Chapter 3

ADIGRAT UNIVERSITY
COLLAGE OF ENGINEERING &

TECHNOLOGY
DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
5/27/2017
ADU, CET, ECEg3153
Course name: Introduction to control systems
Course code: ECEg3153
Email: fekianew@gmail.com
1 Chapter 3
Time domain analysis of control system
OUTLINE
5/27/2017
Introduction
Time domain analysis of
ADU, CET, ECEg3153

First order systems
Second order systems
Steady state error

Stability analysis's
Rouths stability criteria
2
INTRODUCTION
Time Domain Analysis of Control Systems
In time-domain analysis the response of a dynamic
5/27/2017
system to an input is expressed as a function of time.
It is possible to compute the time response of a
ADU, CET, ECEg3153

system if the nature of input and the mathematical
model of the system are known.
After the engineer obtains a mathematical
representation of a system, the system is analyzed
for its transient and steady-state responses to see if
these characteristics yield the desired behavior
3
INTRODUCTION
The concept of poles and zeros are fundamental to
the analysis and design of control systems which
5/27/2017
simplifies the evaluation of a system's response.
Pole, Zeros and System Response
ADU, CET, ECEg3153

Pole of a Transfer Function: The values of the
Laplace transform variable, s, that cause the transfer
function to become infinite
Zeros of a Transfer Function: The values of the
Laplace transform variable, s, that cause the transfer
function to become zero
4
INTRODUCTION
Usually, the input signals to control systems are not
known fully ahead of time.
5/27/2017
For example, in a radar tracking system, the position
and the speed of the target to be tracked may vary in
ADU, CET, ECEg3153

a random fashion.
It is therefore difficult to express the actual input
signals mathematically by simple equations.
So in order to get System Response:
The commonly used test input signals are step

functions, ramp functions, acceleration function,
impulse functions and sinusoidal functions.
5
INTRODUCTION
Standard Test Signals
The characteristics of actual input signals are a
5/27/2017
sudden shock, a sudden change, a constant velocity,
and constant acceleration.
ADU, CET, ECEg3153

The dynamic behavior of a system is therefore judged
and compared under application of standard test
signals an impulse, a step, a constant velocity, and
constant acceleration.
Another standard signal of great importance is a
sinusoidal signal.
6
INTRODUCTION
Impulse signal
5/27/2017
The impulse signal imitate the

sudden shock characteristic of
ADU, CET, ECEg3153

actual input signal.
If A=1, the impulse signal is called

unit impulse signal.
7
INTRODUCTION
Step signal
5/27/2017
The step signal imitate the

sudden change characteristic u(t)
ADU, CET, ECEg3153

of actual input signal.
A
0 t
If A=1, the step signal is
called unit step signal
8
INTRODUCTION
r(t)
Ramp signal
5/27/2017
The ramp signal imitate the

constant velocity
ADU, CET, ECEg3153

characteristic of actual input
signal. t
0
r(t)
ramp signal with slope A
If A=1, the ramp signal is r(t)

called unit ramp signal
unit ramp signal

9
INTRODUCTION
Standard test signal
Parabolic signal
5/27/2017
p(t)
The parabolic signal imitate
the constant acceleration
ADU, CET, ECEg3153

characteristic of actual input
signal.
0 t
If A=1, the parabolic signal is

called unit parabolic signal.
10
INTRODUCTION
Relation between standard Test Signals
Impulse A t0
5/27/2017
(t ) d
0 t0
dt
ADU, CET, ECEg3153

Step A
u( t )
t0
0 t0 d
dt
Ramp At t0
r(t ) d
0 t0
dt
Parabolic At 2
t0
p(t ) 2 11
0 t0

INTRODUCTION
Laplace Transform of Test Signals
Impulse
5/27/2017
A t0
(t )
0 t0
ADU, CET, ECEg3153

L{ (t )} ( s ) A
Step
A t0
u( t )
0 t0
A
L{u(t )} U ( s ) 12
S
INTRODUCTION
Laplace transform of test signals
At t0
Ramp
5/27/2017
r(t )
0 t0
ADU, CET, ECEg3153

A
L{ r(t )} R( s )
s2
Parabolic At 2
t0
p(t ) 2
0 t0

2A
L{ p(t )} P( s ) 3
13
S
INTRODUCTION
Time Response of Control Systems
Time response of a dynamic system is response to
5/27/2017
an input expressed as a function of time.
ADU, CET, ECEg3153

The time response of any system has two
components
Transient response
Steady-state response.
14
TIME DOMAIN ANALYSIS OF 1ST ORDER
SYSTEMS
Transient Response Analysis
First Order System:
5/27/2017
First order system without zero
ADU, CET, ECEg3153

The first order system has only one pole considering with
gain K.
C( s ) K

R( s ) Ts 1
Where K is the D.C gain and T or 1/a is the time constant
of the system.
Time constant is a measure of how quickly a 1st order
system responds to a unit step input.
D.C Gain of the system is ratio between the input signal
and the steady state value of output. 15
SYSTEMS
As an example For the first order system given below
10
5/27/2017
G( s )
3s 1
D.C gain is 10 and time constant is 3 second. And for
ADU, CET, ECEg3153

following system
3 3/ 5
G( s )
s 5 1 / 5s 1
D.C Gain of the system is 3/5 and time constant is
1/5 seconds.
In general having
E.g: If unit step input is applied to this first order

system
Cn(t): (natural),transited
response
16
Cf(t): forced (ss) response
SYSTEMS
Testing 1st order systems
Impulse Response of 1st Order System
5/27/2017
Consider the following 1st order system
(t)
K
C(s )
ADU, CET, ECEg3153

1
R(s ) Ts 1
t
0
Re-arrange above equation as
In order to represent the response of the system in time

domain we need to compute inverse Laplace transform
of the above equation.
A K t / T
L1 Ae at
c(t ) e 17
sa T
SYSTEMS
Testing 1st order systems
Step Response of 1st Order System
5/27/2017
Consider the following 1st order system
K
R(s ) C(s )
ADU, CET, ECEg3153

Ts 1
K
C( s )
sTs 1
1
R( s ) U ( s )
s
In order to find out the inverse Laplace of the above
equation, we need to break it into partial fraction expansion
Forced Response Natural Response
K KT 1 T
C( s ) C( s ) K
s Ts 1 s Ts 1
Taking inverse Laplace
c(t ) K u(t ) e t / T

Having u(t)=1 and t=T(at which the response reach's
63% of final value)

18

c(t ) K 1 e t / T
c(t ) K 1 e 1 0.632K
SYSTEMS
Step Response of 1st Order System
E.g: If K=10 and T=1.5s then
5/27/2017

K*(1-exp(-t/T))
11
c(t ) K 1 et / T 10
Step Response
ADU, CET, ECEg3153

9
8 steady state output 10

D.C Gain K
7 Input 1
6
c(t)
2
Unit Step Input
1
0
0 1 2 3 4 5 6 7 8 9 10
Time
Exercise: fined 1st order response for parabolic and

ramp signal input. 19
SYSTEMS
Relation Between Step and impulse response
The step response of the first order system is
5/27/2017

c(t ) K 1 e t / T K Ket / T
ADU, CET, ECEg3153

Differentiating c(t) with respect to t yields
dc(t ) d
dt

dt

K Ket / T
dc(t ) K t / T
e (impulse response)
dt T
20
..
Example: Impulse response of a 1st order system is
given below.
5/27/2017
c(t ) 3e 0.5t
solution
Find out
ADU, CET, ECEg3153
The Laplace Transform of Impulse

Time constant T response of a system is actually the transfer
D.C Gain K function of the system.
Therefore taking Laplace Transform of the
Transfer Function impulse response given by following
Step Response equation.
0.5t C( s ) C( s ) 3
c(t ) 3e
( s ) R( s ) S 0.5
3 3
C( s ) 1 (s) C( s ) 6
S 0.5 S 0.5 21
R( s ) 2S 1
SYSTEMS
Transient Response Performance Specification:
Time Constant: T or a is the only parameter
5/27/2017
needed to describe the transient response We call 1/a
or T the time constant of the response.
The time constant can be described as the time for
ADU, CET, ECEg3153

exp(-at) to decay to 37% of its initial value.
Alternately, the time constant is the time it takes for
the step response to rise to 63% of its final value
It is related to the speed at which the system
responds to a step input.
Since the pole of the transfer function is at -a, we can
say the pole is located at the reciprocal of the time
constant, and
The farther the pole from the imaginary axis, the
22
faster the transient response.
SYSTEMS
Rise Time, Tr: Rise time is defined as the time for
the waveform to go from 0% or 10% to 90% or 100%
5/27/2017
of its final value.
Rise time calculated by solving for the difference in
ADU, CET, ECEg3153

time at c(t) = 0.9 and c(t) = 0.1. Hence,
Or Tr=2.2T
Settling Time, Ts: Settling time is defined as the
time for the response to reach, and stay within, 2% of
its final value.
Letting c(t) = 0.98 and solving for time, t, we find the
settling time to be
Or Ts=4T
23
SYSTEMS
Could be summarized as:
5/27/2017
Or Slope= 1/T
ADU, CET, ECEg3153

Ts=4T
24
SYSTEMS
Example: a system has a transfer function
5/27/2017
Find the time constant, Tc, settling time, Ts, and rise
ADU, CET, ECEg3153

time, Tr ?
Solution:
a=50
Tc= 1/a=0.02sec
Tr = 2.2/a = 0.044sec
Ts= 4/a = 0.08sec
What will be the total time step response and show
the natural and forced responses ?
1-exp(-50t)-Total response
1- forced response 25
exp(-50t)- Natural response

SYSTEMS
1st Order System with a Zero

C ( s) K (1 s)
5/27/2017

R( s ) Ts 1
ADU, CET, ECEg3153

Zero of the system lie at -1/ and pole at -1/T.
Step response of the system would be:
K (1 s )
C( s )
sTs 1
K K ( T ) Partial Fractions
C( s )
s Ts 1
K Inverse Laplace
c(t ) K ( T )e t / T 26
T
SYSTEMS
1st Order System with & W/O Zero (Comparison)
C( s ) K C( s ) K (1 s )

5/27/2017
R( s ) Ts 1 R( s ) Ts 1

c(t ) K 1 e t / T K
c(t ) K ( T )e t / T
ADU, CET, ECEg3153

T
If T> the shape of the step response is
approximately same (with offset added by zero)
Unit Step Response
K 10
c(t ) K ( n )e t / T 9.5
T
n
9
c(t ) K 1 e t / T 8.5
T
c(t)
offset
C( s ) 10(1 2s )
7.5
R( s ) 3s 1 6.5
27
10 t / 3
0 5 10 15
c(t ) 10 ( 2 3)e
Time
3 = + ( )

SYSTEMS
If T< the response of the system would look like
Comparing the 2-cases
5/27/2017
C( s ) 10(1 2s )

Unit Step Response of 1st Order Systems with Zeros
14
R( s ) 1.5s 1
13
ADU, CET, ECEg3153

10
c(t ) 10 ( 2 1)e t / 1.5 12
Unit Step Response

1.5 11
Unit Step Response of 1st Order Systems with Zeros T
14 10
13
9 T
8
Unit Step Response
12
7
11 6
0 5 10 15
Time
10
28
9
0 5 10 15
Time
SYSTEMS
Examples of First Order Systems
Armature Controlled D.C Motor (La=0)
5/27/2017

Electrical System
Mechanical System
ADU, CET, ECEg3153

Ra La
B
ia
eb T J
u
Eo ( s ) 1

Ei ( s ) RCs 1
X o (s) 1
(s)

K t Ra
X i (s) b
U(s) Js B K t K b Ra s 1 29
k
TIME DOMAIN ANALYSIS OF 2ND ORDER
SYSTEMS
2nd order systems
We have already discussed the affect of location of
5/27/2017
pole and zero on the transient response of 1st order
systems.
Compared to the simplicity of a first-order system, a
ADU, CET, ECEg3153

second-order system exhibits a wide range of
responses that must be analyzed and described.
Varying a first-order system's parameters (T, K)
simply changes the speed and offset of the response
Whereas, changes in the parameters of a second-
order system can change the form of the response.
A second-order system can display characteristics
much like a first-order system or, depending on
component values, display damped or pure
30
oscillations for its transient response.
SYSTEMS
2nd order systems
A general second-order system (without zeros) is
5/27/2017
characterized by the following transfer function.
ADU, CET, ECEg3153

n2 Open-Loop
G( s)
s( s 2 n ) Transfer Function
C( s ) n2 Closed-Loop

R( s ) s 2 2 n s n2 Transfer Function
damping ratio of the second order system, which is a
measure of the degree of resistance to change in the
system output.
un-damped natural frequency of the second
n order system, which is the frequency of 31
oscillation of the system without damping.

SYSTEMS
Lets study the effect of pole location before finding
response of the system.
5/27/2017
lets have the characteristic equation or denominator
ADU, CET, ECEg3153

The following conclusion could be drawn:
32
SYSTEMS
Second Order Systems:
Lets take numerical examples of the second-order
5/27/2017
system responses which has two finite poles and no
zeros.
ADU, CET, ECEg3153

33
SYSTEMS
5/27/2017
ADU, CET, ECEg3153
34
SYSTEMS
NB: Varying a first-order system's parameter simply
changes the speed of the response, changes in the
5/27/2017
parameters of a second-order system can change the
form of the response.
Therefore; dep. On damping ratio ( ) the response
ADU, CET, ECEg3153

Over damped responses( 1)
Poles: Two real at (i.e )

Natural response: Two exponentials with time
constants equal to the reciprocal of the pole locations,
35
SYSTEMS
Under damped responses ( 0 1 )
Poles: Two complex at (i.e )
5/27/2017
Natural response: Damped sinusoid with an
exponential envelope whose time constant is equal to
ADU, CET, ECEg3153

the reciprocal of the pole's real part. The radian
frequency of the sinusoid, the damped frequency of
oscillation, is equal to the imaginary part of the poles,
Un damped responses ( 0 )
Poles: Two imaginary at (i.e )
Natural response: Un damped sinusoid with radian
frequency equal to the imaginary part of the poles,

36
SYSTEMS
Critically damped responses( 1)
Poles: Two real at (i.e )
5/27/2017
Natural response: One term is an exponential whose
time constant is equal to the reciprocal of the pole
ADU, CET, ECEg3153

location. Another term is the product of time, t and
an exponential with time constant equal to the
reciprocal of the pole location,
37
SYSTEMS
General Second Order System
Two physically meaningful specifications for second-
5/27/2017
order systems transient response like that of time
constant for first order response.
ADU, CET, ECEg3153

Natural Frequency, n: The natural frequency of a
second-order system is the frequency of oscillation of
the system without damping.
For example, the frequency of oscillation of a series
RLC circuit with the resistance shorted would be the
natural frequency
Damping Ratio, It is the ratio of exponential decay
frequency of the envelope to the natural frequency.
This ratio is constant regardless of the time scale of
38
the response.
SYSTEMS
Mathematically;
5/27/2017
Expressing second order system in terms of natural
frequency and damping ratio
Let,
ADU, CET, ECEg3153

Without damping, the poles would be on the j-axis, and
the response would be an un damped sinusoid. For the
poles to be purely imaginary, a = 0. Hence,
By definition, the natural frequency, , is the frequency of

oscillation of this system. Since the poles of this system
are on the j-axis at ,
Then, 39
SYSTEMS
For the above general second order system transfer
function, assuming under damped system, the
5/27/2017
complex poles have a real part = a/2 and the
magnitude of this value is the exponential decay
frequency.
ADU, CET, ECEg3153

Having this general 2nd order unit FB transfer
function: the general 2nd order time response of
sinusoidal and exponential parts. 40
SYSTEMS
Cont

c(t ) 1 e nt cos d t sin d t

5/27/2017
2
1
ADU, CET, ECEg3153

n n 2 1
Real Part Imaginary Part
41
SYSTEMS
Example1: For a system with a transfer
function given below calculate the damping ratio
5/27/2017
and the natural frequency of the system.
Solution:
ADU, CET, ECEg3153

From the TF ,
substituting the value of damping ratio
NB: The damping ratio and the natural

frequency of a system can be
related with the pole location of the system : which
means if the information about these two parameter
is known we can calculate the poles of the system.
42
SYSTEMS
Example 2; The natural frequency of closed loop
poles of 2nd order system is 2 rad/sec and damping
5/27/2017
ratio is 0.5. Determine the location of closed loop
poles so that the damping ratio remains same but
ADU, CET, ECEg3153

the natural undamped frequency is doubled.Pole-Zero Map 3
3
Solution 0.5 0.38 0.28 0.17 0.08 2.5
C( s ) n2
0.64
4 2
2
2
R( s ) s 2 n s n2 s 2 2s 4
1.5
0.8
1
1
0.94 0.5
Imaginary Axis
0.94 0.5
-1
1
0.8
1.5
-2
2
0.64 43
0.5 0.38 0.28 0.17 0.08 2.5
-3
-2 -1.5 -1 -0.5 30 0.5
Real Axis
SYSTEMS
5/27/2017
ADU, CET, ECEg3153
44
SYSTEMS
Under damped Second Order System
The under damped second-order system is a
5/27/2017
common model for physical problems which
displays unique behavior that have to be itemized;
ADU, CET, ECEg3153

Hence, a detailed description of the underdamped
response is necessary for both analysis and design.
The step response for the general second-order
system is:
45
SYSTEMS
Step Response of underdamped System
C( s ) n2 2
5/27/2017
Step Response C ( s)
s s 2 2 n s n2
n
R( s ) s 2 2 n s n2
The partial fraction expansion of above equation is
ADU, CET, ECEg3153

given as 1 s 2 n
C( s )
s s 2 2 n s n2

n2 1 2

1 s 2 n
C( s ) 2
s 2 n 2 s s 2 n s 2n2 n2 2n2
1 s 2 n
C( s )

s s n 2 n2 1 2
Above equation can be written as
1 s 2 n
C( s ) 46
s s n 2 d2
SYSTEMS
Where , is the frequency of transient oscillations
and is called damped natural frequency.
5/27/2017
The inverse Laplace transform of above equation can be
obtained easily if C(s) is written in the following form:
1 s n n
ADU, CET, ECEg3153

C( s )
s s n 2 d2 s n 2 d2

n 1 2
1 s n 1 2
C( s )
s s n 2 d2 s n 2 d2
1 s n d
C( s )
s s n d
2 2
1 2 s 2 2
n d
47
SYSTEMS
Cont

5/27/2017
1 2
When 0
d n 1 2
ADU, CET, ECEg3153

c(t ) 1 cos nt
n
Example: Consider Effect of varying damping ratio

with constant natural frequency for under damped
systems.
I, if 0.1 and n 3 rad / sec
II, if 0.5 and n 3 rad / sec
III, if 0.9 and n 3 rad / sec
48
SYSTEMS
The response looks:
5/27/2017
1.4
1.8
1.6 1.2
1.4
1
ADU, CET, ECEg3153

1.2
I 1 II 0.8
0.8 0.6
0.6 0.4
0.4
0.2
0.2
0
0 0 2 4 6 8 10
0 2 4 6 8 10
1.4
1.2
III 1
0.8
0.6
0.4 49
0.2
0
0 2 4 6 8 10
SYSTEMS
5/27/2017
Home work: Step Response of overdamped and
critically damped Systems ?
ADU, CET, ECEg3153

50
SYSTEMS
Time Domain Specifications of Underdamped system
For 0< <1 and n > 0, the 2nd order systems
5/27/2017
response due to a unit step
ADU, CET, ECEg3153

51
SYSTEMS
Rise time, Tr: The time required for the waveform
to go from 0% or 10% of the final value to 90% or
5/27/2017
100% of the final value.
Peak time, Tp: The time required to reach the first
the maximum, peak.
ADU, CET, ECEg3153

Percent overshoot, %OS: The amount that the
waveform overshoots the steady-state, or final value
at the peak time, expressed as a percentage of the
steady-state value.
Settling time, Ts: The time required for the
transient's damped oscillations to reach and stay
with in 2% (
} 5%) of the steady-state value.
The delay (td) time: is the time required for the
response to reach half the final value the very first
time. 52
SYSTEMS
NB: All definitions are also valid for systems of order
higher than 2, however analytical expressions for
5/27/2017
these parameters cannot be found unless the
response of the higher-order system can be
ADU, CET, ECEg3153

approximated as a second-order system,
Rise time, peak time, and settling time yield
information about the speed of the transient
response.
This information can help a designer to determine
whether the speed and the nature of the response do
or do not degrade the performance of the system.
53
SYSTEMS
Evaluating the performance parameters
Time Domain Specifications (Peak Time)

5/27/2017

1 2

ADU, CET, ECEg3153

In order to find peak time let us differentiate above
equation w.r.t t.
dc(t )
n t
n e cos d t sin d t e n d sin d t
t d
cos d t
dt 1 2 1 2

2n d
n t
0e n cos d t sin d t d sin d t cos d t
1 2
1 2

2n n 1 2
nt
0e n cos d t sin d t d sin d t cos d t
1 2
1 2 54

SYSTEMS
Time Domain Specifications (Peak Time)
2 2
sin d t 0
5/27/2017
sin d t n
d 0 n
d 0
1 2 1 2

0, , 2 ,
ADU, CET, ECEg3153

d t sin 1 0 t
d
Since for underdamped stable systems first peak
is maximum peak therefore,

tp
d
Time Domain Specifications (Maximum Overshoot)
55
SYSTEMS
5/27/2017
n t p
c(t p ) 1 e cos d t p sin d t p c() 1
1 2
ADU, CET, ECEg3153

M p 1 e n p cos d t p sin d t p 1 100
t
1 2

Put tp in above equation
d
n
cos 100
M p e d
sin
d
d 1 2
d

d

56
SYSTEMS
Put d n 1- 2 in aboveequation
5/27/2017
n

n 1 2 cos 100
ADU, CET, ECEg3153

M p e sin
2
1

M p e
1 2
1 0 100

1 2
Mp e 100
57
SYSTEMS
Time Domain Specifications (Settling Time)
Settling time (2%) criterion
5/27/2017
Time consumed in exponential decay up to 98%
of the input.
ADU, CET, ECEg3153

1
T
4 n
t s 4T
n
Settling time (5%) criterion

Time consumed in exponential decay up to
95% of the input. 3
t s 3T 58
n
SYSTEMS
Example1:Consider the system shown in following
figure, where damping ratio is 0.6 and natural
5/27/2017
undamped frequency is 5 rad/sec. Obtain the rise
time tr, peak time tp, maximum overshoot Mp, and
ADU, CET, ECEg3153

settling time 2% and 5% criterion ts when the system
is subjected to a unit-step input.
59
SYSTEMS
Solution
5/27/2017
ADU, CET, ECEg3153

Peak Time
3.141
tp tp 0.785s
d 4 60
SYSTEMS
Cont
Settling Time (2%) Settling Time (5%) Maximum Overshoot
5/27/2017
4 3
ts ts
n n 1 2
ADU, CET, ECEg3153

Mp e 100
4 3
ts 1.33s t s 1s
0.6 5 0.6 5
3.1410.6
10.6 2
Mp e 100
Example: calculate Tp, Ts, %OS and Tr for a

system with a transfer function;
61
SYSTEMS
Relationship b/n %OS, Tp and Ts to the location
of the poles of the system
5/27/2017
The pole plot for a general, under damped second-
order system, From the Pythagorean theorem that
ADU, CET, ECEg3153

the radial distance from the origin to the pole is the
natural frequency, n, and the cosine of the angle
formed b/n this line & the real axis be the damping
ratio.
62
Pole plot for second order underdamped system

SYSTEMS
From the previous peak time and settling time
equation for second order step response. Comparing
5/27/2017
the values to the pole locations;
ADU, CET, ECEg3153

Where; d is the imaginary part of the pole and is
called the damped frequency of oscillation, d is the
magnitude of the real part of the pole and is the
exponential damping frequency.
63
SYSTEMS
From the equations, Tp is inversely proportional to
the imaginary part of the pole. Since horizontal lines
5/27/2017
on the s-plane are lines of constant imaginary value,
they are also lines of constant peak time.
ADU, CET, ECEg3153

The settling time is inversely proportional to the real
part of the pole.
Since vertical lines on the s-plane are lines of
constant real value, they are also lines of constant
settling time.
Finally, since = cos, radial lines are lines of
constant
Since percent overshoot is only a function of , radial
lines are thus lines of constant percent overshoot,
64
%OS.
SYSTEMS
Lines of constant peak time, Tp, settling time, Ts,
and percent overshoot, %OS.
5/27/2017
ADU, CET, ECEg3153
65
SYSTEMS
5/27/2017
ADU, CET, ECEg3153
66
SYSTEMS
Example 1: For the system shown in Figure-(a),
determine the values of gain K and velocity-feedback
5/27/2017
constant Kh 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 Kh, obtain the rise time
ADU, CET, ECEg3153

and settling time. Assume that J=1 kg-m2 and B=1
N-m/rad/sec.
67
SYSTEMS
Solution: reduce the block in to
5/27/2017
ADU, CET, ECEg3153
Since J 1 kgm 2 and B 1 Nm/rad/sec
C( s ) K
2
R( s ) s (1 KK h )s K
Comparing above T.F with general 2nd order T.F
n K
C( s ) n2
2 (1 KK h ) 68
R( s ) s 2 n s n
2

2 K
SYSTEMS
Cont
5/27/2017
Maximum overshoot is 0.2. The peak time is 1 sec

tp
ADU, CET, ECEg3153

d
3.141
1

n 1 2
) ln0.2
1 2
ln( e
3.141
n
1 0.456 2
n 3.53
69
SYSTEMS
Cont
Then the rise and settling
time can be calculated as:
n 3.96
5/27/2017
(1 KK h )

n K 2 K
ADU, CET, ECEg3153

0.456 2 12.5 (1 12.5K h )
3.53 K 4
ts
2 K h 0.178 n
3.53 K
t s 2.48s
K 12.5 3
ts
n
t s 1.86s 70
SYSTEMS
Example2: Given the system shown in following
figure, find J and D to yield 20% overshoot and a
5/27/2017
settling time of 2 seconds for a step input of torque
T(t).
ADU, CET, ECEg3153

Solution : model T.F
71
SYSTEMS
Cont
5/27/2017
ADU, CET, ECEg3153
72
SYSTEMS
Exersice1:Figure (a) shows a mechanical vibratory
system. When 2 lb of force (step input) is applied to
5/27/2017
the system, the mass oscillates, as shown in Figure
(b). Determine m, b, and k of the system from this
ADU, CET, ECEg3153

response curve.
73
SYSTEMS
Exersice2: When the system shown in Figure(a) is
subjected to a unit-step input, the system output
5/27/2017
responds as shown in Figure(b). Determine the
values of a and c from the response curve.
ADU, CET, ECEg3153

a
s( cs 1)
74
SYSTEMS
Effect of Adding Pole and Zero on the
Transient Response of Second Order System
5/27/2017
Adding pole for second order system:
If a system has more than two poles or has zeros,
ADU, CET, ECEg3153

we cannot use the formulas to calculate the
performance specifications that we derived.
However, under certain conditions, a system with
more than two poles or with zeros can be
approximated as a second-order system that has just
two complex dominant poles.
Then, the formulas for percent overshoot, settling
time, and peak time can be applied to these higher-
order systems by using the location of the dominant 75
poles.
SYSTEMS
Considering a three-pole system with complex poles
and a third pole on the real axis.
5/27/2017
Assuming that the complex poles are at
and the real pole is at -r, the step response of the
ADU, CET, ECEg3153

system can be determined from a partial-fraction
expansion.
And the system response become;
76
SYSTEMS
5/27/2017
ADU, CET, ECEg3153
77
SYSTEMS
If (Case II), the pure exponential will die out
5/27/2017
much more rapidly than the second-order
underdamped step response.
If the pure exponential term decays to an
ADU, CET, ECEg3153

insignificant value at the time of the first overshoot,
such parameters as percent overshoot, settling time,
and peak time will be generated by the second-order
underdamped step response component.
Thus, the total response will approach that of a pure
second order system (Case III).
78
SYSTEMS
NB: If r is not much greater than (Case I), the
real pole's transient response will not decay to
5/27/2017
insignificance at the peak time or settling time
generated by the second order pair.
ADU, CET, ECEg3153

In this case, the exponential decay is significant, and
the system cannot be represented as a second-order
system.
How much should further the additional real pole
from the dominant pole depends on the accuracy for
which we are looking. But most of the time five time
constants.
Hence, the real pole should five times farther to the
left than the dominant poles, to represent the system 79
by its dominant second-order pair of poles.
SYSTEMS
We have to also consider also the effect of the residue
on the magnitude of the exponential magnitude.
5/27/2017
Example: Comparing the effect of adding real pole
on step response for the following three system
ADU, CET, ECEg3153

80
SYSTEMS
Adding Zeros on the system:
The zeros of a response affect the residue, or
5/27/2017
amplitude, of a response component but do not affect
the nature of the response, exponential, damped
ADU, CET, ECEg3153

sinusoid, and so on.
Lets add a real-axis zero to a two-pole system. We
can add a zero either in the left half plane or in the
right half plane.
81
SYSTEMS
5/27/2017
ADU, CET, ECEg3153
The closer the zero is to the dominant poles, the
greater its effect on the transient response. As the
zero moves away from the dominant poles, the 82
response approaches that of the two-pole system.
SYSTEMS
Second order systems
Exercise: Describe the nature of the second-order
5/27/2017
system response via the value of the damping ratio
for the systems with transfer function
ADU, CET, ECEg3153

12
I . G (s) 2
s 8s 12
16
2. G( s) 2 Do them as your own
s 8s 16 revision
20
II . G ( s ) 2
s 8s 20 83
STEADY STATE ERROR
Steady State Response:
Control systems analysis and design focus on three
5/27/2017
specifications:
(1) Transient response
(2) Steady-state errors
ADU, CET, ECEg3153

(3) Stability
Steady State Error: Steady-state error is the

difference between the input and the output for a
prescribed test input as t .
E(s) = C(s) R(s)
84
STEADY STATE ERROR
Steady state error for unity feedback system
It can be calculated from a system's closed-loop
5/27/2017
transfer function, T(s), or the open-loop transfer
function, G(s), for unity feedback systems.
ADU, CET, ECEg3153

Steady-State Error in Terms of T(s)
85
5/27/2017 ADU, CET, ECEg3153
86
STEADY STATE ERROR
STEADY STATE ERROR
Considering G(s)
5/27/2017
ADU, CET, ECEg3153
87
STEADY STATE ERROR
Any physical control system inherently suffers steady-
state error in response to certain types of inputs.
5/27/2017
A system may have no steady-state error to a step input,
but the same system may exhibit nonzero steady-state
error to a ramp input.
ADU, CET, ECEg3153

Whether a given system will exhibit steady-state error for
a given type of input depends on the type of open-loop
transfer function of the system.
Classification of Control Systems
Control systems may be classified according to their
ability to follow step inputs, ramp inputs, parabolic
inputs, and so on.
The magnitudes of the steady-state errors due to these
individual inputs are indicative of the goodness of the 88
system.
STEADY STATE ERROR
Consider the unity-feedback control system with the
5/27/2017
following open-loop transfer function
ADU, CET, ECEg3153

It involves the term sN in the denominator,
representing N poles at the origin.
A system is called type 0, type 1, type 2, ... ,
if N=0, N=1, N=2, ... , respectively.
As the type number is increased, accuracy is
improved.
89
STEADY STATE ERROR
However, increasing the type number aggravates the
5/27/2017
stability problem.
A compromise between steady-state accuracy and
ADU, CET, ECEg3153

relative stability is always necessary.
Steady State Error of Unity Feedback Systems
Consider the system shown in following figure.
The closed-loop transfer function is
90
STEADY STATE ERROR
Steady State Error of Unity Feedback Systems
5/27/2017
The transfer function between the error signal E(s)
and the input signal R(s) is
ADU, CET, ECEg3153

E( s ) 1

R( s ) 1 G( s )
The final-value theorem provides a convenient way to
find the steady-state performance of a stable system.
Since E(s) is
The steady state error is

91
STEADY STATE ERROR
Static Error Constants
The static error constants are figures of merit of
5/27/2017
control systems. The higher the constants, the
smaller the steady-state error.
ADU, CET, ECEg3153

In a given system, the output may be the position,
velocity, pressure, temperature, or the like.
Therefore, in what follows, we shall call the output

position, the rate of change of the output velocity,
and so on.
This means that in a temperature control system

position represents the output temperature,
velocity represents the rate of change of the output
temperature, and so on. 92
STEADY STATE ERROR
Static Position Error Constant (Kp)
The steady-state error of the system for a unit-
5/27/2017
step input is
ADU, CET, ECEg3153

The static position error constant Kp is defined by
Thus, the steady-state error in terms of the static

position error constant Kp is given by
93
STEADY STATE ERROR
Static Position Error Constant (Kp)
For a Type 0 system
5/27/2017
ADU, CET, ECEg3153
For Type 1 or higher systems
For a unit step input the steady state error ess is
94
STEADY STATE ERROR
Static Velocity Error Constant (Kv)
The steady-state error of the system for a unit-ramp
5/27/2017
input is
ADU, CET, ECEg3153

The static position error constant Kv is defined by

velocity error constant Kv is given by
95
STEADY STATE ERROR
For a Type 0 system
5/27/2017
ADU, CET, ECEg3153
For Type 1 systems
For type 2 or higher systems
96
STEADY STATE ERROR
For a ramp input the steady state error ess is
5/27/2017
ADU, CET, ECEg3153
Static Acceleration Error Constant (Ka)
The steady-state error of the system for parabolic
input is
97
STEADY STATE ERROR
The static acceleration error constant Ka is
defined by
5/27/2017
ADU, CET, ECEg3153

acceleration error constant Ka is given by
For a Type 0 system
For Type 1 systems

98
STEADY STATE ERROR
For type 2 systems
5/27/2017
For type 3 or higher systems
ADU, CET, ECEg3153

For a parabolic input the steady state error ess is
99
STEADY STATE ERROR
Summery
5/27/2017
ADU, CET, ECEg3153
E.g.1:For the system shown in figure below
evaluate the static error constants and find the
expected steady state errors for the standard step,
ramp and parabolic inputs.
100( s 2)( s 5)
R(s)
s 2 ( s 8)( s 12) C(S)
100
STEADY STATE ERROR
Solution: (evaluation of Static Error Constants)
100( s 2)( s 5)
G( s ) 2
5/27/2017
s ( s 8)( s 12)
K p lim G( s )
s 0 K lim sG( s )
v
s 0
ADU, CET, ECEg3153

100( s 2)( s 5) 100s( s 2)( s 5)
K p lim 2 K v lim 2
s 0 s ( s 8)( s 12) s 0 s ( s 8)( s 12)
Kp Kv
2 100s 2 ( s 2)( s 5) 100(0 2)( 0 5)

K a lim s G( s ) K a lim 2 Ka 10.4
s 0 s 0
s ( s 8)( s 12)
(0 8)( 0 12)
0 0 0.09
101
STEADY STATE ERROR
5/27/2017
ADU, CET, ECEg3153
Ex: Find the steady-state errors for inputs of
5u(t), 5tu(t), and 5tu(t) to the system shown in
below
102
STABILITY ANALYSIS
Stability: is the most important system
specification.
5/27/2017
If a system is unstable, transient response and
steady state response (i.e. steady state error) are
ADU, CET, ECEg3153

nothing.
There are d/t definition of stability for a certain
system
In general:
Stable: if natural response approaches zero as time
approaches infinity.
Unstable: if the natural response grow without
bound as time approaches infinity.
Marginal Stability: neither grows nor decay but 103
remain constant or oscillate.
STABILITY ANALYSIS
An Other Definition:
A system is stable if every bounded input yields a
5/27/2017
bounded output.
A system is unstable if any bounded input yields an
ADU, CET, ECEg3153

unbounded output. (we call it BIBO stability
definition)
Stability and Roots of Characteristics Equation
Characteristics Equation: is the denominator of our
system transfer function. For instance for a second

order system,
Then, the roots will be:
104
STABILITY ANALYSIS
Based on the system pole location definitions
of stability:
5/27/2017
Stable systems have closed-loop transfer functions
with poles only on the left half-plane.
ADU, CET, ECEg3153

If the closed-loop system poles are on the right half
of the s-plane i.e. having a positive real part, the
system is unstable.
Thus the roots of the characteristics equation
determine the transient response of the system.
a second order system could be:
Over damped:
Critically damped:
Under damped:
105
STABILITY ANALYSIS
If the coefficient of b in the above equation be
negative, the roots will be:
5/27/2017
In general if any of the roots of the characteristics
equation has positive real parts, the system will be
ADU, CET, ECEg3153

unstable.
106
STABILITY ANALYSIS
Cont
5/27/2017
ADU, CET, ECEg3153
107
STABILITY ANALYSIS
Cont
5/27/2017
ADU, CET, ECEg3153
108
STABILITY ANALYSIS
Routh Hurwitz Stability Criterion
Routh and Hurwitz give a method of indicating the
5/27/2017
presence and number of unstable roots, but not their
value, using Routh table.
ADU, CET, ECEg3153

The Routh-Hurwitz criterion states that the
number of roots of the characteristic equation with
positive real parts is equal to the number of changes
in sign of the first column of the Routh array.
This method yields stability information without the
need to solve for the closed-loop system poles.
Using this method, we can tell how many closed-loop
system poles are in the left half-plane, in the right
half-plane, and on the j-axis. (Note: we are saying
109
how many, not where.)
STABILITY ANALYSIS
The method requires two steps:
1. Generate a data table called a Routh table.
5/27/2017
2. interpret the Routh table to tell how many closed-loop
system poles are in the LHP, the RHP, and on the jw-axis.
ADU, CET, ECEg3153

The characteristic equation of the n -order
continuous system can be written as:
The stability criterion is applied using a Routh table

which is defined as:
110
STABILITY ANALYSIS
Cont
5/27/2017
ADU, CET, ECEg3153
How to generate Routh Table:
First label the rows with powers of s from highest
power of s down to lowest power of s in a vertical
column.
Next form the first row of the Routh table, using the
coefficients of the denominator of the closed-loop
transfer function (characteristic equation). 111
STABILITY ANALYSIS
Start with the coefficient of the highest power and
skip every other power of s.
5/27/2017
Now form the second row with the coefficients of the
denominator skipped in the previous step.
ADU, CET, ECEg3153

The table is continued horizontally and vertically
until zeros are obtained.
For convenience, any row can be multiplied or
divide by a positive constant before the next row is
computed without changing the values of the rows
below and disturbing the properties of the Routh
table.
112
STABILITY ANALYSIS
Routh Table Interpretation
If the closed-loop transfer function has all poles in
5/27/2017
the left half of the s-plane, the system is stable.
Thus, a system is stable if there are no sign changes
ADU, CET, ECEg3153

in the first column of the Routh table.
The Routh-Hurwitz criterion declares that the
number of roots of the polynomial that are lies in the
right half-plane is equal to the number of sign
changes in the first column.
Hence the system is unstable if the poles lies on the
right hand side of the s-plane.
113
STABILITY ANALYSIS
For there to be no roots with positive real parts then
there is necessary, but not sufficient, condition that
5/27/2017
all coefficients in the characteristics equation have
the same sign and that none are zero.
ADU, CET, ECEg3153

If the above is satisfied, the necessary and sufficient
condition for stability is all coefficients of the first
column of Routh array have the same sign. The
number of sign changes indicate the number of
unstable roots.
114
STABILITY ANALYSIS
Only the first 2 rows of the array are obtained from
the characteristic equation the remaining are
5/27/2017
calculated as follows;
ADU, CET, ECEg3153

115
STABILITY ANALYSIS
Example-2: Find the stability of the system shown
below using Routh criterion.
5/27/2017
The Routh table of the system is:
ADU, CET, ECEg3153

System is unstable because there are two sign
changes in the first column of the Rouths table.
116
Hence the equation has two roots on the right half of
the splane.
STABILITY ANALYSIS
Exercise : Find the stability of the system using
Routh Hurwitz Criterion.
5/27/2017
ADU, CET, ECEg3153
Special Cases:
Case 1: A Zero Only in the First Column, substitute
with a very small number 0 and proceed
Example: determine the stability of the system
Stability via Epsilon Method Routh table 117

STABILITY ANALYSIS
Cont
5/27/2017
ADU, CET, ECEg3153
If is chosen positive, the table shows a sign change
from the s row to the s row, and there will be
another sign change from the s row to the s row.
Hence, the system is unstable and has two poles in
the right half plane.
118
STABILITY ANALYSIS
Case-II: Entire Row is Zero
Sometimes while making a Routh table, we find that
5/27/2017
an entire row consists of zeros.
This happen because there is an even polynomial
ADU, CET, ECEg3153

that is a factor of the original polynomial.
This case must be handled differently from the case
of a zero in only the first column of a row.
119
STABILITY ANALYSIS
Cont
5/27/2017
ADU, CET, ECEg3153
120
STABILITY ANALYSIS
Application of rouths stability criteria to control
system analysis
5/27/2017
This criteria has limited use in LTI systems because
it does not suggest how to improve relative stability
ADU, CET, ECEg3153

or how to stabilize unstable systems.
However we can consider the system in which the
range of parameters value of which determines
stability of the system(like the gain or DC gain of
system)
Example: Determining acceptable gain values
for a system For the system being stable: Consider a
system whose closed-loop transfer function is
121
STABILITY ANALYSIS
Cont
5/27/2017
ADU, CET, ECEg3153
122
STABILITY ANALYSIS
Cont
5/27/2017
ADU, CET, ECEg3153
123
5/27/2017
Do you have any
ADU, CET, ECEg3153

question on the
chapter?
124

Chapter 3

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chapter 3

Uploaded by

Copyright:

Available Formats

ADIGRAT UNIVERSITY

COLLAGE OF ENGINEERING &

ADU, CET, ECEg3153

Steady state error

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

The commonly used test input signals are step

ADU, CET, ECEg3153

The impulse signal imitate the

ADU, CET, ECEg3153

If A=1, the impulse signal is called

The step signal imitate the

ADU, CET, ECEg3153

The ramp signal imitate the

ADU, CET, ECEg3153

ramp signal with slope A

If A=1, the ramp signal is r(t)

unit ramp signal

ADU, CET, ECEg3153

If A=1, the parabolic signal is

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

E.g: If unit step input is applied to this first order

ADU, CET, ECEg3153

Re-arrange above equation as

In order to represent the response of the system in time

ADU, CET, ECEg3153

ADU, CET, ECEg3153

8 steady state output 10

Exercise: fined 1st order response for parabolic and

ADU, CET, ECEg3153

ADU, CET, ECEg3153

The Laplace Transform of Impulse

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

exp(-50t)- Natural response

1st Order System with a Zero

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

Unit Step Response

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

oscillation of the system without damping.

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

Poles: Two real at (i.e )

Poles: Two complex at (i.e )

ADU, CET, ECEg3153

frequency equal to the imaginary part of the poles,

Poles: Two real at (i.e )

ADU, CET, ECEg3153

ADU, CET, ECEg3153

ADU, CET, ECEg3153

By definition, the natural frequency, , is the frequency of