Semester –III / ECE / SSNCE

Course Instructor
 R(𝐒) ω𝟐𝒏 𝐂(𝐒)
𝒅𝟐𝒙 𝒅𝒙 𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏
𝑭 𝒕 =𝒎 +𝒃 + 𝒌𝒙
𝒅𝒕 𝟐 𝒅𝒕

𝐗(𝐒) 𝟏
= R(𝐒) 𝐊 ω𝟐𝒏 𝐂(𝐒)
𝐅(𝐒) 𝐦𝐬 𝟐 +𝐛𝐬+𝐤
𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏

𝟏 R(𝐒) 𝐊 𝐂(𝐒)
R(𝐒) 𝒌 𝐂(𝐒) 𝒔𝟐 𝟐 ζ
𝒎 𝟐 𝒃 + 𝒔+𝟏
𝒔 + 𝒔+𝟏 ω𝟐𝒏 ω𝒏
𝒌 𝒌

1 1 𝑏
𝑲= 𝑘 𝜻= ω𝒅 = ω𝒏 𝟏 − ζ𝟐
𝑘 𝝎𝒏 = 2 𝑘𝑚
𝑚
 For non changing reference. (i.e.) regulatory control { r=0 at steady state }

F(t) = mX + bx + kx
e = (x-r) f(t) = -Kp (x-r)-Kd 𝑥
r Controller PD x(t)
+ System
− f(t) = -Kp e- Kd 𝑒

Output
𝑥 Output feed back signal

New system dynamics of the controlled system is dictated by

R(𝐒) 𝐊 𝐂(𝐒)
mX+(b+Kd)x+(k+Kp)x = Kp r 𝒔𝟐 𝟐 ζ
+ 𝒔+𝟏
ω𝟐𝒏 ω𝒏
𝐗(𝐒) 𝐊𝐩 𝑲𝒑
=
𝐦𝐬 𝟐 + 𝐛+𝐊 𝐝 𝐬+(𝐤+𝐊 𝐩 )
𝑲=
𝐑(𝐒) 𝒌+𝑲𝒑
1 𝑏+𝑲𝒅
𝑲𝒑
𝝎𝒏 =
𝒌+𝑲𝒑 𝜻=
R(𝐒) 𝒌 + 𝑲𝒑 𝐂(𝐒)
𝒎 2 𝑚(𝒌+𝑲𝒑 )
𝒎 𝒃 + 𝑲𝒅
𝒔𝟐 + 𝒔+𝟏
𝒌 + 𝑲𝒑 𝒌 + 𝑲𝒑 ω𝒅 = ω𝒏 𝟏 − ζ𝟐

𝑇𝑕𝑒 𝑚𝑜𝑟𝑒 𝑤𝑒 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑎𝑛𝑦𝑡𝑕𝑖𝑛𝑔 𝑖𝑡𝑠 𝑛𝑎𝑡𝑢𝑟𝑎𝑙 𝑕𝑎𝑟𝑚𝑜𝑛𝑦 𝑐𝑓 𝑖𝑠 𝑙𝑜𝑠𝑡 → 𝑍𝑛𝑇𝑖𝑙𝑙 , -

 F(t) = mX + bx + kx
R(𝐒) ω𝟐𝒏 𝐂(𝐒)
𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏

𝜻 =0 𝑺𝟏 , 𝑺𝟐 = −ζω𝒏 ± 𝒋ω𝒏 𝟏 − ζ𝟐
𝜻<1 ω 𝜻 < −1

ω 𝒏 𝟏 − ζ𝟐
𝜻 =1 𝝎𝒏
𝜻 =-1
θ

−σ 𝜻𝝎𝒏 σ

𝜻 >1 𝜻 >-1
𝜻<0
−ω
θ = cos −𝟏 ζ
ζω𝒏 = Real(s) = σ ω𝒏 𝟏 − ζ𝟐 = Img(s) = ω
 Controller
System

R(s) 𝐾𝑣 X(s)
+ 𝐾𝑝 +
𝑠(𝑠𝑇 + 1)
− +

X(s) Control Law

𝐾𝑑 𝑠
f(t) = Kp e + Kd 𝑒

L[Control Law]
f(s)
= Kp + sKd
𝑒(𝑠)

R(𝐒) 𝑲𝒗 (𝑲𝒑 + 𝒔𝑲𝒅 ) 𝐂(𝐒)

𝒔 𝒔𝑻 + 𝟏 + 𝑲𝒗 (𝑲𝒑 + 𝒔𝑲𝒅 )
System TF
f(s) 𝐾𝑣
=
𝑋(𝑠) 𝑠(𝑠𝑇 + 1)
 Controller
System

R(s) 𝐾𝑣 X(s)
+ 𝐾𝑝 +
𝑠(𝑠𝑇 + 1)
− +

X(s) 𝐾𝑖 Control Law

f(t) = Kp e + K𝑖 𝑒𝑑𝑡
𝑠
L[Control Law]
f(s) 𝑲𝒊
= 𝑲𝒑 +
𝑒(𝑠) 𝑠
R(𝐒) 𝑲𝒗 (𝑲𝒑 𝒔 + 𝑲𝒊 ) 𝐂(𝐒)
𝒔𝟐 𝒔𝑻 + 𝟏 + 𝑲𝒗 (𝑲𝒑 𝒔 + 𝑲𝒊 ) System TF
f(s) 𝐾𝑣
=
𝑋(𝑠) 𝑠(𝑠𝑇 + 1)
 Controller
System

R(s) 𝐾𝑣 X(s)
+ 𝐾𝑝 + +
𝑠(𝑠𝑇 + 1)
− + +

X(s) 𝐾𝑖
Control Law
f(t) = Kp e + Kd 𝑒 + K𝑖 𝑒𝑑𝑡

𝑠 L[Control Law]
f(s) 𝑲𝒊
𝐾𝑑 𝑠 𝑒(𝑠)
= 𝑲𝒑 +
𝑠
+ 𝑲𝒅 𝒔

System TF
f(s) 𝐾𝑣
𝑲𝒗 (𝒔𝑲𝒑 + 𝒔𝟐 𝑲𝒅 + 𝑲𝒊 ) 𝐂(𝐒)
=
R(𝐒) 𝑋(𝑠) 𝑠(𝑠𝑇 + 1)
𝒔𝟐 𝒔𝑻 + 𝟏 + 𝑲𝒗 (𝒔𝑲𝒑 + 𝒔𝟐 𝑲𝒅 + 𝑲𝒊 )
 Controller
System
R(s)
X(s)
𝐾𝑣 Control Law
K
+ 𝐾𝑝 + + f(t) = Kp(e + d 𝑒 + KK 𝑖
𝑒𝑑𝑡 )
𝑠(𝑠𝑇 + 1)
− + + Kp p

X(s) 𝑲′𝒊 Control Law

𝑠 f(t) = Kp(e + 𝐾𝑑′ 𝑒 +𝐾𝑖′ 𝑒𝑑𝑡)

𝑲′𝒅 𝑠 L[Control Law]

f(s) 𝐾𝑖′
= 𝑲𝒑 (𝟏 + + 𝐾𝑑′ 𝒔)
𝑒 𝑠 𝑠

System TF
f(s) 𝐾𝑣
=
R(𝐒) 𝑲𝒑 𝑲𝒗 (𝒔𝟐 𝑲′𝒅 + 𝒔 + 𝑲′𝒊 ) 𝐂(𝐒) 𝑋(𝑠) 𝑠(𝑠𝑇 + 1)
𝒔𝟐 𝒔𝑻 + 𝟏 + 𝑲𝒑 𝑲𝒗 (𝒔𝟐 𝑲′𝒅 + 𝒔 + 𝑲′𝒊 )
 System Control Law
f(t) = e - KD 𝑥
R(s) 𝐾𝑣
+ +
𝑠(𝑠𝑇 + 1)
− − L[Control Law]
X(s) f(s) = 𝑒 𝑠 − 𝒔𝑲𝑫 𝒙(𝒔)
X(s)

𝐾𝐷 𝑠 System TF
f(s) 𝐾𝑣
Controller =
𝑋(𝑠) 𝑠(𝑠𝑇 + 1)

R(𝐒) 𝑲𝒗 𝐂(𝐒)
𝒔𝟐 𝑻 + 𝒔 + 𝑲𝒗 (𝑲𝑫 + 𝟏)
 R(𝐒) ω𝟐𝒏 𝐂(𝐒)
𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏

𝐞−𝛇𝛚𝐧 𝐭
𝐜 𝐭 =𝟏 − . 𝐬𝐢𝐧 𝛚𝐧 𝟏 − 𝛇𝟐 𝐭 + ∅
𝟏 − 𝛇𝟐

π− ∅
𝐭𝐫 =
𝛚𝐧 𝟏−𝛇𝟐
𝑲𝒑 =lim 𝑮 𝒔 𝑯(𝒔)
𝑠→0
nπ −𝛇 π
𝐭𝒑 = 𝟏−𝛇𝟐
𝑲𝒗 =lim 𝒔 𝑮 𝒔 𝑯(𝒔)
𝑠→0
𝛚𝐧 𝟏−𝛇𝟐 𝐌𝐩 = 𝒆 𝑲𝒂 =lim 𝒔𝟐 𝑮 𝒔 𝑯(𝒔)
𝑠→0
𝟒
𝐭𝐬= 𝒆𝒔𝒔 = lim 𝒔𝑬 𝒔 = lim 𝒔 𝑹 𝒔
𝟏
𝛇ω𝒏 𝑠→0 𝑠→0 𝟏 + 𝑮 𝒔 𝑯(𝒔)
 E(𝐒) 𝟏 𝐂(𝐒)
𝟏 + 𝑮 𝒔 𝑯(𝒔)
𝑲𝒑 = Static positional error coefficient
𝟏 𝑲𝒑 =lim 𝑮 𝒔 𝑯(𝒔)
𝑠→0
𝒔 𝟏
𝒆𝒔𝒔 =
𝟏 + 𝑲𝒑
𝑲𝒗 = Static velocity error coefficient 𝟏
𝑲𝒗 =lim 𝒔 𝑮 𝒔 𝑯(𝒔) 𝒔𝟐
𝑠→0
𝟏
𝒆𝒔𝒔 =
𝑲𝒗
𝟏 𝑲𝒂 = Static acceleration error coefficient
𝒔𝟑
𝑲𝒂 =lim 𝒔𝟐 𝑮 𝒔 𝑯(𝒔)
𝑠→0
𝟏
𝒆𝒔𝒔 =
𝑲𝒂
 𝐶2
𝐸𝑠𝑠 = 𝐶0 𝑟 𝑡 + 𝐶1 𝑟 𝑡 + 𝑟 𝑡 + ⋯ … … … … … . .
2!
𝑑𝐹(𝑠) 𝑑𝑛 𝐹(𝑠)
𝐶0 = lim 𝐹(𝑠), 𝐶1 = − lim 𝑑𝑡 …. 𝐶𝑛 = (−1)𝑛 lim
𝑠→𝟎 𝑠→𝟎 𝑠→𝟎 𝑑𝑡 𝑛

𝐸𝑠𝑠 = 𝐶0 𝑟 𝑡

𝐸𝑠𝑠 = 𝐶0 𝑟 𝑡 + 𝐶1 𝑟 𝑡

𝐶2
𝐸𝑠𝑠 = 𝐶0 𝑟 𝑡 + 𝐶1 𝑟 𝑡 + 𝑟 𝑡
2!
 𝟏 𝒔 𝒔𝟐 𝒔𝟑
𝒆𝒔𝒔 = lim 𝒔𝑬 𝒔 = lim 𝒔 𝑹(𝒔), + + + ……… -
𝑠→0 𝑠→0 𝒌𝟏 𝒌𝟐 𝒌𝟑 𝒌𝟒

Type ‘0’ Type ‘1’ Type’2’

Input
R(s) Static error
r(t) 𝒆𝒔𝒔
Static error
𝒆𝒔𝒔
Static error
𝒆𝒔𝒔
coefficients coefficients coefficients

𝟏 𝟏
Unit step 𝑲𝒑 = 𝑲 𝑲𝒑 = ∞ 0 𝑲𝒑 = ∞ 0
𝒔 (𝟏 + K)

𝟏 𝟏
Unit ramp 𝑲𝒗 = 𝟎 ∞ 𝑲𝒗 = 𝑲 𝑲𝒗 = ∞ 0
𝒔𝟐 K

𝟏 𝟏
Unit
𝒔𝟑 𝑲𝒂 = 𝟎 ∞ 𝑲𝒂 = 𝟎 ∞ 𝑲𝒂 = 𝑲 K
parabolic
 θ𝟎 (𝐬) θ𝒆 (𝐬)
(a) Determine & for the given system
θ𝒊 (𝐬) θ𝒊 (𝐬)

(b) Determine the steady state tracking error for a constant velocity
input of 0.04 rad/sec

1
θ𝒊 θ𝒆 K 𝑠(𝐽𝑠 + 𝑓) 1 θ𝟎
1
Controller Torque T 𝐽 =10kg-m2
𝜻= 0.3
-1

Controller develops a Torque of 60 N-m per radiance of misalignment

The Transfer function
𝑲
θ𝟎 (𝐬) 𝑲 θ𝟎 (𝐬) 𝑱
= 𝟐 =
θ𝒊 (𝐬) 𝑱𝒔 + 𝒇𝒔 + 𝑲 θ𝒊 (𝐬) 𝒇 𝑲
𝒔𝟐 + 𝒔 +
𝑱 𝑱

𝑲
= ω𝟐𝒏 = 𝟔
θ𝟎 (𝐬) 𝟔 𝑱
=
θ𝒊 (𝐬) 𝒔𝟐 + 𝟎. 𝟔 𝟔 𝒔 + 𝟔 𝒇
= 𝟐 ζω𝒏 = 𝟎. 𝟔 𝟔
𝑱

R(𝐒) ω𝟐𝒏 𝐂(𝐒)

𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏
The Transfer function
𝒇
θ𝒆 (𝐬) 𝒔 𝒔+ 𝑱
θ𝒆 (𝐬) 𝒔(𝑱𝒔 + 𝒇)
= 𝟐 =
θ𝒊 (𝐬) 𝑱𝒔 + 𝒇𝒔 + 𝑲 θ𝒊 (𝐬) 𝟐 𝒇 𝑲
𝒔 + 𝒔+
𝑱 𝑱

θ𝒆 (𝐬) 𝒔*𝒔 + 𝟎. 𝟔 𝟔 +
=
θ𝒊 (𝐬) 𝒔𝟐 + 𝟎. 𝟔 𝟔 𝒔 + 𝟔

R(𝐒) ω𝟐𝒏 𝐂(𝐒)

𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏
Laplace of Ramping input
𝟎. 𝟎𝟒
θ𝒊 𝒔 =
𝒔𝟐
The Transfer function between error and input
θ𝒆 (𝐬) 𝒔(𝑱𝒔 + 𝒇) θ𝒆 (𝐬) 𝒔*𝒔 + 𝟎. 𝟔 𝟔 +
= 𝟐 =
θ𝒊 (𝐬) 𝑱𝒔 + 𝒇𝒔 + 𝑲 θ𝒊 (𝐬) 𝒔𝟐 + 𝟎. 𝟔 𝟔 𝒔 + 𝟔
𝟏
𝒆𝒔𝒔 = lim 𝒔𝑬 𝒔 = lim 𝒔 𝑹 𝒔
𝑠→0 𝑠→0 𝟏 + 𝑮 𝒔 𝑯(𝒔)

𝒔*𝒔 + 𝟎. 𝟔 𝟔 +
𝒆𝒔𝒔 = lim 𝒔θ𝒆 (𝐬) = lim 𝒔 θ𝒊 𝐬 0.0098 rad
𝑠→0 𝑠→0 𝒔𝟐 + 𝟎. 𝟔 𝟔 𝒔 + 𝟔
R(𝐒) ω𝟐𝒏 𝐂(𝐒)
𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏
 If the universe is your master your life is a wonder,
if your mind is your master life is a blunder
 ZnTill [ ]

Questions
𝐾𝑝 +
+

𝐾𝑖
𝑠

When you are the master everything is a master,

when you are a slave the mind is the only master
 ZnTill [ ]
(a) Draw the signal flow graph of the given system (ignoring Lf )
(b) Determine the transfer function when the tacho-generator feed
back is present and not present.
(c) Find the value of the KA so That the natural frequency of
oscillation = 10 rad/sec without tacho-generator feedback.
(d) When the tacho-generator feedback is present determine the
value of Kt (tacho-generator constant) such that the KA= 5 and
damping is critical

KP = 0.6 v/rad
KA= ?
K t= ?
KT = 2 Nm/A
J = 0.4 Kg-m2
f= 2 Nm/ rad/sec
θ𝑹 𝑰𝑭 𝑻𝑴 θ𝑴 θ𝑴
𝟏
𝑲𝑷 𝑲𝑨 𝑲𝑻 (𝑱𝒔 + 𝒇) 𝟏
s
-𝑲𝒕

-1
 Transfer function of system without
tacho-generator feedback

𝛉𝐌(𝐬) 𝐊𝐏𝐊𝐀𝐊𝐓
= 𝟐
𝛉𝐑(𝐬) 𝐬 𝐉 + 𝒔𝒇 + 𝐊𝐏𝐊𝐀𝐊𝐓

Transfer function of system with tacho-generator feedback

KP = 0.6 v/rad
KA= ?
K t= ?
𝛉𝐌(𝐬) 𝐊𝐏𝐊𝐀𝐊𝐓 KT = 2 Nm/A
J = 0.4 Kg-m2
= 𝟐 f= 2 Nm/ rad/sec
𝛉𝐑(𝐬) 𝐬 𝐉 + 𝒔(𝒇 + 𝐊𝐭𝐊𝐀𝐊𝐓) + 𝐊𝐏𝐊𝐀𝐊𝐓
Characteristic equation of system without tacho-generator
𝒇 𝐊 𝐏 𝐊 𝐀𝐊 𝐓 𝒔𝟐 + 𝟐 ζω 𝒔 + ω𝟐
𝒏 𝒏
𝐬𝟐 + 𝒔 +
𝑱 𝑱
𝟐
𝐊𝐏𝐊𝐀𝐊𝐓
ω𝒏 =
𝑱

𝐊𝐏𝐊𝐀𝐊𝐓
𝟏𝟎𝟐 =
𝑱
KP = 0.6 v/rad
KA= ?
K t= ?
𝐊𝐀 = 𝟑𝟑. 𝟑 𝐀𝐦𝐩/𝐕𝐨𝐥𝐭 KT = 2 Nm/A
J = 0.4 Kg-m2
f= 2 Nm/ rad/sec
Characteristic equation of system without tacho-generator
𝒇 + 𝐊 𝐭 𝐊𝐀 𝐊𝐓 𝐊𝐏 𝐊 𝐀𝐊𝐓 𝒔𝟐 + 𝟐 ζω 𝒔 + ω𝟐
𝒏 𝒏
𝐬𝟐 + 𝒔 +
𝑱 𝑱

𝐊𝐏𝐊𝐀𝐊𝐓
ω𝟐𝒏 =
𝑱

𝒇 + 𝐊𝐭𝐊𝐀𝐊𝐓
𝟐 ζω𝒏 = ζ=1
𝑱
KP = 0.6 v/rad
KA= ?
K t= ?
KT = 2 Nm/A
𝐊𝒕 = 𝟎. 𝟏𝟏 𝐕/rad/sec J = 0.4 Kg-m2
f= 2 Nm/ rad/sec
The open loop transfer function of a unity feedback system is
𝐊
𝐆 𝐬 =
𝐬(𝐬 + 𝟐)
The system is required to meet the following specifications
tp = 1 Sec & Mp= 10%
(a) Find a value of K to meet both the specifications?.( comment on your result)
(b) Suggest an idea to meet both the specifications.
(c) Suggest an idea (compensation technique) to implement such an
idea.
 𝑲 𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏
R +− nπ
𝒔(𝒔 + 𝟐)
C
𝐭𝒑 =
𝛚𝐧 𝟏−𝛇𝟐

−𝛇π
Characteristic equation of system in general is given by 𝟏−𝛇𝟐
𝐌𝐩 = 𝒆
𝟏+𝐆 𝐬 𝐇 𝐬 =𝟎  𝐬𝟐 + 𝟐𝒔+K = 0
π
−𝛇

0.1 = 𝒆 𝟏−𝛇𝟐  ζ = 0.6

MP = 10%
𝐊 = 2.78 tp=1 sec
𝟐 ζω𝒏 = 2 1 𝟏
 ζ= =
𝛚𝐧 𝐊
For 𝐊 = 2.78 Mp is maintained at 10%
nπ
𝐭𝒑 =
𝛚𝐧 𝟏−𝛇𝟐
π
𝐭𝒑 = = 2.36
𝟐.𝟕𝟖 𝟏−𝟎.𝟔𝟐 −𝛇π
𝟏−𝛇𝟐
𝐌𝐩 = 𝒆

For 𝐊 = 2.78 Mp is maintained at 10% but tp is not maintained at 1

sec. it can be concluded that with one variable two parameters cannot
be meet at any cost. To meet both the specifications we need another
element of control…… whats that????????
MP = 10%
tp=1 sec
 𝑲 𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏
R +− nπ
𝒔(𝒔 + α𝟐)
C
𝐭𝒑 =
𝛚𝐧 𝟏−𝛇𝟐

−𝛇 π
Characteristic equation of system in general is given by 𝟏−𝛇𝟐
𝐌𝐩 = 𝒆
𝐬𝟐 + 𝟐𝒔+K = 0  𝐬𝟐 + α𝒔+K = 0

ω𝒏 = K 𝟐 ζω𝒏 = α K= ω𝟐𝒏 = 15.4

ζ = 0.6
π α = 𝟐 ζω𝒏 = 2*0.6*3.93 = 4.7 tp=1 sec
1=
ωn 1−(0.6)2

ωn = 3.93 rad/sec α = 𝟒. 𝟕 & 𝐊 = 𝟏𝟓. 𝟒

 𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏
𝑲
R +− 𝑲𝑨 +− 𝒔(𝒔 + α )
C K ′ = 15..4
α′ =4.7

𝒔 𝑲𝑫

K′ = 𝐊𝐀 𝐊
𝐊𝐀 𝐊 K′
Forward transfer function G(s) = = α′ = α + 𝐊𝐊 𝐃
𝐬,𝐬+α+𝐊𝐊 𝐃 - 𝐬,𝐬+α′ -

K ′ = 𝐊 𝐀 𝐊 = 𝟏𝟓. 𝟒
α′ = 2 + 𝐊𝐊 𝐃 = 4.7
R K′ C 𝐊 = 𝟎. 𝟓 𝐊=𝟏
+− 𝒔(𝒔 + α′ ) 𝐊 𝐀 = 𝟑𝟎. 𝟖 𝐊 𝐀 = 𝟏𝟓. 𝟒
…………………
𝐊 𝐃 = 𝟓. 𝟒 𝐊 𝐃 = 𝟐. 𝟕
The open loop transfer function of a unity feedback system is
𝟐(𝒔 + 𝟖)
𝐆 𝐬 =
𝐬(𝐬 + 𝟐)
(a) Find the CL transfer function, ζ , ω𝒏 & 𝐌𝐩
(b) Calculate c(t) for unit step input.
(c) Calculate ess for unit ramp input.
(d) Remove zero at {s=-8} & increase gain to 16 & find ζ & ω𝒏
(e) Find c(t) for unit step input after removing zero at {s=-8}
 𝟐(𝐬+𝟖) 𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏
CL transfer function G(s) =
𝒔𝟐 +𝟒𝐬+𝟏𝟔
𝟒
ω𝒏 = 16 =4 , ζ= = 0.5 & 𝐌𝐩 = 𝟏𝟔. 𝟑% −𝛇 π
𝟐∗𝟒
𝟏−𝛇𝟐
𝐌𝐩 = 𝒆
𝟏 𝟐(𝐬+𝟖) 𝟐 𝟏𝟔
c(s) = = +
𝒔 𝒔𝟐 +𝟒𝐬+𝟏𝟔 𝒔𝟐 +𝟒𝐬+𝟏𝟔 𝒔(𝒔𝟐 +𝟒𝐬+𝟏𝟔)
𝟏𝟔 𝟏 𝟏𝟔
c(s) = +
𝒔(𝒔𝟐 +𝟒𝐬+𝟏𝟔) 𝟖 𝒔𝟐 +𝟒𝐬+𝟏𝟔

Impulse response
𝟏𝟔 R(s) =1
𝟏
R(s) = 𝒔 c(s) =
𝟏 𝟏𝟔 c(s) =
𝒔𝟐 +𝟒𝐬+𝟏𝟔
Step response
𝒔 𝒔𝟐 +𝟒𝐬+𝟏𝟔

𝟏𝟔 𝟏𝟔
𝑺𝒚𝒔𝒕𝒆𝒎 𝑺𝒚𝒔𝒕𝒆𝒎
𝒔𝟐 + 𝟒𝐬 + 𝟏𝟔 𝒔𝟐 + 𝟒𝐬 + 𝟏𝟔

𝐞−𝛇𝛚𝐧 𝐭 𝛚𝐧 𝐞−𝛇𝛚𝐧𝐭
𝟏 − . 𝐬𝐢𝐧 𝛚𝐧 𝟏 − 𝛇𝟐 𝐭+∅ . 𝐬𝐢𝐧 𝛚𝐧 𝟏 − 𝛇𝟐 𝐭
𝟏− 𝛇𝟐 𝟏 − 𝛇𝟐
 𝟏𝟔 𝟏 𝟏𝟔 𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏
c(s) = +
𝒔(𝒔𝟐 +𝟒𝐬+𝟏𝟔) 𝟖 𝒔𝟐 +𝟒𝐬+𝟏𝟔

𝐑 𝟐 (s) 𝟏 𝟏𝟔
+ 𝐜(s)
𝟖 +
𝒔𝟐 + 𝟒𝐬 + 𝟏𝟔

𝐑 𝟏 (s)

𝟏 − 𝛇𝟐 𝟒
∅ = 𝐭𝐚𝐧−𝟏
𝛇 ω𝒏 = 16 =4 , ζ= 𝟐∗𝟒 = 0.5 & ζ ω𝒏 = 𝟐

𝝎𝒏
𝟏− 𝛇𝟐 = 𝟎. 𝟖𝟔𝟔 , 𝝎𝒏 𝟏− 𝜻𝟐 = 3.464t , ∅ = 𝟔𝟎 & 𝟏−𝜻𝟐
= 4.62

Taking Laplace inverse of c(s)

𝐞−𝛇𝛚𝐧 𝐭 𝛚𝐧 𝐞−𝛇𝛚𝐧𝐭
𝐜 𝐭 =𝟏 − . 𝐬𝐢𝐧 𝛚𝐧 𝟏 − 𝛇𝟐 𝐭+∅ + . 𝐬𝐢𝐧 𝛚𝐧 𝟏 − 𝛇𝟐 𝐭
𝟏−𝛇𝟐 𝟏−𝛇𝟐
 𝒔𝟐 + 𝟐 ζω𝒏 𝒔 + ω𝟐𝒏

𝐞−𝛇𝛚𝐧 𝐭
𝐜 𝐭 =𝟏− 𝟐
. 𝐬𝐢𝐧 𝛚𝐧 𝟏 − 𝛇𝟐 𝐭 + ∅ +
𝟏−𝛇
𝛚𝐧 𝐞−𝛇𝛚𝐧 𝐭
. 𝐬𝐢𝐧 𝛚𝐧 𝟏 − 𝛇𝟐 𝐭
𝟏−𝛇𝟐
𝝎𝒏
𝟏− 𝛇𝟐 = 𝟎. 𝟖𝟔𝟔 , 𝝎𝒏 𝟏− 𝜻𝟐 = 3.464t , ∅ = 𝟔𝟎 & 𝟏−𝜻𝟐
= 4.62

𝐜 𝐭 = 𝟏 − 𝟏. 𝟏𝟓𝟓𝒆−𝟐𝒕 𝐬𝐢𝐧 𝟑. 𝟒𝟔 𝐭 + 60 +
𝟎. 𝟏𝟓𝟓𝒆−𝟐𝒕 𝒔𝒊𝒏 𝟑. 𝟒𝟔 𝒕
 𝟐(𝒔 + 𝟖)
𝐆 𝐬 = &H 𝐬 =𝟏
𝐬(𝐬 + 𝟐)

𝑲𝒗 = Static velocity error coefficient

𝟏 𝑲𝒗 =lim 𝒔 𝑮 𝒔 𝑯(𝒔)
𝑠→0
𝒔𝟐 𝟏
𝒆𝒔𝒔 =
𝑲𝒗

𝟏 𝟏
𝒆𝒔𝒔 = = = 𝟎. 𝟏𝟐𝟓
lim 𝒔 𝑮 𝒔 𝑯(𝒔) 8
𝑠→0
 𝟎
𝟐(𝒔 + 𝟖) 𝟏𝟔
𝐆 𝐬 = → 𝐆 𝐬 =
𝐬(𝐬 + 𝟐) 𝐬(𝐬 + 𝟐)
Characteristic equation of system is given by

𝐬𝟐 + 𝟐𝒔+16 = 0
𝟐
ω𝒏 = 16 =4 , ζ= 𝟐∗𝟒 = 0.25 & 𝑴𝒑 = 44.4%
Note:
In the presence of zero the maximum peak overshoot was 𝐌𝐩 = 𝟏𝟔. 𝟑%
In the absence of zero the maximum peak overshoot is 𝐌𝐩 = 𝟒𝟒. 𝟒%

Inference  The addition of zero influences the time domain specifications Mp%
(i,.e.) in a way zero provides a damping effect to the system
 𝟏𝟔 CL Transfer function for UFB system is
𝐆 𝐬 =
𝐬(𝐬 + 𝟐) 𝐂(𝐬) 𝟏𝟔
𝐆 𝐬 = = 𝟐
𝐑(𝐬) 𝐬 + 𝟐𝒔+16

Unit Step response of the CL Transfer function is

𝟏 𝟏𝟔
𝐂 𝐬 = ω𝒏 = 4 & ζ = 0.25
𝐬 𝐬 + 𝟐𝒔+16
𝟐

𝐞−𝛇𝛚𝐧 𝐭
𝑺𝒚𝒔𝒕𝒆𝒎 𝟏 − . 𝐬𝐢𝐧 𝛚𝐧 𝟏 − 𝛇𝟐 𝐭 + ∅
𝟏 − 𝛇𝟐

𝐜 𝐭 = 𝟏 − 𝟏. 𝟎𝟑𝟑𝒆−𝒕 𝐬𝐢𝐧 𝟑. 𝟖𝟕 𝐭 + 75.50

The open loop transfer function of a unity feedback system is
𝟏𝟔
𝐆 𝐬 =
𝐬(𝐬 + 𝟏. 𝟔)
Determine the value of 𝐊 𝐝 to make the damping ratio ζ =0.8 Using
derivative control and compare the 𝐭 𝒓 , 𝐭 𝒑 & 𝐌𝒑 the input being a
unit step

(a) Without derivative control

(b) With derivative control

OL Transfer function for UFB system is ω𝟐𝒏
ω𝟐𝒏 +− 𝐬(𝐬 + 𝟐 ζω𝒏 )
R
𝐆 𝐬 = C
𝐬(𝐬 + 𝟐 ζω𝒏 )
CL Transfer function for UFB system is
𝐂(𝐬) ω𝟐𝒏
𝐆 𝐬 = = 𝟐 Without derivative control
𝐑(𝐬) 𝐬 + 𝟐ζω𝒏 𝒔+ω𝟐𝒏
ω𝟐𝒏
+ −
𝟏 + 𝒔𝑲𝒅
𝐬(𝐬 + 𝟐 ζω𝒏 )
R C

CL Transfer function for UFB system is

𝐂(𝐬) (𝟏 + 𝒔𝑲𝒅 )ω𝟐𝒏
𝐆 𝐬 = = 𝟐
𝐑(𝐬) 𝐬 + 𝟐ζω𝒏 +ω𝟐𝒏 𝑲𝒅 𝒔 + ω𝟐𝒏 With derivative control
 Comparing the characteristic equations

Without derivative control With derivative control

𝐬𝟐 + 𝟐ζω𝒏 𝒔+ω𝟐𝒏 𝐬𝟐 + 𝟐ζω𝒏 +ω𝟐𝒏 𝑲𝒅 𝒔 + ω𝟐𝒏
𝐬𝟐 + 𝟐ζ′ ω𝒏 𝒔 + ω𝟐𝒏
ω𝟐𝒏 ω𝟐𝒏
+− 𝐬(𝐬 + 𝟐 ζω𝒏 ) + −
𝟏 + 𝒔𝑲𝒅
𝐬(𝐬 + 𝟐 ζω𝒏 )
R C R C

ζ′ = damping ratio with derivative feedback

𝟐ζω +ω𝟐𝑲
ζ = damping ratio without derivative feedback
′ 𝒏 𝒏 𝒅 ′
ω𝒏 𝑲𝒅
ζ = → ζ =ζ+
𝟐ω𝒏 𝟐
Determining 𝐭 𝐫 , 𝐭 𝐩 & 𝐌𝐩
Without derivative control With derivative control
𝐬𝟐 + 𝟐ζω𝒏 𝒔+ω𝟐𝒏 𝐬𝟐 + 𝟐ζ′ ω𝒏 𝒔 + ω𝟐𝒏
𝐬𝟐 + 𝟏. 𝟔 𝒔+𝟏𝟔 ω𝒏 𝑲𝒅
′
ζ =ζ+
ω𝒏 =4 , 𝟐ζω𝒏 =1.6 & ζ=0.2 𝟐
𝟒𝐊 𝐝
0.8 = 𝟎. 𝟐 +
𝟐
π− ∅ 𝐊 𝐝 = 0.3
𝐭𝐫 = = 0.45 sec
𝛚𝐧 𝟏−𝛇𝟐
nπ
𝐭𝒑 = = 0.8 Sec
𝛚𝐧 𝟏−𝛇𝟐

−𝛇 π
𝐌𝐩 = 𝒆 𝟏−𝛇𝟐
=52.6%
 𝐬𝟐 + 𝟐ζ′ ω𝒏 𝒔 + ω𝟐𝒏
Determining 𝐭 𝐫 , 𝐭 𝐩 & 𝐌𝐩 with derivative control
𝟏𝟔
CL Transfer function + −
𝟏 + 𝟎. 𝟑𝒔 𝐬(𝐬 + 𝟏. 𝟔)
R C
𝐂(𝐬) 𝟏𝟔 𝟏 + 𝟎. 𝟑 𝒔
𝐆 𝐬 = = 𝟐
𝐑(𝐬) 𝐬 + 𝟔. 𝟒 𝒔 + 𝟏𝟔
Unit step input
𝟏 𝟏𝟔 𝟒. 𝟖
𝐂 𝐬 = + 𝟐
𝐬 𝐬 + 𝟔. 𝟒 𝒔 + 𝟏𝟔 𝐬 + 𝟔. 𝟒 𝒔 + 𝟏𝟔
𝟐

Using partial fractions

𝟏 𝒔 + 𝟔. 𝟒 𝟒. 𝟖
𝐂 𝐬 = − 𝟐 + 𝟐
𝐬 𝐬 + 𝟔. 𝟒 𝒔 + 𝟏𝟔 𝐬 + 𝟔. 𝟒 𝒔 + 𝟏𝟔
Determining 𝐭 𝐫 , 𝐭 𝐩 & 𝐌𝐩 with derivative control
𝟏 𝒔 + 𝟔. 𝟒 𝟒. 𝟖
𝐂 𝐬 = − 𝟐 + 𝟐
𝐬 𝐬 + 𝟔. 𝟒 𝒔 + 𝟏𝟔 𝐬 + 𝟔. 𝟒 𝒔 + 𝟏𝟔
𝟏 𝒔 + 𝟔. 𝟒 𝟒. 𝟖
𝐂 𝐬 = − +
𝐬 𝒔 + 𝟑. 𝟐 𝟐 + 𝟐. 𝟒 𝟐 𝒔 + 𝟑. 𝟐 𝟐 + 𝟐. 𝟒 𝟐

𝟏 𝒔 + 𝟑. 𝟐 𝟏. 𝟔
𝐂 𝐬 = − +
𝐬 𝒔 + 𝟑. 𝟐 𝟐 + 𝟐. 𝟒 𝟐 𝒔 + 𝟑. 𝟐 𝟐 + 𝟐. 𝟒 𝟐

𝟏 𝒔 + 𝟑. 𝟐 𝟏. 𝟔 𝟐. 𝟒
𝐂 𝐬 = − +
𝐬 𝒔 + 𝟑. 𝟐 𝟐 + 𝟐. 𝟒 𝟐 𝟐. 𝟒 𝒔 + 𝟑. 𝟐 𝟐 + 𝟐. 𝟒 𝟐
Determining 𝐭 𝐫 , 𝐭 𝐩 & 𝐌𝐩 with derivative control
𝟏 𝒔 + 𝟑. 𝟐 𝟐. 𝟒
𝐂 𝐬 = − + 𝟎. 𝟔𝟔
𝐬 𝒔 + 𝟑. 𝟐 𝟐 + 𝟐. 𝟒 𝟐 𝒔 + 𝟑. 𝟐 𝟐 + 𝟐. 𝟒 𝟐

Laplace inverse
c t = 1 − e−3.2t cos 2.4t + 0.66 e−3.2t sin 2.4t

Determining 𝐭 𝐫

1 = 1 − e−3.2𝐭𝐫 cos 2.4𝐭 𝐫 + 0.66 e−3.2𝐭𝐫 sin 2.4𝐭 𝐫

tan−𝟏 𝟏. 𝟏𝟓
𝐭𝐫 = = 𝟎. 𝟒𝟏 𝒔𝒆𝒄
𝟐. 𝟒
Determining 𝐭 𝐫 , 𝐭 𝐩 & 𝐌𝐩 with derivative control

c t = 1 − e−3.2t (cos 2.4t + 0.66 sin 2.4t)

Determining 𝐭 𝐩
𝑑c t
= −e−3.2t −0.28 sin 2.4t − 4.78 cos 2.4t = 0
𝑑𝑡

e−3.2𝐭𝐩 −0.28 sin 2.4𝐭 𝐩 − 4.78 cos 2.4𝐭 𝐩 = 0

tan−𝟏 −𝟏𝟕. 𝟎𝟕
𝐭𝐩 = = 𝟎. 𝟔𝟖 𝒔𝒆𝒄
𝟐. 𝟒
Determining 𝐭 𝐫 , 𝐭 𝐩 & 𝐌𝐩 with derivative control 𝐭 𝐩 = 𝟎. 𝟔𝟖 𝒔𝒆𝒄

c t = 1 − e−3.2t (cos 2.4t + 0.66 sin 2.4t)

Determining 𝐌𝐩
c t 𝑚𝑎𝑥 = 1 − e−3.2∗0.68 (cos 2.4 ∗ 0.68 + 0.66 sin 2.4 ∗ 0.68)
𝐭 𝐩 = 𝟎. 𝟔𝟖 𝒔𝒆𝒄
c t 𝑚𝑎𝑥 = 1-0.113(-0.061-0.658) = 1.0812

𝐌𝐩 = c t 𝑚𝑎𝑥 -1 𝐌𝐩 %= 0.0812 *100

𝐌𝐩 = 1.0812 - 1 𝐌𝐩 %= 8.12
Without derivative control with derivative control

0.2 𝛇 0.8
0.45 𝐭𝐫 0.41
0.8 𝐭𝐩 0.68
52.6% 𝐌𝐩 % 8.12%

𝟏𝟔 𝟏𝟔
+ − 𝐬(𝐬 + 𝟏. 𝟔)
+ −
𝟏 + 𝟎. 𝟑𝒔 𝐬(𝐬 + 𝟏. 𝟔)
R R C
C
 If the universe is your master your life is a wonder,
if your mind is your master life is a blunder
 ZnTill [ ]

Questions

When you are the master everything is a master,

when you are a slave the mind is the only master
 ZnTill [ ]