Automated Control unit III Part 1

Relation Between Standard Test Signals

Time Response of ControlSystems

Time response of a dynamic system is response to an input
expressed as a function of time.

The time response of any system has two components:

Transient response
Steady-state response.
  When the response of the system is changed form rest or equilibrium it
takes some time to settle down.
 Transient response is the response of a system from rest or equilibrium
to steady state.The response of the system after the transient response
is called steady state response.
 Transient response dependents upon the system poles only and not on
the type of input.
 It is therefore sufficient to analyze the transient response using a step
input.
 The steady-state response depends on system dynamics, system type,
and the input quantity.
 It is then examined using different test signals by final value
theorem.

Response of First Order System

The Standard form system transfer function G(s)
is given by:

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.

The first order system has only one pole at 1/T

Unit-RampResponseofFirstOrder System

Second Order Systems

A general second-order system (without zeros) is characterized by the
following transfer function.
  Damping ratio of the second order system, which is a measure of
the degree of resistance to change in the system output.
 Un-damped natural frequency of the second order system, which
is the frequency of oscillation of the system without damping

Example
Determine the un-damped natural frequency and damping ratio of the
following second order system.

 Compare the numerator and denominator of the given transfer function

with the general 2nd order transfer function.
Unit-StepResponseofSecondOrderSystems
Case 2: Critically damped response (ξ = 1)
The two roots of the characteristic equation s1 and s2 are real and equal.

Example#5: Calculate and plot the output of the system with the following
transfer function:
Solution: With unit step input, its response is:
 Example

For the control system shown in Figure, determine k and a that

satisfies
the following requirements:
a) Maximum percentage overshoot P.O =10%.
b) The 5% settling time ts = 1 sec.

The maximum percent overshoot (P.O )is given by:

For 5%, the settling time ts is given by:

 Automated Control Unit III Part 2

Higher Order SystemsResponse

 The natural response of higher-order systems consists of a
sum of terms, one term for each characteristic root:
 For each distinct real characteristic root, there is a real
exponential term in the system natural response.
 For each pair of complex conjugate roots, there is a an
exponential sinusoidal term in the system natural response.
 Repeated roots give additional terms involving power of time
times the exponential.
Example: Analyze the system with the following transfer function:

Solution: With unit step input, apply the partial fraction, its response
is given by:

The corresponding time domain output is given by:

Example
Consider the system shown in following figure, where damping ratio
is0.6 and natural undamped frequency is 5 rad/sec. Obtain the rise
time tr,peak time tp, maximum overshoot Mp, and settling time 2%
and 5% criterion ts when the system is subjected to a unit-step
input.

Solution:
 ξ = 0.6 and ωn = 5 rad/sec
Example
When the system shown in Figure(a) is subjected to a unit-step
input, the system output responds as shown in Figure(b). Determine
the values of a and c from the response curve.

Example
For the RLC shown in Fig. 3.17, determine the natural frequency n
and the damping ratio ξ for the transfer function T(s)= X(s) / F(s), if
M=1
kg, b= 4 Ns/m and k = 10 N/m.

Steady-
State Error
Example
Find the steady state error of the system shown in Fig. 3.17, when
the reference input r(t) is:

Solution:
The steady state error is given by
Routh-Hurwitz criterion
The Concept ofStability
 A stable system is a dynamic system with a bounded response to a
bounded input.
 Consider the closed loop transfer function of a system as :

 The characteristic equation or polynomial of the system which is

given by:

 For the system described by T(s) to be stable, the root of the

characteristic equation must lie in the left half plane.
 The Routh-Hurwitz criteria or test is a numerical procedure for
determining the number of right half-plane (RHP) and imaginary axis
roots of the characteristic polynomial.
The Routh-Hurwitz MethodStability
Criteria
The method requires two steps:
 Step #1: Generate a date table called a Routh table as follows:
 Consider the characteristic equation which is given by:
Rules for Routh table creation
 Any row of the Routh table can be multiplied by a positive
constant without changing the values of the rows below.
 To avoid the division by zero, an epsilon is assigned to
replace the zero in the first column.