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Response of a Control System, c(t):

Consider block diagram of a simple closed-loop control system


which is given as:
Here, C(s) = response of the control system in space domain
c(t) = response of the control system in time domain.
c(t) = c
t
(t) + c
ss
(t)

Now,
c
t
(t) = transient response. It remains for a short
time.
c
ss
(t)

= steady state response. It remains as time,t
approaches infinity.

Where,
Test Signals
(1) Unit Step Signal: It is defined as:
r(t)=1 for t> 0
R(s)=
s
1
Taking the Laplace
transformation we
have
(2) Unit Ramp Signal: It is defined as:
r(t)=t for t> 0
Taking the Laplace
transformation we
have
R(s)=
2
s
1
(3) Unit Parabolic Signal: It is defined as:

r(t)= for t> 0
Taking the Laplace
transformation we
have
R(s)=
3
s
1
2
t
2
FIRST- ORDER SYSTEM:
Physically a first order system may represent an RC circuit,
BK arrangement, thermal system and so on.
RCs 1
R
) s ( G
+
=
Lets take an example of any transfer function which
is given by:
RCs 1
R
) s ( R
) s ( C
, OR
+
=
UNIT STEP RESPONSE OF FIRST- ORDER
SYSTEM:
APPLYING UNIT STEP INPUT TO THE ABOVE FIRST ORDER SYSTEM WE HAVE
Putting in the above transfer function we have
R(s)=
s
1
C(s) = R(s)G(s)

Or, C(s)=
|
.
|

\
|
+
=
RCs 1
R
s
1
) s ( G ) s ( R
The above value of C(s) can be written as:


RCs 1
Cs R
s
R
) s ( C
2
+
=
STEADY STATE ERROR(e
ss
):

It is a measure of the accuracy of the control
system.

Any physical control system inherently suffers
steady state error in response to certain types of
inputs.

A system may have no steady state error to a
step input but the same system may exhibit non-
zero steady state error to a ramp input.

GENERALLY STEADY STATE ERROR SHOULD BE AS LOW
AS POSSIBLE.
Steady state error depends upon:
(1)Type of the input: That is input is Step, Ramp, Parabolic etc.

(2)Type of the system: Type zero, Type one, Type two etc.

(3)Non-linearities of system components: Static friction, Backlash,
etc.
Steady State Error (e
ss
) is mathematically given by:



State space representation is a mathematical model of a physical system as
a set of input, output and state variables related by first-order differential
equations.
To abstract from the number of inputs, outputs and states, the variables are
expressed as vectors.
"State space" refers to the space whose axes are the state variables.
If the dynamic system is linear and time invariant, the differential and
algebraic equations may be written in matrix form. The state space
representation (also known as the "time-domain approach") provides a
convenient and compact way to model and analyze systems with multiple
inputs and outputs.
The concept of the state of a dynamic system refers to a minimum set of
variables, known as state variables, that fully describe the system and its
response to any given set of inputs
State variables and State space
representation
The set of n equations dene the derivatives
of the state variables to be a weighted sum of
the state variables and the system inputs.
Transient Response Specifications
The desired performance characteristics of control systems are
specified in terms of time-domain quantities.

Systems with energy storage cannot respond instantaneously and
will exhibit transient responses whenever they are subjected to
inputs or disturbances.

Frequently, 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 and is sufficiently drastic.
Following specifications are commonly used to specify the transient
response characteristics of a control system to a unit step input:

(i) Delay time, t
d
: It is the time required for the response to reach
half the final value(desired value) the very first
time.

(ii) Rise time, t
r
: It is the time required for the response to reach
from 0% to 100% of the final value(desired value)
for underdamped system.

(iii) Peak time, t
p
: It is the time required for the response to reach
the first peak of the overshoot.

(v) Settling time, t
s
: It is the time required for the response curve to
reach and stay within a range usually 2% or 5%
of the final or desired value.
Automatic Controllers
An automatic controller compares the actual value of the plant
output with the reference input (desired value), determines the
deviation, and produces a control signal that will reduce the
deviation to zero or to a small value.
The controller detects the actuating error signal, which is usually at
a very low power level, and amplifies it to a sufficiently high level.

The output of an automatic controller is fed to an actuator.

The actuator is a power device such as an electric motor, a
hydraulic motor, or a pneumatic motor or valve that produces the
input to the plant according to the control signal.


Based on the control action
(1) Two-position or on-off controllers
(2) Proportional controllers
(3) Integral controllers
(4) Proportional-plus-integral controllers
(5) Proportional-plus-derivative controllers
(6) Proportional-plus-integral-plus-derivative
controllers(PID controllers)
Types of Controllers:
Based on the type of Power employed
Types of Controllers:
(1)Pneumatic controllers employs pressurised
gas or air

(2) Hydraulic controllers employs pressurised liquid

(3) Electronic controllers-employs electricity,
and so on



(1) Two-position or on-off controllers:
eg. Electrical devices
u(t) = U
1
for e(t)

>0
= U
2
for e(t)

<0

Where U
1
and U
2
are constants
Let, e(t) be the actuating error signal and u(t) be the output signal from the
controller also called control signal.
(2) Proportional Controllers: essentially an
amplifier with adjustable gain
Eg. Fan regulator, brake, flush tank
u(t) = K
p
e(t)

Or, in Laplace transformed quantities,




Where K
p
is termed the proportional gain.
Let, e(t) be the actuating error signal and u(t) be the output signal from the
controller also called control signal.
p
K
) s ( E
) s ( U
=
(3) Integral Controllers:




Or, in Laplace transformed quantities,





Where K
i
is an adjustable constant
Let, e(t) be the actuating error signal and u(t) be the output signal from the
controller also called control signal.
}
=
t
0
i
dt ) t ( e K ) t ( u
s
K
) s ( E
) s ( U
i
=
(4) Proportional plus Integral Controllers: Its control action is
defined by:




Or, in Laplace transformed quantities,





Where T
i
is called the integral time
}
+ =
t
0
i
p
p
dt ) t ( e
T
K
) t ( e K ) t ( u
|
|
.
|

\
|
+ =
s T
1
1 K
) s ( E
) s ( U
i
p
(5) Proportional plus Derivative Controllers: Its control action is
defined by:




Or, in Laplace transformed quantities,





Where T
d
is called the derivative time
dt
) t ( de
T K ) t ( e K ) t ( u
d p p
+ =
( ) s T 1 K
) s ( E
) s ( U
d p
+ =
(6) Proportional plus Integral plus Derivative Controllers: Its
control action is defined by:




Or, in Laplace transformed quantities,





Where K
p
is the proportional gain, T
i
is called the integral time
and T
d
is called the derivative time.
dt
) t ( de
T K dt ) t ( e
T
K
) t ( e K ) t ( u
d p
t
0
i
p
p
+
}
+ =
|
|
.
|

\
|
+ + = s T
s T
1
1 K
) s ( E
) s ( U
d
i
p
The output of a PID controller, equal to the control input to the plant, in the time-
domain is as follows:
Suppose we have a simple mass, spring, and damper problem.

The modeling equation of this system is:
F kx x b x M = + +

k bs Ms s F
s X
+ +
=
2
1
) (
) (
Its transfer function is given by:
k bs Ms + +
2
1
) (s X
) (s F
Its block diagram representation is given by:
Let,
M = 1 kg, b = 10 N s/m, k = 20 N/m
Plugging these values into the above transfer function,
We have:

If we use the unit step input,
F(t) = 1 N; Or, F(s) = 1/s

then,
) 20 10 (
1 1
) (
2
+ +
=
s s s
s X
% MATLAB COMMAND TO OBTAIN RESPONSE

s = tf('s');
P = 1/(s^2 + 10*s + 20);
step(P)
If we use the following MATLAB command we get the response as shown in fig. on
next slide:
0 0.5 1 1.5 2 2.5
0
0.005
0.01
0.015
0.02
0.025
0.03
0.035
0.04
0.045
0.05
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
Open-Loop Step Response
Block Diagram of an Automatic closed loop
control system

CONTROLLER
(thermostat)
PLANT
(air conditioner)
INPUT
(desired
temperature)
OUTPUT
(temperature)
ERROR
DETECTOR
(processor)
FEEDBACK ELEMENT
(thermometer)
Signal to
thermostat
Temperature Control System of a Room
EFFECT OF PROPORTIONAL CONTROLLER:
The closed-loop transfer function of the above system with a proportional controller
is:
% MATLAB COMMAND TO OBTAIN RESPONSE
s = tf('s');
P = 300/(s^2 + 10*s +320);
step(P)
The plot shows that
the proportional
controller:

reduced both the
rise time and the
steady-state error,

increased the
overshoot, and

decreased the
settling time by small
amount.
0 0.2 0.4 0.6 0.8 1 1.2 1.4
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
Closed-Loop Step Response with
Proportional Controller(K
p
):

EFFECT OF PROPORTIONAL DERIVATIVE (PD) CONTROLLER:
% MATLAB COMMAND TO OBTAIN RESPONSE
%Assume K
p
= 300 and K
d
= 10;

s = tf('s');
P = (300+10*s)/(s^2 + 20*s +320);
step(P)
Closed-Loop Step Response with
Proportional Derivative(PD)Controller(K
p
+sK
d
):

The plot shows that the
proportional derivative
controller:

reduced both the
overshoot and the
settling time,

small effect on rise
time and steady state
error.
0 0.1 0.2 0.3 0.4 0.5 0.6
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
EFFECT OF PROPORTIONAL CUM INTEGRAL (PI) CONTROLLER:
CLOSED
LOOP
RESPONSE
RISE TIME OVERSHOOT
SETTLING
TIME
STEADY STATE
ERROR
K
p
Decrease Increase
Small
Change
Decrease
K
i
Decrease Increase Increase Eliminate
K
d
Small Change Decrease Decrease No Change
The effects of each of controller parameters, K
p
, K
d
and K
i
on a closed-loop system
are summarized in the table below.

EFFECTS OF EACH OF CONTROLLER PARAMETERS:
The goal of this problem is to show you how each of K
p
, K
d
and K
i

contributes to obtain
Fast rise time
Minimum overshoot
No steady-state error

Plot of PV vs time, for three values of K
p
(K
i
and K
d
held constant)
Plot of PV vs time, for three values of K
i
(K
p
and K
d
held constant)
Plot of PV vs time, for three values of K
d
(K
p
and K
i
held constant)

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