TIME RESPONSE OF

CONTROL SYSTEM
PART-1

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N.KIRAN, ASSISTANT PROFESSOR, EEE DEPARTMENT, ANITS
CLASSIFICATION OF TIME
RESPONSE

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CLASSIFICATION OF TIME RESPONSE
CLASSIFICATION OF TIME RESPONSE
𝐓𝐈𝐌𝐄 𝐑𝐄𝐒𝐏𝐎𝐍𝐒𝐄:
The response given by the
system, which is a function of time,
to the applied excitation is called
time response of control system. 𝐒𝐓𝐄𝐀𝐃𝐘 𝐒𝐓𝐀𝐓𝐄 𝐑𝐄𝐒𝐏𝐎𝐍𝐒𝐄:
𝐓𝐑𝐀𝐍𝐒𝐈𝐄𝐍𝐓 𝐑𝐄𝐒𝐏𝐎𝐍𝐒𝐄: It is that part of time response which
remains after complete transient
The output variation during the time, response vanishes from system
it takes to achieve its final value is output.
called transient response.

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 STANDARD TEST INPUTS
STANDARD TEST INPUTS

𝑺𝑻𝑬𝑷 𝑰𝑵𝑷𝑼𝑻 𝑹𝑨𝑴𝑷 𝑰𝑵𝑷𝑼𝑻

𝑟 𝑡 = 𝐴 𝑓𝑜𝑟 𝑡 ≥ 0 𝑟 𝑡 = 𝐴𝑡 𝑓𝑜𝑟 𝑡 ≥ 0
= 0 𝑓𝑜𝑟 𝑡 < 0 = 0 𝑓𝑜𝑟 𝑡 < 0
If A=1; then it is called unit step If A=1; then it is called unit ramp
input, denoted by u(t) input.

Laplace transform of such input is Laplace transform of such input is

𝐴 𝐴
𝑠 𝑠2

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 STANDARD TEST INPUTS
STANDARD TEST INPUTS

𝑷𝑨𝑹𝑨𝑩𝑶𝑳𝑰𝑪 𝑰𝑵𝑷𝑼𝑻 𝑰𝑴𝑷𝑼𝑳𝑺𝑬 𝑰𝑵𝑷𝑼𝑻

𝐴 2 𝑟 𝑡 = 𝐴 𝑓𝑜𝑟 𝑡 = 0
𝑟 𝑡 = 𝑡 𝑓𝑜𝑟 𝑡 ≥ 0
2
= 0 𝑓𝑜𝑟 𝑡 < 0 = 0 𝑓𝑜𝑟 𝑡 ≠ 0
If A=1; then it is called unit If A=1; then it is called unit
parabolic input. impulse input.
Laplace transform of such input is
𝐴 Laplace transform of unit impulse
𝑠3 input is 1

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STEADY STATE ERROR

It is the difference between actual output and desired

output.

Mathematically it • E(s) = R(s)- C(s)H(s) for non-unity

can be defined in feedback systems
Laplace domain as: • E(s) = R(s)-C(s) for unity feedback systems

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 DERIVATION OF STEADY STATE ERROR
• Let us consider a closed loop system using negative feedback as
shown.

• E(s) = Error signal

• B(s) = Feedback signal

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DERIVATION OF STEADY STATE ERROR
DERIVATION OF STEADY STATE ERROR
• Therefore E(s) = R(s) – E(s)G(s)H(s)
• E(s) + E(s)G(s)H(s) = R(s)
R(s)
•𝐸 𝑠 =
1+G(s)H(s)

By Definition
• E(s) = R(s) – B(s)
• Steady state error
• But B(s) = C(s) H(s)
𝑒𝑠𝑠 = lim 𝑒(𝑡)
• Therefore E(s) = R(s) – C(s) H(s) 𝑡→∞

• Also C(s) = E(s) G(s)

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DERIVATION OF STEADY STATE ERROR
DERIVATION OF STEADY STATE ERROR
R(s)
•𝐸 𝑠 =
1+G(s)H(s)
By Definition
• Steady state error
𝑒𝑠𝑠 = lim 𝑒(𝑡)
𝑡→∞
• According to final value theorem
𝑒𝑠𝑠 = lim 𝑒 𝑡 = lim 𝑠𝐸 𝑠
𝑡→∞ 𝑠→0
sR(s)
𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔⟶𝟎 1+G(s)H(s)
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FACTORS DEPENDING ON STEADY STATE ERROR
sR(s)
𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔⟶𝟎 1+G(s)H(s)
It can be concluded from the expression of steady state error, that it
depends upon:
• R(s) – reference input
• G(s) H(s)- open loop transfer function

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EFFECT OF INPUT ON STEADY STATE ERROR
EFFECT OF INPUT ON STEADY STATE ERROR
𝑺𝑻𝑬𝑷 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨
𝐀
𝐫 𝐭 =𝐀 ⇒ 𝐑 𝐬 =
𝐬
sR(s) 𝑨
s
𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝒔
𝒔⟶𝟎 1+G(s)H(s) 𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔⟶𝟎 1+G(s)H(s)

𝑨
𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔⟶𝟎 1+G(s)H(s)
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EFFECT OF INPUT ON STEADY STATE ERROR
EFFECT OF INPUT ON STEADY STATE ERROR
𝑺𝑻𝑬𝑷 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨
For a system, lim G(s)H(s) is a constant and is called POSITIONAL ERROR
𝑠⟶0
COEFFICIENT, denoted by 𝑲𝒑

𝑲𝒑 = 𝐥𝐢𝐦 G(s)H(s)
𝒔⟶𝟎

Correspondingly steady state error

𝑨 𝟏
𝒆𝒔𝒔 = 𝒆𝒔𝒔 = (𝑼𝒏𝒊𝒕 𝑺𝒕𝒆𝒑)
1+𝑲𝒑 1+𝑲𝒑
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EFFECT OF INPUT ON STEADY STATE ERROR
EFFECT OF INPUT ON STEADY STATE ERROR
𝑹𝑨𝑴𝑷 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨
𝐀
𝐫 𝐭 = 𝐀𝐭 ⇒ 𝐑 𝐬 = 𝟐
𝒔

sR(s) 𝐀
s 𝟐
𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝒔
𝒔⟶𝟎 1+G(s)H(s) 𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔⟶𝟎 1+G(s)H(s)

𝑨
𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔⟶𝟎 (s+s G(s)H(s))
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EFFECT OF INPUT ON STEADY STATE ERROR
EFFECT OF INPUT ON STEADY STATE ERROR
𝑹𝑨𝑴𝑷 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨
For a system, lim s G(s)H(s) is a constant and is called VELOCITY ERROR
𝑠⟶0
COEFFICIENT, denoted by 𝑲𝒗

𝑲𝒗 = 𝐥𝐢𝐦 s G(s)H(s)
𝒔⟶𝟎

Correspondingly steady state error

𝑨 𝟏
𝒆𝒔𝒔 = 𝒆𝒔𝒔 = (𝑼𝒏𝒊𝒕 𝑹𝒂𝒎𝒑)
𝑲𝒗 𝑲𝒗
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EFFECT OF INPUT ON STEADY STATE ERROR
EFFECT OF INPUT ON STEADY STATE ERROR
𝑷𝑨𝑹𝑨𝑩𝑶𝑳𝑰𝑪 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨
𝐀 𝟐 𝐀
𝐫 𝐭 = 𝐭 ⇒𝐑 𝐬 = 𝟑
𝟐 𝒔
sR(s) 𝐀
s 𝟑
𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝒔
𝒔⟶𝟎 1+G(s)H(s) 𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔⟶𝟎 1+G(s)H(s)

𝑨
𝒆𝒔𝒔 = 𝐥𝐢𝐦
𝒔⟶𝟎 (s𝟐 +s𝟐 G(s)H(s))
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EFFECT OF INPUT ON STEADY STATE ERROR
EFFECT OF INPUT ON STEADY STATE ERROR
𝑷𝑨𝑹𝑨𝑩𝑶𝑳𝑰𝑪 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨
For a system, lim s2 G(s)H(s) is a constant and is called ACCELERATION
𝑠⟶0
ERROR COEFFICIENT, denoted by 𝑲𝒂

𝑲𝒂 = 𝐥𝐢𝐦 s𝟐 G(s)H(s)
𝒔⟶𝟎

Correspondingly steady state error

𝑨 𝟏
𝒆𝒔𝒔 = 𝒆𝒔𝒔 = (𝑼𝒏𝒊𝒕 𝑷𝒂𝒓𝒂𝒃𝒐𝒍𝒊𝒄)
𝑲𝒂 𝑲𝒂
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 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

• Open Loop transfer function G(s) H(s) can be in general

represented as:
STEADY STATE ERROR

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .

𝐺 𝑠 𝐻 𝑠 = 𝑛
𝑠 1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .
K is resultant gain of the system & n indicates order of the system
n=0; Zero order system
n=1; First order system
n=2; Second order system
n=3; Third order system
And so on……
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 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑺𝑻𝑬𝑷 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟎 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Open Loop transfer function

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .

𝐺 𝑠 𝐻 𝑠 =
1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .

𝑨 𝑨
𝑲𝒑 = 𝐥𝐢𝐦 G(s)H(s)=K 𝒆𝒔𝒔 = =
𝒔⟶𝟎 𝟏 + 𝑲𝒑 𝟏 + 𝑲

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 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑺𝑻𝑬𝑷 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟏 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Open Loop transfer function

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .

𝐺 𝑠 𝐻 𝑠 =
𝑠 1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .

𝑨 𝑨
𝑲𝒑 = 𝐥𝐢𝐦 G(s)H(s)=∞ 𝒆𝒔𝒔 = = =𝟎
𝒔⟶𝟎 𝟏 + 𝑲𝒑 𝟏 + ∞

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 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑺𝑻𝑬𝑷 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟐 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Open Loop transfer function

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .
𝐺 𝑠 𝐻 𝑠 = 2
𝑠 1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .
𝑨 𝑨
𝑲𝒑 = 𝐥𝐢𝐦 G(s)H(s)=∞ 𝒆𝒔𝒔 = = =𝟎
𝒔⟶𝟎 𝟏 + 𝑲𝒑 𝟏 + ∞
𝑨
Thus, for TYPE-0, system follow step type of input with finite error
𝟏+𝑲
and has constant value of positional error coefficient.
Thus, for TYPE-1 and above, system follow step type of input with
negligible error and has an infinite value of positional error coefficient.
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 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑹𝑨𝑴𝑷 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟎 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Open Loop transfer function

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .

𝐺 𝑠 𝐻 𝑠 =
1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .

𝑨 𝑨
𝑲𝒗 = 𝐥𝐢𝐦 sG(s)H(s)=0 𝒆𝒔𝒔 = = =∞
𝒔⟶𝟎 𝑲𝒗 𝟎

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 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑹𝑨𝑴𝑷 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟏 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Open Loop transfer function

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .

𝐺 𝑠 𝐻 𝑠 =
𝑠 1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .

𝑨 𝑨
𝑲𝒗 = 𝐥𝐢𝐦 sG(s)H(s)=𝑲 𝒆𝒔𝒔 = =
𝒔⟶𝟎 𝑲𝒗 𝑲

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 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑹𝑨𝑴𝑷 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟐 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Open Loop transfer function

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .
𝐺 𝑠 𝐻 𝑠 = 2
𝑠 1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .

𝑲𝒗 = 𝐥𝐢𝐦 sG(s)H(s)=∞ 𝑨 𝑨
𝒔⟶𝟎 𝒆𝒔𝒔 = = =𝟎
𝑲𝒗 ∞
Thus, for TYPE-0, system follow ramp type of input with infinite error and has
zero value of velocity error coefficient.
𝑨
Thus, for TYPE-1, system follow ramp type of input with finite error and has
𝑲𝒗
an constant value of velocity error coefficient.
Thus, for TYPE-2 and above, system follow ramp type of input with negligible
error and has an infinite value of velocity error coefficient.
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 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑷𝑨𝑹𝑨𝑩𝑶𝑳𝑰𝑪 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟎 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Open Loop transfer function

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .

𝐺 𝑠 𝐻 𝑠 =
1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .

𝟐 𝑨 𝑨
𝑲𝒂 = 𝐥𝐢𝐦 𝒔 G(s)H(s)=0 𝒆𝒔𝒔 = = =∞
𝒔⟶𝟎 𝑲𝒂 𝟎

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 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑷𝑨𝑹𝑨𝑩𝑶𝑳𝑰𝑪 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟏 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Open Loop transfer function

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .

𝐺 𝑠 𝐻 𝑠 =
𝑠 1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .

𝟐 𝑨 𝑨
𝑲𝒂 = 𝐥𝐢𝐦 𝒔 G(s)H(s)=0 𝒆𝒔𝒔 = = =∞
𝒔⟶𝟎 𝑲𝒂 𝟎

PREPARED BY: N.KIRAN, ASSISTANT PROFESSOR, EEE DEPARTMENT, ANITS

 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑷𝑨𝑹𝑨𝑩𝑶𝑳𝑰𝑪 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟐 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Open Loop transfer function

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .

𝐺 𝑠 𝐻 𝑠 = 2
𝑠 1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .

𝟐
𝑲𝒂 = 𝐥𝐢𝐦 𝒔 G(s)H(s)=K 𝑨 𝑨
𝒔⟶𝟎 𝒆𝒔𝒔 = =
𝑲𝒂 𝑲

PREPARED BY: N.KIRAN, ASSISTANT PROFESSOR, EEE DEPARTMENT, ANITS

 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑷𝑨𝑹𝑨𝑩𝑶𝑳𝑰𝑪 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟑 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Open Loop transfer function

𝐾 1 + 𝑠𝑇1 1 + 𝑠𝑇2 1 + 𝑠𝑇3 … … .

𝐺 𝑠 𝐻 𝑠 = 3
𝑠 1 + 𝑠𝑇𝑎 1 + 𝑠𝑇𝑏 1 + 𝑠𝑇𝑐 … . .

𝟐 𝑨 𝑨
𝑲𝒂 = 𝐥𝐢𝐦 𝒔 G(s)H(s)=∞ 𝒆𝒔𝒔 = = =𝟎
𝒔⟶𝟎 𝑲𝒂 ∞

PREPARED BY: N.KIRAN, ASSISTANT PROFESSOR, EEE DEPARTMENT, ANITS

 EFFECT OF CHANGE IN G(s)H(s) ON STEADY STATE ERROR
EFFECT OF CHANGE IN G(s)H(s) ON

𝑷𝑨𝑹𝑨𝑩𝑶𝑳𝑰𝑪 𝑰𝑵𝑷𝑼𝑻 𝑶𝑭 𝑴𝑨𝑮𝑵𝑰𝑻𝑼𝑫𝑬 − 𝑨 & 𝑻𝒀𝑷𝑬 − 𝟐 𝑺𝒀𝑺𝑻𝑬𝑴

STEADY STATE ERROR

• Thus, for TYPE-0 and TYPE-1, the system follows ramp type of input
with infinite error and has zero value of acceleration error coefficient.
• Thus, for TYPE-2, the system follows ramp type of input with finite error
𝑨
and has a constant value of acceleration error coefficient.
𝑲𝒂
• Thus, for TYPE-3 and above, the system follows ramp type of input with
infinite error and has a negligible value of acceleration error coefficient.

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 FIRST ORDER CONTROL SYSTEM
• Consider the first-order system with unity feedback as shown

𝑪 𝒔 𝟏
=
𝑹 𝒔 𝟏 + 𝒔𝑻

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UNIT STEP RESPONSE-FIRST ORDER SYSTEM
DERIVATION OF UNIT STEP TIME RESPONSE OF
FIRST ORDER SYSTEM
𝟏 𝑪 𝒔 𝟏 𝟏
r(t) =1; 𝑹 𝒔 = = 𝑪 𝒔 =
𝒔 𝑹(𝒔) 𝟏 + 𝒔𝑻 𝒔(𝟏 + 𝒔𝑻)
• Applying Partial fractions
𝟏 𝑨 𝑩 𝟏 −𝑻 𝟏 −𝟏
𝑪 𝒔 = = + = + = +
𝒔(𝟏 + 𝒔𝑻) 𝒔 (𝟏 + 𝒔𝑻) 𝒔 (𝟏 + 𝒔𝑻) 𝒔 𝟏
𝒔+
𝑻

• Applying Inverse Laplace

𝒕
−
c 𝒕 =𝟏−𝒆 𝑻

PREPARED BY: N.KIRAN, ASSISTANT PROFESSOR, EEE DEPARTMENT, ANITS

UNIT STEP RESPONSE-FIRST ORDER SYSTEM
DERIVATION OF UNIT RAMP TIME RESPONSE OF
FIRST ORDER SYSTEM
𝟏 𝑪 𝒔 𝟏 𝟏
r(t) =t; 𝑹 𝒔 = = 𝑪 𝒔 = 𝟐
𝒔𝟐 𝑹(𝒔) 𝟏 + 𝒔𝑻 𝒔 (𝟏 + 𝒔𝑻)
• Applying Partial fractions
𝟏 𝑨 𝑩 𝑪 −𝑻 𝟏 𝑻𝟐
𝑪 𝒔 = 𝟐 = + 𝟐+ = + 𝟐+
𝒔 (𝟏 + 𝒔𝑻) 𝒔 𝒔 (𝟏 + 𝒔𝑻) 𝒔 𝒔 (𝟏 + 𝒔𝑻)

• Applying Inverse Laplace

𝒕
−
c 𝒕 = −𝑻 + 𝒕 + 𝑻𝒆 𝑻

PREPARED BY: N.KIRAN, ASSISTANT PROFESSOR, EEE DEPARTMENT, ANITS

UNIT RAMP RESPONSE-FIRST ORDER SYSTEM
DERIVATION OF UNIT PARABOLIC TIME RESPONSE OF
FIRST ORDER SYSTEM
𝟐 𝟏 𝑪 𝒔 𝟏 𝟏
r(t) =𝒕 ; 𝑹 𝒔 = = 𝑪 𝒔 = 𝟑
𝒔𝟑 𝑹(𝒔) 𝟏 + 𝒔𝑻 𝒔 (𝟏 + 𝒔𝑻)
• Applying Partial fractions
𝟏
𝑻 𝑨 𝑩 𝑪 𝑫 𝑻𝟐 𝑻 𝟏 𝑻𝟐
𝑪 𝒔 = = + 𝟐+ 𝟑+ = − 𝟐+ 𝟑−
𝟏 𝟏 𝟏
𝒔𝟑 (𝒔 + ) 𝒔 𝒔 𝒔 (𝒔 + ) 𝒔 𝒔 𝒔 (𝒔 + )
𝑻 𝑻 𝑻

• Applying Inverse Laplace

𝒕
𝒕𝟐 −
c 𝒕 = 𝑻𝟐 − 𝑻𝒕 + − 𝑻𝟐 𝒆 𝑻
𝟐

PREPARED BY: N.KIRAN, ASSISTANT PROFESSOR, EEE DEPARTMENT, ANITS

 TUTORIALS

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 TUTORIAL-1
𝟒𝟎(𝒔 + 𝟐)
• The unity feedback system is 𝑮 𝒔 𝑯(𝒔) =
𝒔(𝒔 + 𝟏)(𝒔 + 𝟒)
characterized by an open-loop
transfer function
𝟒𝟎(𝒔+𝟐) 𝟒𝟎(𝟐)(𝟏 + 𝟎. 𝟓𝒔)
𝐆 𝐬 = . Determine 𝑮 𝒔 𝑯(𝒔) =
𝒔(𝒔+𝟏)(𝒔+𝟒) 𝟒𝒔(𝟏 + 𝒔)(𝟏 + 𝟎. 𝟐𝟓𝒔)
(i) Type of the system (ii) All error
coefficients (iii) Error for ramp input
𝟐𝟎(𝟏 + 𝟎. 𝟓𝒔)
with magnitude 4. 𝑮 𝒔 𝑯(𝒔) =
𝒔(𝟏 + 𝒔)(𝟏 + 𝟎. 𝟐𝟓𝒔)
• Given system is TYPE-1
PREPARED BY: N.KIRAN, ASSISTANT PROFESSOR, EEE DEPARTMENT, ANITS
 TUTORIAL-1
𝟐𝟎(𝟏 + 𝟎. 𝟓𝒔)
• The unity feedback system is 𝑲𝒑 = 𝐥𝐢𝐦 G(s)H(s) = 𝐥𝐢𝐦 =∞
𝒔⟶𝟎 𝒔⟶𝟎 𝒔(𝟏 + 𝒔)(𝟏 + 𝟎. 𝟐𝟓𝒔)
characterized by an open-loop
transfer function 𝑲𝒗 = 𝐥𝐢𝐦 sG(s)H(s)
𝟒𝟎(𝒔+𝟐) 𝒔⟶𝟎
𝐆 𝐬 = . Determine 𝟐𝟎(𝟏 + 𝟎. 𝟓𝒔)
𝒔(𝒔+𝟏)(𝒔+𝟒) = 𝐥𝐢𝐦 = 𝟐𝟎
𝒔⟶𝟎 (𝟏 + 𝒔)(𝟏 + 𝟎. 𝟐𝟓𝒔)
(i) Type of the system (ii) All error
coefficients (iii) Error for ramp input
with magnitude 4. 𝑲𝒂 = 𝐥𝐢𝐦 𝒔𝟐 G(s)H(s)
𝒔⟶𝟎
𝟐𝟎𝒔(𝟏 + 𝟎. 𝟓𝒔)
= 𝐥𝐢𝐦 =𝟎
𝒔⟶𝟎 (𝟏 + 𝒔)(𝟏 + 𝟎. 𝟐𝟓𝒔)

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 TUTORIAL-1
• The unity feedback system is
characterized by an open-loop
transfer function
𝟒𝟎(𝒔+𝟐) 𝑾𝒊𝒕𝒉 𝑹𝒂𝒎𝒑 𝒊𝒏𝒑𝒖𝒕
𝐆 𝐬 = . Determine 𝑨 𝟒
𝒔(𝒔+𝟏)(𝒔+𝟒) 𝒆𝒔𝒔 = = = 𝟎. 𝟐
(i) Type of the system (ii) All error 𝑲𝒗 𝟐𝟎
coefficients (iii) Error for ramp input
with magnitude 4.

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 TUTORIAL-2(Previous Q-paper)
𝑲𝒑 = 𝐥𝐢𝐦 G(s)H(s)
𝒔⟶𝟎
• The unity feedback system is 𝟏𝟎(𝒔 + 𝟐)(𝒔 + 𝟑)
characterized by an open-loop = 𝐥𝐢𝐦 =∞
𝒔⟶𝟎 𝒔(𝒔 + 𝟏)(𝒔 + 𝟓)(𝒔 + 𝟒)
transfer function
𝟏𝟎(𝒔+𝟐)(𝒔+𝟑) 𝑲𝒗 = 𝐥𝐢𝐦 𝒔G(s)H(s)
𝐆 𝐬 = . 𝒔⟶𝟎
𝒔(𝒔+𝟏)(𝒔+𝟓)(𝒔+𝟒) 𝟏𝟎(𝒔 + 𝟐)(𝒔 + 𝟑)
Determine Kp, Kv, Ka and steady state = 𝐥𝐢𝐦 =𝟑
𝒔⟶𝟎 (𝒔 + 𝟏)(𝒔 + 𝟓)(𝒔 + 𝟒)
error, where input is
𝑟 𝑡 = 3 + 𝑡 + 𝑡2 𝑲𝒂 = 𝐥𝐢𝐦 𝒔𝟐 G(s)H(s)
𝒔⟶𝟎
𝟏𝟎𝒔(𝒔 + 𝟐)(𝒔 + 𝟑)
= 𝐥𝐢𝐦 =𝟎
𝒔⟶𝟎 (𝒔 + 𝟏)(𝒔 + 𝟓)(𝒔 + 𝟒)

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 TUTORIAL-2(Previous Q-paper)
𝑨 𝑨 𝑨
• The unity feedback system is 𝒆𝒔𝒔 = + +
characterized by an open-loop 𝟏 + 𝑲𝒑 𝑲𝒗 𝑲𝒂
transfer function
𝟏𝟎(𝒔+𝟐)(𝒔+𝟑)
𝐆 𝐬 = . 𝟑 𝟏 𝟐
𝒔(𝒔+𝟏)(𝒔+𝟓)(𝒔+𝟒) 𝒆𝒔𝒔 = + +
Determine Kp, Kv, Ka and steady state 𝟏+∞ 𝟑 𝟎
error, where input is
𝑟 𝑡 = 3 + 𝑡 + 𝑡2
𝒆𝒔𝒔 = ∞

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 TUTORIAL-3
𝑲𝒑 = 𝐥𝐢𝐦 G(s)H(s)
𝒔⟶𝟎
• The unity feedback system is 𝑲𝟏 (𝟐𝒔 + 𝟏)
characterized by an open-loop = 𝐥𝐢𝐦 =∞
𝒔⟶𝟎 𝒔(𝟓𝒔 + 𝟏)(𝟏 + 𝒔) 𝟐
transfer function
𝑲𝟏 (𝟐𝒔+𝟏)
𝐆 𝐬 = 𝟐 . When the 𝑲𝒗 = 𝐥𝐢𝐦 𝒔G(s)H(s)
𝒔(𝟓𝒔+𝟏)(𝟏+𝒔) 𝒔⟶𝟎
input is 𝑟 𝑡 = 1 + 6𝑡, determine 𝑲𝟏 (𝟐𝒔 + 𝟏)
minimum value of K1 so that steady = 𝐥𝐢𝐦 𝟐
= 𝑲𝟏
𝒔⟶𝟎 (𝟓𝒔 + 𝟏)(𝟏 + 𝒔)
state error is less than 0.1
𝑨 𝑨 𝟔
𝒆𝒔𝒔 = + =
𝟏 + 𝑲𝒑 𝑲𝒗 𝑲𝟏
PREPARED BY: N.KIRAN, ASSISTANT PROFESSOR, EEE DEPARTMENT, ANITS
 TUTORIAL-3
𝑮𝒊𝒗𝒆𝒏 𝒆𝒔𝒔 < 𝟎. 𝟏
• The unity feedback system is
characterized by an open-loop
transfer function 𝟔
< 𝟎. 𝟏
𝑲𝟏 (𝟐𝒔+𝟏) 𝑲𝟏
𝐆 𝐬 = 𝟐 . When the
𝒔(𝟓𝒔+𝟏)(𝟏+𝒔) • For steady-state error to be less
input is 𝑟 𝑡 = 1 + 6𝑡, determine than 0.1, 𝑲𝟏 > 𝟔𝟎
minimum value of K1 so that steady
state error is less than 0.1

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 TUTORIAL-4(Previous Q-paper)
• The unity feedback system is 𝑲
𝑲𝒑 = 𝐥𝐢𝐦 𝟐 =∞
characterized by an open-loop 𝒔⟶𝟎 𝒔 (𝒔 + 𝟐)(𝒔 + 𝟑)
transfer function
𝑲
𝐆 𝐬 = 𝟐 . Find the
𝒔 (𝒔+𝟐)(𝒔+𝟑) 𝑲
value of K to limit steady state error 𝑲𝒗 = 𝐥𝐢𝐦 =∞
𝒔⟶𝟎 𝒔 (𝒔 + 𝟐)(𝒔 + 𝟑)
to 10 if input is
𝑟 𝑡 = 1 + 10𝑡 + 20𝑡 2
𝑲 𝑲
𝑲𝒂 = 𝐥𝐢𝐦 =
𝒔⟶𝟎 𝒔 (𝒔 + 𝟐)(𝒔 + 𝟑) 𝟔
PREPARED BY: N.KIRAN, ASSISTANT PROFESSOR, EEE DEPARTMENT, ANITS
 TUTORIAL-4(Previous Q-paper)
• The unity feedback system is 𝑨 𝑨 𝑨
𝒆𝒔𝒔 = + +
characterized by an open-loop 𝟏 + 𝑲𝒑 𝑲 𝒗 𝑲𝒗
transfer function
𝑲
𝐆 𝐬 = 𝟐 . Find the 𝟏 𝟏𝟎 𝟒𝟎
𝒔 (𝒔+𝟐)(𝒔+𝟑)
value of K to limit steady state error 𝒆𝒔𝒔 = + + = 𝟏𝟎
𝟏+∞ ∞ 𝑲
to 10 if input is 𝟔
𝑟 𝑡 = 1 + 10𝑡 + 20𝑡 2
𝑲 = 𝟐𝟒

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 TUTORIAL-5(Previous Q-paper)
• The unity feedback system is 𝑪(𝒔) 𝑮(𝒔) 𝑲𝒔 + 𝒃
characterized by an closed-loop = = 𝟐
𝑹(𝒔) 𝟏 + 𝑮 𝒔 𝑯(𝒔) 𝒔 + 𝒂𝒔 + 𝒃
transfer function
𝑪(𝒔) 𝑲𝒔+𝒃
= 𝟐 . Determine open 𝑶𝒑𝒆𝒏 𝑳𝒐𝒐𝒑 𝒕𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝒇𝒖𝒏𝒄𝒕𝒊𝒐𝒏
𝑹(𝒔) 𝒔 +𝒂𝒔+𝒃
loop transfer function G(s). Show that 𝑲𝒔 + 𝒃
𝑮(𝒔) =
steady state error with unit ramp 𝒔 𝒔+ 𝒂−𝑲
input is given by
𝑎−𝐾
𝑏 𝑲𝒗 = 𝐥𝐢𝐦 𝒔G(s)H(s)
𝒔⟶𝟎

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 TUTORIAL-5(Previous Q-paper)
• The unity feedback system is 𝑲𝒔 + 𝒃 𝒃
characterized by an closed-loop 𝑲𝒗 = 𝐥𝐢𝐦 =
𝒔⟶𝟎 𝒔 + 𝒂 − 𝑲 𝒂−𝑲
transfer function
𝑪(𝒔) 𝑲𝒔+𝒃
= 𝟐 . Determine open 𝑺𝒕𝒆𝒂𝒅𝒚 𝑺𝒕𝒂𝒕𝒆 𝒆𝒓𝒓𝒐𝒓
𝑹(𝒔) 𝒔 +𝒂𝒔+𝒃
loop transfer function G(s). Show that 𝟏
𝒆𝒔𝒔 =
steady state error with unit ramp 𝑲𝒗
input is given by
𝑎−𝐾
𝐚−𝐊
𝑏 𝐞𝐬𝐬 =
𝐛
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 THANK YOU

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