SEHS4653

Control System Analysis

Unit 3
Transient and Steady‐state Responses Analysis
(Reference: [1] chapter 5‐1 to 5‐3, 5‐7 to 5‐8 )

1
 Content
• Introduction
• First-Order Systems
• Second-Order Systems
• Unit-step Response
• System with Velocity Feedback
• Unit-impulse Response
• Steady-State Errors in Feedback Control Systems
• Effects of Integral and Derivative Control Actions on System
Performance

2
 Introduction
• First step in analyzing a control system was to derive a mathematical
model of the system [Unit 2]
• Establish a basis of comparison of performance of various control
systems
• Many design criteria are based on the response to such test signals
or on the response of systems to changes in initial conditions
• Commonly used test input signals are step functions, ramp
functions, acceleration functions, impulse functions, sinusoidal
functions, and white noise
• Once a control system is designed on the basis of test signals, the
performance of the system in response to actual inputs is generally
satisfactory

3
 Introduction
Transient Response and Steady-State Response
• Transient Response, 𝑐 𝑡 : from the initial state to the final state
• Steady-state Response, 𝑐 𝑡 : system output behaves as 𝑡 ⟶ ∞
• The system (total) response, c(t),

𝑐 𝑡 𝑐 𝑡 𝑐 𝑡

Absolute Stability, Relative Stability, and Steady-State Error

• The most important characteristic of the dynamic behavior of a control system is
absolute stability – that is, whether the system is stable or unstable.
• Stable: if the output eventually comes back to its equilibrium state when the system
is subjected to an initial condition.
• Critically stable: if oscillations of the output continues forever
• Unstable: if the output diverges without bound from its equilibrium state when it is
subjected to an initial condition.
• If the output of a system at steady state does not exactly agree with the input, the
system is said to have steady-state error
4
 First-Order Systems
• Typical first-order systems include RC circuit, thermal system or the like

5
 First-Order Systems
Unit-Step Response
• The Laplace transform the unit-step function is 1/s

1 1 1 1
𝐶 𝑠
𝑇𝑠 1 𝑠 𝑠 1
𝑠
𝑇
• Taking inverse Laplace transform, we have,

𝑐 𝑡 1 𝑒 , for 𝑡 0
• At 𝑡 0, 𝑐 𝑡 0
• At 𝑡 ⟶ ∞, 𝑐 𝑡 1
• At 𝑡 𝑇, 𝑐 𝑡 1 𝑒 0.632 63.2%
• T is called time constant. The smaller T, the faster the system response
6
 First-Order Systems
Unit-Step Response
𝑐 𝑡 1 𝑒 , for 𝑡 0

• The slope of the tangent line at t = 0,

𝑑𝑐 1 1
𝑒
𝑑𝑡 𝑇 𝑇
• It decreases monotonically from 1 /
T at t = 0 to zero at t = 

• Although the steady state is reached mathematically only after an infinite

time. In practice, however, a reasonable estimate of the response time is the
length of time the response curve needs to reach and stay within the 2%
line of the final value, or 4 time constants
7
 First-Order Systems
Unit-Ramp Response
• The Laplace transform the unit-ramp
function is 1/s2

1 1 1 𝑇 𝑇
𝐶 𝑠
𝑇𝑠 1 𝑠 𝑠 𝑠 𝑇𝑠 1

• Taking inverse Laplace transform, we have,

𝑐 𝑡 𝑡 𝑇 𝑇𝑒 , for 𝑡 0

• The error signal, /

𝑒 𝑡 𝑟 𝑡 𝑐 𝑡 𝑇 1 𝑒
• At 𝑡 → ∞, 𝑒 ∞ 𝑇
The error in following the unit-ramp input is equal to T for sufficiently large t
8
 First-Order Systems
Unit-Impulse Response
• The Laplace transform the unit-impulse
function is 1,
1
𝐶 𝑠 1
𝑇𝑠 1
• Taking inverse Laplace transform, we have,
1
𝑐 𝑡 𝑒 , for 𝑡 0
𝑇

An Important Property of Linear Time-Invariant Systems

• The response to the derivative of an input signal can be obtained by differentiating the
response of the system to the original signal
• The response to the integral of the original signal can be obtained by integrating the
response of the system to the original signal and by determining the integration
constant from the zero-output initial condition
9
 Second-Order Systems
• Consider a servo system as an example of a second-order system

• The servo system shown consists of

a proportional controller and load
elements.
• Control the output position c in
accordance with the input position r

Inertia Viscous-friction Torque

• The transfer function is then,

𝐶 𝑠 1
𝐽𝑠 𝐶 𝑠 𝐵𝑠𝐶 𝑠 𝑇 𝑠
𝑇 𝑠 𝐽𝑠 𝐵𝑠
10
 Second-Order Systems
• The closed-loop transfer function with the gain (K) of the proportional controller,
𝐾
𝐶 𝑠 𝐾 𝐽
𝑅 𝑠 𝐽𝑠 𝐵𝑠 𝐾 𝑠 𝐵 𝐾
𝑠
𝐽 𝐽
• We can rewrite the closed-loop transfer function as,
𝐾
𝐶 𝑠 𝐽
𝑅 𝑠
𝐵 𝐵 𝐾 𝐵 𝐵 𝐾
𝑠 𝑠
2𝐽 2𝐽 𝐽 2𝐽 2𝐽 𝐽

• It is convenient to write, 𝐾 𝐵
𝜔 , 2𝜁𝜔 2𝜎
𝐽 𝐽

• where  is called the attenuation; 𝜔 , the undamped natural frequency; and 𝜁 , the damping
ratio of the system. The damping ratio 𝜁 is the ratio of the actual damping B to the critical
damping 𝐵 2 𝑗𝐾 or
𝐵 𝐵
𝜁
𝐵 2 𝐽𝐾 11
 Second-Order Systems
• In terms of 𝜁 and 𝜔 , the system shown below can be modified and the
closed-loop transfer function C(s) / R(s) can be written as,

𝐶 𝑠 𝜔
𝑅 𝑠 𝑠 2𝜁𝜔 𝑠 𝜔

• This form is called the standard form of the second-order system

• The dynamic behavior of the second-order system can then be described in
terms of two parameters 𝜁 and 𝜔
I. If (0 𝜁 1): the system is underdamped
II. If (𝜁 1): the system is critically damped
III. If (𝜁 1): the system is overdamped
IV. If (𝜁 0): the transient response does not die out

12
 Second-Order Systems
Step response of a second-order system with different damping ratio

13
 Second-Order Systems
(I) Underdamped Case (𝟎 𝜻 𝟏) :

𝐶 𝑠 𝜔
𝑅 𝑠 𝑠 𝜁𝜔 𝑗𝜔 𝑠 𝜁𝜔 𝑗𝜔

• where 𝜔 𝜔 1 𝜁 : the damped natural frequency

• For a unit-step input, C(s) can be written

1 𝜔 1 𝑠 𝜁𝜔 𝜁𝜔
𝐶 𝑠
𝑠 𝑠 𝜁𝜔 𝑗𝜔 𝑠 𝜁𝜔 𝑗𝜔 𝑠 𝑠 𝜁𝜔 𝜔 𝑠 𝜁𝜔 𝜔

• From the Laplace Transform Table, the output in time domain is,
𝑒
𝑐 𝑡 1 sin 𝜔 𝑡 𝜙 , where 𝜙 cos 𝜁
1 𝜁

damping oscillation
14
 Second-Order Systems
(I) Underdamped Case (𝟎 𝜻 𝟏) (continued) :
• The error signal,
𝑒 𝑡 𝑟 𝑡 𝑐 𝑡 sin 𝜔 𝑡 𝜙

• At steady-state (𝑡 ⟶ ∞), no errors exists between the input and output

• If the damping ratio (𝜁 ) is zero, the response becomes undamped,

𝑒
𝑐 𝑡 1 sin 𝜔 1 0 𝑡 90° 1 cos 𝜔 𝑡 , for 𝑡 0
1 0

• From the above equation, we see that 𝜔 represents the undamped natural
frequency at which the system output would oscillate if the damping is zero
• Since 𝜔 𝜔 1 𝜁 , 𝜁 ↑ ⟹ 𝜔 ↓. The response becomes overdamped and will
not oscillate if 𝜁 1

15
 Second-Order Systems
(II) Critically Damped Case (𝜻 𝟏) :

𝜁 1
𝐶 𝑠 𝜔 𝜔
𝑅 𝑠 𝑠 2𝜁𝜔 𝑠 𝜔 𝑠 𝜔

• For a unit-step input, c(t) will be

Inverse Laplace
1 𝜔 Transform
𝐶 𝑠 𝑐 𝑡 1 𝑒 1 𝜔 𝑡 , 𝑡 0
𝑠 𝑠 𝜔

16
 Second-Order Systems
(III) Overdamped Case (𝜻 𝟏) :
• C(s) can be written with R(s) = 1 / s,

1 𝜔
𝐶 𝑠
𝑠 𝑠 𝜁𝜔 𝜔 𝜁 1 𝑠 𝜁𝜔 𝜔 𝜁 1

• Taking inverse Laplace transform,

𝑐 𝑡
1
1 𝑒
2 𝜁 1 𝜁 𝜁 1
1
𝑒
2 𝜁 1 𝜁 𝜁 1

17
 Second-Order Systems

• An underdamped system with 𝜁 between 0.5 and 0.8 gets close to the final value
more rapidly than a critically damped or overdamped system
• Among the systems responding without oscillation, a critically damped system
exhibits the fastest response
• An overdamped system is always sluggish (moving slowly) in responding to any
inputs
18
 Unit-step Response
Definition of Transient-response Specifications
• The performance characteristics of a control system are specified in terms of the transient
response to a unit-step input, since it is easy to generate
• For comparing transient responses, zero initial condition will be used
• In specifying the transient-response characteristics of a control system to a unit-step input, it
is common to specify the following:
1. Delay time, 𝑡 : Time required for the
response to reach half the final value the very
first time
2. Rise time, 𝑡 : Time required for the response
to rise from 10% to 90%, 5% to 95%, or 0% to
100% of its final value
3. Peak time, 𝑡 : Time required for the response
to reach the first peak of the overshoot
4. Settling time, 𝑡 : Time required for the
response curve to reach and stay within a
range about 2% to 5% of its final value
5. Maximum (percent ) overshoot, 𝑀 :
Maximum peak value of the response curve
measured from unity
𝑐 𝑡 𝑐 ∞
𝑀 % 100% 19
𝑐 ∞
 Unit-step Response
Second-order Systems and Transient-response Specifications
• Rise time, 𝒕𝒓 (0% to 100%)
𝑒
𝑐 𝑡 1⟹1 sin 𝜔 𝑡 𝜙 1
1 𝜁

• Since 0, we can obtain the following equation,

1 𝜁 1 𝜁
sin 𝜔 𝑡 tan 0 ⟹ tan 𝜔 𝑡
𝜁 𝜁
• As 𝜔 𝜔 1 𝜁 and 𝜁𝜔 𝜎, we have
1 𝜁 𝜔
tan 𝜔 𝑡
𝜁 𝜎
Then, the rise time is,
1 𝜔 𝜋 𝛽
𝑡 tan
𝜔 𝜎 𝜔

20
 Unit-step Response
𝜁
𝑐 𝑡 1 𝑒 cos 𝜔 𝑡 sin 𝜔 𝑡
1 𝜁
Second-order Systems and Transient-response Specifications
𝜔 𝜔 1 𝜁
• Peak time, 𝒕𝒑
– Obtained by differentiating c(t) with respect to time and letting this derivative equal zero

𝑑𝑐 𝑡 𝜁 𝜁𝜔
𝜁𝜔 𝑒 cos 𝜔 𝑡 sin 𝜔 𝑡 𝑒 𝜔 sin 𝜔 𝑡 cos 𝜔 𝑡
𝑑𝑡 1 𝜁 1 𝜁

• The cosine terms cancel each other, , evaluated at 𝑡 𝑡 , can be simplified to,
𝑑𝑐 𝑡 𝜔
0 sin 𝜔 𝑡 𝑒
𝑑𝑡 1 𝜁

• Hence, sin 𝜔 𝑡 0 or 𝜔 𝑡 0, 𝜋, 2𝜋, 3𝜋, …

• Since the peak time corresponds to the first peak overshoot,

𝜋
𝑡 corresponds to one-half cycle of the
𝜔
frequency of damped oscillation
21
 Unit-step Response

Second-order Systems and Transient-response Specifications

• Maximum Overshoot, 𝑴𝒑
– It occurs at 𝑡 . If the final output value is unity, then

𝑀 𝑐 𝑡 1 𝑒 cos 𝜔 sin 𝜔 𝑒

• The maximum percent overshoot is 𝑒 100%

𝜁
𝑐 𝑡 1 𝑒 cos 𝜔 𝑡 sin 𝜔 𝑡
1 𝜁

𝜔 𝜔 1 𝜁
22
 Unit-step Response
Second-order Systems and Transient-response Specifications
• Settling time, 𝒕𝒔
– Time corresponding to a 2% or 5% tolerance band
• The envelope curves of the transient response,
T : Time constant of the
𝑒 𝜔 𝑡 envelope curves
1
1 𝜁

• Hence, the settling time is commonly defined

as,

4
𝑡 4𝑇 (2% criterion)
𝜁𝜔

3
𝑡 3𝑇 (5% criterion)
𝜁𝜔
23
 Example 1
Consider the system shown below, where 𝜁 = 0.6 and 𝜔 = 5 rad/s. Find the rise time
𝑡 , peak time 𝑡 , maximum overshoot 𝑀 , and settling time 𝑡 when the system is
subjected to a unit-step input.

Answer:
𝜔 5 1 0.6 4 ,𝜎 0.6 5 3
𝜔 4
𝛽 tan tan 0.9273 rad
𝜎 3
.
Rise time, 𝑡 0.554 s
Peak time, 𝑡 0.785 s

.
Maximum overshoot, 𝑀 𝑒 𝑒 . 0.0948
The maximum percent overshoot is thus 9.48%
Settling time, 𝑡 1.333 s (for 2% criterion)
.

𝑡 1 s (for 5% criterion)
.
24
 System with Velocity Feedback
• Revisited the servo system in p.10
• The derivative of the output signal can be used to improve system performance
• In obtaining the derivative of the output position signal, it is desirable to use a
tachometer instead of physically differentiating the output signal 𝐶 𝑠 𝐾
• The velocity signal, together with the positional 𝑅 𝑠 𝐽𝑠 𝐵𝑠 𝐾

signal, is fed back to the input to produce the

actuating error signal 𝐵
𝜁
• The transfer function of the servo system with 2 𝐽𝐾
velocity-feedback constant 𝐾 can be written as,
𝐶 𝑠 𝐾
𝑅 𝑠 𝐽𝑠 𝐵 𝐾𝐾 𝑠 𝐾
• The new damping ratio becomes,
𝐵 𝐾𝐾
𝜁
2 𝐾𝐽
• The undamped natural frequency is unchanged,
𝜔 𝐾/𝐽
25
 Example 2
For the system shown below, determine the values of gain K and velocity-feedback
constant 𝐾 so that the maximum overshoot in the unit-step response is 0.2 and the
peak time is 1 sec. With these values of K and 𝐾 , obtain the rise time and settling time
(2%). Assume that 𝐽 1 kgm and B = 1 Nm/rad/sec.

𝜋
Answer: 𝑡 1 ∴𝜔 𝜋
𝜔

𝑀 𝑒 0.2 → ln 𝑒 ln 0.2

𝜁 𝜁
𝜋 ln 0.2 → 𝜋 ln 0.2
1 𝜁 1 𝜁

𝜁 𝜋
ln 0.2 → 𝜁 𝜋 1 𝜁 ln 0.2 → 𝜁 𝜋 ln 0.2 ln 0.2
1 𝜁

ln 0.2 ln 𝑀
𝜁 0.4559 or 0.4559 reject 𝜁
𝜋 ln 0.2 𝜋 ln 𝑀
26
 Example 2
Answer:
𝜔 𝜋
𝜔 3.53 rad/s
1 𝜁 1 0.4559

𝐾 𝐾
𝜔 3.53 → 𝑲 𝟏𝟐. 𝟒𝟔 𝐍𝐦 𝐶 𝑠 𝐾
𝐽 1
𝑅 𝑠 𝐽𝑠 𝐵 𝐾𝐾 𝑠 𝐾

𝐵 𝐾𝐾 1 12.46𝐾
𝜁 → 0.4559 → 𝑲𝒉 𝟎. 𝟏𝟕𝟖 𝐬
2 𝐾𝐽 2 12.46 1

Rise Time 𝜋 𝛽 𝜋 cos 𝜁 𝜋 cos 0.4559

𝒕𝒓 𝟎. 𝟔𝟓𝟏 𝐬
𝜔 𝜋 𝜋

Settling Time 4 4
𝒕𝒔 𝟐% 𝟐. 𝟒𝟖𝟔 𝐬
(2%) 𝜁𝜔 0.4556 3.53
27
 Unit-Impulse Response
• The unit-impulse response of the second-order system shown below is,
𝜔
𝐶 𝑠
𝑠 2𝜁𝜔 𝑠 𝜔

• Its inverse Laplace transform is,

1. 𝟎 𝜻 𝟏: 𝑐 𝑡 𝑒 sin 𝜔 1 𝜁 𝑡
2. 𝜻 𝟏: 𝑐 𝑡 𝜔 𝑡𝑒
3. 𝜻 𝟏:
𝜔 𝜔
𝑐 𝑡 𝑒 𝑒
2 𝜁 1 2 𝜁 1

• For the critically damped and overdamped cases, the

responses is always positive or zero
• For the underdamped case, the response oscillates about
zero and takes both positive and negative values
28
 Steady-State Errors in Feedback Control Systems
• Any physical control system inherently suffers steady-state error in response to
certain types of inputs, e.g. it may have no steady-state error to a step input, but
may exhibit nonzero steady-state error to a ramp input  depends on the type of
open-loop transfer function of the system

Steady-State Errors
• Consider the system beside, the transfer function is,
𝐶 𝑠 𝐺 𝑠
𝑅 𝑠 1 𝐺 𝑠 𝐻 𝑠
• The transfer function between the error signal e(t) and the input signal r(t) is,
𝐸 𝑠 𝑅 𝑠 𝐻 𝑠 𝐶 𝑠 𝐻 𝑠 𝐶 𝑠 1
1
𝑅 𝑠 𝑅 𝑠 𝑅 𝑠 1 𝐺 𝑠 𝐻 𝑠
• The steady-state error can be computed by using the final-value theorem,

1 𝑠𝑅 𝑠
𝐸 𝑠 𝑅 𝑠 𝑒 lim 𝑒 𝑡 lim 𝑠𝐸 𝑠 lim
1 𝐺 𝑠 𝐻 𝑠 → → → 1 𝐺 𝑠 𝐻 𝑠

29
Steady-State Errors in Unity-Feedback Control Systems
Static Position Error Constant 𝐾
• The steady-state error of the system for a unit-step input is,
𝑠 1 1
𝑒 lim
→ 1 𝐺 𝑠 𝐻 𝑠 𝑠 1 𝐺 0 𝐻 0
• The static position error constant 𝐾 is defined by,
𝐾 lim 𝐺 𝑠 𝐻 𝑠 𝐺 0 𝐻 0
→

• Thus, the steady-state error in terms of 𝐾 is given by, 𝑒

Static Velocity Error Constant 𝐾

• The steady-state error of the system with a unit-ramp input is,
𝑠 1 1
𝑒 lim lim
→ 1 𝐺 𝑠 𝐻 𝑠 𝑠 → 𝑠𝐺 𝑠 𝐻 𝑠

• The static velocity error constant 𝐾 is defined by, 𝐾 lim 𝑠𝐺 𝑠 𝐻 𝑠

→

• Thus, the steady-state error in terms of 𝐾 is given by, 𝑒

30
Steady-State Errors in Unity-Feedback Control Systems
Static Acceleration Error Constant 𝐾
• The steady-state error of the system for a unit-parabolic input (or acceleration
input) is,
𝑡
𝑟 𝑡 , 𝑡 0
2
0, 𝑡 0

𝑠 1 1
𝑒 lim lim
→ 1 𝐺 𝑠 𝐻 𝑠 𝑠 → 𝑠 𝐺 𝑠 𝐻 𝑠

• The static acceleration error constant 𝐾 is defined by,

𝐾 lim 𝑠 𝐺 𝑠 𝐻 𝑠
→

• Thus, the steady-state error in terms of 𝐾 is given by, 𝑒

31
 Steady-State Errors in Unity-Feedback Control Systems
Summary

Step Input Ramp Input Acceleration Input

𝒓 𝒕 𝟏 𝒓 𝒕 𝒕 𝒓 𝒕 𝒕𝟐 /𝟐

Static Position Error

lim 𝐺 𝑠 𝐻 𝑠 ‐ ‐
Constant 𝐾 →

Static Velocity Error

‐ lim 𝑠𝐺 𝑠 𝐻 𝑠 ‐
Constant 𝐾 →

Static Acceleration Error

‐ ‐ lim 𝑠 𝐺 𝑠 𝐻 𝑠
Constant 𝐾 →

Steady State Error 𝑒 1 1 1

1 𝐾 𝐾 𝐾
32
 Example 3
Find the steady state error for (a) a unit-step input; (b) a unit-ramp input; and (c) a unit
parabolic input.

+ 𝑠 2 4
R(s) C(s)
𝑠 4 𝑠 𝑠 1
-

Answer:
(a)
4 𝑠 2 1
𝐾 lim 𝐺 𝑠 𝐻 𝑠 lim ∞ 𝑒 0
→ → 𝑠 𝑠 4 𝑠 1 1 𝐾
(b)
4𝑠 𝑠 2 1
𝐾 lim 𝑠𝐺 𝑠 𝐻 𝑠 lim 2 𝑒 0.5
→ → 𝑠 𝑠 4 𝑠 1 𝐾
(c)
4𝑠 𝑠 2 1
𝐾 lim 𝑠 𝐺 𝑠 𝐻 𝑠 lim 0 𝑒 ∞
→ → 𝑠 𝑠 4 𝑠 1 𝐾
33
 Effects of Integral and Derivative Control Actions on
System Performance
Integral Control Action
• In the integral control of a plant, the control signal — output signal from the
controller — at any instant is the area under the actuating-error-signal curve up to
that instant
• The control signal u(t) can have a nonzero value when the actuating error signal e(t)
is zero as shown below
• This is impossible in the case of the proportional controller, since a nonzero control
signal requires a nonzero actuating error signal as shown below

(a) Plots of e(t) and u(t) curves

showing nonzero control signal
(integral control)
(b) Plots of e(t) and u(t) curves
showing zero control signal
(proportional control)

34
 Effects of Integral and Derivative Control Actions on
System Performance
Proportional Control of Systems
• Consider the system shown beside, then
𝐾 𝐶 𝑠 𝐺 𝑠
𝐺 𝑠 and
𝑇𝑠 1 𝑅 𝑠 1 𝐺 𝑠

𝐸 𝑠 𝐶 𝑠 1
1
𝑅 𝑠 𝑅 𝑠 1 𝐺 𝑠
𝑅 𝑠 1/𝑠
1 1 𝑇𝑠 1 1
∴𝐸 𝑠 𝑅 𝑠 𝑅 𝑠 𝐸 𝑠
1 𝐺 𝑠 𝐾 𝑇𝑠 1 𝐾 𝑠
1
𝑇𝑠 1
• The steady-state error is,
𝑇𝑠 1 1 1
𝑒 lim 𝑒 𝑡 lim 𝑠𝐸 𝑠 lim 𝑠
→ → → 𝑇𝑠 1 𝐾 𝑠 1 𝐾

A system without an integrator in the feedforward path always

has a steady-state error (called “offset”) in the step response.
35
 Effects of Integral and Derivative Control Actions on
System Performance
Integral Control of Systems
• Consider the system shown beside, then
𝐾
𝐶 𝑠 𝑠 𝑇𝑠 1 𝐾
𝑅 𝑠 𝐾 𝑠 𝑇𝑠 1 𝐾
1
𝑠 𝑇𝑠 1

𝐸 𝑠 𝐶 𝑠 𝑠 𝑇𝑠 1 𝑠 𝑇𝑠 1
1 ⇒𝐸 𝑠 𝑅 𝑠
𝑅 𝑠 𝑅 𝑠 𝑠 𝑇𝑠 1 𝐾 𝑠 𝑇𝑠 1 𝐾

• The steady-state error for the unit-step response can be obtained by applying the
final-value theorem,
𝑠 𝑇𝑠 1 1
∴𝑒 lim 𝑠𝐸 𝑠 lim 0
→ → 𝑠 𝑇𝑠 1 𝐾 𝑠

• Integral control of the system thus eliminates the steady-state error in the response
to the step input
36
 Example 4
Consider the system shown below. The proportional controller delivers torque T to position the
load element, which consists of moment of inertia (J) and viscous friction (b). Torque disturbance
is denoted by D which is a step function of magnitude 𝑇 . Determine the steady-state error if
reference input is zero.

Answer:
Since R(s) = 0, there will be only one input
D(s). Hence the transfer function between
C(s) and D(s) is,

1
𝐶 𝑠 𝑠 𝐽𝑠 𝑏 1 𝐸 𝑠 𝑅 𝑠 𝐶 𝑠 𝐶 𝑠 1
⟹ ∴
𝐷 𝑠 1 𝐽𝑠 𝑏𝑠 𝐾 𝐷 𝑠 𝐷 𝑠 𝐷 𝑠 𝐽𝑠 𝑏𝑠 𝐾
1 𝐾
𝑠 𝐽𝑠 𝑏

The steady-state error due to a step disturbance torque of magnitude 𝑇 is given by

1 𝑇 𝑇
𝑒 lim 𝑠𝐸 𝑠 lim 𝑠
→ → 𝐽𝑠 𝑏𝑠 𝐾 𝑠 𝐾

37
 Example 5
The proportional controller in Example 4 is now replaced by a proportional-plus-
integral controller as shown below. Find the steady-state error of the system with the
same condition of Example 4, i.e. 𝑅 𝑠 0 and 𝐷 𝑠 𝑇 / 𝑠.

Answer:

𝐸 𝑠 𝑅 𝑠 𝐶 𝑠 → 𝐸 𝑠 𝐶 𝑠

1 1
𝐸 𝑠 𝐶 𝑠 𝑠 𝐽𝑠 𝑏 𝑠 𝐽𝑠 𝑏
𝐷 𝑠 𝐷 𝑠 1 1 𝑠 𝑇 𝐽𝑠 𝑏 𝐾 𝑇𝑠 1
1 𝐾 1
𝑇𝑠 𝑠 𝐽𝑠 𝑏 𝑇 𝐽𝑠 𝑏 𝑠

𝐸 𝑠 𝑇𝑠
∴
𝐷 𝑠 𝐽𝑠 𝑏 𝑇𝑠 𝐾 𝑇𝑠 1 38
 Example 5
Answer:

𝐸 𝑠 𝑇𝑠 𝑇𝑠
∴
𝐷 𝑠 𝑠 𝐽𝑠 𝑏 𝑇𝑠 𝐾 𝑇𝑠 1 𝐽𝑇 𝑠 𝑏𝑇 𝑠 𝐾 𝑇𝑠 𝐾

Steady-state error
𝑇𝑠 𝑇
𝑒 lim 𝑠𝐸 𝑠 lim 𝑠
→ → 𝐽𝑇 𝑠 𝑏𝑇 𝑠 𝐾 𝑇𝑠 𝐾 𝑠
0
𝑒 0
𝐾

39
 Effects of Integral and Derivative Control Actions on
System Performance
Derivative Control of Systems
• Derivative control action, when added to a proportional controller, obtaining a
controller with high sensitivity
• It responds to the rate of change of the actuating error and can produce a significant
correction before the magnitude of the actuating error becomes too large
• Derivative control thus anticipates the actuating error, initiates an early corrective
action, and tends to increase the stability of the system
• Not affect the steady-state error directly, it adds damping to the system and thus
permits the use of a larger value of the gain K, which will result in an improvement
in the steady-state accuracy

40