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Introduction To Control Systems Unit-Ii

This document covers time response analysis and root locus techniques in control systems, detailing standard test signals, steady state errors, and transient responses for first and second order systems. It explains the characteristics of transient response, including delay time, rise time, peak time, maximum overshoot, and settling time, as well as the type number of control systems and steady state errors. Additionally, it discusses static and dynamic error coefficients and their relationship, along with example problems for practical application.

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Teja Reddy
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6 views145 pages

Introduction To Control Systems Unit-Ii

This document covers time response analysis and root locus techniques in control systems, detailing standard test signals, steady state errors, and transient responses for first and second order systems. It explains the characteristics of transient response, including delay time, rise time, peak time, maximum overshoot, and settling time, as well as the type number of control systems and steady state errors. Additionally, it discusses static and dynamic error coefficients and their relationship, along with example problems for practical application.

Uploaded by

Teja Reddy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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UNIT-II

TIME RESPONSE ANALYSIS & ROOT


LOCUS TECHNIQUE :
➢Standard test signals
➢Steady state error & error constants
➢Time Response of I order system
➢Time Response of II order system
➢Root Locus
➢Rules for sketching root loci
TIME RESPONSE ANALYSIS
The time response of the system is the output of the
closed loop system as a function of time.
It is denoted by c(t).

The time response of the system can be obtained by


solving the differential equation governing the system.

Alternatively the response c(t) can be obtained from


the transfer function of the system and the input of the
system.
The output in s-domain C(s) is given by the product of
the transfer function and the input R(s).

On taking the inverse Laplace transform of this


product the time domain response c(t) can be obtained.
The time response of the control system consists of
two parts.

➢Transient response
➢Steady state response
TRANSIENT RESPONSE:
Transient response shows the response of the system
when the input changes from one state to another.

STEADY STATE RESPONSE:


Steady state response shows the response as time t
approaches infinity.
TEST SIGNALS
The knowledge of the input signal is required to
predict the response of the system.

The commonly used test input signals are impulse ,


step , ramp , acceleration and sinusoidal signals.
A signal which is available for very short duration is called
impulse signal.

Ideal impulse signal is a unit impulse signal which is defined


as a signal having zero values at all times except at t=0.
Laplace transform of the impulse function is unity.
Order of the system.
The transfer function also can be written as the ratio of two
polynomials in S.
The order can be specified for both open loop system and
closed loop system.

The value of n gives the number of poles in the transfer


function. Hence the order is given by the number of poles of
the transfer function.
Review of partial fraction expression.
Transfer function of the first order system.
Response of first order system for unit step
input.
Response of first order system for impulse input.
SECOND ORDER SYSTEM
TRANSIENT RESPONSE CHARACTERISTICS OF
CONTROL SYSTEM IN TERMS OF TIME DOMAIN
SPECIFICATION
The transient response characteristics of a control
system to a unit step input is specified in terms of the
following time domain specification.
➢Delay time (td)
➢Rise time ( tr)
➢Peak time ( tp )

➢Maximum overshoot (Mp)


➢Settling time ( ts)
Consider second order system output as shown in
bellow..
For under damped system the rise time is calculated
from 0 to 100%
For overdamped system the rise time is calculated
from 10 to 90%
For critically damped system the rise time is calculated
from 5 to 95%
Expression for Rise time (tr)
Expression for Peak time (tp)
Expression for Peak overshoot (Mp)
Expression for settling time (ts)
TYPE NUMBER OF CONTROL SYSTEMS.
The type number is specified for loop transfer function
G(s)H(s.)
The number of poles of the loop transfer function lying
at the origin decides the type number of the system.
If N is the number of poles at the origin then the
type number is N.

The loop transfer function can be expressed as ratio of


two polynomials in S
STEADY STATE ERROR.
The steady state error is the value of error signal e(t),
when t tends to infinity.

This error is a measure of system accuracy.

These errors are arise from the nature of input, type of


system and from non linearity of system components.
STATIC ERROR CONSTANTS.
When the control system is excited with standard input
signal, the steady state error may be zero , constant or
infinity.

The value of steady state error depends on the type


number and the input signal.
Type-0 system will have a constant steady state error
when the input is step signal.
Type-1 system will have a constant steady state error
when the input is ramp signal or velocity signal.

Type-2 system will have a constant steady state error


when the input is parabolic signal or acceleration
The three cases mentioned above the steady
state error is associated with one of the
constants defined as follows.
GENERALIZED ERROR (or) DYNAMIC ERROR
COEFFICIENTS.
The drawback in static error coefficients is that
it does not show the variations of error with time
and input should be standard input.
The generalized error coefficients gives
the steady state error as a function of time and
the input is any type.
RELATION B/W GENERALIZED (DYNAMIC ERROR
COEFFICIENTS) & STATIC COEFFICIENTS.
The value of dynamic error coefficients can be
used to calculate static error coefficients.
PROBLEMS
The open loop transfer function of a servo system with unity feedback is G(s)=

Determine steady state error for a input r(t) = 1+2t+t2 by using


dynamic error coefficients?
Determine the values of K and P of the closed loop
system shown in figure below, so that the maximum
overshoot in the unit-step response is 25% and the peak
time is 2sec. Assume that J= 1 kg-m2

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