CONTROL SYSTEMS

Dr.T.DEVARAJU
PROFESSOR OF EEE GATE CLASSES

Dr. T.Devaraju
Professor of EEE
Sree Vidyanikethan Engineering College
 LESSON PLAN
• Introduction to Control systems
• Modeling of Physical systems
• Transfer function - Block diagram reduction Techniques
• Transfer function through Signal flow graph
• Time response of second order systems
• Steady state and Transient analysis
• Time-domain specifications and Static error coefficients.
• Routh-Hurwitz stability, Finding the range of K for stability
• Concepts of state, state variables and state model.
• Derivation of state model from transfer function
• State transition matrix, Properties, determination of STM
• Conversion from SS to TF
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
 DAY-3
• Time response of First and Second order systems
• Steady state and Transient analysis
• Time-domain specifications and Static error
coefficients.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

Dr.T.DEVARAJU
PROFESSOR OF EEE
 Time response

 Time response: It is a dynamic system response to an

input expressed as a function of time.

System

 The time response of any system has two components

• Transient response
• Steady-state response
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Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
 Time response Analysis

Dr.T.Devaraju,Professor of EEE Sree

Vidyanikethan Engineering College
 Standard Test Signals
 Impulse signal
The impulse signal imitate the sudden shock characteristic of
actual input signal.
δ(t)
A t  0
 ( t)  
0 t  0
A
 If A=1, the impulse signal is called unit
impulse signal. t
0

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

11
 Standard Test Signals
 Step signal
The step signal imitate the
sudden change characteristic u(t)

of actual input signal.

A t  0 A
u (t )  
0 t  0

 If A=1, the step signal is called 0 t

unit step signal

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 112

 Standard Test Signals
r(t)
 Ramp signal: The ramp signal imitate the
constant velocity characteristic of actual
input signal.
 At t  0 t
0
r ( t)  
0 t  0
r(t)

 If A=1, the ramp signal is called ramp signal with slope A

unit ramp signal r(t)

unit ramp signal

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

11
 Standard Test Signals
 Parabolic signal
The parabolic signal imitate the
constant acceleration characteristic of
actual input signal

 At 2
 t  0
p (t )   2
0
 t  0

 If A=1, theparabolic signal is

called unit parabolic signal.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

11
 Relation between standard Test Signals

A t 0
 Impulse ( t)   d
0 t0

 dt
A t 0
 Step u (t )  
0 t 0 d

 dt
 At t 0
 Ramp r( t) 
0 t0 d
dt
  At 2

 Parabolic  t0
p(t )   2
0
 t0
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
11
 Laplace Transform of Test Signals

 Impulse
A t0
( t)  
0 t0

L {  ( t )}   ( s )  A

 Step
A t 0
u (t )  
0 t 0

A
L { u ( t )}  U ( s ) 
S
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
11
 Laplace Transform of Test Signals

 Ramp
 At t 0
r(t )  
0 t0

A
L { r ( t )}  R ( s ) 
s2

 Parabolic
 At 2
 t0
p(t )   2
0
 t0

A
L { p ( t )}  P ( s ) 
S3
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
11
 Impulse Response of 1st Order System

Consider the following 1st ordersystem

δ(t)

1 K
R(s) C ( s)
Ts  1
t
0
K
R(s)(s) 1 C ( s )
Ts  1

By the inverse Laplace transform of the above equation.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

12
 Impulse Response of 1st Order System
If K=3 and T= 2 sec

K/T*exp(-t/T)
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
Time
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 15
 Step Response of 1st Order System
 Consider the following 1st ordersystem
K
STEP R(s) C ( s)
Ts  1
1
R(s)U(s) 
s
K
C(s)
s Ts  1

 In order to find out the inverse Laplace of the above equation,

we need to break it into partial fraction expansion
K KT
C ( s)  
s Ts  1
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 16
 Step Response of 1st Order System
1 T 
C (s)  K   
 s Ts  1 
 Taking Inverse Laplace of above equation


c ( t )  K u( t )  e  t / T 
 Where u(t)=1

c ( t )  K 1e  t / T 
 When t=T (time constant)

 
c ( t )  K 1 e  1  0 . 632 K

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 17

 Step Response of 1st Order System

 If K=10 and T=1.5s then 

c ( t )  K 1e  t / T 
11 K*(1-exp(-t/T))

10

9 Step Response

7 D .C Gain  K 
steady state output 10
6
63 % 
Input 1
c(t
)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 18

 Step Response of 1st Order System
 System takes five time constants to reach its final value.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 19

 Step Response of 1st Order System
 If K=10 and T=1, 3, 5, 7 
c ( t )  K 1e  t / T 
11 K*(1-exp(-t/T))

10
T=1s
9

8 T=3s
7
T=5s
6
c(t)

5 T=7s

2
1
0
0 5 10 15
Time
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 20
 Step Response of 1st Order System
 If K=1, 3, 5, 10 and T=1 
c ( t )  K 1e  t / T 
11 K*(1-exp(-t/T))

10
K=10
9

6
c(t)

K=5
5

4
K=3
3

2
K=1
1
0
0 5 10 15
Time
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 21
 Time Constant and DC gain

 The first order system has only one pole.

 Where K is the D.C gain and T 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.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 22

 Time Constant and DC gain

 The first order system given below.

 D.C gain is 10 and time constant is 3 seconds.

 For the following system

 D.C Gain of the system is 3/5 and time constant is

1/5 seconds.
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
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 Determination of Transfer Function of 1st Order
From the response, we can measure the time constant, that is, the time for the amplitude
to reach 63% of its final value.

Since the final value is 0.72 ,the time constant is evaluated wher the curve reaches

0.63 x 0.72 = 0.45,or about 0.13 second.

K is simply steady state value

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 24

Closed loop response of second order system

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

Find the value of K and T from the response curve and the system shown in
fig for the unit step input

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

 Contd.,

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

Determine the value of K with the damping raio of 0.7 and
undamped natural frequency of of 4 rad/sec

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

A thermometer requires 1min to indicate 98% of the response
to a unit step input. Assuming the thermo meter is a first
order system find the time constant

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

 Time domain analysis
For a closed loop systems given by

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

Location of roots of characteristic equation

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

The time response for various damping ratios

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

 Second order response

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

Delay Time

 The delay (td) time is the time required for the response to reach
half the final value the very first time.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

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 Rise Time
 The rise time is the time required for the response to rise
from10% to 90%, or 0% to 100% of its final value.
 For underdamped second order systems, the 0% to 100% rise time
is normally used. For overdamped systems, the 10% to 90% rise
time is commonly used.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

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 Peak Time
The peak time is the time required for the response to
reach the first peak of the overshoot.

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Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
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 Maximum Overshoot

The maximum overshoot is the maximum peak value of the response

curve measured from unity. If the final steady-state value of the
response differs from unity, then it is common to use the maximum
percent overshoot. It is defined by

 The amount of the maximum (percent) overshoot directly

indicates the relative stability of the system.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

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 Settling Time
 The settling time is the time required for the response curve to reach
and stay within a specified range (usually 2% or 5%) the final value

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

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 Summary of Time Domain Specifications

Rise Time Peak Time

     
tr   tp  
d
d n 1 
2 n 1 
2

Settling Time (2%)

4
t s  4T  Maximum Overshoot
 n


3 1 
2

t s  3T  M p  e  100
 n
Settling Time (4%)
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
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Determine the Rise time ,peak time, Settling time
and peak overshoot for ʓ=0.5 wn=6 rad/sec

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

A second order system has a transfer function

Dr.T.Devaraju, Professor of EEE, Sree Vidyanikethan Engineering College

 Unit ramp signal

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

Example

Consider the system shown in following figure, where damping ratio

is 0.6 and natural undamped frequency is 5 rad/sec. Obtain the rise
time tr, peak time tp, maximum overshoot Mp, and settling time 2%
and 4% criterion ts when the system is subjected to a unit-step
input.

Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College

43
 Example
Rise Time

 
tr 
d

3 . 141  
tr 

n 1  2

n 1
2

  tan 1
( )  0 . 93 rad
 n

3 . 141  0 . 93
tr   0 .55 s
5 10. 62
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
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 Example
Peak Time
Settling Time (2%)

 4
tp  ts 
d  n

4
3 . 141 ts   1 .33 s
tp   0 . 785 s 0 .6  5
4 Settling Time (4%)
3
ts 
 n

3
ts   1s
0 .6  5
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
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Example

Maximum Overshoot


1 
2

M p  e  100

3 . 141  0 . 6

1  0 .6 2
M p  e  100

M p  0 . 095  100

M p  9 .5 %
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 46
Obtain the unit step response of a unity feedback system whose open
loop transfer function is

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

Determine the undamped natural frequency and damping ratio of the
system

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

 2013

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

 2013

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

 Explanation

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College

 2013

Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College