplace transfom, we have, Cu)-K,B0) +K, T,s E0)
Co)-K,E) +T
Therefore, he transfer function of the PD-controller is,
Therefore, the transfer function of the l-controller is
Cu)K
E)
C&l-K4T,
E8)
Where,
Here, "*, represents proportional gain. K,' represents proportional gain and
The block diagram of the I-centroller is shown in figure (2)
T represents derivative time.
C(s) The block diagram of the PD-controller is shown in
R(S figure (4).

- Cs)

Figure (2)
(i) Pl-controller
A pole at origin which increases system complexity is the sum of the signals one being proportional to the error signal and Figure (4)
(V) PID-controller
the other being proportional to the integral of the error signal is known as PL-controller.
A controller in whichthe output
For Pl-controller,
or control
signal
is a sum of three signals
one being proportional to the error
signal, other
being proportional to the integral of error signal and the third being proportional to the derivative of error signal is knownas
PID-controller.

d0- K, et)+K.fe) d For PID-controller, c()

By applying Laplace transform,
Co)-K, E)+K ES) -5,e)+Jat)dr+ K, T,
By applying Laplace transform, we have,

ao-k,0 C-K,E)+E+K,T,sElC)
Therefore, the transfer function of the Pl-controller is,

a-k,E1+
Therefore, the transfer function of the PID-contoller is,
Where,
Krepresents proportional gain and
*T represents integral time.
The block diagram of the Pl-controller is shown in figure (3).

Els)
Where,
C6) Krepresents proportional gain
7 represents integral time and
T represents derivative time
Figure (3) The block diagram of the PID-controller is shown in figure (5)
(iv) PD-controller

asum of
control signalis twosignals, proportional to the emror signal and
A controller in which the output or one being
the other being proportional to the derivative of eror signal is known as PD-controller.
Co)
E T) CIs)

ForPD-contolle, di)-|e)+et
0-K, ) +K,Te
Figure (5)
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 ResponseAnalys
UNIT-2 (Time Slabilty and RoottLocus Technique) 2.25
cONTROL SYSTEMS JNTU-KAKINADA For D-controller

2.24 galn of G(s). 6TalsoTrncreasesthedampingratio

with a forward
control system There will be no effect of proportional derivative
plain efect
of Plcontroller on a unity feedback April/May-19, Set4, 03a controller on natural frequenicy
Ans:
Gain or
Unity Feedback Control System with a Forward s .
Steady state error is not effected
Efect of Pl -Controller on a

sum of the signals

one being proportional
to the e r o r signaland
By applying laplace transform we ave Type of the system remains unchanged
ngin which increases system complexity
is the
a as Pl-contouet.
the other being proportional to the integral of the error signal is known Co)=k,sE(G) 0 For initially unstable and lightly damped systems, PD
For Pl-controller, Therefore, the transfer function of the D-controller is, controller proves ineffective

[e)+Jet) di] CO)

E(s)
11. It develops noise signal and causcs saturationefifect
024. Discuss the effects of proportional integral
)-K, et)+K.et)dt Where, k, represents derivative gain
controller on the perfomance of the system.
The block diagram of the Dcontroller is shown in figure a
By applying Laplace transform, Ans:
El)
Following are the effects of proportional integral
Cs)-K, E()+K ES) controler on the performance of the system,
S
Damping ratio is improved.

C-K,B1 Figurs
2. Gain margin and phase margin along with M, are
increased
Therefore, the transfeT function of the Pl-controler is, Rise time is increased
Advantages
Bandwídth is decreased

COK, .
The derivative controller increases the damping ratio.
The derivative controller reduces the peak overshoot
Noise an high
frequency isfilkeredout.
a25. Show that a derivative feedback has the effect of
2
Disadvantages increasing the damping ratio without affecting
Where,
The derivative controller does notactod the actual ero the undamped natural frequency of oscillations.
KTepresents proportional gain and 1
signal. Instead, it producesa control action hased on the Ans AprivMsy-12, Set-1, 04b)
Tepresents integral time. rate of change of error signal Consider a second order system shown in fgure (1
The block diagrarn of the Pl-controller is shown in figure (1). 2 It does not produce corective measures for a constant
R() C(s)
erTor.
C
E6)K+T,9 It amplifies noise signal leading to a saturation effect in
the actuator.

not produce control signal

Derivative controller does
any Figure (1
for constant error since, the control signalis a function oftune. From figure (1), we get thetransfer function as,
Figure (1 Hence, D-controller isalways used along with Por controller
023. Ilustrate the effects of proportdonal derivative
The block diagram of a Pl-controller along with unity feedback. control system with a forward gain of Go) is shown in control on transient perfomance of feedback
control systems. April-10, Set-1,a3)
Ci
figure (2).
Es) Us) C(s) OR
R)1
Discuss the effects of proportional derivative
controller on the perfomance of thee system.
Ans: ss+a)+ks(s+g)+
The perfomance of system is effected by PD controller s(s+a)
Flgure(2) in the following ways, .(0)
Effects he proportional integral controller Teduces the peaks s+as+k
The Pl controller reduces the steady stateertorwithout affeeing the stabiliy ofthe controlsystem. overshoot. We have,

o 2 what are derivative controllers and why are they used in combination with proportional controllers? 2 It reduces rise time
CE) . (2)
Anss AprilMay-13, Set4, Q3
It reduces settling time R(3) +20s +
4 lt increases bandwidth.
Deriyadve Controller Comparing cquation (1) and (2) we get,
5
A controller in which the output or the control signat 1s prooruonal to the rate of change of error signal is known and phase margins get increased by the ettect
ne gain
of proportional derivative controller
Natural frequency, u= k .. (3)
deryatiye controller
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2.26
cONTROL sYSTEMS (JNTU-KAKINADA UNIT-2 (TIme Response
álysis-6tablity and Root Locus Technique). 227
We have,
PD controller is show
control ayetem with
And 2o,a a26. A
veloclty e r r o r constant K,1000
Velocily cror constánK
Gi JO00
2.6 THE CoNCEPT OF STABILTY-RoUTH
Mgure, Ifthe
Damping ratio, 20, and damping ratlo 0.5, ind the values of k T000 = 10 K '
STABILITY CrTERIONLMITATIONS OF

(4)
and Kp
100
Co)
1000
100
RoUTH'sSTABILITY
a27. Write the limtations of the Routh's
10 stablity.
s(8+10)
Now, let us apply a rate fecdback signal which is also Refer Onb Topler Lllhdonsof Rouih Hurwl
called output derivative signal. &,100 Criserlon)
The block diagram of figure is thus modified into the Apri18, Bet3 04)
Figure Now, we know that, OR
one shown in hgure (2).
Brleñly explain ebout Routh-Hurwltz criternon.
Ans ApriVMay-19,Set-2, 03) The closed loop transfer
function is given by,
with PD controller is shown below Apria, M. 4p)| Model Peperd, Me)
Given control system
R) C
C()
Go) OR
00 C) R) I+G) H) Explain In detall about Routh-Hurwitz criterlon.
G) Aprlinay-17, set3, OMa)
Figure (2 1+G OR
Figure (2) can be reduced to the one shown in figure (3).
Explaln the special cases In Rouths stablity
Figure
i0o(K+Kp criterlon.
Rs) C) Also given, +10) Ans: AprluMay-16, 8et3, 04
Velocity error constant, K, = 1000.
1001K, tK, Routb-Hurwitz Criterlon
Damping ratio,
=
0.5 s10) Routh-Hurwitz criterion, enables us to determine the
location of closed loop poles with respect to the left half and
Figure (3
To determine, 100 (K, Kp right halfofs-plane, withou solving the characteristic equation
The closed-loop transfer function is given by,
The values of K, and Kp ?
s(s+10)100(K+K) of the
closed Ioop system whose roots are the locations of closed
loop poles.
C) a+kb From the given control system G() is obtained by
100K+K) For a lincar system the closed loop transfer function is
R() combining the blocks as, given as,
+10s4 100K+100K
G)= a * K » )
CO hs*tb. P(
s(s+10) 100 (K,Kp R(s) os+4++a, 20)
s(5+a+kb) +k s+ s(10+100 K) Where,
Unity feedback loop,
+100 K
PC) and ) are polynomials of's
Substituting K, value in denominator we get,
+as +kbs+k H)=1 Thecharacieristic equntiod ofthe system is Q)=0

s+(a+kbs+k
... (5) Now, CG) 100 ( ) Thus, the roots of the above characieristic equation gives
R$) s(10+100 K)+ (100)2
The velocity error constant for a
closed loop system is the locations of closed loop poles of the system, through which
Comparing equations (5) and (2), we get
Natural frequency, o k ... (6) K,= LI s.Gs) HO) We know that, the characteristic
equationofclosed loop the
stabilitý ofthe system can
be studied
s-0 transfer function is, Routh-Hurwitz stability criterion can be stated as
And 2 o = a + kb follows. "The necessary and sufmcient condition for the
Ls.Go)
s-0
(HG) 1 ) s+20+ stability is that all elements of first column of the routh aray
a+kba+kb should be positive". If this condition is not satisfied, then
On comparing we get,
S20 2/ = Lt s. 100(&+p 2 o =10+100 K
the system is unstable and the number of sign changes in the
-0 s(s+ 10) 100 elements of the first column of the routh aray is equal to the
(7) number of roots lying in the right half of s-plane.
2 x 0.5 x 100 10+ 100 K = 100

From equations (3) and (6) we observe that the natural

100(K,Kp) Necessary Condltions for the Stablty of System
-0 s+10 100 10+ 100
frequency is the same in both the cases i.e., with and without Kp All the
coefficients in ch¡racteristic equation should have
derivative feedback. 100K+0) 100 K, = 90 the same sign.
0+10 None of the coefñcients should be zero i.e, powers of
From equations (4) and (7) we observe that on applying 90
a derivative feedback the damping raiio increases.
100 K
K 100
's' must exist in descending order from n' to zero.
If the above two conditions are saisfied, then the system
Thus a derivative feedback has the effect ofincreasing the 10 K,= 0.9 may or may not be stable. (ie.), These two conditions are
damping ratio without affecting the undamped natural frequenoy The of K, aund K, are
necessary but not sufficient conditions. Furher, to determine
of oscillations. K 10K, required values 100 and 0.. the stability of a system following analysis is required.

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 cONTROL SYSTEMS JNTU-KAKINADA
2..28 INIT-2 (Time Response Analysis. - Stability and Root
Locus Technique).
rocedure to Construct Routh Array Case Limitations of Routh Hurwitz Criterlon
Normal Routh Array
Write the
polynomial of the characteristic equation,. Routh Hurwitz criterion is applicable to only linear and (TT)TTK
In this case there is no difliculty in forming RoutharTray
time-invariant systems,
TT
ata+a . +o, -0 The Routh array can be constructed witlh the above cxplai ained
Routh Hurwitz. criterion is valid
If all cocfficients are positive, then coefficients of the
procedure which is having real
only for characteristjc :T +T2
polymomial are arranged in two rows as shown below column Koutn array are of
in first ol equation coefficients. T+T
If all the clements
same sign (i.c.,)
chunge in
it there is no sIgn ot
the elements Routh Hurwitz criterion does
not give exact locations of TTK

s a a a, a, first column of Routh array,

unstable. The
th
the 5ystem is stable. Otherwise

number of sign changeS in the element

the closed loop poles of the

Routh Hurwitz
system T+T2 1
2
k
system is
closed criterion does not provide any method
If'n' is even, then, r o w is formed by the coeflicients of first column of
Routh aray indicales the numberof to stabilize
an unstable system.
of even powerierms and s row is formed by the cocfhcients
loop poles that lie on
the right hall of s-planc. remaining
The T+T
The
of odd power terms.
will lie on the left half
of s-plane. a28. open loop transfer function of a unity
If 'n' is odd, then row is formed by the cocfficients
poles feedback control system is glven by G(s) 1 Couma 1

of odd power terms and s row is fomed by the cocfficients

Case K
First element ofa row in routh array is zero with atleast one s(1+ST(1sT Apply RH stability criterion, For the system to be stable, there should not be any sign
of even power
terms non-zero element in
that row.
determine the value of K in terms of T, and T, change in the elements of the first
column.
However, the other rows of Routh aray up to s row can
be calculated as follows.
While constructing routh array, i1 a row with "Zero'as
for the system to be stable. Hence, choose the value of "Kso that the first column
first element and at least one
of the other elements in that rOw elements are positive.
Now, the s r o w can becalculated by using the values are non-zero, is encountered,
then all the elements of the next Ans: row, for
of the above two rows row will be infinite.
Model Paper-l, d4{a) From the systerm to be stable,
To overcome this problem, the hrst element of the row Open loop transfer function, K 0
s:b,b,b is considered as 'e', a small positive number, (E0)instead From srow, for the system to
bestabie,
4,@2,ao 4,a0,40 of Routh array in the G(s) =-
of zero, and complete the construction
Where, b, a normal way (As in Case 1).
s(1+s7,+sT,)
1+12
After formation of Routh array, pute0, and detemine Given system is unity feedback i.e.,
a14dz4o
and so on the values of elements of the first column of Routh array which
Hs)
T2 K
1 T+T
Thes row values are to be calculated by using the
are functions of e"
values ofthe above rows ( ) and ()as follows: Then, If there is no sign change in the elements of first Closed loop transfer function,
column of Routh array, then the system is stable otherwise the
system is unstable. Cls) G)
ba-b,a R(s) +Go)H() The value of K should be less than 1 t 2
Where, b Case I1I
All the elements of a row in routh array are zero's TT2
C bas-4,b
b A row with all zeros indicates the existence of an even The range of K for the system to be stable is,
polynomial which is a factor of given characteristic cquation s(l+sT+ST)
K 0<K<
41 and so on of the system. Even polynomial conditions the terms witheven 1+s(1+s71+s73)
power (or) zero power of 's' only. So, the roots of an even power
This process is to be continued until the
r row (row) polynomial occur in pairs which are having equal magnitude a29. Determine the stabllity of the closed
K
has been 1ormed, and opposite in sign. Hence, these complex and conjugate roots
s1+s7X+sT2)+ K loop system whose open loop transfer is
occur in a group of 1our.
Finally, the Routh aray will be in the following form.
5(2s+1,
The
polynomial in this case can be analyzed by the fol s(s+11+3s)(1+0.5s), using Routh-Hurwitz
lowing method.
si =a, a, a, 0* Procedure s(1+sT1+s72)+ K criterion.
(Aprll-18, Set4, Q4b) MaylJune-15, Set4, Q4b)I
s b, b, 6, ,.** Determine the auxiliary polynomial, with the above row K Ans: Model Paper4, O4(b))
in Routh array to the row with all zeros.
s(1+s7X1+ sT2)+K Given that,
Differentiate
the auxiljary polynomial, A() withrespe K S(2s+1)
to s', to get 44) Go)
ds 77s+(7 +7,)s+s*+K s(s+D1+3s(1+0.5s)
3. The row with is The closed loop transfer function is given as,
all zeros replaced with coeficients o Characteristic equation is,
the polynomial dAs) TFC)2 G()
********

ds T, T,s+(T,+T,Js +s+K=0 Rs) 1+Gs)

Then complete construction The routh aray is constructed as shown bclow. The
"zero' of Routh aray in the non hio S(2+1
Note emp clements in all rows
of Routh array are

three
way, (as in case 1) then If
there is no sign
elements of first column of routh
angeinthe hest ower of 's" in the characteristic equation is odd (3).
TCnce, form the first row using the coefhcients of odd powers ss+1X1+35)(1+0.55)
In the construction of Routh array,
the following array, then the sys
cases will occur.
is stable
otherwise the system is unstable. a n d second row using the coefficients ofeven powers S(25+1)
1+-s(s+1D1+3s)(1+0.5s)
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 cONTROL SYSTEMS 1JNTU-KAKINADA
2.30
UNIT-2 (Time Response Analysis -Stability and Root Locus Technique) 2.31
20 6
S(2s+ 0 6
s(s+11+3s1+0.5s) 6
ss+100+3sNI+05s)+5(2+1) 3 12
s(s+1+3s1+0.55) 44 6
s 13.09 0
S(25+1) 16
s(s +1X1+3sM1+0.5s)+S(25+1)
Column 1
S(2s+1) From the Routh's array, it is clecar that, the 1 column has
(+5X1+3.5s+1.58*)+10s+5 two sign changes. Hence, the two roots are lying on the right
half of
s-plane and so the system is unstable.
a31. Thecharacteristic polynomial ofa system Iss'5s 9s9s+4s+20s 368 36 0.
S(2s+1) Determine the location of roots on the s-plane and hence the stability of the system.
+3.58+1.5s+s+3.5s*+1.5s +10s+5 Ans:
AprilMay-19, Set-2, QMa)
Given characteristic polynomial ofa system is,
S(2s+1 s+Ss +9s +9s+ 4s+20s+36s +36 0
1.5s+S+4.5s +11s+5 The Routh aray is constructed as shown below. The highest
power of 's' in the characteristic polynomial is odd, n =
7
Hence fom the first row of Routh's array
Now. using the coefficient of odd power of 's' and the second row using the coefficients
of even power of 's
The characteristic equation is given by,
36

1.55s45s +11s+S=0 20 36
The Routh's array can now be constructed by taking the coefficients of equation (1)
(Sx9)-1x9) (5x4)-(1*20) 5 x36)-(1x36)
5 S
5
144

7.2 28.8

Dividing the elements ofs row by 7.2

(5x45)-05x1 )=12 (11x5)-(45x0)_5
11
1 6

02x1l)-$x3)= _9.833 x 5
x=0 36
12

9.833x5)-12x0)_5
-9.833 S (1x9)-(5x0) (x20)-(5x4) 1x36)-(5x0)

For the system to be stable there should not be any sign.change in the element of first column. But on examining firs 9 = 0

column it was found that there are two sign changes (i.e., from +1.2 to-9.833 and from-9.833 to 5). Hence two roots lies onthe Divide the elements of s* row by 9, we ge,
right half of the s-plane and therefore system is
unstable.

36
a30. Testthe stability of the system with the following characteristic equation by Routh's test 6
20
20s2+ 16s + 16 0 .
s2s+8s
Ans: AprilUMay-16, Set-1, 040

Given tha

+2s+8s +20s + 16s + 16=0 (1x0)-(1x0) (1x 4)- (1x4)

s+2s5+8s+Os+20s+16s +16 0
The higbest power of s is given characteristic polynomial is 6 (even). =0 =0

Hence, from the first row of Routh's array using the coeiicients of even powers of "s' and second row using the co-eficienu The srow is zero. Hence the auxiliary equation is given by.
of 's'.
of odd powers +4 0

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SPECTRUM ALL-IN-ONE JOURNAL FOR ENGINEERING STUDENTS
2.32
cONTROL SYSTEMS JNTU-KAKNADAJ UNIT-2(Time Response Analysis-Stabilty and Root Locus Technique) 2.33

of auxiliary cquation complex and has

Divide the characteristic polynomial by
cquation to get the quotient polynomial i
auxiliary Thc roots

roots
of
are

auxiliary equation ure

Byinspecting characteristic
the equation, it is clear that Dividing row by 4 to simplify the computation
quadrantal symmetry. AIso, the highest power is an even number Hence, the first row of
two
9 32
lying on right half s-plane
of and two on left half of s-plane. Routh aray is constructed using the coefficients ofeven power's
s+5s+9s+9 1.75 5 9
polynomial are the sum ofthe ofs and the second row is constructed using the coefficient of
s+ 4|s+ 5s+9s +9s4 +4s+ 20s + 36s +36 The of characteristic
roots

polynomial and auxiliary polynomial. Thus, we odd power's ofs. 7.25 -1 25

have of
roots
quotient
two roots of characteristic equation lying on right halfof --.

5s+9s+9s* +0+20s + 36s + 36 1.88 1.82 9

plane and remaining five lying on lett half of s-plane. Hence
) 5s 20s -8.01 -11.7 0
the system is unstable.
9s5+9s+0+0 +36s + 36 Q32. Determine range of K for stability of unity -0.92 9
K
9s 36s feedback system whose open loop transfer -90.05 0
9s+0+0+0+ 36
function is Gls) s 3x2H1xK)6-K 9 0
9s* 36 s(s+1) (s+2) 3 3

Ans: (April/May-19, Set-3, Q4(a) | Model Paper-ll, Q46) s K

: k9-i*1.75 x4-1x5 1x32-91
The characteristic equation can be expressed as a
Given that,
product of quotient polynomial and auxiliary equation. For the system to be stable, there should not be any sign
7.25 3
s+5s +9s9s+ 4s+20s +36s +36 changes in the elements of first column, Hence, choosing the
G(s) s(s +1Xs+ 2) value of Kso that the first column elements are positive. i.e.,
=(s +4) (s+Ss + 9s + 9) .25 X.75-16) 7.25x5-231 7.25x91x0
7.25 7.25 1.25
The Routh array is constructed for quotient polynomial Let, From row, for the system be stable,K>0 1.88 1.82
as shown below,
Hs)=1 From s row, for the system to be stable, 0
+5s+9s+9 1.88-1)-1.82 x7.25
Now, the closed loop transfer function is given as,
1.88x23-9x7.25
9 For the system, to be stable the value of K should be less 1.88 1.88

than 6. 1.., -11.7

Co) G) -8.01

Rs) 1+Gs)H(*) -3.01*1.82--1.7)1.88-8.01 x9-0x1.88

5x9)- (*9) -72 Substituting G(s), H0) values we get,
-8,01 -8.01
=6-K>0 -0.92 9
K
(7.2 x9) *0) _9 C(s) s(s+1)(s+2) -K-6)>0
7.2 s 92)-I1.7)-9-8.01)
R(s) 0.92
There is no sign change in the Ist column of Routh 1+ 6-K<0
s(s+1)(s+2)* -90.05
array of quotient polynomial. Hence all the roots of quotient K<6
polynomial are lying on the left half of s-plane.
Hence, the of Kfor the stable to be.stable is -90.05x9-0-9
But to determine the stability, the roots of auxiliary Co)s(5+1)(s +2) 0<K<6.
range -90.05

polynomial should be calculated. R(s) +

K
Therefore, fromm the Routh array, it is concluded that, the
s(s+1)(s+2) a33. The characterlstic polynomial of a system is first row has two sign change which means the system is unstable
The auxiliary polynomial,
s+4s+9s+ 7s+4s+20s2+32s+ 36 =0, and the number of roots lying on the right half of s-plane are
Determine the location of roots on the s-plane
st4=0 K two. The remaining roots are lying on the left half of s-plane.
s(s +1)(s + 2) and hence the stablllty of the system.
CS)
Put s=x
R(s) 2.7 THE RooT Locus CoNCEPT
+4 =0
s(s+1)(s+2)+K Ans: April/May-19, Set4, Q4(D)
CONSTRUCTION OF RoOT LocI (sIMPLE
s(s+)(s +2) iven that,
r-4 PROBLEMS) EFFECT OF POLES AND
C(s) s+4s+9s + 7s +4s' +20s+32s+36 0
x=+ V-4 + 2 2 4+90°
R(s) s(s+1)(s+2)+K of 7h order and the
equation
ZEROS ON Roor Locus
given characteristic
The
construction of root
But The characteristic equation odd Hence, the first row Q34. Explain the procedure for
is given as, highest power of 's' is an number. locus.
s2 = coeflicients and
Routh array is formed using odd power
ss+1) (s +2)+k= 0 ot
the second row of Routh array is fomed using even power
(April/May-19, Set-2, Q4(b) | Model Paper-/V, Q4(a))
s = + vx =+ v22190° OR
coeficients.
2 L 45 s(s+ 2s+s+2)+k=0 Brlefy explain the Root Locus concept.
4 32
s ( s * + 3s +2)+k=0
2245 and + 2 2-45
20 36
April-18, Set-2, Q4(a)

OR
=+(1 +/) and +(1 - ) s't3s2 +2s+ k =0.

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 cONTROL SYSTEMS 1JNTU-KAKINADAI
2.34 UNIT-2 (ime Respornse Analysls Stability.and Root Locus Technique) 2.35
(S)are si:m,wher cquation And is thec net angle
Explain thee procedure to draw root locus of a When
loop
o, 1he
7cros
roots of

ol the system
cottributed
by all other open loop
poles and zeros, when joincd to thc complex zcros whose , is
Steps to determinc the brcak-away lo7) break-in poinis
They are as follows.
open
given transfer function. AprilMay-17, Set-1, 4(a)(=1,2, m) whcn are t be colculated.
branches otthe
root locus
tenninatos on
theopen Frorn the charactcristic equation, form the equation torK
OR '
loop z e n ,
The angle of departure and angle of arrival are calculated
the construction rules for root locus Differentiate the equation of K with respect to s and
Explain
technique. branches of root locus which terminates only when there are complex poles and zeros,
ApriMay-16, Set-1,04/b) 1he number of
to the
number ot open loop poles minu The angle of departure from a real open loop pole is cquate itto zero,
OR on infinityis cqual
(1.C.. m)).
m). always and the angle of arrival at a real open-loop zero ís
number of open loop
zeros U
-
The roots obtained from the differential equation are
e e procedure to draw root locus of a

A point on real
axis will lie
on the root loous only ir ulways 180
given transfer function. Rule 3 :
of open Rule 8 : Intersection of the root locus branches with the cither the brcak-away (or) the break-in points provided
poles and number
the of number of open loop for this value of root, he gain K should be positive and
Ans: May/June-15, Set-3, 04(a)|
sum
which lie to the nght
hand side of this pointis an imaginary axis and the critical valuc of K is found using routh
loop zeros,
criterion. real
Root Locus Technique odd number.
must satisty the angle By applying the Routh's criterion to the characteristic Example: Consider an open loop transfer function.
the S-plane
Root locus niethod was introduced by W.R. Evans in the Any point on
cquation the critical value of K is determined.
year 1948,
on s-plane.
which is used to determine the movement of
poles condition i.c.
G{s)H{s) = t(2q + 1)180°
If the critical value of K is positíve, the root locus ) so
intcrsects with the imaginary axis and if thé critical value of The characteristic equation 1s given by,
the root locus. This condition will be
Root locus is the locus of the closed loop poles
when the system gain K is varied from
obtained
to + (unless
Inorder to be on

satisfied only if the sum of number ofopen o0ppoan pen

K is negative, the root locus does not intersect with imaginary
+ Gs) H)=0
axis and completely lies in the left half ofs-plane
mentoned. vanation in gain 'K is usually assumed to 0 to +). hand side of the point is odd.
loop zeros, to the right After detemination of critical value of K, the point of
Construction Rules for Root Locus Techniques branches of root locus which tend to intersection with the imaginary axis is found. s(+a
= 0
H)=1]
Rule 4: The number of
and they do so along straight lines
To simplity the construction of root locus certain rules infinity is equal to (n -m) Rule 9: The value of open loop gain K at any point s =s, on sts+a)+ K =0
with the real axis. Angles
called asymptotes making angles
are to be followed : the root locus is given by
made by them are given by, K=-*+ sa)
Rule I: Root Locus is Symmetrical About the Real Axis of Product of vector lengths from
the s-plane t180°[24 +l] KOpen1oop poles to the points Now,
(n-- m) Product of vector lenghs from
Roots of the characteristic cquation are either real or 0
complex conjugate or combination of both. Hence the locus Where, q=0, 1, 2, ... ( - m- ) open loop zeros to the points ds
made by the roots must be symmetrical about the real axis of Rule 5: All asymptotes intersect with the real axis at a point -2s+a)-0
the s-plane. called centroid given by
Rule 2: At open-loop poles, gain K= 0 and at open-loop
Sum of real Sum of real
ie,K is+m 2s+a=0
Zeros, gain K = o
Iparts of poles parts of zeros The characteristic equation is given by,
Leniroldo
Let 'n' be the numbeT of open loop and 'm'be the Numberof poles (n) Number of zeros(m)
-

Substituting s= n equatioa (1), we get,

number of open loop zeros.
Angles of asymptotes alone are not sufñcient, location 1+G)Ho)=0
The open loop transfer function ofthe system is given by.of he asymptotes on the s-plane are equal important All Go) HO=1
asymptotes intersect the real axis at centroid which can be
Gs) HE)
Ks+ms +m ) determined using the above formula. KRs+ ma).=1
(s+Xs+ na). Rule 6: The breakaway points and break-in points are (+Ms +m)
--

theroots
Gs) H)= K2j=+n,)
i+m)
Characteristic equation is grven as,
o f the equation =
ds
branches, breakaway is given at t
0, and the angle at which the root locus

180 where r is the number

A(s+mMs +m2).
IK=a6+n,)
-1
1+Gs)HG) =0 of branches approaching or leaving the break point. i+m,)
Breakaway points and break-in points are the points on Q36. Explain the effects of adding poles and zeros
+ K2=1S ") =0 [: from ()J a35. Defipe and derive the breakaway polnt on the
to G/s) H(s) on the root loc.
which, for a particular value of K, characteristic
the root locus at
root locus.
j1(5+n,) equatjon has multiple roots.
(April-18, Set-2, Q4(b)| Model Paper-ill, Q4(a})
jstn) +K>=1(6tm) =0 . (2) Ans: (Aprl-18, Set4, Q4(a) |Aprii/May-16, Set:2, Q4(a)
Rule 7: Angle of departure from open-loop pole is
given by OR
Now, when K =0, cquation (2) has roots at s=-n, where =t(24+ I)T+0 where q = 0, 1,2, Break-away Point
= 1 , 2 , 3,.. n) which are the open loop poles. It is a point at which the root locus enters the complex What is the effect of addition of poles on root
And is the net angle contributed by all other open lop
. Each branch of the root locus staris at open loop poles. plane breaking the real axis plane. locus?
poles and zeros, when joined to the complex pole whose
Equation 2) can also be written as, to be calculated. Break-in Point Vote RferonbTopie EecrofAddidonefPal
AprilMay-16, Set3, Q1(c)
.. (3) Angle of arival at an open-loop zero is given by lt is a point at which the root locus enters the real axis
+ n , ) + 2 6 + m,) =0
. from the complex plane. OR
=

t(24 +1)t-0 where q =

0, 1,2,.
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 cONTROL SYSTEMS IJNTU-KAKINADA UNIT-2 (Time Response Ahalysis-Stability and Root Locus Technique)
2.36 2.37
and figure (2), we thar
ohserve Where, a37. The open loop transfer function of a unit feedback
What is the offect of addition of pole to a transfer From figure (1)
shifns the intersectof
function on Root Locus? intmduction ofthe pole at s-P, P 0 K
systemis ghven by Gls) d+11)sketch
Nate: Refer oby Topic: Eecr of 4diton ef Pele theasymptotes
from. to
o ntherealaxis
2 Let us introduce a zero at s - 2 , to the system of root locus of system.
changes t60° 1
from 90° to cquation ().
MaylJune-15, Sot-1, Q1d) The angle of asymptotes Ans: ApriMay-19, Set1, 41 Model Paper, Q4b))
of the locus to bend to the right
makes the imaginary part AG+2) Given that,
OR half of the s-plane. ) G)HO)s(+R)
GMo) -

(2) K
the stability ot the system,
in Go) (1)
h e etect
of
adding poles and zeros toi) There is a relative decrease Where, s4s+11)
G(s) H(s) on the root locus of the closed loop The system shown in figure (1) is
always stable lor K 0 Step-1: To Loeate Poles and Zeros
system. shown in figure (2), torK> critica Z >P
In case of the system
would be unstable.
Ans: valuc ofstability, the system The poles are obtained by calculating denominator to
Figure (4) shows the root locus of equation (2).
Let us add another pole s=P, zero .
Efect of addition of pokes and zeros to Gs) Hs) on root
locus of the closed loop system.
s(+4+11) 0
Where
functlion becomes. s0 and + 4 s + 11 = 0
1. Efect of Addition of Poles P,>P, then the transfer
Addition of a pole shifts the roo loci to the rnght half of G) Ho) S) K- KK- K0 -444(1)(01)
the s-plane s(s+ R)s+ P)(s*B) 201)
Figure (3) represents the root locus of cquation (3), -4/16-44
Consider a function Go) Hs)= (1) 2
K
Where.
-27
P >0
PP,= K Figure (4
The poles ares =0 and s =-P P-P, = -
() We observe that addition of zero has bent the imaginary
Poles ares=0,-2+1/7,-2-j7
Figure (1) shows the root beus ofequation (1), of the system of equation (1) to the left to form a
K=0K=0 K=0 part
circle.
-2+ 2.64, 2 - 264,
There are no zero's.
P P -P
There is a relative
()
of a
increase the
in the
stability of the syslem Step-2:To Fad Root Locus on Real Ars
=0 on addition zero to system This is because
addition of a zero shifts the root locus of the system Considera test point "a' on negative real axis in berween
towards the left, as seen in figure (1) and figure (4). pomt s 0 and s = - . Now, the total number of poles and

(ii) Addition of a pair of complex conjugate zeros to the zero's towards the right of test point is an odd mumber. Hence
system shown in figure (1) gives a root locus shown in the complete negative real axis is a part of root locus. The poie-
Figure (3) figure (5). zero plot is shown in figure (1).
Figure (1)
We observe that the imaginary root loci are bent farther K
K-

Now, let us introduce another pole ats =-P, to the nght i.e., to an angle of +45°.
2+j2.64
Where P> P The stability condition becomes more acute comparedto
the systems (2) and equation
ofequation () 2.64
Gis) Hs)= s(s+ R)G+B) .(2) Addition of a pair of complex conjugate poles exhibits
the same result.
Figure (2) shows the root locus of equation (2). ii) Addition of pole makes the system, more oscillatory m
nature.
K When is added the system the range
iv) a pole to
of K K
decreases.
P (V) Addition of a pole decreases, the relative stability and Figure (5) -2-j2.64
K=0 gain margin of the system.
K=OK=0
Effeet of Addition of Zeros This has the same effect as in the case of addition of a
zero at s = -
Addition ofa zero to the system shifts the root loci Figure (1: Pale Zero Plot
to the
left half of the s-plane away from the imaginary axis. (iv) Addition of zero decreases the oscillatory nature ot the Step-3: To Find Angle of Asymptotes and Centroid
K| K Consider the function, system.
Since there are 3 poles, the number ofroot locus branches
K (v) When a zero is added to the systerm the range of K
Go) Ho) s(s+P) will be 3 and all the 3 root locus branches will get terminate at
decreases.
Figure (2) infinity.
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 cONTROL SYSTEMS 1JNTU-KAKINADAI UNIT-2 (Mne Response AnalysisStability ard Ro Lous Tectnigej 2.39
2.38
wth respect to;'son bon From igure (2),
flerentinting equatron (3), Step-7: The (vmplete kort Is*us kreh n Sbann in (raph
Now
The ange of asymptotes sides and equating 0, we get,

TeTe, 3, m " 0, q 0 , 1, 2
. 4e T1s))0
IRP-an (32)
d 127.14
9 , we bav.
And also,
Angle of axymptotes 1 80 (2(0) 1 ) 4s1
3-0 ds 90

18041) 3sKs+11)0 Therefore,40,0

127.14 + 90*

above cquation, we gct,

217.14
On solving
For 91. we have Angle of departure,
s-1.333I 374
180(2)+1) 180- 4
Angle ofasymptotes
30 For s-1333+1.374 cquation(3) becomes 180-217.14
180 K-I(-1.333 /1374)'+4(-1.333 +/1.374Y -37.14
For q 2, we heve,
11(-1.333+/1.374)] The poles are complex conjugate, the angle of
Angle of asymptotes 180(2(2)*1) departures are + 37.14
3-0 -(5.181 +j4.734-0.11 -j3.663)
Step-6: To Flnd Crossing Point on Imagiaary Azis
300° or 60° +11(-1.333 +j1.374)]
The characteristic equation of given trarnsfer function is,
Also. the centroid 15 given y = - [5.181+j4.73 0,44-j14.652-14.663
+/15.1141 +45+11s+K= 0
Centrosd SUm o1 polesSum of zeros Put sjo
=- [-9.922 +J5.192]
Grapb
jo +44jo}+ 11jo)+ K=0
0-2 /2.64-2-2.64 -0 = (9.922 j5.192) positive and real fo+4fo+11jo + K= 0 a38. Calculate the angle of asymptotes and the
3 -0
Similarly K=- 1.333-/1.374 also does not yield positive centroid for the system having
-jo-4+11jo +K =0
and real values. Hence, the given transier function does not have
GIs) His) Ks3)
break away or break-in points. 4+K+(-w'+ llo)-0 s(s 2)(s+ 4)s*5)
1.3333 Equating real,and imaginary part to zero, we get, Ans:
Step-5: To Find Angle of Departure (Aprilay-19,Set3,O4b) |Model Paper-a4p}
Step-4: To Find Break Away and Break-in Points Imaginary part, Given that
The angle of departure is found out for complexpoles -o+llo=0 Open loop transfer fiunctuon,
The closed loop transfer function iS given as, erminating at o .

C(s) G6) Angle of departure, ,= 180° + oo?+11)==0

G) Hs)
K(s+3)
R(s) G(s)
Consider figure (2),
=0 and + 1l =0 sts+2)(s+ (s+5)

K Angle of asymptotes, 8-?

s4s+ 11) -2+j2.64 3-
Centroid, G=?
The poles of the open oop transfer finction ae the roos
ss4s+11) 04 0 =*3.316
of the denominator polynomial

K Real part, 0
.(2) sts+20s+4)(s +5)
s(+4s+ 11)+ K 4w+K=0 0,-2,-4,-5.
From equation (2), the characteristic equation 1s given by, -4(/11+K-0 There are 4 poles ie. n=4 snd are lyingat s=0, -2
4. 5
s(s+4s+ 1)+K=0 2 -44+K 0 There is one finite zero áts3ie. ns.
2.64
s+4s+ 1ls +K= 0 J2.64 -3 K 44 Since there are 4 poes. the number ofroot iocus branches
Thus, the crossing point on root locus is+ 3.316 and the wil be 4.The starting pointofthese root locusbrancbes are the
K=-&4s+ I1s) .. (3) Figure (2) value of K at this point is 44. poles and the terminating points are the zeros.

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 cONTROL SYSTEMS JNTU-KAKINADA UNIT-2 (Tme Response Analysis- Stablity and Root Locus Technique)
2.40 24
are 4 poles and one finite zero, the mumber of The breakaway points are determined
frn cquatino
ing a40. Skotch therootiocus diagram oft control system
Sanoe, there teminatine |
rootlocus branches terminating
locus
The number of asymptotes is
at in
at infinity 3 (n-m=41=3). |
are
= 0
K(+1) lustrate all the
with GH(9) s(+3)(05)
equal to the number of root locus ds
branches terminating at infinity. Therefore, the nuhber of as-
relevant steps.
ymptotes required are 3. (s+ 4)(2s+2)-(+2s+4))1
dk Ans Nov-20, 8et-1, Q4(a)
Angle of asymptotes, 0 t u 4 *) ds (s+4) Given that,
m

Where, (2s +2s +8s+8)-(s*+2s+4) G3) K(s* 1)_

ss+3)+5)
n-Number of poles4 (s+4) Step
Figure 2)
m - Number of zeros =1
Location of poles and zeros Step 3
Therefore, angles of asymptotes are obtained as, 2s +10s+8-s-2s-4 The poles of open loop transfer function are the roots of To find angle of asymptodes and centroid
(s+4) equation, We know that,
=0, 0
Ifq =0, =t 0(2(0)+1) t
8=t 180
=t60°
s+3G+5)-0
Angle of asymptodes=toL4T
Ifq =1,0=t (3)
=t 180° s0,s-3,s-5
where 0, 1,2,,. m-1)
Number of poles, n -3
dk The zeros of open loop'transfer function are the roots of
Ifq =2,0 t
t 300 Nowequating 0
equation,
here n3 and m 1
Centroid is the meeting point of asymptote with the n m = 3 - I =2
K(s + 1)=0
real axis.
s-l 0,1
Centroid

Sum of poles- Sum of zeros

Number of zeros, m= For q=,
Number of poles (n)- Number of zeros (m)
s +8s +4 0
Step 2
Angle of asymptodes= 180[2(0)+1]
2
To find root locus on real axis
90
(0-2-4-5)--3) -8tV(8-4(04)8t/64-16 Consider the pole-zero plot of G)shown in figure (1)
4-1 For ,
20) AJO
80|2(0)+1
Angle of asymptodes =

-266 -8t48-8t45 --42 3 270

2

Q39. Determine the breakaway points of the systems 2

which have the open loop transfer function
s-4+2 3=-0.53 Centroid Sumof poles-Sum of zeros
G(s) H ( s ) = K ( s + 4 ) m
s-4-2 N3 = - 7.46
(s2+2s+4) 0-3-5))
Ans: AprilUMay-19, Set-4, 04(a) 2
When s -0.53
Given data,

Go) Ho) K(s+4)

(+2s+4) -*--2 Figqure (1)
In figure (1), cross (X) marks indicate poles and (0) marks
Step4
The characteristic indicate zeros. To find break-away and break-in points
equation of the system is given by,
-0.53)+2(-0.53)+4
-0.53+4
N o w choose a test point A" on real axis between s = 0
1+Gs)H) =0 Equate 1+ G() Ho) = 0

-0.92
and s--1. From figure (1), it is clear that the number of poles
K(s+4) = 0
and zeros that lie towards right
oftestpoint A are odd (i.e,one). Ks+ 1) =0
Hence, the real axis between s=0 and s--I will be a part of
s+2s+4 When s =-7.46
root locus, Choose a test point B" on real axis between s =-
s(s+3)(s+ 5)
s ( s + 3 ) (s + 5)+ K(+ 5) =0
s2s+4+ K(s +4) K -
ands= -3. From figure (1), it is clearthat the number ofpoles
= 0
and zeros that lie towards right oftest point B are even (i.e. two).
s+2s+4 - s(s+3)s+5)
s+2s+4+K(s+4) = 0
Hence, the real axis betweenI ands=-3 is not a part of K s+l
root locus. Similarly, by observing test point "C" and test point
K(s+4) =-(*2s+4) [-7.46 2-146)+4-129 D we can say that the real axis between s - 3 and s = -5 is K=
-
s + 8s +15)
-7.46+4 part of root locus where as the real axis betweens-5 tos = s+1

K--2 For s=-7,46, the value of Kis positive and real

and hence it is the actual
breakaway point.
is not part of root locus. Therefore the section of root locus on
real axis is shown in
as figure (2)
K= (s+8+ 15s) .0)

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 cONTROL sYSTEMS |JNTU-KAKINADA UNIT-2(Tme Response Analysls- Stability and Root Locus Technique)

terentialiog cquation (1) with respect 's" 041. Using baslc simple
steps, sketch the
root locua At the complex zero -1 +jl the angle of arrival is
to we gct,
diagrams
of the following
control Systems calculated as shown in +gure (2).
d +8r+15»)] Aj

() GH(s)=
(s+D3s+ 16s+15)-(s 8+158) K(s+2s+2)
(+12
(i) GH(s)= s2
3s+16s+1Ss+3s+ 16s +15-(s'+8s+ 15s) K
+1) (i) GH(s) (s+ 1)(s+2) (s +3)
[25+11s*+ 16s+15]
(+ l= K(s+2)(s +3)
(v) GH(S)s2+2s+2
Figure (1) Figure (2)
Equate 0
s Nov-20, Set-1, Q46)
Ans: 90
(i) GH(s)= K+2s2
[211+16s+ 15]- 0 (i) Given that,
Location of poles and zerOS
-180-tar-135
(s+1)

2 + 11s+16s+ 15 =0 GHO) The poles of open loop transfer function are the roots of 135
From the given transfer function the poles are, equations =0 --
s=-3.95,0.77+1.14i, 0.77+1.14 s = 0 , s = 0, s = 0
s-0,s 0 ie. there are two repeated poles at origin
The valid breakaway point is s =-3.95 zeros are not present
Number ofpoles, n-2 =90-(135°+135)
Step 5 .
Number o f poles, n = 3

The zeros ofopen loop transfer function are the roots of 180°
The complete Toot locus sketch is shown in graph. Number of zeros, m =0
equation, 180-=180--180)= 360
Root locus of Gls) = Ks+1) Angle of asymptotes
0|2q+1]
=+ s+2s+2-=0 Hence complex zero-1 +jl will arrive at angle of360°.
s(s+ 3)(s+5) Therefore, the complex zero-1-jl will ariveat angle of-360°
Where q = 0 , 1 , 2 . . . . (n - m - 1)
as it is conjugate of -I +j.
s = - 1 +i, s =-1-i
here 3,n= m
=
0 Hence the final root locus is as shown in figure (3).

n-m 3-0=3 Number of zeros, m = 2 -360° A jo

90, 1,2 Angle of asymptotes= +180[24+1] S-1+j(

m

For -0,
Where q 0, 1, 2,. m-1)
Angle of asymptotes= 180[2(0)+ 1]
Here n2 and m=2 (s=0,s=0
= 60°
n-m-2-2 0
branches of root
--i ( - 1
For 1 Asymptote do not exist i.e no P360
locus will teminate at infinity.
Angle of asymptotes = 18012(1)+1]
3
-180 Angle of Arrival Figure (3)

For q =2, The poles will terminate at complex zero at an angle

known as angle (,). The angle of arrival 1s given
of arrival as,| () GHo)=+IG +2)(s+3)
Angle ofasymptote =o )TI1300
180-¢ Location of poles and zeros
um of poles - Sum of zeros Where E4,-Zop The poles of open loop transfer function are the roots of
Centroid=
-m E , Contributions by angles made by openequation.
zeros at the zero at which , is to be
loop (+ 10s+2)(S+ 3)=0
(0+0+0-0 0 calculated
3 s-1, s =-2,s=-3
The root locus Eo Contributions by angles made by open
departs at an angle of60, 180,300° irom
Graph open loop poles. The root-locus sketch is loop poles at the zerO at which , is to bee Number ofpoles, n=3
shown in figure ( calculated.
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 cONTROL SYSTEMS IJNTU-KAKINADA 2.45
UNIT-2 (Time Response Analysis- Stability and Root Locus Technique)
lg
But from igure
Breakaway pount
is a pard ofnot
locus,
(2) (dv) G)= (6+2)(643

There are no zeros does not lie

on root locus. FHence 2.57 2+2
Equatea
2.57
he points
Number of zeros, m0 not a valid breakaw
ay point
Location of poles and zeros +2s+ 3)(2+2)J-P+25+2x2s+5)=0
Is

To find angle of asymptotes and centroid The breakaway point is s-142

intcrsection of root locus
0n maginary axis The poles of open loop transfer function are the roots of 5s+5)(2+2) (G+2 2x2+5)]-0
We know that To find

180124+1) The
characteristic equation is given by copuation,
+2s+20 (2+10+12+2 10+12)
Angle of asymptotes 2 4#4y+51-0
- = 0
I+ GsHs)
Where g
=
0, 1, 2, ..(m- 1 2/2-40 3s+&s #2-0
()
Here n= 3 and m = 0
sDs+ 2)(s +3) s-0279, *-2.38
+K=0 -1+ ,s-14
-m 3 -0 3 1)(s+ 2) (st 3)
(+
Number of poles, n-2 Asbreakaway point lies on root locus
0 , 1,2 s 6s+ 11s +(6 + A) =0
The zeros of open loop transfer function are the roots of From figure (12), s-0.279is nota valid breakaway
For q-0, Put S jo cquation
point.
) ' + 6jo)
+
I10jo) +6 +K=0 K +2)s +3)0
Angle of asymptotesSO[2(0) +1] The breakaway pointis s-2.38
3 j'o'+6o+ 1ljo +6+K=0
60 2,3 Angle of departure at complex poles
For q 1, jo-6o+11jo +6+K=0 Number of zeros, m=2
=0 The complex poles will depart towards zero at an angle
180[2(1)+1 6» +6t K+j(-o'+ llo) To find angle of asymptotes and centroid
known as angle of departure ( . The angle of departure is
Angleof asymptotes= 3 to we get,
Equating real and imaginary parts zero, We know that, given as,
180 Ilo =0
60 and -o'
+6+K= 0 +

Angle of asymptotes 180124+ 1] 180+

For q=2.
Consider-o'+llo =0
Angle of asymptotes 180[2(2)+ 1] 3.31 Where q0,1, 2,... (n-m-1) Where -
- o + 11 = 0 V11 =

3 300 The crossing point of root locus on imaginary axis

have n-2, m=2 EContributions by angles madeby open loop
zeros at the pole at which, is to calcalated
Centroid
Sum of poles -Sum of zeros iss+jo=+j3.31 n-m=2-2 0
The complete root locus sketch is shown in figure (4). -Contributions by angles made by openloop
There are no asymptotes i.e. no pole terminates to infinity
-1-2-3-(0) 2
jo
poles at the pole at which is to calculated
3 As asymptotes are not present hence centroid is not
To find break-away and break-in points At complex pole 1+jI the angle of departure is
required.
calculated as shown in figure (5).
Equate1+G&)HS)=0 To find break-away and break-in points
K
1+ 0 -j3.31 Equate1+GGH) =0
s+1)s+2)s+3)
* D s +2)(s + 3) +K=0D I+E*2)6*3)-=0
+2s+2
K = s + Ds+2)Ms+3)
K(s+ 1*+ 5s +6) +2s+2+KG+ 26+3)=0
K-fs+5s+6s+s+5s +6] K- (+2s+2)
K=-s+ 6s +11s +6) (1) (6+2 (+ 3)
Diferentiating cquation (1) with respect to's we ge, Breakaway Differentiating the above cquation with respect to's
Point
We get, Figure (5)
= -3s- 12s-11
--j3.31 dkd+2+2) 90°

Equate =0 dsds &+26+3) lan45

-3s125 11 =0
dK._(+2)(6 +3)(23+2)-6+24+2)2s+5)
s-1.42,-2.57
Figure (4)
3) tan-26.56
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 cONTROL SYSTEMS |JNTU-KAKI
2.47
UNIT 2 (Time Response Analysis Stability ang Root Locus Techniquo)
246
20
For a systom having G(ejHte) 728 fnd Itstme response specificatilons.
2
-( - (AprlL-18, Set-3, aMb)| AprlUMay-13, Set3, a3(b)
MES

Ans: Rcler (913,

(45+26.56)- 90*

-180+
-18.44°

180+ 18.44 = 161.56°

a. Fora system
speciflcatlons.
having G(o) 4
s(s+10)
and unlts negatlve feedback, find Its time response
2
TIMES
Hence 56
at complex pole- 1 +/1, the angle of departure is
16
At the complex pole -1-j1. the angle of departure is-161.0
Ans: Reler Q14.
4 prliMay:19, Set3, 234D)JAprilMay-13, Set, a4b)

stoady state constants of different types of Inputs.

Dofine and
3
Hence the final the error error
root locus is as shown in figure (6) a7.

161.S6 TMES
Ans: Refcr Q16. (AprlMay-16, Set-3, 03(a)| MaylJune-15, Set2, a3(a)| April-11, Set-2, 03(a)
fx..

Q8. wite the limitations of the Routh's stability.

(Aprli-18, Set-3, Ma)1 Aprl-18, Set1: O4a)|TMES

4
Ans: Refer Q27, AprilMay-17, Set-3, Q4(a)| AprilMay-16, Set3, Q4(a)
Breakaway
Point
loop transfer is
o-161.56
a9. Determine the stability of the closed loop system whose open

5(28+1) MES
Figure 6) s(s1)(1+3s)(1+0.5s). using Routh-Hurwitz criterion.
Ans: Refer Q29 (April-18, Set4, Q4(b) | MaylJune-15, Sel4, 94(b))

a10. Explain the procedure for construction of root locus.

Frequently Asked &Important Questions E5
ApriMay-19, Set-2, Q4(b) IAprik18, Set-204a)1
I 01. Obtain the time response
ofafirst order system for unit step input and plot its response.
a
Ans: Refer Q34. AprilMay-17, Set-1, Q4a) | ApriMay-16, Set-1, 4b)| MaylJune-15, Set-3, a4a)

ITUMES a11. Define and derive the breakaway point on the root locus.
Ans: Refer

02.
Q3.

Determine the response of second order system with unit step input.
(AprilMay-17, Set-4, 23(b) | May/June-15, Set-3, Q3(a)).
2
TMES
Ans: Refer Q35. (April-18, Sot4, 04(a) | ApriiMay-16, Set-2, Q44a)}

UMES Q12. Explain the effects of adding poles and zeros to G{s) H(s) on the root loct.
Ans: Reier Q5.

2
Apri/May-19, Set-2,23(b)1 ApriliMay-13, Set-2, a3(a) | April/May-11, Set-1, a3(a))
Q3. Explain time domain specifications.
Ans: Refer Q36. April-18, Set-2, Q4{b) l AprlUMay-16, Set-3, Q1(¢)

(April/May-16, Sel-2, Q3(a) | May/June-15, Set-1, 01(c)| Q13. Derive the generalzed error constants.
Ans: Refer
Q8.
MaylJune.-15, Set-2, Q1(¢) | April-11, Set-3, Q3(a)
Important Question
Q4. Derive expressions for peak time and settling time of second order
system for unit
Ans: Refer O17.
input. step
a14. For sarvomechanisms, with open loop transfer function given below explain what type of Input signal

(ApriUMay-19, Set-1, 03(a) | April/May-19, Set-4, Q3(b)| gives rise ti a steady state error and calculate its values, G(s) =
April-18, Set-2, Q3(a)
AprilMay-17, Set-1, 03(b)1 April/May-17, Set-2,
s(s+1)(s+3)
Ans: Refer Q9.
MaylJune-15, Set4, Q3(a)1April-11, Set-4,
Q3(b) Ans: Refer Q18. Important Question
Q3(a))
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 cONTROL SYSTEMS IJNTU-KAKI
KINADA A

2.48 c(s)Ks+bDeterminethe open

015. Consideraunityfeedback system with
loop transfer
closedtransferfunction

function G(s). Show that the

with unit
ramp input
steady
s

state
error
R(s)s"+ as+b
given by
UNIT FREQUENCY RESPONSE ANALYSIS A CO
ImportantQueston
Ans: Refer Q19.

0. EXplein

Ans: Refer Q21.

effect of Pl controller on a unity
feedback control
system
with a forwara gam

with proportional
or

Important Questlon
controllera?
3
derivatve controllers and why a r e they
used in combination a Syllabus
nat are Transfer hunction from
Important Quentdon Introduction to frequency domain specifications Bode diagrams-
FREQUENCY RESPONSEANALYSIS: Polar plots- Nyquist stabiläity
criterion
Ans: Refer Q22. the Bode diagram-Phase margin and gain margin-Stability
analysis from Bode plots-
offeedback control systems
transient perfomance
ofproportional derivative control
on
Q78. ustrate the effects

ImportantQueston
Ans: Refer 023.
ratio witnout
arecting the EARNING OBJECTIVES
Increasing the damping
019. Show that derivative feedback has the effect of
a

undamped natural frequency of oscllations.

Important Questlion Frequency domain specification
Ans: Refer Q25.

EXERCISE QUESTIONS
Poldrplot

Bode plot
Sketcn the rlt) and clt)and
01. or a hrst order system, find out the output of the system when the input applied to the system is unit ramp input.
show the steady state erro.
Nyquist stabilty criterlon

Determine damping ratio, natural undamped resonance

02 Aunity feedbeck control system has the open loop transfer function given by Gis)
INTRODUCTION
frequency, percantage, peak and an expression for eTor response for a unit step input
function.

which can be by the use of frequency response

U3.
Aunity feedback control system has a lbop transfer function, Gis)l2 Find the rise time, percentage overshoot, peak time and setting time lo The analysls of control system in time domain has several drawbacks overcome

state response of a system for sinusoidal input. It is usually characterized by variations

a step input of 12 units. analysis. Freqvency response is the steady
in radians. The analysis provides useful insights into
of magnitude in dB and phase angle in degrees with variatlons of frequeney
stability and performance characteristics of the control system.

be carried out using Bode plots, Polar plots, Nyquist plots or Nichols plots. This unit covers the
Frequency response analysis can

M and N cirdes
concepts of Bode plot, Polar plot and
Nichols plot. These plots a r e usualy drawn for open loop systems. By using
defemned from the knowledge of open loop frequency
response of dosed loop system
can be
and Nichols dhart, the frequency
and to adjust the
response. These plots are used to determine varlous frèquency
domain specificatlons, to analyse system stabliy

galn in order to'satisfy the desired spedfications

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