3 Time Response Analysis of Control Systems 3.1 Introduction ‘The first stép in the analysis of a control system is, describing the system in terms ofa mathematical model. In chapter 2 we have seen how any given system is modelled by defining its transfer function. The next step would be, to obtain its response, both transient and steadystate, to a specific input. The input can be a time varying function which may be described by known mathematical functions or it may be a random signal. Moreover these input signals may not be known apriori. Thus it is customary to subject the control system to some standard input test signals which strain the system very severely. These standard input signals are : an impulse, a step, a ramp and a parabolic input. Analysis and design of control systems are carried out. defining certain performance measures for the system, using these standard test signals. It is also pertinent to mention thet any arbitery time function can be expressed in terms of linear combinations of these test signals and hence, if the system is linear, the output of the system can be obtained easily by using supersition principle. Further, convolution integral can also be used to determine the response of a linear system for any given input. if the response is known for a step or an impulse input. 3.2 Standard Test Signals 3.2.1 Impulse Signal ‘An impulse signal is shown in Fig. 3.1. 0) KA) Fig. 3.1 An Impulse signal.2 Control Systems The impulse function is zero for all ¢ + 0 and itis infinity at ¢ = 0. It rises to infinity at ¢ = 0" and comes back to zero at r= 0° enclosing a finite area. If this area is A it is called as an impulse function of strength A. If A= 1 it is called a unit impulse function. Thus an impulse signal is denoted by fO=A5O. 3.2.2 Step Signal A step signal is shown in Fig. 3.2. f(t) Fig, 3.2 A Step Signal. It is zero for ¢ < 0 and suddenly rises to a value A at ¢ = 0 and remains at this value for ¢> 0: It is denoted by f(f) = Au (1). IFA= 1, it is called a unit step function. 3.2.3 Ramp signal A ramp signal is shown in Fig. 3.3. £0) 100 Fig. 3.3 ARamp Signal It is zero for t < 0 and uniformly increases with a slope equal to A. It is denoted by f (i) = At. If the slope is unity, then itis called a unit ramp signal. 3.2.4 Parabolic signal A parabolic signal is shown in Fig. 3.4. Fig. 3.4 Aunit parabolic signal,Time Response Analysis of Control Systems 3 2 ‘A parabolic signal is denoted by f (#) = Sita is equal to unity then it is known as a unit parabolic signal. It can be easily verified that the step function is obtained by integrating the impulse function from © to =; a ramp function is obtained by integrating the step function and finally the prabolic function is obtained by integrating the ramp function. Similarly ramp function, step function and impulse function can be to obtained by successive differentiations of the parabolic function. Such a set of functions which are derived from one another are known as singularity functions. If the response of a linear system is known for any one of these input signals, the response to any other signal, out of these singularity functions, can be obtained by either differentiation or integration of the known response. 3.3. Representation of Systems ‘The input output description of the system is mathematically represented either as a differential equation or a transfer function. ‘The differential equation representation is known as a time domain representation and the transfer function is said to be a frequency domain representaiton. We will be considering the transfer function representation for all our analysis and design of control systems. The open loop transfer function of a system is represented in the following two forms. 1. Pole-zero form (S+2Z;)(S+Z2)-..(S+Zm) Ch (3.1) * +P, (+P2)--+Pa) Zeros occur at § = -2;,-2,--~; Zy Poles occur at s = -p;,— Py--——Pp The poles and zeros may be simple or repeated. Poles and zeros may occur at the origin. In the case where some of the poles occur at the origin, the transfer function may be written as K,G+21) 6 +22)-.(S+ 2m) SO) > F664 Poa) (5+ Pyen) G+ Pa) (3.2) The poles at the origin are given by the term . The term + indicates an integration in the ¥ s 1 system and hence — indicates the number of integrations present in the system. Poles at 3 origin influence the steadystate performance of the system as will be explained later in this chapter. Hence the systems are classified according to the number of poles at the origion, , the system has no pole at the origin and hence is known as a type — 0 system. 1, there is one pole at the origin and the system is known as a type - 1 system. Similarly if r = 2, the system is known as type - 2 system. Thus it is clear that the type of a system is, given by the number of poles it has at the origin.84 Control Systems 2. Time Constant Form “The open loop transfer function of a system may also be written as, K(ty8+1) (2,541). ,8+1) CO= : DG, 37 (s+) PY PQ Pa ‘The poles and zeros are related to the respective time constants by the relation 1 qe fori= 1,2, m i oy forj= 1,2 %, ‘The gain constans K, and K are related by nz, K=K,4 » ‘The two forms described above are equivalent and are used whereever convenience demands the use of a particular form. In either of the forms, the degree of the denomination polynomial of G(s) is known as the order of the system. The complexity of the system is indicated by the order of the system. In general, systems of order greater than 2, are difficult to analyse and hence, it is a practice to approximate higher order systems by second order systems, for the purpose of analysis. Let us now find the response of first order and second order systems to the test signals discussed in the previous section. The impulse test signal is difficult to produce in a laboratory. But the response of a system to an impulse has great significance in studying the behavior of the system. The response to a unit impulse is known as impulse response of the system. This is also known as the natural response of the system. For a unit impulse function, R(s) = 1 and CG) = T).1 and eft) = £7 IT) The Laplace inverse of T(6) is the impulse response of the system and is usually denoted by h(). * £1 TO] = bo If we know the impulse response of any system, we can easily calculate the response to any other arbitrary input v(#) by using convolution integral, namely et) = J h(x) v(t - 2) dt Since the impulse function is difficult to generate in a laboratory at is seldon used as a test signal. Therefore, we will concentrate on other three inputs, namely, unit step, unit velocity and unit acceleration inputs and find the response of first order and second order systems to these inputs.Time Response Analysis of Control Systems 85 3.4 First Order System 3.4.1 Response to a Unit Step Input 1 Consider a feedback system with G(s) = — as show in Fig. 3.5. RS) +, cls) > 1 a s Fig. 3.5 A first order feedback system. The closed loop transfer function of the system is given by 281 TO" Re) For a unit step input R (s) = = and the output is given by 8 C@)= 1 sGs+1) Inverse Laplace transformation yields o()=1-e%* The plot of c(t) Vs t is shown in Fig. 3.6. Fig. 3.6 Unit step response of a first order system. ‘The response is an exponentially increasing function and it approaches a value of unity as t+ 20. At t= the response reaches 2 value, ot) =1-€ 632 which is 63.2 percent of the steady value. This time, x, is known as the time constant of the system. One of the characteristics which we would like to know about the system is its speed of response or how fast the response is approaching the final value. The time constant tis indicative of this measure and the speed of response is inversely proportional to the time constant of the system.86 Control Systems Another important characteristic of the system is the error between the desired value and the actual value under steady state conditions. This quantity is known as the steady state error of the ~ system and is denoted by e,,. The error E(s) for a unity feedback system is given by E(s) = R(s) - C(s) G®RE) RO- T6@) - ©) ~ 1+G@) 1 I For the system under consideration G(s) = <=, R(s)= = and therefore Es) = se eae" As t—> we () > 0. Thus the output of the first order system approaches the reference input, which is the desired output, without any error. In other words, we say a first order system tracks the step input without any steadystate error. 3.4.2 Response to a Unit Ramp Input or Unit Velocity Input ‘The response of the system in Fig. 3.4 for a unit ramp input, for which, 1 RG) = > is given by, reer tee eee reece (3.9) ‘The time response is obtained by taking inverse Laplace transform of eqn. (3.9). Metts gare (3.10) If eqn. (3.10) is differentiated we get de bs eoe(3.11) at Eqn. (3.11) is seen to be identical to eqn. (3.6) which is the response of the system to a step input. ‘Thus no additional information about the speed of response is obtained by considering a ramp input. But let us see the effect on the steadystate error. As before, ES : r=. ssl s(s+) e@=1(-e*)Time Response Analysis of Control Systems 87 and e= Ht ear tae Thus the steady state error is equal to the time constant of the system. The first order system, therefore, can not track the ramp input without a finite steady state error. If the time constant is reduced not only the speed of response increases but also the steady state error for ramp input decreases. Hence the ramp input is important to the extent that it produces a finite steady state error. Instead of finding the entire response, it is sufficient to estimate the steady state value by using the final value theorem. Thus 3.12) a= Ht ss 340 lt 3s * 5-40 sts+D st which is same as given by eqn. (3.12) ‘The response of a first order system for unit ramp input is plotted in Fig. 3.7. Fig. 3.7 Unit ramp response of a first order system. 3.4.3 Response to a Unit Parabolic or Acceleration Input ‘The response of a first order system to a unit parabolic input, for which RG) + is given by, i s(ts+1) = oar-st+ > svee(3.13)88 Control Systems Differentiating eqn. (3.13), we get, at dt 1 wtet (-<*] svee(314) Eqn. (3.14) is seen to be same as eqn. (3.10), which is the response of the first order system to unit velocity input. Thus subjecting the first order system to a unit parabolic input does not give any additional information regarding transient behaviour of the system. But, the steady state error, for a prabolic input is given by, e@ =r@-c(®) —Pttt _ it “ t30 ‘Thus a first ordr system has infinite state error for a prabolic input. The steady state error can be easily obtained by using the final value theorem as : ss e@=0 e, = Lt sE@= Ht RD s0 soo THI _u _sl so SCs+l) Summarizing the analysis of first order system, we can say that the step input yields the desired information about the speed of transient response. It is observed that the speed of response is inversely proportional to the time constant r of the system. The ramp and parabolic inputs do not give any additional information regarding the speed of response. However, the steady state errors are different for these three different inputs. For a step input, the steadystate error e,, is zero, for a velocity input there is a finite error equal to the time constant r of the system and for an acceleration input the steadystate error is infinity. It is clear from the discussion above, that it is sufficient to study the behaviour of any system to a unit step input for understanding its transient response and use the velocity input and acceleration input for understanding the steadystate behaviour of the syst 3.5 Second Order System 3.5.1 Response to a Unit Step Input Consider a Type 1, second order system as shown in Fig. 3.8. Since G(s) has one pole at the origin, it is a type one system.Time Response Analysis of Control Systems 89 | RG) +, EQ) [—K 2) * Fors) Fig. 3.8 Second Order System. The closed loop transfer function is give by, cls) a= C2 K 9° RG wseK ‘The transient response of any system depends on the poles of the transfer function T(s). The roots of the denominator polynomial in s of 7(s) are the poles of the transfer function. Thus the denominator polynomial of T(s), given by Dis)=1s7+s+K is known as the characteristic polynomial of the system and D(s) = 0 is known as the characteristic equation of the system. Eqn. (3.15) is normally put in standard from, given by, Kit weee(3.15) T@= st+ostK/t t a 3.16) Where, K = {fp = natural frequency 1 . = damping factor 3VKt site The poles of T(S), of, the roots of the characteristic equation #+280,s+o,=0 are given by, (assuming 6 < 1)90 Control Systems Where @, = o, x16? is known as the damped natural frequency of the system. If 5> 1, the two roots 5), s2 are real and we have an over damped system. If 5 = 1, the system is known as a critically damped system. The more common case of 5 < 1 is known as the under damped system. If @, is held constant and 6 is changed from 0 to , the locus of the roots is shown in Fig. 3.9. ‘The magnitude of s, or s, is a, and is independent of 5. Hence the locus is a semicircle with radius @, until 5= 1. At d= 0, the roots are purely imaginary and are given by s, .=+ ja,, For 5= 1, the roots are purely real, negative and equal to a, As Sincreases beyond unity, the roots are real and negative and one root approached the origin and the other approaches infinity as shown in Fig. 3.9. Fig. 3.9 Locus of the roots of the characteristic equation. 1 For a unit step input R(6) = = and eqn. 3.16 can be written as C(s) = TEs). R(s) = EiEieeiei u sissel17) 2 +260,s+0,"" § Splitting eqn. (3.17) in to partial fractions, assuming 6 to be less than 1, we have K,s+K; s?+280,s+0,7 Evaluating K,, K, and K, by the usual procedure, we have, c@-% ‘ 1 s+280, ce =s (6 +80,)' +0,°0-87) eel +80, at 80, V1-8* S$ (+80, +0,0-8) 1-8 6+60,) +0,70-8) san(3:18) Taking inverse Laplae transform of eqn. (3.18), we have to e@=1-€ °°" | cosa,Time Response Analysis of Control Systems 91 Eqn. (3.19) can be put in a more convenient from as, Where and tan 6 (3.20) This response is plotted in Fig. 3.10. The response is oscillatory and as ¢—+ = it approaches unity. ot) t Fig. 3.10 Step response of an underdamped second order system. @, and the response is If 5= 1, the two roots of the characteristic equations are s, given by eo” 1 c@= G+o,) s and e()=1-e*-to, ee svn(3.21) This is plotted in Fig. 3.11. Loe — — > (| Ft Fig. 3.11. Response of a critically damped second order system. As the damping is increased from a value less than unity, the oscillations decrease and when the damping factor equals unity the oscillations just diseppear. If 6s increaed beyond unity, the roots of, the characteristic equation are real and negative and hence, the response approaches unity in an exponential way. This response is known as overdamped response and is shown in Fig. 3.12.92. Control Systems 10 ft) >t Fig. 3.12 Step response of an overdamped second order system. e()=K, eK, et sve(3.22) Where s, and s, are given by, 8127-80, +0, ¥e and K, and K, are constants. 3.5.2 Response to a Unit Ramp Input For a unit ramp input, - R@=—> @=3 and the output is given by, 2 c@- oa s*(s? +280,s+0,?) Taking inverse Laplace transform, we get the time response c (1) as, 25 ett e@=t- + Sin o,vi-8 t+ for8<1 uf (3.23) o, vie ( ) The time response for a unit ramp input is plotted in Fig. 3.13. Fig. 3.13 Unit ramp response of a second order system.Time Response Analysis of Control Systems 93 The response reveals two aspects of the system. 1. The transient response is of the same form as that of a unit step response. No new information is obtained regarding speed of response or oscillations in the system. 2. Ithas a steadystate error e,, = aS, unlike the step response, where the steady state error was zero. Thus, no new information is gained by obtaining the transient response of the system for a ramp input. The steadystate error could be easily calculated using final value theorem instead of laboriously solving for the entire reponse. For the given system, the error E (s) is given by E()=R(S)-C®) @, _8?+260,5+0,7-0,7 Sis? +280,s+02) $*(s? +280,s+02) and from the final value theorem, 2 Lt _ lt _3%6+280,) 30” og 8G +280,s+0,3) Ina similar manner, the unit parabolic input does not yield any fresh information about the transient response. The steadystate error can be obtained using final value theorem in this case also. For the given system, for a unit acceleration input, ee ee ee ree ee re eee eee Hee (3.25) 3.5.3 Time Domain Specifications of a Second Order System ‘The performance of a system is usually evaluated in terms of the following qualities. 1. How fast it is able to respond to the input, 2. How fast it is reaching the desired output, 3. What is the error between the desired output and the actual output, once the transients. die down and steady state is achieved, 4. Does it oscillate around the desired value, and 5. Is the output continuously increasing with time or is it bounded. The last aspect is concemed with the stability of the system and we would require the system to be stable. This aspect will be considered later. The first four questions will be answered in terms of time domain specifications of the system based on its response to a unit step input. These are the specifications to be given for the design of a controller for a given system. In section 3.5, we have obtained the response of a type 1 second order system to a unit step input, The step response of a typical underdamped second order system is plotted in Fig. 3.14.94, Control Systems It is observed that, for an underdamped system, there are two complex conjugate poles. Usually, even if a system is of higher order, the two complex conjugate poles nearest to the ja — axis (called dominant poles) are considered and the system is approximated by a second order system. Thus, in designing any system, certain design specifications are given based on the typical underdamped step response shown as Fig. 3.14. Fig. 3.14 Time domain specifications of a second order system. The design specifications are : 1. Delay time ty: Its the time required for the response to reach 50% of the steady state value for the first time 2. Rise time t,: It's the time required for the response to reach 100% of the steady state value for under damped systems. However, for over damped systems, itis taken as the time required for the response to rise from 10% to 90% of the steadystate value. 3. Peak time t, : Itis the time required for the response to reach the maximum or Peak value of the response. 4. Peak overshoot M, : Itis defined as the difference between the peak value of the response and the steady state value. Its usually expressed in percent of the steady state value. Ifthe time for the peak is 4,, percent peak overshoot is given by, (=) x 100. son(3.26) Percent peak overshoot M,, For systems of type 1 and higher, the steady state value c («) is equal to unity, the same as the input. 5. Settling time t, : It is the time required for the response to reach and remain within a specified tolerance limits (usually + 2% or + 5%) around the steady state value. 6. Steady state error e,,: It is the error betwen the desired output and the actual output as t—» <0 or under steadystate conditions. The desired output is given by the reference input r (#) and Gee erefore, ey, = 5, Int) e(0]Time Response Analysis of Control Systems 95 From the above specifications it can be easily seen that the time response of a system for a unit step input is almost fixed once these specifications are given. But itis to be observed that all the above specifications are not independent of each other and hence they have to be specified in such a way that they are consistent with others. Let us now obtain the expressions for some of the above design specifications in terms of the damping factor 8 and natural frequency 1. Rise time (1,) If we consider an underdamped system, from the definition of the rise time, it is the time required for the response to reach 100% of its steadystate value for the first time. Hence from eqn. (3.20). ett cw) "Tar Sin (ovi-#, +0) erate or Ta™ (o,V1-8 t, +4) ° teat cannot be equal to zero, Sin (yt, +9)=0 ogtt oan 1 Vi-8* 6 m-tan™ 3S and bed treatm SSS (3.27) * a V1- 8? 01-8 ean) 2. Peak time (tp) ‘At the peak time, fp, the response attains its maximum value and this can be obtained by differentiating c (¢) and equating it to zero. Thus, Sent Tree cs (od 0.4 dolt) 80, 8g gy if 7 yore Sin (o,t+) Simplifying we have, 5 Sin (@gt+ 6)— fins? cos (ot + )=096 This can be written as, Control Systems Cos $ Sin (o4t + $) - Sin 6 cos (ot + 9) = 0 2 where tang= ee 6 Sin (0t+ 6-9) =Sinoyt=0 or ogt=nn forn=0, 1,2, Corresponds to its minimum value at n= 1 Corresponds to its first peak value at t= t, n= 2 Corresponds to its first undershoot n= 3 Corresponds to its second overshoot and so on Hence for n= 1 t= o,v1-8 = (3.28) Thus, we see that the peak time depends on both a, and 4: If we consider the product of «, and 1,, which may be called as normalised peak time, we can plot the variation ofthis normalised peak/time with the damping factor 4. This is shown in Fig. 3.15. tao ot 38 4 36 7 34 be ++; 02 04 06 08 10 8 Fig. 3.15 Normalised peek time o, t, Vs 6 for a second order system. 3. Peak overshoot ( M, The peak overshoot is defined as My =et)-1Time Response Analysis of Control Systems 97 Sone 7 eons M,= Far Sind (> Sine +9) =-Sind) It-may be observed that peak overshoot M, is a function of the damping factor 6 only. Its variation with damping factor is shown in Fig. 3.16. om, 02 04 06 08 10 8 Fig. 3.16 Percent overshoot M, Vs 5 for a second order system. 4. Settling time ( 1,) ‘The time varying term in the step response, ¢ (1), consists of a product of two terms; namely, an exponentially delaying term, and a sinusoidal term, Sin (wf + 9). It is clear that 1-8 the response is a decaying sinusoid, the envelop of which is given by response reaches and remains within a given band, around the steadystate value, when this envelop crosses the tolerance band. Once this envelop reaches this value, there is no possibility of subsequent oscillations to go beyond these tolerane limits. Thus for 2 2% tolerance band, tots [ = 0.02 v1-8 For low values of 6, & << 1 and therefore x's ~ 0. 4 Reet (3.30) where ris the time constant of the exponential term.98 Control Systems Eqn. (3,30) shows that the settling time is a function of both Sand @,, Since damping factor is an important design specification, we would like to know the variation of the setting time with 6, with 0, fixed. Or, in otherwords, we can define a normalised time a,f,, and find the variation of this quantity with respect to 4. The step response of a second order system is plotted in Fig. 3.17 for different values of 4, taking normalised time af, on x-axis. The curves are magnified around the steady state value for clarity. 09 — DCF B A —>G,t Fig. 3.17 C (1) plotted for different value of 8. The settling time monotonically decreases as the damping is decreased from a value greater than one (over damped) to less than one (under damped). For 2% tolerance band, it decreases until the first peak of the response reaches the tolerance limit of 1.02 as shown by the curve IV in Fig. 3.17. Points A, B, C, and D marked on the graph give the values @,1,, for decreasing values of 8, The peak value of the response reaches 1.02 at a damping factor 5= 0.76. The settling time for this value of 5 is marked as point D on the curve. If dis decreased further, since the response crosses the upper limit 1.02, the point E no longer represents the settling time. The settling time suddenly jumps to a value given by the point F on the curve. Thus there is a discontinuity at = 0.76. If dis decreased further the setting time increases until the first undershoot touches the lower limit of 0.98, Similarly, the third discontinuity occurs when the second peak touches the upper limit of 1.02 and so on. The variation of ,4, with for a tolerance band of 2% is plotted in Fig. 3.18. Fig. 3.18 Variation of normalised settling time ot, Vs 8.Time Response Analysis of Control Systems 99 From Fig. 3.18 it is observed that the least settling time is obtained for a damping factor of 5= 0.76. Since settling time is a measure of how fast the system reaches a steady value, control systems are usually designed with a damping factor of around 0.7. Sometimes, the systems are designed to have even lesser damping factor because of the presence of certain nonlinearities which tend to produce an error under steadystate conditions. To reduce this steadystate error, normally the \ 1 system gain K is increased, which in turn decreases the damping (: ear) However, for robotic control, the damping is made close to and slightly higher than unity. This is because the output of a robotic system should reach the desired value as fast as possible, but it should never overshoot it. 5. Steady state error (€,,) For a type | system, considered for obtaining the design specifications of a second order control system, the steady state error for a step input is obviously zero. Thus It i_ap=0 toe - . 28 The steady state eror fora ramp input was obtained in eqn. (3.24) as ¢, = —. As the steadystate error, for various test signals, depends on the type of the system, it is dealt in the next section in detail. 3.6 Steady State Errors One of the important design specifications for a control system is the steadystate error. The steady State output of any system should be as close to desired output as possible. If it deviates from this desired output, the performance of the system is not satisfactory under steadystate conditions. The steadystate error reflects the accuracy of the system. Among many reasons for these errors, the most important ones are the type of input, the type of the system and the nonlinearities present in the system. Since the actual input in a physical system is often a random signal, the steady state errors are obtained for the standard test signals, namely, step, ramp and parbaolic signals. 3.6.1 Error Constants Let us consider a feedback control system shown in Fig. 3.19. E(s), mo) oe } — 7 i Hs) [+ Fig. 3.19 Feedback Control System.100 Control Systems ‘The error signal E (s) is given by E(s)=R(S)-H®) COs) But C@=GOEW From eqns. (3.31) and (3.32) we have o_o FO TF a@H@ Applying final value theorem, we can get the steady state error ¢,, as, spe LU _ se) s30 s>0 1+G@HO Eqn. (3.33) shows that the steady state error is a function of the input R(s) and the open loop transfer function G(s). Let us consider various standard test signals and obtain the steadystate error for these inputs. 1. Unit step or position input. Ss For a unit step input, R (s) = —. Hence from eqn. (3.33) Hee eet $0 1+G@)H@ i L 1+ Lt G6) HG) Let us define a useful term, position error constant K, 28, Lt K&B, SOHO In terms of the position error constant, e,, can be written as, 1 = sne(3.36) e, iFK, (3.36) 2. Unit ramp or velocity input. For unit velocity input, R(s) = > and hence, s 1 e- lt gt tet 1 S$" s-0 1+G@)H@ s+0 5+sG@HO 1 H sG(s)H(s) s30Time Response Analysis of Control Systems 101 Again, defining the velocity error constant K, as, Lt = H weee(3.38} k= 7) SGOHO (3.38) ese = sa (3.39) 3. Unit parabolic or acceleration input. For unit acceleration input R (s) = Lt s = 1 330 S[1+G@HS] s>0 s?+s°G@)HG) eee Ee eee EE Eee eee rere (3.40) it FG()HG) s70 Defining the acceleration error constant K, as, Lt 3 bl G(s) H( k= 8 POO He) eeu K, For the special case of unity of feedback system, H (s) = 1 and eqns. (3.35) (3.38) or (3.41) are modified as, Lt = toy re ee re re eee 3.43 Kt 9 (3.43) Lt mer eHine (oye eee ee Peer ee Heo 3.44) x om sG (s) (3.44) Th 2, a = Meaney Ere er err ee ee reer 3.45) an K-59 2S (3.45) In design specifications, instead of specifying the steady state error, it is a common practice to specify the error constants which have a direct bearing on the steadystate error. As will be seen later in this section, if the open loop transfer function is specified in time constant form, as in eqn. (3.3), the error constant is equal to the gain of the open loop system. 3.6.2 Dependence of Steadystate Error on Type of the System Let the loop transfer function G (s) H (s) or the open loop transfer function G (s) for a unity feedback system, be given is time constant form. K(lys + IXT2s+1)- S'(Tys8 +1 Tp95 +1) — Gs) =102 Control Systems ‘Ass-» 0, the poles at the origin dominate the expression for G(s). We had defined the type of @ system, as the number of poles present atthe origin. Hence the steady state error, which depends on Lt Gi, Ms Ge) or M264), is dependent on the type of the system. Let us therefore s70 s70 s70 obtain the steady state error for various standard test signals for type-0, type-I and type-2 systems. 1. Type system From eqn. (3.46) with r = 0, the error constants are given by it Lt K(egs+Dens+D-- Br 50 830 Gust DG pst )-— Lt Le K(eys+1)(tz8 +1)-—- = se oe =a a =0 ee 9 £8) 890 (ps+ Dt ps+D-— Similarly K,= Er yO ee te (3.41) The steady state errors for unit step, velocity and acceleration inputs are respectively, from eqns. (3.34), (3.37) and (3.40), = wepi °s Tek, 14K (ep inp es" x = (velocity input) =o (acceleration input) 2. Type 1 system For type 1 system, r= 1 in eqn. (3.46) and Lt K= 39 0 “ES me Baie kK 59 °°) 5 8 a kK Lt i 2 K and 7 2 2k. Kn 0M" 0s 7? ‘The steady state error for unit step, unit velocity and unit acceleration inputs are respectively,Time Response Analysis of Control Systems 103 (velocity) and (acceleration) 3. Type 2-system For a type —2 system r= 2 in eqn. (3.46) and Bs _ i KL To soos” a oT aR BF 640 sso ~~ o _ i sK_ ae B60) 549 FE ‘The steady state errors for the three test inputs are, 1 1 ist by TK, iva 7°? (position) (velocity) and get erat KK (acceleration) ‘Thus a type zero system has a finite steady state error for a unit step input and is equal to 1 1 SREEER | > (3.47) ‘Where K is the system gain in the time constant from. It is customary to specify the gain of a type zero system by K, rather than K. Similarly, a type ~I system has a finite steady state error for a velocity input only and is given by swees(3.48) ‘Thus the gain of type -1 system in normally specified as K,. A type -2 system has a finite steady state error only for acceleration input and is given by 1 3.49) As before, the gain of type -2 system is specified as K, rather than K.104 Control Systems The steady state errors, for various standard inputs for type - 0, type ~ 1 and type ~ 2 are summarized in Table. 3.1. Table. 3.1 Steady state errors for various inputs and type of systems ‘Steadystate error e,, Standard input ‘Type-0 | Type-1 Type-2 Lt Hee i 4 Or 59099 | 550750 | =o 1 Unitstep GE ° 0 Usit velocity ~ 0 Unitacceleration © © If can be seen from Table. 3.1, as the type of the system and hence the number of integrations increases, more and more steady state errors become zero. Hence it may appear that it is better to design a system with more and more poles at the origin. But if the type of the system is higher than 2, the systems tend to be more unstable and the dynamic errors tend to be larger. The stability aspects are considered in chapter 4. 3.6.3 Generalized Error Coefficients - Error Series ‘The main disadvantage of defining the steadystate error in terms of error constants is that, only one of the constants is finite and non zero for a particular system, where as the other constants are either zero or infinity. If any error constant is zero, the steady state error is infinity, but we do not have any clue as to how the error is approaching infinity. If the inputs are other than step, velocity or acceleration inputs, we can extend the concept of error constants to include inputs which can be represented by a polynomial. Many functions which are analytic can be represented by a polynomial in r. Let the error be given by, E(s)= Eqn. (3.50) may be written as Where E (8) = ¥(s). RG) Y@= RG) 1+ G(s) 1 1+6®Time Response Analysis of Control Systems 105 Using Convolution theorem eqn. (3:51) can be written as : e@=Sy@rt- dat (3.53) 3 ‘Assuming that r (has first n deriratives, r (¢~ 2) can be expanded into a Taylor series, 2 r@t-D=r@Q-tr OF sl (3.54) where the primes indicate time derivatives, Substituting eqn. (3.54) into eqn. (3.53), we have, i sje Nar' ean e@ =fy@|)-r@)+—'@-Sr"W----| de a 2I 31 ‘ am € Hay 1 =1@ fy@dt-r' @ fty@dttr" Of —y@dtt.. seun(3.55) a a a 2! ‘To obtain the steady state error, we take the limit r > on both sides of eqn. (3.55) Lt Lt neg? 7 fa OM tse [ro yous) Lode +r" OT yee... | G50 ° 2 ag te Ly@a-r@ J y@ dtr” os 7 y@) dt+ (3.57) ‘Where the suffix ss denotes steady state part of the function. It may be further observed that the integrals in eqn. (3.57) yield constant values. Hence eqn. (3.57) may be written as, y= Coty +E 1 + a POF nt & OO + w-rn(3.58) Where, C= i y(n) de wo(3.59) c=- j y@dt sse(3.60) c= i ty (x) dt we(3.61)106 Control Systems ‘The coefficients Cy, C), Cp, Cy are defined as generalized error coefficients, Eqn. (3.58) is known as generalised error series. ft may be observed that the steady state error is obtained as 2 function of time, in terms of generalised error coefficients, the steady state part of the input and its derivatives. For a given transfer function G(s), the error coefficients can be easily evaluated as shown in the following. Let yt) = £1 YG) Ys) = I y(t) e* de ssee(3.62) Lt ut ¥( 300%) ~ 49 Ty@e*ae ° e ut se fy@ s>0 ones Ty@e 3 SC ee re eee eee tee (3.63) ~ Taking the derivative of eqn. (3,62) with respect to s, We have, d¥@) _ ds ‘Now taking the limit of equation (3.64) as s -> 0, we have, =i yO Det te (3.64) -froce By eta 330 fo Ty@d ; Similarly, Lr #YG) soo ds? c= Lt d*Y(s) c= a so dst ‘Thus the constants can be evaluated using eqns. (3.63), (3.65) and (3.66) and so on and the time variation of the steadystate error can be obtained using eqn. (3.58).Time Response Analysis of Control Systems 107 The advantages of error series can be summarized as, 1, Itprovides a simple way of obtaining the nature of steadystate response to almost any arbitrary input. 2. Wecan obtain the complete steadystate response without actually solving the system differential equation. Example 3.1 The angular position @, ofa mass is controlled by a servo system through a reference signal 0,. The moment of intertia of moving parts referred to the load shaft, J, is 150 kgm? and damping torque coefficient referred to the load shaft, B, is 4.5 x 103 Nwm / rad / sec. The torque developed by the motor at the load is 7.2 x 10* Nw—m per radian of error. (@) Obtain the response of the system to a step input of 1 rad and determine the peak time, peak overshoot and frequency of transient oscillations. Also find the steadystate error for a constant angular velocity of 1 revolution / minute. (©) Ifa steady torque of 1000 Nwm is applied at the load shaft, determine the steadystate error. Solution : The block diagram of the system may be written as shown in Fig. 3.20. oe cy 1 EI istsB)}] [ Fig. 3.20 Block diagram of the given system £. > From the block diagram, the forward path transfer function G (s) is given by, = —Kr SO) > Sis+B) For the given values of Ky, J and B, we have 72x10* So s(150s+4.5*10°) elec 5(0.3335+1) Thus 6 += 0.333 see. and icc ieee 2YKyt 2v16x0.0333 = 0.6847108 Control Systems me eet °. = ¥0.0333 = 21.91 rad/sec ® oo) oF sin | o, Vino t+ tan! EE a : . vi-8 8 = 1-1.372 eS Sin (15.97 t + 46.89) Peak time, tp = Peak over shoot, Mp = 1006 VI? = 5.23% Frequency of transient oscillations, @4 = 15.97 rad/sec Steady state error ,-2= rad/sec 60 K,=16 2n = 654x103 Ca Guig 7 O54 * 107 rad (6) When a load torque of 1000 Nwm is applied at the load shaft, using super position theorem, the error is nothing but the response due to this load torque acting as a step input with T, = 1000 Nw. - +, 8, as Te i | - Fig. 3.21 Block diagram of the system with load torque applied 6, = 0. The block diagram may be modified as shown in Fig. 3.21. From Fig. 3.21, we have 1 8c(s) __ sis +B) 1 TL® 1,—Kr Js? +Bs+Ky 1000 8008) * SG505 4 4Sx10s + 72x10Time Response Analysis of Control Systems 109 Using final value theorem, Bos = ah net fair = 0.01389 rad = 0.796 Example 3.2 ‘The open loop transfer function of a unity feedback system is given by, Uist a+) With a given value of K, the peak overshoot was found to be 80%. It is proposed to reduce the peak overshoot to 20% by decreasing the gain. Find the new value of K in terms of the old value. Solution : G(s) = K,t>0 Let the gain be K, for a peak overshoot of 80% B= in + = 0293 fee "08 3? = 0.223? (1 - 8) Solving for 5,, we get 8, = 0.07 Let the new gain be K, for a peak overshoot of 20%

) Unitramp input Lt KT 0 cee 10 ant s>0 (.ls+1\0.5s+1) 1 1 Rr (©) Unitacceleration input Eee regi 10s a B50” "5 50 Gissnoss+y ” 1 = =eTime Response Analysis of Control Systems iL 5 oqo = 2000+ (+ 10XS-+50) ‘The transfer function is given in pole zero form, Let us put this in time constant form. 1000(5+1) 2s+1) SS) * Soo(o.is+ (0.0251) ~ Gis +1(0.025+1) Since this is a type zero system we can directly obtain Ky=2 K=O K=0 The steadystate errors are, (@) Unit step input ess (©) Unitramp input (©) Unitacceleration input Expressing G (s) in time constant form, 1000 ‘20s? (6-+1K(0.055-+1) ‘The error constants for a type 2 system are K-02 K=© K,=50 ‘The steadystate errors for, (@) unit step input GE) = ) (©) aunit acceleration input12 Control Systems Example 3.4 The open loop transfer function of a servo system is given by, 10 j= — 10 _ 99> So2805 Evaluate the error series for the input, 30 ou e Solution : 10 SS) = Jo25+ a 1 s(0.2s+1) YO" ew 14—10_ 0.28? +s+10 s(0.25 +1) ‘The generalised error coefficients are given by, Lt = Ys 0 = 549 9) _ Lt _s02s+t) _ s>0 0.2s?+s+10 _ lt ae So ds = Et (02s? +8+10K0.4s +1)-s (0.28 +1(0.48 +1) s70 (0.2s? +s+10)” _ Lt _ 100.4841) s>0 (0.2s* +s +10)? 10 = =01 10? (0.2s? +s+10)* _ 400-10(20) Gor 7002Time Response Analysis of Control Systems 3 The input and its deriatives are, r= 1+ 2t+ 6 H@a2+ > 243 MrO=3 r" Q=0=F O=" 0 » The error series is given by, @, (= Cyr (+ Cy ty" + 2 16" 3t e,, (0 =0 (2-35 +o1g+39+ 02 Aan = 0.23 + 0.3t 3.7. Design Specifications of a Control System A second order control system is required to satisfy three main specifications, namely, peak overshoot to a step input (M,), settling time (¢,) and steadystate accuracy. Peak overshoot is indicative of damping (6) in the system and for a given damping settling time indicates the undamped natural frequency of the system. The steadystate accuracy is specified by the steadystate error and error can bbe made to lie within given limits by choosing an appropriate error constant K», Ky or K, depending on the type of the system. If any other specifications like rise time or delay time are also specified, they must be specified consistent with the other specifications. Most control systems are designed to be underdamped with a damping factor lying between 0.3 and 0.7. Let us examine the limitations in choosing the parameters of a type one, second order system to satisfy all the design specifications. The expressions for 5, t, and e,, are given by, 1 b= 2K saead (3.69) 4 Ina second order system, the only variables are X, and z. Even if both of them are variable, we can satisfy only two out of the three specifications namely, & ¢, and e,,. Generally, we are given a system for which a suitable controller has to be designed. This means that the system time constant is fixed and the only variable available is the system gain X,. By using a proportional controller, the gain can be adjusted to suit the requirement of the steadystate accuracy. If K, is adjusted for an allowable limit on steadystate error, this value of X, is usually large enough to make the system camping considerably less, as given by eqn. (3.69). Thus the transient behaviours of the system is, not satisfactory. Hence suitable compensation schemes must be designed so that the dynamic response improves. Some control schemes used in industry are discussed in the next section.114 Control Systems 3.7.1 Proportional Derivative Error Control (PD control) A general block diagram of a system with a controller is given in Fig. 3.22. Controller ‘System or plant cos) c FS Seg MO 66) Rs) ha) 3.22 General block diagram of a system with controller and unity feed back For a second order, Type 1 system, a KY O8)= Sse By choosing different configurations for the controller transfer function G. (s) we get different control schemes. The input to the controller is termed as error signal or most appropriately, actuating signal. The output of the controller is called as the manipulating variable, m (t) and is the signal given as input to the system or plant. Thus, we have, m() =K, («0+K 0) and M(s) = Kp (1 + Kp 8) E() The open loop transfer function with PD controller is given by, GB O= Ge () GS) _ Kp(l+Kps)K} “s(ts+1) The closed loop transfer function of the system is given by, Ky Kost) If we define The damping and natural frequency of the system are given by, gi = 1tKKp Kp K cee 5, Me =5Time Response Analysis of Control Systems 11s By a suitable choice of the proportional controller gain K, (Amplifier gain), the steadystate error requirements can be met. As seen earlier, such a choice of Kp usually results in a low value of damping and hence this can be increased to a suitable value by of a proper choice of Kp, the gain of the derivative term in the controller, as given by the eqn. (3.72). It can be observed from eqn. (3.73) that the natural frequency is not altered fora given choice of K,. Hence the settling time is automatically reduced since @,, is fixed and 6 for the compensated system has increased. Tt may also be observed that, adding a derivative term in the controller introduces a zero in the forward path transfer function and we have seen that the effect of this is to increase the damping in the system. 3.7.2 Proportional Integral Controller (PI Control) If the amplifier in the forward path is redesigned to include an integrator so that the output of the controller is given by, aor («0-K,joa) rol (3.74) i M(@)=Kp (8) Es) We have, Gq (S) = Ge (8) G (8) ~ Xe+KyKy _ Ky(is+) "Tss+) s@se (3.75) Where and fe fs ar (3.76) ts? +s?4+K,Ts+K, From eqn. (3.75) we observe that the type of the system is changed from Type 1 to type 2 and hence the steadystate error for a unit velocity input is reduced to zero. Hende an integral controller is usually preferred wherever the steadystate accuracy is important, But the dynamics of the system can not be easily obtained, as the system order is increased from two to three, because of the introduction of integral control.116 Control Systems Moreover, the stability of the sytem (as will be discussed in chapter 4) may be affected adversely if the system order is increased. Since the system is of third order, it is usually designed to have two complex poles nearer to the imaginary axis and one real pole, as for away from origin as desirable. The response due to the complex poles dominate the overall response and hence the damping factor of these poles will have to be properly chosen to get a satisfactory transient response. 3.7.3. Proportional, Integral and Derivative Controller (PID Contro!) ‘An integral control eliminates steadystate error due to a velocity input, but its effect on dynamic response is difficult to predict as the system order increases to three. We have seen in sector 3.7.1 that a derivative term in the forward path improves the damping in the system. Hence a suitable combination of integral and derivative controls results in a proportional, integral and derivate control, usually called PID control. The transfer function of the PID controller is given by, Go (5) = Kp (i+Kos+%) ‘The overall forward path transfer function is given by, KK,(1 +Kps+ x) 3 s(ts+1) and the overall transfer function is given by, GAs) = Kok, Kys'+s+Ki) as) +5°(1+K,Kp)+sKpK, s+KpK; Proper choice of K,, K,, and K, results in satisfactory transient and steadystate responses. The process of choosing proper Kp, Kp, at K, for a given system is known as tuning ofa PID controller. 3.7.4 Derivative Output Control So far, we have discussed controllers in the forward path for which the input is the error. Some times control is provided by taking a signal proportional to the rate at which the output is changing and feeding back to the amplifier in the forward path. A typical block diagram fo such a system, employing rate feedback, as it is often known, is given in Fig. 3.23. Ts) Re) + +, Ky oe) Fig. 3.23 (a) Block diagram of a system employing rate feedbackTime Response Analysis of Control Systems u7 sat The inner loop provides the desired rate feedback as its output is proportional to =". Simplifying the inner loop, we have, RO_ KD ES) |, £g) i XB+1+KK,) Sete Fig. 3.23 (b) Simplified block diagram of Fig. 3.23 (a) The forward path transfer function is given by, (3.77) Ka Where, TKK, (3.78) x “TER, we(3.79) Thus the new damping factor is given by, eae 1 aja? 4] m= 1+KK, 1+K,K, _IEKKy 2Kat =(1+K,K,)8 Kv. [Ka a t The product, K’, 8' is given by, k'g'= Sa ve DRat or eee eee tee ee ee ee eee (3.83)8. Control Systems If the values of K', and 6" are specified, the amplifier gain (K,) can be adjusted to get a suitable value using eqn. (3.82). For this vlaue of K,, the rate feedback constant K, is given by, using eqn. 3.78, as Ky Ky If rate feedback is not present, Ie ere eee ee eee eee eee (3.85) a 1 2K,e With rate feedback, if same velocity error constant is specified, comparing eqn. (3.78) with eqn. (3.85), we see that the amplifier gain, K, has to be more. Thus @,' given by eqn. (3.82) will be ‘more, Hence the derivative output compensation increases both damping factor and natural frequency, thereby reducing the settilng time. 3.5 Example Consider the position control system shown in Fig. 3.24 (a). Draw the block diagram of the system. The particulars of the system are the following. ‘Total Moment of Inertia referred to motor shaft, J = 4 x 10 kgm?. Total friction coefficient referred to motor shaft, f= 2 x 10°? Nwmlradsec Fig. 3.24 (a) Schematic of a position control system. 8, Motor to I io, n= 2-4 lotor to load Gear ratio, n Oy 50 ‘Load to potentiometer gear ratio,Time Response Analysis of Control Systems is Motor torque constant, K, = 2.Nw-m | amp Tachogenerator constant, K, = 0.2V | rad | sec Sensitivity of error detector, Kp = 0.5V | rad. Amplifier gain, K,Amps/V. (variable) (@) With switch K open, obtain the viaue of K, for a steadystate error of 0.02 for unit ramp input. Calculate the values of damping factor, natural frequency, peak overshoot and settling time. (b) With switch K open, the amplifier is modified to include a derivative term, so that the armature current i, (f) is given by ( LO=K, [0 +Ky 0) Find the vlaues of K, and K,, to give a steadystate error within 0.02 for a unit ramp input and damping factor of 0.6. Find the natural frequency and settling time in this case. (c) With switch K closed and with proportional control only, find the portion of tachogenerator voltage to be fedback, b. to get a peak overshort of 20%. Steadystate error should be less than 0.02 for a unit ramp input. Find the settling time and natural frequency. Solution : ‘The block diagram of the system is given in Fig. 3.24 (b). <0), T]@716 * Hy isef / sf 7 le Kh RoR Vo Fig. 3.24 (b) Block diagram of the position control system of Fig. 3.24 (a). With switch K open, a ss+f) G(s) = KK, Ky 0.5x2Ky L 50‘ s(4x10s+2x107) Ky 10K, 50x2x107s(2s+1) s(28 +1) ERS s(2s+1)120 Control Systems K, =10K,=50 damping facto 8-4-4 —-1 ons eae . 2)K,z 250x2 20 ~ Natural frequency, @, = & = 2 = 5.0 rad/sec. =i Peak overshoot, Ves? = 85.45% 4 4 Settling time, = Foyt gas ~~ see ‘Thus, itis seen that, using proportional control only (Adjusting the amplifier gain K,.) the steadystate error is satisfied, but the damping is poor, resulting in highly oscillatory system. The settling time is also very high. (b) With the amplifier modified to include a derivative term, i =Ky, [eo +Kp so) The forward path transfer function becomes, KeKa(l+Kys)Krn _ 05xKq(14Kps)2 _ 10K, (14 Kys) ‘s(is+f) 2x10 x 50s(2s +1) ‘s(2s+1) TTo satisfy steadystate error requirements, K, is again chosen as S. The damping factor is given by, Gs) = _1+K Kp be 1+50K 06= 3 50x2 From which we get, Kp=0.22Time Response Analysis of Control Systems 121 4 > Deng 7 1533 see The derivative control increases the damping and also reduces the setlling time. The natural frequency is unaltered. (c) With switch K closed and with only proportional control, we have, Ken KaKr SO -~, eate pd 2K, 50s| 4x107s+2x10 +2x0.2xK,b The closed loop transfer function is given by, TO" a 0.28? +(0.1+20K,,b)s+K, The steadystate error, €,, = 0.02 1 K=O 70 The peak over shoot, _s Ve Mp=e * =02 a 8= 0.456 From the expression for G (s), we have, K- 3 s00 Hee Eee ae & 50(2x10 +0.4K,4b) 0.1+20K4b From the expression for T (s), we have gu O1+20K yb 1 0.2 TK, 4 02122 Control Systems Taking the product of K, and 8, we have 7 Ka 0.1+20K qb K8 ~ dis20K,b 2K, pepeeeiL Sa 2J02K, But K, = 50 and 8 = 0.456 2 Ki x 2 = Ka _ (0 x 0486? = To 5e, Ka = 4 0.2 (50 x 0.456) = 415.872 We notice that the value of K, is much larger, compared to K, in part (a). Substituting the value of K, in the expression for K, we have, 415.872 30 Ors 20x415.872x6 b can be calculated as, b=0.001 K, _ [415872 ‘The natural frequency o, = we 02 7 43.6 radisee Comparing ©, in part (a), we see that the natural frequency has increased. Thus the setlling time is redued to a value give by, 4 4 tat =p, 1924 500, ‘> Fay“ oasexas6 ~ 01924 see This problem clearly illustrates the effects of P, PD and derivative output controls. Example 3.6 Consider the control system shown in Fig. 3.25. “ 2 Si ba IGy gain Ky 2 phase sv0 motor Fig. 3.25 Schematic of a control system for Ex. 3.6Time Response Analysis of Control Systems 123 The sensitivity of synchro error detector Ks = 1 V | deg. The transfer function of the two phase servo motor is given by, Ore(s)_ 10 Vols) s(1+0.1s) (@) Its required that the load be driven at a constant speed of 25 rpm at steady state. What should be the gain of the amplifier, K,, so that the error between output and input position does not exceed 2 deg under steadystate. For this gain what are the values of damping factor, natural frequency and settling time. (b) To improve the transient behavior of the system, the amplifier is modified to include a derivative term, so that the output of the amplifier is given by, Vo) = Kye +K,y Ty 6 Determine the value of T,, so that the damping ratio is improved to 0.5. What is the settling time in this case. Solution : Tae block diagram of the system is given in Fig. 3.26 +, z To | PT] = 8, s(1+0.1s) 100] Fig. 3.26 The block diagram of system shown in Fig. 3.25 ‘The forward path transfer function of the system is, 68) - RS K,=1 videg= 82 Vited 6) = een Steady state speed © = 25 rpm = ras rad seo. = rad | see Steady state error, egg =2deg= G2 n= E rad24 Control Systems For the given system, Lt = s Gs Ker 40 Lt sx180xK, s40 70+0.15)10 18K, ® Sa___Saxn 8 GK, 6xIRK, But sla Sen 108K, 90 3.1 From which, we get, Ky 15 S.) = Sar 0is) Ts) = Og(s) O.1s? +8 +75 © 75108750 o, = V750 = 2739 1 1 8 = == = 0.1826 Kix 2N75x0.1 , =o e 0.8 sec ~ Bo, 0.1826%2739 — (©) When the amplifier is modified as, Vo = Kye + Ky Ty &0 The open loop transfer function becomes, _ KsKa(+ Ips) GO) = “Tos00.18+1)Time Response Analysis of Control Systems ns Bc(s)___-KsKa(1+ Tos) O,(8) 87 +(10+KsK,Tp)S+KsKq T(s) a 180%13.10+ Tps) wh # [to M2 aa. pas ie = * = 750(1+Tps) 3? +(10+750Tp)s +750 = 2025-10 _ 2x0.5x27.39-10 _ 02 TD 750 750 0232 4 oax2739 ~ 0782 se “Thus, we se that, by including a derivative term inthe amplifier, the transient perofrmanceis improved. It may aiso be noted that K, is not changed and hence the steady state error remains the same. Problems 3.1. Draw the schematic of the position control system described below. Two potentiometers are used as ertor detector with G, driving the reference shaft and the toad shaft driving the secind potentiometer shaft. The error signal is amplified and drives a de, Servomotor armature. Field current of the motor is kept constant. The motor drives the Joad through a gear. Draw the block diagram of the system and obtain the closed loop transfer function. Find the natural frequency, damping factor, peak time, peak overshoot and settling time for a unit step input, when the amplifier gain K, ~ 1500. The parameters of the system are as follows: Potentiometer sensitivity Kp=1Virad Resistance of the armature R,=20 Equivalent Moment of Inertia at motor shaft J= 5 10 kg-m? Equivalent friction at the motor shaft x 10 NWirad/sec Motor torque constant K,= 1.5 No mA : 1 Gear ratio TF Motor back e.m.f constant K, = 15 Viredisee126 Control Systems 3.2_A position control system is shown in Fig. P 3.2 33 thi Fig. P3.2 24 Sensitivity of the potentiometer error detection Ky = —Virad Amplifier gain Armature resistance Motor back e.m.f constant Motor torque constant Ky = 6 x 105 N-n/A Moment of Inertia of motor referred to motor shaft Jy = 105 Kg mi? Moment of Inertia of load referred to the output shaft 5, = 44 * 10 Kem? Friction coefficient of the load referred to the output shaft B, = 4 x 10? Nu/rad/sec . Noll Gear ratio No @ Ifthe amplifier gain is OV/V obtain the transfer function of the system £@).- 2.8) OMEN) Find the peak overshoot, peak time, and settling time of the system for a unit step input, (i) What values of K, will improve the damping factor to 0.707 (ii) What value of K, will give the frequency of oscillations of 9.23 rad/sec to a step input. The open loop transfer function of a unity feed back control system is given by, SO) = asap If the maximum response is obtained at t = 4 sec and the maximum value is 1.26, find the values if K and T.Time Response Analysis of Control Systems 127 3.4. A unity feedback system has the plant transfer function Gq - £20 18) = Me) 54D A Proportional derivative control is employed to control the dynamics of the system. The controller characteristics are given by, m(t) = e(t) + Kp 20 where ¢(t) is the error. Determine (The damping factor and undamped natural frequency when K= 0 (i The value of Kp so that the damping factor is increased to 0.6. 3.5 Consider the system shown in Fig. P 3.5. Fig. P3.5 (With switch K open, determine the damping factor and the natural frequency of the system. If a unit ramp input is applied to the system, find the steady state output. Take K,=5 (i) The damping factor is to be increases to 0.7 by including derivative output compensation. Find the value of k, to achieve this. Find the value of undamped natural frequency and the steady state error due to a unit ramp input. Gii) Itis possible to maintain the same steady state error for a unit ramp input as in part (i) by choosing proper values of K, and k,. Find these values, 3.6 In the system shown in Fig, P 3.6 find the values of K and a so that the peak overshoot for a step input is 25% and peak time is 2 sec. c TL R@ + + E s Fig. P3.6128 Control Systems 3.7 Determine the values of K and a such that the damping factor is 0.6 and a settling time of 1.67sec. oo) Fig. P37 Also find the step response of the system. 3.8 Find the steadystate errors for unit step, unit velocity and unit acceleration inputs for the following systems. ; 15 gy 1008+) ® erDe+D 025+ 025+ : (+2)(8+5) @%) 30.25+1)0.68+1) 3.9. In the system shown in Fig P 3.7 find the value of K and a such that the damping factor of the system is 0.6 and the steady state error due to a unit ramp input is 0.25. 3.10 For the unity feedback system with, SO = 10 Find the error series for the input, 30 p= 142+ 3.11 Find the steadystate error as a function of time for the unity feedback system, _ 100 » 6) Tarai for the following inputs. 2 2 @ ro=5 () r@=1sa4 5,