Leckure-\4 “nee Recap of premious lecture ~~ ee L5 Second order sy stem time response a) Hel aah ‘ —— Le ea 7, Time Objectives of this lecture ~~ OU8—" Le Ervrer wnstant 5acs) —f > | > YC) Transfer fonction G5) = NO DCs) Roets of 00s) =0 3 poles of Gb) Roots of N(s)=o : Zeros of OG) exwrs & Error constants :- Paces eee ees Steady stote is the difference between Steady state error (Es) & the steady stote valve the steady stote valve of cP of ap + Ess 18 2 measure of System accuracy: Unity feed back sys tern +- Day pee eee ees 26) “f E® me Y@) Yo)= G0) R(s) I+ G(s) E(s) < RG)-YG) = 1— RG) a) Ess = hing 5 £6) = Sim SRO paste Spo 14+6(5)Unity feedback systern © ae Ess Unit step input Orie yore input Unit parabolic inpul Ce ) Ess = Lin S RCs) S—>0 1+ (3) D Ey, to Unit step impul i —. RC) =d E,, = Lier ee tte | So 1466) T+) Position error constant errr en Let Ke = &(e) = Then I+ Kp 2) Cia to unit vamp impot = = fim SRO) 2 Lim S— x So 1+4G) S04 G(s) "ge = diem 1 — so 5+5G6) ' reg\ coe Es, ion i) Let K, B Dien sq = Velocity errer constant So Peer eee 3) ES to unit porabolic input ae oe Rode Ex. = fin oe A Wren essen Smad '+@G) S—ye ss GG) 5 ( ro) ee ge 0 Lee ,e Liew S'GCs) = Acceleration error constant Teo: edhack control system s— ee Sustem "type i is determined from the Loop transfer fometien | cer) open Loop trans Per Lmetion Yo) commen Open Deep transfer fonckion = G® H(8) GE HE) = NO NC) 8 DCs) are, s” DCs) poly nemials in 's eg Type of system GOUG) = (6t%)(5+%)---- (S35) Type of the. systewn =O Type of the sy stem = |Unity feed back system CType 0) = SEs 2 G48) Cs+Pn) --- GO). Ha Rhone Jien Ee So alae = K x < w Lie s (5+%) (se) -- 4G) Saccra(Sret(GThS aaa ate 0, G6) - 0 Spo Ess to —> Omit step impo = ae, = ou — Onit fame input = a = 0& Nv => Onik pave balie innpat e Unity Feedback aysbers (Type ') :- Ge) = £ Grr) = (See) C $4 Pe) oo" \ E i i! yi eo Es, to > Unit step impuk Teale) Siea) ° > Owit vamp input = _| oa lin 5 48) K => Unit parabolic Input = 2 = s *66) S—0 oOpaige feed back aie (Tape ») os * qo- Gwe Ff s™ (ee) CS+h)-~ - Gr to —» Umit step impo = a aes (+00 —> Unit Yamp input = _! ' 6 > Oni pave bolic input = 1 tie 6 66) K steady skate error Unity feed back < system Type-o — Type-! Tupe-® Unit - step U-nit - Yorn Unite parabolic(aa the steady state error he reduced? peo Kt Aeplifier 4+, Sig skews under consideration Say 2 se Ess 14Q0) 1+K Ec. —90 only pe OO ns nots physically feasible foward path: Introduce (or add) av integrator in the Le +30 It becomes Type-} Soto Tis 1s also called adding a pele te the entire system —inglicitly « (0+) Tatroducing 97 integ ral cent-vellevy. Sai hoesEffect of intro ducing (er adding) zer0 ss RIS) alc eee Yoo = S42 B35 405 eel shy Dw, s+ aa y Adding a zen0 rc Le 7, = on USHA UL cs i RCs) She Dy S+ OB SATB S Ty b6) = YO + a yo) t) = Ye) +t oy ‘SC + a Yc) 4,¢%)et . L 1 L L L L 0 05 1 15 2 25 3 35 4 45 5 EfPeck of addin a yero.—> Feakever sheet increases Ly re y% is Small, theo peakover shoot increases considerably Lewes near Origin are need to be avoided: generally main S Lo Tp y u Qarge, then dace) almost ve same a5 YC): Negligible effect of adding ere for large valves of 3 —> Overall, tf he response is sluggish , prpet Value of 3 improves the transient response:Efeck of iatreducing (e adding ) pele I- JT [4 be GG@)= 1 wn P S+P (s* 4 Ea) eee) Y@) = A@RG a oe ee ore a ee oma Sarg ides tO7- 2 Ay & + Cc 54P S) +f oh 240,54 wn ES HE bat ee sin (ut 8) Q draw the step ves ponse fow various values of Pe . Let vs — Simolate whet is adding a pele ak -¢ 0 wean } 5h pet» then L = Way Oa Ge = oe og Gad Payusrat” Fagus Onigins systerypeintty EPPect of adding poles Ls Addition of poles make the response slower.