NOTES

T H E O R Y
S Y S T E M
CONTROL
CHAPTER-I GRAPH
FLOW
SIGNAL
D I A G R A M

&
BILOCK
mecharanis1m or other ey
1.1 Control System ofnterest
ina muchine, pmoi
quuntty
The controlsystem is that
means by which n y
desiredmanne
accordance witha
maintained oraltered in
ofcontrol systems
There are two types
1.1Open Loop Control System are
called open
control system,
loop cor
controlaction
has no eflect on the etc.
The systens in which output machine, lan
Semi-automatic washing
control,
Example: Trallic
Control Output
Input- Action
control system comparison
with the
Open loop feedback for
measured nor
control system the output
is neither calibration.
accuracy ofinput
n open loop control system depends on the
input. Faithfulness ofan open loop
1.1.2 Closed Loop ControlSystem & hence these system
a feedback
control action through
has an effect on
In closed loop systems, the output
are also known as feedback control systems.
--******************°
Error
Forward
path elements
Detect or
Controlled
Reference- Error o Control Plant output
Input Actuation elements|
signal
Controller
Feedback
path element|
Block diagram of a closed loop system
An error detector compares a signal oblained through feedback elements which is a functionofthe outplu
response with the reference to input. Any dilierence belween these two signals constitute
and error or actua
sional which actuales the control elements. I he Control elements in turn alter the conditions in a
manner so as to reduce the original error. plant m su
Example :AC, fully automatie washing machne, elcctric iron, micro
wave oven.
1.2Transfer Functionof ControlSystems
Transfer function is the ratio of Laplaco
transformofoutput to the input when all initial conditions are
z e o
ENGINEER'S CIRCLE
 CONTRO1 STSTLAI
TUOR NOLS

.OpenLoopControlSstem

w/n.R(s) lnpuu
(s)Outut

iqs). R(s) Tansderi)

Tumetin

CusoII oop Coutol System

Ris)
G) C(s)

H(s)
Block diagram of closed loop sytem
Gis)-Fonvard path gain
Hs)Feedback path gain
Transfer funetion T(s) G(s
R(s) 1+G(s) H(s)

Difference between open loop and Closed loop system:

Open loop Closed loop
1. Accuracy is low 1. Accuracy is high as compared to
open loop system.
2. Simple & cheap 2. Complex & cos tly
3. More Stable 3. Unstable
4. Operation is affected due to 4 .It adjusts to the etlects of non -
the presence of non - linearities linearities present in its elements
in its elements

3 Representation ofa ControlSystem

There are two methods ofrepresenting a control system
) Block diagram representation
(i) Signal flow graph

S Block Diagram Representationof Control Systen1

it can be used
ADlock diagram can be used simply to describc the composition and unterconmection ofa system.Or
together with transfer functions to deseribe the cause-and-clects relationsbips throughout the system.
 NOTES
THEORY
SYSTEM
CONTROL

SIRules for Block DiagramRedueu

HElimination of aloop
C(s) CS)
G(S)
RS G( RR($)
1+G(s)H($)

H
Block diagram of closed loop system

bloCk
MMoving a take off point before a block to after
a

R CGGR

-C=R

RG-C-G.R

-CR
(n)Moving a take offpoint after a block to beforea block
RGC-GR

-C,= GR .

RO-C-GR
1GGGR

(iv) Blocks in Cascade

R--G-GcG,R
(V)Blocks in Parallel

R-
+C=(G, t6, tG,)R
(vi) Movinga block before a summing
pont to after a
summing point

ENGINEER'S CIRCLE
 R C RG,t X

R kG, X

(v) Two summing blocks can

be interchanged if there is notake-offpoint between them

R
TO

R-TCa-
C_11+G
R 1+HH
(x) Moving a take-off point before summing point to after
summing point.
R- - C , = RtX

...

-C, = R

R -C, = RtEX

ENGINEER'S CIRCLEE
 CONTROL SYSTEM THEORYP

point.
summing
before
to
(x)Moving a take-off pointafter a summing point

R
R + X

- C , = RtX

X
C, = R+X

C =R+X

ALGEBRA
DIAGRAM
RULES OF BLOCK

Equivalent digram
Rule Original diagram
X,G,G,
1. Combiningblocks X,GG
in cascade

2. Moving asumming G(X,X)

(X,X) GX,+X,)
po int after a block G
X,

3. Moving a summing (XGtX) XX/G)

GGX)
point ahead of a block
x
4.Movinga take off point
aftera block
X,
1
5. Moving a take off po int
ahead of a block G
XG G
6. Eliminating a feedback
Toop G
H 1GH

ENGINEER 'S CIRCLE

 block diagram shown in figure
ple: Reducethe
Exan

H,
Block diagram for example

point before block G, to a position after block G

Sol, Shit the summing

Block diagram reduction of system

after block G,.

Interchange consecutive summing points

G2

G,H
Block diagram reduction of system

Eliminate summing point after block G,

G,G2

Block diagram reduction of system

Shiftthesumming point after block (G, +G,) to a position before block (G,+G) and combine blocks (G, + G) and
G

ENGINEER'S CIRCLE
 THEORY NOTE
SYSTEM
CONTROL

in forward path
and one block in feethack
one block
Block diagram oductionofcxampke into a form
having
The overalltransfer function is determined below
GG+GG
-(1)
(G+G)G 1+GG,H
GH
1+(G,+G, (G +G) in
representation isshown gure
ACCOrding to equation (1) the single block diagram

R GG+GG Ans.
1+GGH
example
representation of
Single block diagram

then forward path gain G is givenas

isatransfer function andfeedback path isgiven
H
Note:If

1.3.2 Signal Flow Graph

reduction process is tedious & time consuming process hence we use
For complicated systems, block diagram ofa flow graph gain
any reduction process because ofavailability
signal flow graphs which does require
not
& systems variable. Signal flow graph is a pictorial representationofthe
formula which relates the input output does not
flow graphswas developed by S.J. Mason which
simultaneous equation describing a system.Signal which relates the input and
ofavailability ofa flow graph gain formula
require any reduction process because
output system variables.
are described below.
Tems used in signal flow graph representation

Node: It represents a system varlable

which is equal to the sum ofallincoming signals at the node.
node to another in the direction indicated by the branchamo
Branch: A signal travels along abranch fromorone
and in the process gets multiplied by the
gain transmittance ofthe branch.

with onlyoutgoing branches.

Input node or source: It is a node
met
Outout node orsink: It is a node with only incoming branches. However,this condition is not always
Path: It is the traversalofconnected branche in the direction of the branch arrows such that nonnode
o d e istraverseu
istm
more than once.
 CONTROIL SYSTEM TIIEORY NOTES

aad: Loop 1S a path tat origates and teminmtes on the sane node and akong
which no othct ode is
crcoun
Loo
than o n c e .
nmore
lend

self
aclaop: Aselfloop is a fevdback lwpeomiting ofa singlo baAnh
is the praduet otthe braneh paineotthe lwp
oopGain:
Forula
32,1Mason'sGain
his fonnula is used to td out the overall gain ofa systemfrom it's signal thow yraph

Thanserfumction= A

In
is the forward path transnittance ofKh path froma specificd input node to output node.
should
node: be encountered more than once.
erting P. n0
i s thegraph determmant which involves closed loop transmittances and mutual interactions
erveen non-touching
loops and is given by

J=1-[Sumofall individual loop transmittances]

Sumof loop transmittance products ofall possible pairsof non-touching loops.]
-[Sumofloop transmittance productsofall possible triplets of non-touchingloops
S O no.

A-is the path factor associated with the concerned path and involves all closed lbops in the graph
which are isolated from the forward path under consider action.

Example: Find out the transfer function using signal low graph given below

Signal flow graph for example

Sol. Path P,=ab,P,= ed,P, = aed,P, = clb

Loop L= ef,L = 8
Since,No non touching loops
Hence A 1-f +8

D 8) + cd + aed + cfb
So, Ts) =
Ans.
- (ef + 8)
 CONTROL SYSTED
(SFG)
graph FG. Ifthere a
in SFG.
ar
signalow nodethen they can be
1.3.2.2 Rulesfor designing: represented
by a
separate
them,
ther
is betwecn
ock dingram offpoint
() Every summing point of without any
tuke
point
two consccutive summing
used to represent represe
represented by a singlo node in SFU. should be used
node should
represent path gain narale node
(i) Gain ofa bbck dingram
separate
point, then
before summing
(ii) Ifa take-offpoint is represented by
same
node.
them can be
them, otherwise they
are connected via
separate nodes
in SFG and these
(Iv) Input and output are represented by
SFG.
unity gain to the remaining part of
L4EffectofFeedbackon aSystem
14.1 Speed of Response (Time Constant)
With the introduction of negative feedback, the speed of response ofthe system
R
(a)
Effect on time constant (a) Open loop
6)
system (6) Close Ioop system
RS4K.e
K
S+ K+K Ke (a+K)r
S+a
where, r -time constant atR
We can see that withthe introducti of
of response increases and
bandwidth increases.negative feedback, the time
constant ofthe system reduces, S
1.4.2 Over-all gain system reduce
In negative feedback, overall gain decre
while in positive
14.3 Stability feedback, overall gain
With negative
feedback, stability increases
increases
reases.
and with
ENGINEER'S CIRCLE with positive feedback
postive fcedback stability decreases
decrease
 HEOKY TNO ES
AReduction in variation due to external disturbances
L.44)
is externaldisturbance
LetN(s)
N(s) N(o)
RG +c 0-- -C
(a) (b)
Effect on extermal disturbances (a) Opon loop systom (b) Closo loop systom
G. R
RG+N(s) C N($)
R +GH +GH
Reduction
- ve
due to
feedback
14.5Reductionin parametervariations (Sensitivity)
Parameters can be varied with forward path gain (G) & feedback path gain.(H).
R C
RG-c
H
(a) (b
Parameter variations due to change in forward path gain (a) Open loop (b) Close loop
Variation in transfer function due to variation in G
AT T
Sensitivity =S =
AG/G
For open loop system For closed loop system
AT
S =
AG T
S + GH
This means, any variation in G will be same variationin'T in case ofopen loop system while with theintroduction
OT negetive feedback, the effect due to variation in G is reduced by a factor of(1 +GH).
Variation in transfer function due to variation in H
For closed loop control
system,
AT/T _ ATH
S AH/ H AH T
ENGINEER'S CIRCLE
 CONTROL SYSTEM THEORY NOTES

-GH
S
1+GH
IfGH>>1,then S,-1 2
sion:"
The use offecdback has the advantages ofreducing sensitivity, improving transient response and
ne ertects of disturbance signals in control systems. On the other hand, the use of feedback increases th

numoer ot Components ofthe system, thereby increasing its complexity. Further it reduces the gan of the sysii n
also introduces the
possibility of instability. However, in most cases the advantages outweight the aIsauvaana6
therefore the feedback systems are commonly employed in
practice.
Note: % change in T(s) Sx
= % change in G
Example: For a feedback
amplifier,the system gain is 100 without any feedback. B=0.99 if gain
changes by 10%, what is % age change in transfer function of the system?
1
Sol. We know that do
+GH
% age change in T= S x (%age change in G)
1
x 10
1+ 100 x 0.99

1
x 10 = 0.1% Ans.
100
 CONTROL SYSTEM THEORY NOTES

CHAPTER-II
TIME RESPONSE
2.1 Standard Test Signals
Eollowing four types of signals has been used for
getting the time response of a system
2.1.1UnitStep Sigual
lt represents the fastest and slowest change.
l t also represents hoW a system will settle down.
(lt is also called as displacement signal.
1,120
l0,1 <0

Laplacetransform u(t) =
L[u(t)] =1/ s|
t0 t
Unit step function
2.1.2 Unit Ramp Signal
) It starts with a value zero & increases
linearly with time.
(It is described as gradual application of input signal and is used to
(üi) It is also called velocity function. judge the linearity of system.
(iv) It is the integral of unit step function.

r00<0
ur] =
R(s) =
-

t
Unit ramp function

2.1.3 Unit Parabolic Function

) It is integral of ramp
signal.
() It is also called acceleration
function.
) It is described as more
gradual application of input in comparison with ramp function.

ENGINEERSCIRCLE
 NOIL
THEORY

SYSTEM

C O N T R O L

r() 2
0,0 (0)
-Slopet
r= R() Unt Parabolle functlon

14Unit lmpulse Function

function. behaviour and frequency a
)It is the derivativeofstep and tojudge the oscillatory
t is usad to know the transfer functionofsystem
ofsystem.
fastest change of a system.
(m) lt represents the short duration of
time.
a shock for a very
()The input is suddenly applied
as

0,0
t 0
Unit impulse function

dt =1 and LIS)]=1

Example: The response ofa system to unit ramp inputis

-u() + e
Calculate unit impulse response.
Sol.Since we know,

d
Impulse response =(unil response) = d
d dramp nsponse)|

d
Impulse response - -R ) + e
d ")

d-)-44e"->unit step response

=0-
()16e
8 >unit anpulse response
8 Ans.

ENGINEER'SCIRCLE
 CONTROL SYSTEM THEORY NOTES

where, &()-doublet function

2.2The
Timetime
Response Analvsis of ControlSystems
response ofa control system describes how u system behaves in accordance with time when a
ed input test signal is applied.There are two types of response of a system
specitie

Transient response
state response
i) Steady
2.2.1 Transientrespomse
Tt determines the early part ofthe response ofa system subjected to various test signals. It essentially deter-
peak overshort, speed
ofresponse, etc.
mines

22.2SteadyStateResponse
to various test
It determines the
final part or the steady state part ofthe response ofcontrol system subjected
signal.
Svstem
2.3Time Response ofa First Order
denominator ofits transfer function equal
to
order control system is one where in highest power ofS in the
Afirst
transfer function given below
control system is expressed by a
1. Thus a first order
1 2.1)
R Rs) sT+1
(2.I) is shown in figure
The blockdigramrepresentation ofexpression

RI C(s)

first order system

Block diagram of a

first order controlsystem

2.3.1 UnitStep response ofa
Fortheunit step input, r(t)=u(t) R$)
=
>

as) 1 = R.- sT+1

ssT+1

)- S Sl+1

C) T6+
 THEORY NOTES
CONTROL SYSTEM

C()
o.024

0,90

IK-Tranalont-iK

reoponso
of
stop
aUnltlrot ordor syotom

C)=1-e "
23.2Unit lmpulse Response ofa lirst Order System
Forthe unit impulseinput, r(t) =
S() » R(s)=l|
cs) RS)T+1 ST+1

C) =e/T t>
Unit Impulse response of
a first order system

2.3.3 UnitRamp Response of First Order System

For unit ramp input, r() = tut) R(s) =-

as = R(). S ST+1
ST+1

) = t - T + Te T 2T 3T t»

Unit Ramp response

ofa first order
system
The transient response to the ramp input signal thus yickds no additional inforuation about the spe
the system. We therefore need examne only the stedy state error to the ramp input.

2.4Second Order Control System

A Second order control system s one where llhe highest power ofS in the denoninator ofits trar

TNGINEER'SCIRCILE
 CUNIKUL SYDTEM IHEOKY NOI LD

RS st 20 C(s)

Block diagram of a socond ordor aystom

Transfer
function ofsecond order controlsysten.
C(s) p(s)
T(s)= 2.1)
R(s) 240,s + q(s)

undamped natural fiequency &>damping factor

where, o which in fact are
response
The tine response of any system is characterized by the root ofthe denominator polynomial q(s)
The tine
transfer function. The
denominator polynomial q(s) is therefore called
poks the of the
e he characteristie polynomal and q(S)=0 Is Called the characteristic equation. The characteristic cquation
0
under 1siderationis s +20,s + =

Stem
20,4o,4o,
S 2

5.5 , t oys -

*°** 2.2)
5 , o , t jo,i -*|

where = a,1- (damped naturalfrequency)

()when 0 (Undamped system) so, s,, s,=tjo

c(t)=1-cos(o,)
C(t) jo,

of
Location of poles
undamped system
Time response of undamped system

= -fo, t jo,I
-

( when 0<1(Under damped system)

so, s, s,

C(t)

Location of poles of
Time response of underdamped systemn underdamped system

17
NEER'S CIRCLE
 NOTES

THEORY

SYSTEM

cONTROL

j
Danpcd)
), .
I ( C r d i c a l l y

(im)when

*tbs*th ******AA

Location of
polas of
critically dampod systom
syston
damod
critically
of
Tine
w s o n s e

I
VS
-

t ,
si, s = -L»,
system)so,
wen>I
(0verdanped
()

C)
* * * * * * * **
* *
* *
* *
* * * * * * * * * *

of poles of
Location

system overdamped system

response
of o v e r d a m p e d
Time

constant is very
low. Not used practical
will be low. Time
for output. Thus, speed
lt takes more time
takenformany ofthe systems.
Practically,value of==0707is

ordersystem
2.4.1 Unit step response ofa second
Transfer function T(s) =
U
R(s) s+2ws+

Forunitstepinputr()=u(t) R ) =

C(o)
C(s)=
s20, +,
es
CO)-1- Sin ,-c'y*tan"
C) = I--
- sino +
)|
(2.3)

where, o =

o , - and o tu- =

CNCMc
 C(
MP
2%
AAA
response
of s e c o n d
Unit step
order system
2.4.1.1 Rise time(t)
10% to 90% or 0% to 100% ofits final value. It is
The risetime is the time required for the response to rise from 10% to
systems, 0% to 100% rise time is normally used. For overdamped systems,
denoted by 1, .For underdamped
is commonly used.
90% rise time
.2.4)
* * * * * * * .
, =
tan' YS
where, o o,I
-
=
2.4.1.2 Peaktime(t)
to reach the first peak of overshoot.
The peak time is the time required for the response
where, n=1,2,3 .. (2.5)
forn=1,3,5.... weget overshoot
forn=2,4,6.. we get undershoot
peak time for first overshoot 1, =Tl@4
peak time for first undershoot 1, 2nlo
=
2.4.1.3 Maximum overshoot(M)
value ofthe response curve measured from unity. The amount of
he maximum overshoot is the maximum peak
maximum overshoot directly indicates the relative stability ofsystem.
Maximum Peak Overshoot ) - Q o ) x 100%| (2.6)
M,= Co)
M,
=
e -nfa/i-G x 100 ...(2.7)
19
ENGINEERS CIRCLE
 .. *****.(2.8)
e nyl(n = 1)|
forfirst overshoot| M, =
there is no oscillations.
overdamped system, M, =0.Sincc
Nofe: For critically damped and
2.4.1.4 Settlingtime(t,) value ofsizec
about the final
within a range
to rench and stay largest timcco
It is the time required for the response curve line is rckatcd to the
2% or 5%). The setling
ofthe final value (usually
by absolute percentage
the control system.
4 .(2.9)
For Underdamped System, t,
= (2%)
* ....(2.10)
For overdamped System, t, = (5%)
2.4.1.5 Delay time(t)
value ofthe very first time.
to reach halfthe final
The delay time is the time required for the response
| - 1+0.70 <<<1 ..2.11)
******
C(t)=K[1-1.66e ssin(6t +37)]
Example: The unitstep response ofa system is given by
Calculate the transfer function of the system.
Sol. o , 8 (a)
6 ..(b) divide eq (a) by (b)
o6,V1 - =
4
-
= 0.8 and o= 10 (put the value of in eq (a))
100
C(6) Ans.
R(s) +16s+ 100
2.5 Time Responseof higher order control system
A higherorder control system is expressed by a transfer function
K
C6 s"+a,s"+ a,s"+
R(s)
ENGINEER'SCIRCLE
 C(s)
R(s) (s P)(s P,)(s P,) (s 2 s )
P» P .
.. are the poles.
where. P
R(») (212)
output C'(s) ( )( , )

l'eakand ResonAntiequeney
2.6Resonant
Inthedesgnotliarrvntnlsystennsusing fivqueney-komain netuds, it is cccary to defirE a «t of opE,ifkta r
h th rkomaneoftle syNemean le identified. Sipecilicatims such as the maxiununoverstwwt, darp1rg rata
the px*rton
so that
at.usodinthetine doman, can no longer be uscd directly in the frcqueney dornain The folkrwing freqeTEy
ands
arv oflen used in practice.
domain sitkatkns

2.6.1 Reson:ant P'eak (M)

ln general thec magnitude of M,gives indication ofthe relativestability ofa stable ckosed-oop systerm. Normally. a
largeM corresponds to a large maximum overshoot ofthe step response. For most control systems, it is general
acented practicethat thedesirable value ofM, should be between 1.1 and 1.5.

26.2Resonant Frequency (o)

The resonant frequency a, is the frequency at which the peak resonance M, occurs.

2.6.3 Bandwidth (BW)

The bandwidth is the frequency at which |M(jo)) drops to 70.7 percent of, or 3 dB down from, its zero-trequeney
value.in general, the bandwidth of a control system is an indication ofthe transient-response properties in the time
domain. A large bandwidth corresponds to a faster rise time, since higher-frequency signals are more easily passed
through the system. Conversely, if the bandwidth is smal, only signals ofrelatively low frequenc ies are passed, and the
tmeresponse will be slow and sluggish, Bandwidth also indicates the noise-filtering characteristks and the robustness
of the system. The robustness represents a measurç ofthe sensitivity ofa system to parameter variations. A rubust

system is one that is insensitive to parameter variations.

Resonant Peak, Resonant Frequeney, and Bandwidthofthe Seconmd-Onder System

0.4.1 Resonant Peak and Resonant Frequeney
Consider the closed-loop transfer function ofthe second-order
system
Y (s)
M (s) =
R(s) s 2,0si .2.13)

At
sinusoidal steady state, s=jo,

ENGINEER SCT
 NOTES
CONTROL SYSTEM THEORY

M(j»)= Y(s)
R(s) (jo) +2o,(jo) + ,
(pul u=tmlw,)
I/2(m/m,), (»l,)

henee M(ju)
t /2uu
.(2.14)
The magnitudeand phase of M(ju) are |M(ju)=
(1-u) +(20)T
2
& ZMGu)=-tan 1-u
-
derivative of |M(ju)| with respecct
to u to zero. Thu,
The resonant frequeney is determined by setting the
+2u?)="(4u'-4u +8u') 0
=

du
1-ud)*
for which we get
0
. . . .

(2.15)
.

4u-4u +8u =
4u(u? -1+2?) =

In normalized frequency, the roots ofequation (2.15) are

.2.16)
, =0, 1-2
is zero at
only indicates that the slope ofthe |M(jo)
versus o curve e
The solution ofequation (2.16), u, 0
it is not a true maximum if is less than 0.707. The equation (2.16) gives the resonant frequency

.2.17)
,,2
Since frequency isa real quantity,equation(2.17) ismeaningfulonly for 23slor s0707.This means simph
forall values oft greater than 0.707, the resonant frequency isa, =0 and M=1.
Substituting u, = 1-242 inequation(2.14)

M, Ss0.707
.(2.18)
21-2

2.6.4.2 Bandwidth

According with the definition ofthe bandwidth, we set the value of|MGu)| to 1/ = 0.707.

M(ju)l=
I(1-} +(2uT*v2
Thus

I(l-u +(24u)* =
V2
which leadsto

ENGINEERSCIRCLE
 CONTROI. SYSTE1 TEORY
NOTES

-(1-2)1 JA;"-1;' 12
e nus sign should be chosen sinee must be u positive renl
nratatipesecond-ordersystenm is deternmined fromequation as
quuntily for any . 'Therelorc, the handwilthof the

BW-,(12)+4-4g+21
2.7Initialand FinalValue Theorem

2.7.1Initial value Theorem

L C)- L Lt sC(s)
0
..2.19)

27.2 Finalvalue Theorem

CO) sC)
S>0 (2.20)

2s+3
Example :The transfer function of a system is If the input
s+2s +5 applied to the system is
10u(). Calculate initial & final value.

Sol. C6) 2s+3

R(s) +2s+ 5
2s + 3 10
R(9) = C(s) =
s+2s+5 s

a sS) 102s+3)
+2s+5 = 0
Ans.

Co) =
sCs) =
102s+3) 10x 6 Ans.
+2s+5 5

2.8 Type of Open Loop Transfer Function

Open loop transfer function ofa system is given by

G(s)H(s) = K+ sT,)( +sT,)

s(1 +ST,)(+ sT,)
Where, K is the forward path gain and N denotes the type of system.
IfN =0,
type'0° system
N=1, type'l' system
N=2, type2' system
N=n, type'N' system

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 NOTES
CONTROL SYSTEM THEORY
2.9Steady State Error
fthe actualoutput ota controlsystem during stcndy slate deviate« lrom the rclcrcncc input (ic. d.
the system is said to posess a steadystate error. As the steudy stute error ih an mdexofaccuracyofacont
sired
it should be mininmuun as far as possible. 'The magnitude of'the steady statc error in a cod khon ce
onttol
on its kop transfer tinetion, ie. G($)1I(s) ofthesystem.Since,
E(s)
R) G(s) C(s)
H(s)
Block diagram of closed
loop system
R(S)
ES)+G($)H(S)
Applying final value theorem,
steady state error, e, = lim sE(s)
S0
e=Lim
s.R(s)
s-0 1+G(s) H(s)| 2.21)
The actual output ofa controlsystem
may be in any physical form it is called as "position" or displace
ment. The first derivative
of the actual output is called velocity and second derivative is "acceeration".
2.9.1 Static Error Coefficients
For evaluating steady state error,the
input function is specified as
2.9.1.1 Static Positional Error Cocefficient
For input,r(t) u(t)
=
S. R{s)
im-
1+Cs)HS) (R(s)= l/s)
= Lim- S
1+ G(s) H(s) 0Lim +G(s)H(»)
+
(2.22)
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 CONTROL SYSTEM THEORY NOTES

where, K,is static positionalcrrorcoelicient &K,=h G() H()|

...2.23)

29.1.2Static Velocity Error Cocflicient

Forinput,.r()=t u(t)

sLim
s.R(s) Lim
ss0 1+G(s)H(s) s0 sG(s)H (s) (R(S)= 1/s*)

.2.24)

where,K, is static velocityerrorcoefficient &Ky = LimsCs) H)

..2.25)

2.9.1.3 StaticAcceleration ErrorCofficient

For input, r(t)-ti/2
s.R(s) Lim- 1
essLim-
x-01+G(s)H(s) S 0 s*G(s) H(s) (R(s)- 1/s)

.2.26)

where, K, is static acceleration error coefficient & K, =Lims G(s)H()| ****°

. 2.27)
S0

Steady state error for various types of control systems

npul L(I P)Iype (0) Type (1) Type 2

Unit Step 1/s K=K = K,= o e = 0 Rp= e 0

Unit Ramp 1/s K,= 0 Ky = K Ky = o =SS 0

Unit Parabolic 1/ s K,= 0 K,-0 |

From the table following conclusions
can be drawn
AS the type of system increases, more number of inputs can be applied to the system.
9With the increase in system gain, steady state error reduces i.e. steady state pertormance increases.
Example: For a unity feedback system

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 NOTES
CONTROL SYSTEM THEORY

Gs)= ss + 1) (s + 4)
Find thesteady that error for the input r(t)=1+t
Sol. We know,

R(3)= s
E(s)=+G)H(S)
1+
ss+ 1) (s + 4)

ss+1)(s+4) (s +1) (s + 4)s

ss+1) (s +4) +1 s +582 + 4s +1

Steadystate errore=s.R(s). E(s)

lims s+D(s+4)s
s0
S+5s+4s +1
lim+Ds + ) (s +4) = 4 Ans.
s+5s+ 4s + 1
s+0